16,957 research outputs found
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Complexity Analysis and Efficient Measurement Selection Primitives for High-Rate Graph SLAM
Sparsity has been widely recognized as crucial for efficient optimization in
graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect
the set of incorporated measurements, many methods for sparsification have been
proposed in hopes of reducing computation. These methods often focus narrowly
on reducing edge count without regard for structure at a global level. Such
structurally-naive techniques can fail to produce significant computational
savings, even after aggressive pruning. In contrast, simple heuristics such as
measurement decimation and keyframing are known empirically to produce
significant computation reductions. To demonstrate why, we propose a
quantitative metric called elimination complexity (EC) that bridges the
existing analytic gap between graph structure and computation. EC quantifies
the complexity of the primary computational bottleneck: the factorization step
of a Gauss-Newton iteration. Using this metric, we show rigorously that
decimation and keyframing impose favorable global structures and therefore
achieve computation reductions on the order of and , respectively,
where is the pruning rate. We additionally present numerical results
showing EC provides a good approximation of computation in both batch and
incremental (iSAM2) optimization and demonstrate that pruning methods promoting
globally-efficient structure outperform those that do not.Comment: Pre-print accepted to ICRA 201
Current reversal and exclusion processes with history-dependent random walks
A class of exclusion processes in which particles perform history-dependent
random walks is introduced, stimulated by dynamic phenomena in some biological
and artificial systems. The particles locally interact with the underlying
substrate by breaking and reforming lattice bonds. We determine the
steady-state current on a ring, and find current-reversal as a function of
particle density. This phenomenon is attributed to the non-local interaction
between the walkers through their trails, which originates from strong
correlations between the dynamics of the particles and the lattice. We
rationalize our findings within an effective description in terms of
quasi-particles which we call front barriers. Our analytical results are
complemented by stochastic simulations.Comment: 5 pages, 6 figure
Proposed satellite laser ranging and very long baseline interferometry sites for crustal dynamics investigations
Recommendations are presented for a global network of 125 sites for geodetic measurements by satellite laser ranging and very long baseline interferometry. The sites were proposed on the basis of existing facilities and scientific value for investigation of crustal dynamics as related to earthquake hazards. Tectonic problems are discussed for North America peripheral regions and for the world. The sites are presented in tables and maps, with bibliographic references
Escalation of error catastrophe for enzymatic self-replicators
It is a long-standing question in origin-of-life research whether the
information content of replicating molecules can be maintained in the presence
of replication errors. Extending standard quasispecies models of non-enzymatic
replication, we analyze highly specific enzymatic self-replication mediated
through an otherwise neutral recognition region, which leads to
frequency-dependent replication rates. We find a significant reduction of the
maximally tolerable error rate, because the replication rate of the fittest
molecules decreases with the fraction of functional enzymes. Our analysis is
extended to hypercyclic couplings as an example for catalytic networks.Comment: 6 pages, 4 figures; accepted at Europhys. Let
The use of happiness research for public policy
Research on happiness tends to follow a "benevolent dictator" approach where politicians pursue people's happiness. This paper takes an antithetic approach based on the insights of public choice theory. First, we inquire how the results of happiness research may be used to improve the choice of institutions. Second, we show that the policy approach matters for the choice of research questions and the kind of knowledge happiness research aims to provide. Third, we emphasize that there is no shortcut to an optimal policy maximizing some happiness indicator or social welfare function since governments have an incentive to manipulate this indicator
Linear response of a grafted semiflexible polymer to a uniform force field
We use the worm-like chain model to analytically calculate the linear
response of a grafted semiflexible polymer to a uniform force field. The result
is a function of the bending stiffness, the temperature, the total contour
length, and the orientation of the field with respect to that of the grafted
end. We also study the linear response of a worm-like chain with a periodic
alternating sequence of positive and negative charges. This can be considered
as a model for a polyampholyte with intrinsic bending siffness and negligible
intramolecular interactions. We show how the finite intrinsic persistence
length affects the linear response to the external field.Comment: 6 pages, 3 figure
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