Leibniz homology of Lie algebras as functor homology

We prove that Leibniz homology of Lie algebras can be described as functor homology in the category of linear functors from a category associated to the Lie operad.Comment: 26 page

Polynomial functors from Algebras over a set-operad and non-linear Mackey functors

In this paper, we give a description of polynomial functors from (finitely generated free) groups to abelian groups in terms of non-linear Mackey functors generalizing those given in a paper of Baues-Dreckmann-Franjou-Pirashvili published in 2001. This description is a consequence of our two main results: a description of functors from (fi nitely generated free) P-algebras (for P a set-operad) to abelian groups in terms of non-linear Mackey functors and the isomorphism between polynomial functors on (finitely generated free) monoids and those on (finitely generated free) groups. Polynomial functors from (finitely generated free) P-algebras to abelian groups and from (finitely generated free) groups to abelian groups are described explicitely by their cross-e ffects and maps relating them which satisfy a list of relations.Comment: 58 page

The mixed functors of the category Fquad: a first study

In previous work, we defined the category of functors Fquad, associated to vector spaces over the field with two elements equipped with a nondegenerate quadratic form. In this paper, we define a special family of objects in the category Fquad, named the mixed functors. We give the complete decompositions of two elements of this family that give rise to two new infinite families of simple objects in the category Fquad.Comment: 24 page

The functor category Fquad

26 pagesIn this paper, we define the functor category Fquad associated to vector spaces over the field with two elements, F_2, equipped with a quadratic form. We show the existence of a fully-faithful, exact functor \iota: \F \rightarrow Fquad, which preserves simple objects, where \F is the category of functors from the category of finite dimensional F_2-vector spaces to the category of all F_2-vector spaces. We define the subcategory Fiso of Fquad, which is equivalent to the product of the categories of modules over the orthogonal groups; the inclusion is a fully-faithful functor \kappa: Fiso \rightarrow Fquad which preserves simple objects

Sparse octree algorithms for scalable dense volumetric tracking and mapping

This thesis is concerned with the problem of Simultaneous Localisation and Mapping (SLAM), the task of localising an agent within an unknown environment and at the same time building a representation of it. In particular, we tackle the fundamental scalability limitations of dense volumetric SLAM systems. We do so by proposing a highly efficient hierarchical data-structure based on octrees together with a set of algorithms to support the most compute-intensive operations in typical volumetric reconstruction pipelines. We employ our hierarchical representation in a novel dense pipeline based on occupancy probabilities. Crucially, the complete space representation encoded by the octree enables to demonstrate a fully integrated system in which tracking, mapping and occupancy queries can be performed seamlessly on a single coherent representation. While achieving accuracy either at par or better than the current state-of-the-art, we demonstrate run-time performance of at least an order of magnitude better than currently available hierarchical data-structures. Finally, we introduce a novel multi-scale reconstruction system that exploits our octree hierarchy. By adaptively selecting the appropriate scale to match the effective sensor resolution in both integration and rendering, we demonstrate better reconstruction results and tracking accuracy compared to single-resolution grids. Furthermore, we achieve much higher computational performance by propagating information up and down the tree in a lazy fashion, which allow us to reduce the computational load when updating distant surfaces. We have released our software as an open-source library, named supereight, which is freely available for the benefit of the wider community. One of the main advantages of our library is its flexibility. By carefully providing a set of algorithmic abstractions, supereight enables SLAM practitioners to freely experiment with different map representations with no intervention on the back-end library code and crucially, preserving performance. Our work has been adopted by robotics researchers in both academia and industry.Open Acces