scholarly journals Active Map-Matching: Active Self-localization by VPR-to-NBV Knowledge Transfer

2021 ◽  
Author(s):  
kanji tanaka

Training a next-best-view (NBV) planner for active cross-domain self-localization is an important and challenging problem. Unlike typical in-domain settings, the planner can no longer assume the environment state being constant, but must treat it as a high-dimensional component of the state variable. This study is motivated by the ability of recent visual place recognition (VPR) techniques to recognize such a high-dimensional environment state in the presence of domain-shifts. Thus, we wish to transfer the state recognition ability from VPR to NBV. However, such a VPR-to-NBV knowledge transfer is a non-trivial issue for which no known solution exists. Here, we propose to use a reciprocal rank feature, derived from the field of transfer learning, as the dark knowledge to transfer. Specifically, our approach is based on the following two observations: (1) The environment state can be compactly represented by a local map descriptor, which is compatible with typical input formats (e.g., image, point cloud, graph) of VPR systems, and (2) An arbitrary VPR system (e.g., Bayes filter, image retrieval, deep neural network) can be modeled as a ranking function. Experiments with nearest neighbor Qlearning (NNQL) show that our approach can obtain a practical NBV planner even under severe domain-shifts.

2021 ◽  
Author(s):  
kanji tanaka

Landmark-based robot self-localization has attracted recent research interest as an efficient maintenance-free approach to visual place recognition (VPR) across domains (e.g., times of the day, weathers, seasons). However, landmark-based self-localization can be an ill-posed problem for a passive observer (e.g., manual robot control), as many viewpoints may not provide effective landmark view. Here, we consider active self-localization task by an active observer, and present a novel reinforcement-learning (RL) -based next-best-view (NBV) planner. Our contributions are summarized as follows. (1) SIMBAD-based VPR: We present a landmark ranking -based compact scene descriptor by introducing a deep-learning extension of similarity-based pattern recognition (SIMBAD). (2) VPR-to-NBV knowledge transfer: We tackle the challenge of RL under uncertainty (i.e., active self-localization) by transferring the VPR's state recognition ability to NBV. (3) NNQL-based NBV: We view the available VPR as the experience database by adapting a nearest-neighbor -based approximation of Q-learning (NNQL). The result is an extremely compact data structure that compresses both the VPR and NBV modules into a single incremental inverted index. Experiments using public NCLT dataset validate the effectiveness of the proposed approach.


Author(s):  
Adam Bodіuk

The subject of the study is the mechanism for determining the fiscal fee forthe main transportation of hydrocarbon goods as a resource concept. The purposeof this article is to justify the nature and prospects of using, instead of currentrent, hydrocarbon fiscal-main income as a fiscal payment, which is brought intothe state budget by operators of the main hydrocarbon-transport system as business entities for their transportation of hydrocarbons and products of their processing through main pipelines appropriate to the economic requirements. Theresearch methodology is determined by a combination of methods: a) cognition:legal analysis (study of the regulatory framework for the use of rent); b) justification: abstract logical analysis (definition of the concepts of hydrocarbon fiscalmain income); c) generalization (substantiation of conclusions and proposals).Results of work. In the process of analyzing the regulatory legal acts that regulate the use of current annuity as payment to the budget for the main transportation of hydrocarbons, it was established that it is not a tax in the interpretationof PKU, since the essence does not meet the official definition of tax, does notmeet the accepted definition of the concept of rent. The accepted nature andmechanism of paying rent for the transportation of hydrogen resources and associated revenues of the state and users of the main hydrogen transport systemand the unpromising nature of its use as a fiscal payment are analyzed. Conclusions.It is proposed that the state pay for the territorial pumping of hydrocarbon resources according to our triple principle as hydrocarbon fiscal-main income, whichcorresponds to its essence, and accordingly change the mechanism for calculatingand depositing funds to treasury accounts. Since the funds come to the revenueside of the state budget, that is, inherently belong to state revenue. The creationof such a mechanism needs certain studies, justifications and government decisions. The same applies to land use, since the quality indicators of soils, wherethe laid pipelines are territorially different. In addition, there is a process ofchanging land for its intended purpose, for the property. The fee for movinghydrocarbon resources should be calculated depending on the type of transport,including pipelines, for a set of indicators: quantity and quality of goods, time,main tariffs and distance of its movement. The amount may be adjusted usingfactors officially established by the CMU. Since the pipelines are located in territorial lands, part of this fee should be transferred to the territorial local budgets.Theoretically, the economic use of trunk pipelines should be considered as a typeof economic environmental management. Therefore, this type of government revenue should be determined by a set of indicators, as well as taking into account the economic interests of business entities authorized by the CMU. Thus, theimplementation of our proposed fiscal payment is relevant, has scientific noveltyand promising practical significance, therefore, for state recognition it is proposedto include it in the Tax Code of Ukraine.


Author(s):  
Clare Chambers

The conclusion recaps the arguments of Against Marriage: An Egalitarian Defence of the Marriage-Free State. The book presents a critique of state-recognized marriage and an alternative model for regulating personal relationships. The main critique of marriage is that it is inegalitarian. Feminists have long criticized the gendered nature of marriage. Even reformed marriage creates unjustified inequalities between married and unmarried people and their children. State recognition of marriage also involves the state in making controversial judgements about ways of life, undermining liberty. In place of state-recognized marriage, the marriage-free state would regulate relationship practices in a piecemeal fashion and without requiring a special status.


Mathematics ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 779
Author(s):  
Ruriko Yoshida

A tropical ball is a ball defined by the tropical metric over the tropical projective torus. In this paper we show several properties of tropical balls over the tropical projective torus and also over the space of phylogenetic trees with a given set of leaf labels. Then we discuss its application to the K nearest neighbors (KNN) algorithm, a supervised learning method used to classify a high-dimensional vector into given categories by looking at a ball centered at the vector, which contains K vectors in the space.


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