Robust and Accurate Monocular Vision-Based Localization in Outdoor Environments of Real-World Robot Challenge

2017 ◽  
Vol 29 (4) ◽  
pp. 685-696 ◽  
Author(s):  
Adi Sujiwo ◽  
Eijiro Takeuchi ◽  
Luis Yoichi Morales ◽  
Naoki Akai ◽  
Hatem Darweesh ◽  
...  
Keyword(s):  
Real World ◽  
Dynamic Environments ◽  
Monocular Vision ◽  
Experimental Results ◽  
Data Sets ◽  
Place Recognition ◽  
Global Localization ◽  
Vision Based Navigation ◽  
Outdoor Environments ◽  
Vision Based Localization

This paper describes our approach to perform robust monocular camera metric localization in the dynamic environments of Tsukuba Challenge 2016. We address two issues related to vision-based navigation. First, we improved the coverage by building a custom vocabulary out of the scene and improving upon place recognition routine which is key for global localization. Second, we established possibility of lifelong localization by using previous year’s map. Experimental results show that localization coverage was higher than 90% for six different data sets taken in different years, while localization average errors were under 0.2 m. Finally, the average of coverage for data sets tested with maps taken in different years was of 75%.

Applications in Noisy and Dynamic Environments

2010 ◽  
pp. 222-244
Author(s):  
E. Parsopoulos Konstantinos ◽  
N. Vrahatis Michael
Keyword(s):  
Real World ◽  
Particle Filtering ◽  
Dynamic Environments ◽  
Experimental Results ◽  
Particle Identification ◽  
Special Importance ◽  
Extensive Literature ◽  
Research Fields ◽  
System States ◽  
Problem Formulations

This chapter discusses the workings of PSO in two research fields with special importance in real-world applications, namely noisy and dynamic environments. Noise simulation schemes are presented and experimental results on benchmark problems are reported. In addition, we present the application of PSO on a simulated real world problem, namely the particle identification by light scattering. Moreover, a hybrid scheme that incorporates PSO in particle filtering methods to estimate system states online is analyzed, and representative experimental results are reported. Finally, the combination of noisy and continuously changing environments is shortly discussed, providing illustrative graphical representations of performance for different PSO variants. The text focuses on providing the basic concepts and problem formulations, and suggesting experimental settings reported in literature, rather than on the bibliographical presentation of the (prohibitively extensive) literature.

Semi-Supervised Outlier Detection with Only Positive and Unlabeled Data Based on Fuzzy Clustering

2015 ◽  
Vol 24 (03) ◽  
pp. 1550003 ◽  
Author(s):  
Armin Daneshpazhouh ◽  
Ashkan Sami
Keyword(s):  
Intrusion Detection ◽  
Outlier Detection ◽  
Fuzzy Clustering ◽  
Real World ◽  
State Of The Art ◽  
Real Data ◽  
Experimental Results ◽  
The Other ◽  
Data Sets ◽  
Real World Applications

The task of semi-supervised outlier detection is to find the instances that are exceptional from other data, using some labeled examples. In many applications such as fraud detection and intrusion detection, this issue becomes more important. Most existing techniques are unsupervised. On the other hand, semi-supervised approaches use both negative and positive instances to detect outliers. However, in many real world applications, very few positive labeled examples are available. This paper proposes an innovative approach to address this problem. The proposed method works as follows. First, some reliable negative instances are extracted by a kNN-based algorithm. Afterwards, fuzzy clustering using both negative and positive examples is utilized to detect outliers. Experimental results on real data sets demonstrate that the proposed approach outperforms the previous unsupervised state-of-the-art methods in detecting outliers.

Monocular Vision-Based Localization Using ORB-SLAM with LIDAR-Aided Mapping in Real-World Robot Challenge

2016 ◽  
Vol 28 (4) ◽  
pp. 479-490 ◽  
Author(s):  
Adi Sujiwo ◽  
◽  
Tomohito Ando ◽  
Eijiro Takeuchi ◽  
Yoshiki Ninomiya ◽  
...  
Keyword(s):  
Sensor Fusion ◽  
Real World ◽  
Monocular Vision ◽  
Position Tracking ◽  
Visual Localization ◽  
Fusion Method ◽  
Combined Method ◽  
Starting Point ◽  
Vision Based Localization ◽  
Map Distance

[abstFig src='/00280004/06.jpg' width='300' text='Monocular Visual Localization in Tsukuba Challenge 2015. Left: result of localization inside the map created by ORB-SLAM. Right: position tracking at starting point.' ] For the 2015 Tsukuba Challenge, we realized an implementation of vision-based localization based on ORB-SLAM. Our method combined mapping based on ORB-SLAM and Velodyne LIDAR SLAM, and utilized these maps in a localization process using only a monocular camera. We also apply sensor fusion method of odometer and ORB-SLAM from all maps. The combined method delivered better accuracy than the original ORB-SLAM, which suffered from scale ambiguities and map distance distortion. This paper reports on our experience when using ORB-SLAM for visual localization, and describes the difficulties encountered.

scholarly journals Restart and Random Walk in Local Search for Maximum Vertex Weight Cliques with Evaluations in Clustering Aggregation

2017 ◽  
Author(s):  
Yi Fan ◽  
Nan Li ◽  
Chengqian Li ◽  
Zongjie Ma ◽  
Longin Jan Latecki ◽  
...  
Keyword(s):  
Random Walk ◽  
Local Search ◽  
Real World ◽  
State Of The Art ◽  
Real Data ◽  
Experimental Results ◽  
Data Sets ◽  
Vertex Weight ◽  
Real World Applications ◽  
Clustering Aggregation

The Maximum Vertex Weight Clique (MVWC) problem is NP-hard and also important in real-world applications. In this paper we propose to use the restart and the random walk strategies to improve local search for MVWC. If a solution is revisited in some particular situation, the search will restart. In addition, when the local search has no other options except dropping vertices, it will use random walk. Experimental results show that our solver outperforms state-of-the-art solvers in DIMACS and finds a new best-known solution. Also it is the unique solver which is comparable with state-of-the-art methods on both BHOSLIB and large crafted graphs. Furthermore we evaluated our solver in clustering aggregation. Experimental results on a number of real data sets demonstrate that our solver outperforms the state-of-the-art for solving the derived MVWC problem and helps improve the final clustering results.

scholarly journals DAN: Deep Attention Neural Network for News Recommendation

2019 ◽  
Vol 33 ◽  
pp. 5973-5980 ◽  
Author(s):  
Qiannan Zhu ◽  
Xiaofei Zhou ◽  
Zeliang Song ◽  
Jianlong Tan ◽  
Li Guo
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Real World ◽  
Attention Mechanism ◽  
Experimental Results ◽  
Data Sets ◽  
Challenging Problem ◽  
World News ◽  
Sequential Information ◽  
News Recommendation

With the rapid information explosion of news, making personalized news recommendation for users becomes an increasingly challenging problem. Many existing recommendation methods that regard the recommendation procedure as the static process, have achieved better recommendation performance. However, they usually fail with the dynamic diversity of news and user’s interests, or ignore the importance of sequential information of user’s clicking selection. In this paper, taking full advantages of convolution neural network (CNN), recurrent neural network (RNN) and attention mechanism, we propose a deep attention neural network DAN for news recommendation. Our DAN model presents to use attention-based parallel CNN for aggregating user’s interest features and attention-based RNN for capturing richer hidden sequential features of user’s clicks, and combines these features for new recommendation. We conduct experiment on real-world news data sets, and the experimental results demonstrate the superiority and effectiveness of our proposed DAN model.

scholarly journals Penalty-Enhanced Utility-Based Multi-Criteria Recommendations

Information ◽  
2020 ◽  
Vol 11 (12) ◽  
pp. 551
Author(s):  
Yong Zheng
Keyword(s):  
Decision Making ◽  
Recommender Systems ◽  
Real World ◽  
User Preferences ◽  
Experimental Results ◽  
Data Sets ◽  
Real World Data ◽  
Promising Solution ◽  
Multiple Domains

Recommender systems have been successfully applied to assist decision making in multiple domains and applications. Multi-criteria recommender systems try to take the user preferences on multiple criteria into consideration, in order to further improve the quality of the recommendations. Most recently, the utility-based multi-criteria recommendation approach has been proposed as an effective and promising solution. However, the issue of over-/under-expectations was ignored in the approach, which may bring risks to the recommendation model. In this paper, we propose a penalty-enhanced model to alleviate this issue. Our experimental results based on multiple real-world data sets can demonstrate the effectiveness of the proposed solutions. In addition, the outcomes of the proposed solution can also help explain the characteristics of the applications by observing the treatment on the issue of over-/under-expectations.

scholarly journals Hfinger: Malware HTTP Request Fingerprinting

Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 507
Author(s):  
Piotr Białczak ◽  
Wojciech Mazurczyk
Keyword(s):  
Real World ◽  
Network Traffic ◽  
Experimental Evaluation ◽  
Data Sets ◽  
Real World Data ◽  
Malicious Software ◽  
Default Mode ◽  
World Data ◽  
Effectiveness Analysis ◽  
Http Protocol

Malicious software utilizes HTTP protocol for communication purposes, creating network traffic that is hard to identify as it blends into the traffic generated by benign applications. To this aim, fingerprinting tools have been developed to help track and identify such traffic by providing a short representation of malicious HTTP requests. However, currently existing tools do not analyze all information included in the HTTP message or analyze it insufficiently. To address these issues, we propose Hfinger, a novel malware HTTP request fingerprinting tool. It extracts information from the parts of the request such as URI, protocol information, headers, and payload, providing a concise request representation that preserves the extracted information in a form interpretable by a human analyst. For the developed solution, we have performed an extensive experimental evaluation using real-world data sets and we also compared Hfinger with the most related and popular existing tools such as FATT, Mercury, and p0f. The conducted effectiveness analysis reveals that on average only 1.85% of requests fingerprinted by Hfinger collide between malware families, what is 8–34 times lower than existing tools. Moreover, unlike these tools, in default mode, Hfinger does not introduce collisions between malware and benign applications and achieves it by increasing the number of fingerprints by at most 3 times. As a result, Hfinger can effectively track and hunt malware by providing more unique fingerprints than other standard tools.

scholarly journals OFCOD: On the Fly Clustering Based Outlier Detection Framework

Data ◽  
2020 ◽  
Vol 6 (1) ◽  
pp. 1
Author(s):  
Ahmed Elmogy ◽  
Hamada Rizk ◽  
Amany M. Sarhan
Keyword(s):  
Data Mining ◽  
Image Processing ◽  
Intrusion Detection ◽  
Real Time ◽  
Outlier Detection ◽  
Real World ◽  
Medical Data ◽  
Experimental Results ◽  
Real Time Applications ◽  
Real World Datasets

In data mining, outlier detection is a major challenge as it has an important role in many applications such as medical data, image processing, fraud detection, intrusion detection, and so forth. An extensive variety of clustering based approaches have been developed to detect outliers. However they are by nature time consuming which restrict their utilization with real-time applications. Furthermore, outlier detection requests are handled one at a time, which means that each request is initiated individually with a particular set of parameters. In this paper, the first clustering based outlier detection framework, (On the Fly Clustering Based Outlier Detection (OFCOD)) is presented. OFCOD enables analysts to effectively find out outliers on time with request even within huge datasets. The proposed framework has been tested and evaluated using two real world datasets with different features and applications; one with 699 records, and another with five millions records. The experimental results show that the performance of the proposed framework outperforms other existing approaches while considering several evaluation metrics.

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

scholarly journals DV-DVFS: merging data variety and DVFS technique to manage the energy consumption of big data processing

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Hossein Ahmadvand ◽  
Fouzhan Foroutan ◽  
Mahmood Fathy
Keyword(s):  
Big Data ◽  
Energy Consumption ◽  
Processing Time ◽  
Experimental Results ◽  
The Other ◽  
Data Sets ◽  
Multiple Sources ◽  
Evaluation Phase ◽  
Dynamic Voltage ◽  
Processing Resources

AbstractData variety is one of the most important features of Big Data. Data variety is the result of aggregating data from multiple sources and uneven distribution of data. This feature of Big Data causes high variation in the consumption of processing resources such as CPU consumption. This issue has been overlooked in previous works. To overcome the mentioned problem, in the present work, we used Dynamic Voltage and Frequency Scaling (DVFS) to reduce the energy consumption of computation. To this goal, we consider two types of deadlines as our constraint. Before applying the DVFS technique to computer nodes, we estimate the processing time and the frequency needed to meet the deadline. In the evaluation phase, we have used a set of data sets and applications. The experimental results show that our proposed approach surpasses the other scenarios in processing real datasets. Based on the experimental results in this paper, DV-DVFS can achieve up to 15% improvement in energy consumption.

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