The Blackbird UAV dataset

2020 ◽  
Vol 39 (10-11) ◽  
pp. 1346-1364
Author(s):  
Amado Antonini ◽  
Winter Guerra ◽  
Varun Murali ◽  
Thomas Sayre-McCord ◽  
Sertac Karaman
Keyword(s):  
High Performance ◽  
Large Scale ◽  
Ground Truth ◽  
Depth Estimation ◽  
Sensor Data ◽  
Measurement Unit ◽  
Motor Speed ◽  
Depth Cameras ◽  
Autonomous Operation ◽  
Segmented Images

This article describes the Blackbird unmanned aerial vehicle (UAV) Dataset, a large-scale suite of sensor data and corresponding ground truth from a custom-built quadrotor platform equipped with an inertial measurement unit (IMU), rotor tachometers, and virtual color, grayscale, and depth cameras. Motivated by the increasing demand for agile, autonomous operation of aerial vehicles, this dataset is designed to facilitate the development and evaluation of high-performance UAV perception algorithms. The dataset contains over 10 hours of data from our quadrotor tracing 18 different trajectories at varying maximum speeds (0.5 to 13.8 ms-1) through 5 different visual environments for a total of 176 unique flights. For each flight, we provide 120 Hz grayscale, 60 Hz RGB-D, and 60 Hz semantically segmented images from forward stereo and downward-facing photorealistic virtual cameras in addition to 100 Hz IMU, ~190 Hz motor speed sensors, and 360 Hz millimeter-accurate motion capture ground truth. The Blackbird UAV dataset is therefore well suited to the development of algorithms for visual inertial navigation, 3D reconstruction, and depth estimation. As a benchmark for future algorithms, the performance of two state-of-the-art visual odometry algorithms are reported and scripts for comparing against the benchmarks are included with the dataset. The dataset is available for download at http://blackbird-dataset.mit.edu/ .

scholarly journals Social Media-based User Embedding: A Literature Review

2019 ◽  
Author(s):  
Shimei Pan ◽  
Tao Ding
Keyword(s):  
Social Media ◽  
High Performance ◽  
Large Scale ◽  
Ground Truth ◽  
Representation Learning ◽  
Success Stories ◽  
Recent Success ◽  
User Data ◽  
Low Dimensional ◽  
And Behavior

Automated representation learning is behind many recent success stories in machine learning. It is often used to transfer knowledge learned from a large dataset (e.g., raw text) to tasks for which only a small number of training examples are available. In this paper, we review recent advance in learning to represent social media users in low-dimensional embeddings. The technology is critical for creating high performance social media-based human traits and behavior models since the ground truth for assessing latent human traits and behavior is often expensive to acquire at a large scale. In this survey, we review typical methods for learning a unified user embeddings from heterogeneous user data (e.g., combines social media texts with images to learn a unified user representation). Finally we point out some current issues and future directions.

Janus

2021 ◽  
Vol 5 (4) ◽  
pp. 1-33
Author(s):  
Timofei Istomin ◽  
Elia Leoni ◽  
Davide Molteni ◽  
Amy L. Murphy ◽  
Gian Pietro Picco ◽  
...  
Keyword(s):  
Large Scale ◽  
Ground Truth ◽  
Use Cases ◽  
Ultra Wideband ◽  
Distance Measurements ◽  
Proximity Data ◽  
Domain Experts ◽  
Autonomous Operation ◽  
Proximity Detection ◽  
Practical Usefulness

Proximity detection is at the core of several mobile and ubiquitous computing applications. These include reactive use cases, e.g., alerting individuals of hazards or interaction opportunities, and others concerned only with logging proximity data, e.g., for offline analysis and modeling. Common approaches rely on Bluetooth Low Energy (BLE) or ultra-wideband (UWB) radios. Nevertheless, these strike opposite tradeoffs between the accuracy of distance estimates quantifying proximity and the energy efficiency affecting system lifetime, effectively forcing a choice between the two and ultimately constraining applicability. Janus reconciles these dimensions in a dual-radio protocol enabling accurate and energy-efficient proximity detection, where the energy-savvy BLE is exploited to discover devices and coordinate their distance measurements, acquired via the energy-hungry UWB. A model supports domain experts in configuring Janus for their use cases with predictable performance. The latency, reliability, and accuracy of Janus are evaluated experimentally, including realistic scenarios endowed with the mm-level ground truth provided by a motion capture system. Energy measurements show that Janus achieves weeks to months of autonomous operation, depending on the use case configuration. Finally, several large-scale campaigns exemplify its practical usefulness in real-world contexts.

scholarly journals The Zurich urban micro aerial vehicle dataset

2017 ◽  
Vol 36 (3) ◽  
pp. 269-273 ◽  
Author(s):  
András L Majdik ◽  
Charles Till ◽  
Davide Scaramuzza
Keyword(s):  
Three Dimensional ◽  
Ground Truth ◽  
Ground Level ◽  
Urban Environments ◽  
Sensor Data ◽  
Measurement Unit ◽  
Reconstruction Algorithms ◽  
Ground Truth Data ◽  
Micro Aerial Vehicle ◽  
Aerial Vehicle

This paper presents a dataset recorded on-board a camera-equipped micro aerial vehicle flying within the urban streets of Zurich, Switzerland, at low altitudes (i.e. 5–15 m above the ground). The 2 km dataset consists of time synchronized aerial high-resolution images, global position system and inertial measurement unit sensor data, ground-level street view images, and ground truth data. The dataset is ideal to evaluate and benchmark appearance-based localization, monocular visual odometry, simultaneous localization and mapping, and online three-dimensional reconstruction algorithms for micro aerial vehicles in urban environments.

scholarly journals Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator

2021 ◽  
Author(s):  
Rui Fan ◽  
Hengli Wang ◽  
Bohuan Xue ◽  
Huaiyang Huang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Large Scale ◽  
Median Filter ◽  
Ground Truth ◽  
Sensor Data ◽  
Depth Image ◽  
Depth Images ◽  
Surface Normal ◽  
Synthetic Datasets ◽  
Normal Maps ◽  
Mesh Models

This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/disparity images. 3F2N SNE computes surface normals by simply performing three filtering operations (two image gradient filters in horizontal and vertical directions, respectively, and a mean/median filter) on an inverse depth image or a disparity image. Despite the simplicity of 3F2N SNE, no similar method already exists in the literature. To evaluate the performance of our proposed SNE, we created three large-scale synthetic datasets (easy, medium and hard) using 24 3D mesh models, each of which is used to generate 1800--2500 pairs of depth images (resolution: 480X640 pixels) and the corresponding ground-truth surface normal maps from different views. 3F2N SNE demonstrates the state-of-the-art performance, outperforming all other existing geometry-based SNEs, where the average angular errors with respect to the easy, medium and hard datasets are 1.66 degrees, 5.69 degrees and 15.31 degrees, respectively. Furthermore, our C++ and CUDA implementations achieve a processing speed of over 260 Hz and 21 kHz, respectively. Our datasets and source code are publicly available at sites.google.com/view/3f2n.

scholarly journals A Comparison of Three Neural Network Approaches for Estimating Joint Angles and Moments from Inertial Measurement Units

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4535
Author(s):  
Marion Mundt ◽  
William R. Johnson ◽  
Wolfgang Potthast ◽  
Bernd Markert ◽  
Ajmal Mian ◽  
...  
Keyword(s):  
Neural Network ◽  
Short Term Memory ◽  
Ground Truth ◽  
Sensor Data ◽  
Measurement Unit ◽  
Joint Angles ◽  
Accurate Analysis ◽  
Inertial Measurement ◽  
Gait Kinematics ◽  
Kinematics And Kinetics

The application of artificial intelligence techniques to wearable sensor data may facilitate accurate analysis outside of controlled laboratory settings—the holy grail for gait clinicians and sports scientists looking to bridge the lab to field divide. Using these techniques, parameters that are difficult to directly measure in-the-wild, may be predicted using surrogate lower resolution inputs. One example is the prediction of joint kinematics and kinetics based on inputs from inertial measurement unit (IMU) sensors. Despite increased research, there is a paucity of information examining the most suitable artificial neural network (ANN) for predicting gait kinematics and kinetics from IMUs. This paper compares the performance of three commonly employed ANNs used to predict gait kinematics and kinetics: multilayer perceptron (MLP); long short-term memory (LSTM); and convolutional neural networks (CNN). Overall high correlations between ground truth and predicted kinematic and kinetic data were found across all investigated ANNs. However, the optimal ANN should be based on the prediction task and the intended use-case application. For the prediction of joint angles, CNNs appear favourable, however these ANNs do not show an advantage over an MLP network for the prediction of joint moments. If real-time joint angle and joint moment prediction is desirable an LSTM network should be utilised.

The Structure and Properties of MoSi2 Thin Film in Mos Process

1980 ◽  
Vol 38 ◽  
pp. 326-327
Author(s):  
C.K. Wu ◽  
P. Chang ◽  
N. Godinho
Keyword(s):  
Thin Film ◽  
Integrated Circuits ◽  
High Performance ◽  
Large Scale ◽  
Process Development ◽  
Structure And Properties ◽  
Metal Silicides ◽  
High Oxidation ◽  
Important Approach ◽  
High Oxidation Resistance

Recently, the use of refractory metal silicides as low resistivity, high temperature and high oxidation resistance gate materials in large scale integrated circuits (LSI) has become an important approach in advanced MOS process development (1). This research is a systematic study on the structure and properties of molybdenum silicide thin film and its applicability to high performance LSI fabrication.

Model and Method for Contributor’s Quality Assessment in Community Image Tagging Systems

2018 ◽  
pp. 45-51
Author(s):  
A. V. Ponomarev
Keyword(s):  
Large Scale ◽  
Wide Spectrum ◽  
Preference Relation ◽  
Pairwise Comparison ◽  
Ground Truth ◽  
Comparison Method ◽  
Characteristic Matrix ◽  
Image Tagging ◽  
Proposed Model

Introduction: Large-scale human-computer systems involving people of various skills and motivation into the information processing process are currently used in a wide spectrum of applications. An acute problem in such systems is assessing the expected quality of each contributor; for example, in order to penalize incompetent or inaccurate ones and to promote diligent ones.Purpose: To develop a method of assessing the expected contributor’s quality in community tagging systems. This method should only use generally unreliable and incomplete information provided by contributors (with ground truth tags unknown).Results:A mathematical model is proposed for community image tagging (including the model of a contributor), along with a method of assessing the expected contributor’s quality. The method is based on comparing tag sets provided by different contributors for the same images, being a modification of pairwise comparison method with preference relation replaced by a special domination characteristic. Expected contributors’ quality is evaluated as a positive eigenvector of a pairwise domination characteristic matrix. Community tagging simulation has confirmed that the proposed method allows you to adequately estimate the expected quality of community tagging system contributors (provided that the contributors' behavior fits the proposed model).Practical relevance: The obtained results can be used in the development of systems based on coordinated efforts of community (primarily, community tagging systems). 

RECOMMENDATIONS FOR THE CHOICE OF MILKING INSTALLATIONS IN LOOSE HOUSING SYSTEMS OF COWS

2020 ◽  
Author(s):  
В.В. ГОРДЕЕВ ◽  
В.Е. ХАЗАНОВ
Keyword(s):  
Dairy Cows ◽  
High Performance ◽  
Large Scale ◽  
Dairy Farms ◽  
Economic Indicators ◽  
Technical Level ◽  
Housing Systems ◽  
Working Shift ◽  
Technical And Economic Indicators

При выборе типа доильной установки и ее размера необходимо учитывать максимальное планируемое поголовье дойных коров и размер технологической группы, кратность и время одного доения, продолжительность рабочей смены дояров. Анализ технико-экономических показателей наиболее распространенных на сегодняшний день типов доильных установок одинакового технического уровня свидетельствует, что наилучшие удельные показатели имеет установка типа «Карусель» (1), а установка типа «Елочка» (2) требует более высоких затрат труда и средств. Установка «Параллель» (3) занимает промежуточное положение. Из анализа пропускной способности и количества необходимых операторов: установка 2 рекомендована для ферм с поголовьем дойного стада до 600 голов, 3 — не более 1200 дойных коров, 1 — более 1200 дойных коров. «Карусель» — наиболее рациональный, высокопроизводительный, легко автоматизируемый и, следовательно, перспективный способ доения в залах, особенно для крупных молочных ферм. The choice of the proper type and size of milking installations needs to take into account the maximum planned number of dairy cows, the size of a technological group, the number of milkings per day, and the duration of one milking and the operator's working shift. The analysis of technical and economic indicators of currently most common types of milking machines of the same technical level revealed that the Carousel installation had the best specific indicators while the Herringbone installation featured higher labour inputs and cash costs. The Parallel installation was found somewhere in between. In terms of the throughput and the required number of operators Herringbone is recommended for farms with up to 600 dairy cows, Parallel — below 1200 dairy cows, Carousel — above 1200 dairy cows. Carousel was found the most practical, high-performance, easily automated and, therefore, promising milking system for milking parlours, especially on the large-scale dairy farms.

scholarly journals Statistical and machine learning models for optimizing energy in parallel applications

2019 ◽  
Vol 33 (6) ◽  
pp. 1079-1097 ◽  
Author(s):  
Mark Endrei ◽  
Chao Jin ◽  
Minh Ngoc Dinh ◽  
David Abramson ◽  
Heidi Poxon ◽  
...  
Keyword(s):  
Machine Learning ◽  
Energy Efficiency ◽  
High Performance ◽  
Large Scale ◽  
Energy Use ◽  
Parallel Applications ◽  
Learning Models ◽  
Trade Off ◽  
Time Required ◽  
Machine Learning Models

Rising power costs and constraints are driving a growing focus on the energy efficiency of high performance computing systems. The unique characteristics of a particular system and workload and their effect on performance and energy efficiency are typically difficult for application users to assess and to control. Settings for optimum performance and energy efficiency can also diverge, so we need to identify trade-off options that guide a suitable balance between energy use and performance. We present statistical and machine learning models that only require a small number of runs to make accurate Pareto-optimal trade-off predictions using parameters that users can control. We study model training and validation using several parallel kernels and more complex workloads, including Algebraic Multigrid (AMG), Large-scale Atomic Molecular Massively Parallel Simulator, and Livermore Unstructured Lagrangian Explicit Shock Hydrodynamics. We demonstrate that we can train the models using as few as 12 runs, with prediction error of less than 10%. Our AMG results identify trade-off options that provide up to 45% improvement in energy efficiency for around 10% performance loss. We reduce the sample measurement time required for AMG by 90%, from 13 h to 74 min.

scholarly journals Automated Cytogenetic Biodosimetry at Population-Scale

Radiation ◽  
2021 ◽  
Vol 1 (2) ◽  
pp. 79-94
Author(s):  
Peter K. Rogan ◽  
Eliseos J. Mucaki ◽  
Ben C. Shirley ◽  
Yanxin Li ◽  
Ruth C. Wilkins ◽  
...  
Keyword(s):  
High Performance ◽  
Large Scale ◽  
Dicentric Chromosome ◽  
Automated Assignment ◽  
Simulated Population ◽  
Dose Estimation ◽  
Processing Times ◽  
Multiple Processors ◽  
Exposure Levels ◽  
Population Scale

The dicentric chromosome (DC) assay accurately quantifies exposure to radiation; however, manual and semi-automated assignment of DCs has limited its use for a potential large-scale radiation incident. The Automated Dicentric Chromosome Identifier and Dose Estimator (ADCI) software automates unattended DC detection and determines radiation exposures, fulfilling IAEA criteria for triage biodosimetry. This study evaluates the throughput of high-performance ADCI (ADCI-HT) to stratify exposures of populations in 15 simulated population scale radiation exposures. ADCI-HT streamlines dose estimation using a supercomputer by optimal hierarchical scheduling of DC detection for varying numbers of samples and metaphase cell images in parallel on multiple processors. We evaluated processing times and accuracy of estimated exposures across census-defined populations. Image processing of 1744 samples on 16,384 CPUs required 1 h 11 min 23 s and radiation dose estimation based on DC frequencies required 32 sec. Processing of 40,000 samples at 10 exposures from five laboratories required 25 h and met IAEA criteria (dose estimates were within 0.5 Gy; median = 0.07). Geostatistically interpolated radiation exposure contours of simulated nuclear incidents were defined by samples exposed to clinically relevant exposure levels (1 and 2 Gy). Analysis of all exposed individuals with ADCI-HT required 0.6–7.4 days, depending on the population density of the simulation.

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