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Articles 361 - 390 of 629
Full-Text Articles in Artificial Intelligence and Robotics
Unveiling The Mystery Of Api Evolution In Deep Learning Frameworks: A Case Study Of Tensorflow 2, Zejun Zhang, Yanming Yang, Xin Xia, David Lo, Xiaoxue Ren, John C. Grundy
Unveiling The Mystery Of Api Evolution In Deep Learning Frameworks: A Case Study Of Tensorflow 2, Zejun Zhang, Yanming Yang, Xin Xia, David Lo, Xiaoxue Ren, John C. Grundy
Research Collection School Of Computing and Information Systems
API developers have been working hard to evolve APIs to provide more simple, powerful, and robust API libraries. Although API evolution has been studied for multiple domains, such as Web and Android development, API evolution for deep learning frameworks has not yet been studied. It is not very clear how and why APIs evolve in deep learning frameworks, and yet these are being more and more heavily used in industry. To fill this gap, we conduct a large-scale and in-depth study on the API evolution of Tensorflow 2, which is currently the most popular deep learning framework. We first extract …
Guest Editorial: Non-Iid Outlier Detection In Complex Contexts, Guansong Pang, Fabrizio Angiulli, Mihai Cucuringu, Huan Liu
Guest Editorial: Non-Iid Outlier Detection In Complex Contexts, Guansong Pang, Fabrizio Angiulli, Mihai Cucuringu, Huan Liu
Research Collection School Of Computing and Information Systems
Outlier detection, also known as anomaly detection, aims at identifying data instances that are rare or significantly different from the majority of instances. Due to its significance in many critical domains like cybersecurity, fintech, healthcare, public security, and AI safety, outlier detection has been one of the most active research areas in various communities, such as machine learning, data mining, computer vision, and statistics. Traditional outlier-detection techniques generally assume that data are independent and identically distributed (IID), which are significantly challenged in complex contexts where data are actually non-IID. These contexts are ubiquitous in not only graph data, sequence data, …
Machine Learning Approaches To Dribble Hand-Off Action Classification With Sportvu Nba Player Coordinate Data, Dembe Stephanos
Machine Learning Approaches To Dribble Hand-Off Action Classification With Sportvu Nba Player Coordinate Data, Dembe Stephanos
Electronic Theses and Dissertations
Recently, strategies of National Basketball Association teams have evolved with the skillsets of players and the emergence of advanced analytics. One of the most effective actions in dynamic offensive strategies in basketball is the dribble hand-off (DHO). This thesis proposes an architecture for a classification pipeline for detecting DHOs in an accurate and automated manner. This pipeline consists of a combination of player tracking data and event labels, a rule set to identify candidate actions, manually reviewing game recordings to label the candidates, and embedding player trajectories into hexbin cell paths before passing the completed training set to the classification …
Exploring Ai And Multiplayer In Java, Ronni Kurtzhals
Exploring Ai And Multiplayer In Java, Ronni Kurtzhals
Student Academic Conference
I conducted research into three topics: artificial intelligence, package deployment, and multiplayer servers in Java. This research came together to form my project presentation on the implementation of these topics, which I felt accurately demonstrated the various things I have learned from my courses at Moorhead State University. Several resources were consulted throughout the project, including the work of W3Schools and StackOverflow as well as relevant assignments and textbooks from previous classes. I found this project relevant to computer science and information systems for several reasons, such as the AI component and use of SQL data tables; but it was …
Cross-Topic Rumor Detection Using Topic-Mixtures, Weijieying Ren, Jing Jiang, Ling Min Serena Khoo, Hai Leong Chieu
Cross-Topic Rumor Detection Using Topic-Mixtures, Weijieying Ren, Jing Jiang, Ling Min Serena Khoo, Hai Leong Chieu
Research Collection School Of Computing and Information Systems
There has been much interest in rumor detection using deep learning models in recent years. A well-known limitation of deep learning models is that they tend to learn superficial patterns, which restricts their generalization ability. We find that this is also true for cross-topic rumor detection. In this paper, we propose a method inspired by the “mixture of experts” paradigm. We assume that the prediction of the rumor class label given an instance is dependent on the topic distribution of the instance. After deriving a vector representation for each topic, given an instance, we derive a “topic mixture” vector for …
Homophily Outlier Detection In Non-Iid Categorical Data, Guansong Pang, Longbing Cao, Ling Chen
Homophily Outlier Detection In Non-Iid Categorical Data, Guansong Pang, Longbing Cao, Ling Chen
Research Collection School Of Computing and Information Systems
Most of existing outlier detection methods assume that the outlier factors (i.e., outlierness scoring measures) of data entities (e.g., feature values and data objects) are Independent and Identically Distributed (IID). This assumption does not hold in real-world applications where the outlierness of different entities is dependent on each other and/or taken from different probability distributions (non-IID). This may lead to the failure of detecting important outliers that are too subtle to be identified without considering the non-IID nature. The issue is even intensified in more challenging contexts, e.g., high-dimensional data with many noisy features. This work introduces a novel outlier …
Efficient Retrieval Of Matrix Factorization-Based Top-K Recommendations: A Survey Of Recent Approaches, Dung D. Le, Hady W. Lauw
Efficient Retrieval Of Matrix Factorization-Based Top-K Recommendations: A Survey Of Recent Approaches, Dung D. Le, Hady W. Lauw
Research Collection School Of Computing and Information Systems
Top-k recommendation seeks to deliver a personalized list of k items to each individual user. An established methodology in the literature based on matrix factorization (MF), which usually represents users and items as vectors in low-dimensional space, is an effective approach to recommender systems, thanks to its superior performance in terms of recommendation quality and scalability. A typical matrix factorization recommender system has two main phases: preference elicitation and recommendation retrieval. The former analyzes user-generated data to learn user preferences and item characteristics in the form of latent feature vectors, whereas the latter ranks the candidate items based on the …
Time Period-Based Top-K Semantic Trajectory Pattern Query, Munkh-Erdene Yadamjav, Farhana Murtaza Choudhury, Zhifeng Bao, Baihua Zheng
Time Period-Based Top-K Semantic Trajectory Pattern Query, Munkh-Erdene Yadamjav, Farhana Murtaza Choudhury, Zhifeng Bao, Baihua Zheng
Research Collection School Of Computing and Information Systems
The sequences of user check-ins form semantic trajectories that represent the movement of users through time, along with the types of POIs visited. Extracting patterns in semantic trajectories can be widely used in applications such as route planning and trip recommendation. Existing studies focus on the entire time duration of the data, which may miss some temporally significant patterns. In addition, they require thresholds to define the interestingness of the patterns. Motivated by the above, we study a new problem of finding top-k semantic trajectory patterns w.r.t. a given time period and categories by considering the spatial closeness of POIs. …
Spectral Tensor Train Parameterization Of Deep Learning Layers, A. Obukhov, M. Rakhuba, A. Liniger, Zhiwu Huang, S. Georgoulis, D. Dai, Van Gool L.
Spectral Tensor Train Parameterization Of Deep Learning Layers, A. Obukhov, M. Rakhuba, A. Liniger, Zhiwu Huang, S. Georgoulis, D. Dai, Van Gool L.
Research Collection School Of Computing and Information Systems
We study low-rank parameterizations of weight matrices with embedded spectral properties in the Deep Learning context. The low-rank property leads to parameter efficiency and permits taking computational shortcuts when computing mappings. Spectral properties are often subject to constraints in optimization problems, leading to better models and stability of optimization. We start by looking at the compact SVD parameterization of weight matrices and identifying redundancy sources in the parameterization. We further apply the Tensor Train (TT) decomposition to the compact SVD components, and propose a non-redundant differentiable parameterization of fixed TT-rank tensor manifolds, termed the Spectral Tensor Train Parameterization (STTP). We …
Mixed Dish Recognition With Contextual Relation And Domain Alignment, Lixi Deng, Jingjing Chen, Chong-Wah Ngo, Qianru Sun, Sheng Tang, Yongdong Zhang, Tat-Seng Chua
Mixed Dish Recognition With Contextual Relation And Domain Alignment, Lixi Deng, Jingjing Chen, Chong-Wah Ngo, Qianru Sun, Sheng Tang, Yongdong Zhang, Tat-Seng Chua
Research Collection School Of Computing and Information Systems
Mixed dish is a food category that contains different dishes mixed in one plate, and is popular in Eastern and Southeast Asia. Recognizing the individual dishes in a mixed dish image is important for health related applications, e.g. to calculate the nutrition values of the dish. However, most existing methods that focus on single dish classification are not applicable to the recognition of mixed dish images. The main challenge of mixed dish recognition comes from three aspects: a wide range of dish types, the complex dish combination with severe overlap between different dishes and the large visual variances of same …
How Do Users Answer Matlab Questions On Q&A Sites? A Case Study On Stack Overflow And Mathworks, Mahshid Naghashzadeh, Amir Hagshenas, Ashkan Sami, David Lo
How Do Users Answer Matlab Questions On Q&A Sites? A Case Study On Stack Overflow And Mathworks, Mahshid Naghashzadeh, Amir Hagshenas, Ashkan Sami, David Lo
Research Collection School Of Computing and Information Systems
MATLAB is an engineering programming language with various toolboxes that has a dedicated Question and Answer (Q&A) platform on the MathWorks website, which is similar to Stack Overflow (SO). Moreover, some MATLAB users ask their questions on SO. This paper aims to compare these two Q&A platforms to see what kind of questions are asked and how developers answer these questions in each platform. The result of our analysis on 80,382 MATLAB questions on SO and 266,367 questions on MathWorks show that MATLAB questions on topics ranging from the MATLAB software installation to questions related to programming received high votes …
Is The Ground Truth Really Accurate? Dataset Purification For Automated Program Repair, Deheng Yang, Yan Lei, Xiaoguang Mao, David Lo, Huan Xie, Meng Yan
Is The Ground Truth Really Accurate? Dataset Purification For Automated Program Repair, Deheng Yang, Yan Lei, Xiaoguang Mao, David Lo, Huan Xie, Meng Yan
Research Collection School Of Computing and Information Systems
Datasets of real-world bugs shipped with human-written patches are intensively used in the evaluation of existing automated program repair (APR) techniques, wherein the human-written patches always serve as the ground truth, for manual or automated assessment approaches, to evaluate the correctness of test-suite adequate patches. An inaccurate human-written patch tangled with other code changes will pose threats to the reliability of the assessment results. Therefore, the construction of such datasets always requires much manual effort on isolating real bug fixes from bug fixing commits. However, the manual work is time-consuming and prone to mistakes, and little has been known on …
Learning To Assess The Quality Of Stroke Rehabilitation Exercises, Min Hun Lee, Daniel P. Siewiorek, Asim Smailagic, Alexandre Bernardino, Sergi Bermúdez I Badia
Learning To Assess The Quality Of Stroke Rehabilitation Exercises, Min Hun Lee, Daniel P. Siewiorek, Asim Smailagic, Alexandre Bernardino, Sergi Bermúdez I Badia
Research Collection School Of Computing and Information Systems
Due to the limited number of therapists, task-oriented exercises are often prescribed for post-stroke survivors as in-home rehabilitation. During in-home rehabilitation, a patient may become unmotivated or confused to comply prescriptions without the feedback of a therapist. To address this challenge, this paper proposes an automated method that can achieve not only qualitative, but also quantitative assessment of stroke rehabilitation exercises. Specifically, we explored a threshold model that utilizes the outputs of binary classifiers to quantify the correctness of a movements into a performance score. We collected movements of 11 healthy subjects and 15 post-stroke survivors using a Kinect sensor …
Accelerating Large-Scale Heterogeneous Interaction Graph Embedding Learning Via Importance Sampling, Yugang Ji, Mingyang Yin, Hongxia Yang, Jingren Zhou, Vincent W. Zheng, Chuan Shi, Yuan Fang
Accelerating Large-Scale Heterogeneous Interaction Graph Embedding Learning Via Importance Sampling, Yugang Ji, Mingyang Yin, Hongxia Yang, Jingren Zhou, Vincent W. Zheng, Chuan Shi, Yuan Fang
Research Collection School Of Computing and Information Systems
In real-world problems, heterogeneous entities are often related to each other through multiple interactions, forming a Heterogeneous Interaction Graph (HIG in short). While modeling HIGs to deal with fundamental tasks, graph neural networks present an attractive opportunity that can make full use of the heterogeneity and rich semantic information by aggregating and propagating information from different types of neighborhoods. However, learning on such complex graphs, often with millions or billions of nodes, edges, and various attributes, could suffer from expensive time cost and high memory consumption. In this paper, we attempt to accelerate representation learning on large-scale HIGs by adopting …
Relative And Absolute Location Embedding For Few-Shot Node Classification On Graph, Zemin Liu, Yuan Fang, Chenghao Liu, Steven C. H. Hoi
Relative And Absolute Location Embedding For Few-Shot Node Classification On Graph, Zemin Liu, Yuan Fang, Chenghao Liu, Steven C. H. Hoi
Research Collection School Of Computing and Information Systems
Node classification is an important problem on graphs. While recent advances in graph neural networks achieve promising performance, they require abundant labeled nodes for training. However, in many practical scenarios there often exist novel classes in which only one or a few labeled nodes are available as supervision, known as few-shot node classification. Although meta-learning has been widely used in vision and language domains to address few-shot learning, its adoption on graphs has been limited. In particular, graph nodes in a few-shot task are not independent and relate to each other. To deal with this, we propose a novel model …
A New Feature Selection Method Based On Class Association Rule, Sami A. Al-Dhaheri
A New Feature Selection Method Based On Class Association Rule, Sami A. Al-Dhaheri
Dissertations, Theses, and Capstone Projects
Feature selection is a key process for supervised learning algorithms. It involves discarding irrelevant attributes from the training dataset from which the models are derived. One of the vital feature selection approaches is Filtering, which often uses mathematical models to compute the relevance for each feature in the training dataset and then sorts the features into descending order based on their computed scores. However, most Filtering methods face several challenges including, but not limited to, merely considering feature-class correlation when defining a feature’s relevance; additionally, not recommending which subset of features to retain. Leaving this decision to the end-user may …
The Value Of Humanization In Customer Service, Yang Gao, Huaxia Rui, Shujing Sun
The Value Of Humanization In Customer Service, Yang Gao, Huaxia Rui, Shujing Sun
Research Collection School Of Computing and Information Systems
As algorithm-based agents become increasingly capable of handling customer service queries, customers are often uncertain whether they are served by humans or algorithms, and managers are left to question the value of human agents once the technology matures. The current paper studies this question by quantifying the impact of customers' enhanced perception of being served by human agents on customer service interactions. Our identification strategy hinges on the abrupt implementation by Southwest Airlines of a signature policy, which requires the inclusion of an agent's first name in responses on Twitter, thereby making the agent more humanized in the eyes of …
A Continual Deepfake Detection Benchmark: Dataset, Methods, And Essentials, Chuqiao Li, Zhiwu Huang, Danda Pani Paudel, Yabin Wang, Mohamad Shahbazi, Xiaopeng Hong, Van Gool Luc
A Continual Deepfake Detection Benchmark: Dataset, Methods, And Essentials, Chuqiao Li, Zhiwu Huang, Danda Pani Paudel, Yabin Wang, Mohamad Shahbazi, Xiaopeng Hong, Van Gool Luc
Research Collection School Of Computing and Information Systems
There have been emerging a number of benchmarks and techniques for the detection of deepfakes. However, very few works study the detection of incrementally appearing deepfakes in the real-world scenarios. To simulate the wild scenes, this paper suggests a continual deepfake detection benchmark (CDDB) over a new collection of deepfakes from both known and unknown generative models. The suggested CDDB designs multiple evaluations on the detection over easy, hard, and long sequence of deepfake tasks, with a set of appropriate measures. In addition, we exploit multiple approaches to adapt multiclass incremental learning methods, commonly used in the continual visual recognition, …
The Introduction Of Big Data In Cloud Computing, Austin Gruenberg
The Introduction Of Big Data In Cloud Computing, Austin Gruenberg
Student Academic Conference
One of the fastest-growing technologies that many people are unaware of is the world of cloud computing. Having started in 2006, it is a relatively new technological advancement in the computer industry. The major branch of cloud computing that I decided to focus on was big data. I decided to research this topic to better understand what its current uses are, to see what the future holds for Big Data and cloud computing and because it is a growing, significant piece of technology being used in our society today. Big data and cloud computing are very important industries and have …
"Who Can Help Me?'': Knowledge Infused Matching Of Support Seekers And Support Providers During Covid-19 On Reddit, Manas Gaur, Kaushik Roy, Aditya Sharma, Biplav Srivastava, Amit Sheth
"Who Can Help Me?'': Knowledge Infused Matching Of Support Seekers And Support Providers During Covid-19 On Reddit, Manas Gaur, Kaushik Roy, Aditya Sharma, Biplav Srivastava, Amit Sheth
Publications
During the ongoing COVID-19 crisis, subreddits on Reddit, such as r/Coronavirus saw a rapid growth in user's requests for help (support seekers - SSs) including individuals with varying professions and experiences with diverse perspectives on care (support providers - SPs). Currently, knowledgeable human moderators match an SS with a user with relevant experience, i.e, an SP on these subreddits. This unscalable process defers timely care. We present a medical knowledge-infused approach to efficient matching of SS and SPs validated by experts for the users affected by anxiety and depression, in the context of with COVID-19. After matching, each SP to …
Single And Differential Morph Attack Detection, Baaria Chaudhary
Single And Differential Morph Attack Detection, Baaria Chaudhary
Graduate Theses, Dissertations, and Problem Reports (ETD)
Face recognition systems operate on the assumption that a person's face serves as the unique link to their identity. In this thesis, we explore the problem of morph attacks, which have become a viable threat to face verification scenarios precisely because of their inherent ability to break this unique link. A morph attack occurs when two people who share similar facial features morph their faces together such that the resulting face image is recognized as either of two contributing individuals. Morphs inherit enough visual features from both individuals that both humans and automatic algorithms confuse them. The contributions of this …
Data: The Good, The Bad And The Ethical, John D. Kelleher, Filipe Cabral Pinto, Luis M. Cortesao
Data: The Good, The Bad And The Ethical, John D. Kelleher, Filipe Cabral Pinto, Luis M. Cortesao
Articles
It is often the case with new technologies that it is very hard to predict their long-term impacts and as a result, although new technology may be beneficial in the short term, it can still cause problems in the longer term. This is what happened with oil by-products in different areas: the use of plastic as a disposable material did not take into account the hundreds of years necessary for its decomposition and its related long-term environmental damage. Data is said to be the new oil. The message to be conveyed is associated with its intrinsic value. But as in …
Vision-Based Analytics For Improved Ai-Driven Iot Applications, Amit Sharma
Vision-Based Analytics For Improved Ai-Driven Iot Applications, Amit Sharma
Dissertations and Theses Collection (Open Access)
Proliferation of Internet of Things (IoT) sensor systems, primarily driven by cheaper embedded hardware platforms and wide availability of light-weight software platforms, has opened up doors for large-scale data collection opportunities. The availability of massive amount of data has in-turn given way to rapidly growing machine learning models e.g. You Only Look Once (YOLO), Single-Shot-Detectors (SSD) and so on. There has been a growing trend of applying machine learning techniques, e.g., object detection, image classification, face detection etc., on data collected from camera sensors and therefore enabling plethora of vision-sensing applications namely self-driving cars, automatic crowd monitoring, traffic-flow analysis, occupancy …
Deep Multi-Task Learning For Depression Detection And Prediction In Longitudinal Data, Guansong Pang, Ngoc Thien Anh Pham, Emma Baker, Rebecca Bentley, Anton Van Den Hengel
Deep Multi-Task Learning For Depression Detection And Prediction In Longitudinal Data, Guansong Pang, Ngoc Thien Anh Pham, Emma Baker, Rebecca Bentley, Anton Van Den Hengel
Research Collection School Of Computing and Information Systems
Depression is among the most prevalent mental disorders, affecting millions of people of all ages globally. Machine learning techniques have shown effective in enabling automated detection and prediction of depression for early intervention and treatment. However, they are challenged by the relative scarcity of instances of depression in the data. In this work we introduce a novel deep multi-task recurrent neural network to tackle this challenge, in which depression classification is jointly optimized with two auxiliary tasks, namely one-class metric learning and anomaly ranking. The auxiliary tasks introduce an inductive bias that improves the classification model's generalizability on small depression …
Heterogeneous Univariate Outlier Ensembles In Multidimensional Data, Guansong Pang, Longbing Cao
Heterogeneous Univariate Outlier Ensembles In Multidimensional Data, Guansong Pang, Longbing Cao
Research Collection School Of Computing and Information Systems
In outlier detection, recent major research has shifted from developing univariate methods to multivariate methods due to the rapid growth of multidimensional data. However, one typical issue of this paradigm shift is that many multidimensional data often mainly contains univariate outliers, in which many features are actually irrelevant. In such cases, multivariate methods are ineffective in identifying such outliers due to the potential biases and the curse of dimensionality brought by irrelevant features. Those univariate outliers might be well detected by applying univariate outlier detectors in individually relevant features. However, it is very challenging to choose a right univariate detector …
Nearest Centroid: A Bridge Between Statistics And Machine Learning, Manoj Thulasidas
Nearest Centroid: A Bridge Between Statistics And Machine Learning, Manoj Thulasidas
Research Collection School Of Computing and Information Systems
In order to guide our students of machine learning in their statistical thinking, we need conceptually simple and mathematically defensible algorithms. In this paper, we present the Nearest Centroid algorithm (NC) algorithm as a pedagogical tool, combining the key concepts behind two foundational algorithms: K-Means clustering and K Nearest Neighbors (k- NN). In NC, we use the centroid (as defined in the K-Means algorithm) of the observations belonging to each class in our training data set and its distance from a new observation (similar to k-NN) for class prediction. Using this obvious extension, we will illustrate how the concepts of …
Interventional Few-Shot Learning, Zhongqi Yue, Zhang Hanwang, Qianru Sun, Xian-Sheng Hua
Interventional Few-Shot Learning, Zhongqi Yue, Zhang Hanwang, Qianru Sun, Xian-Sheng Hua
Research Collection School Of Computing and Information Systems
We uncover an ever-overlooked deficiency in the prevailing Few-Shot Learning (FSL) methods: the pre-trained knowledge is indeed a confounder that limits the performance. This finding is rooted from our causal assumption: a Structural Causal Model (SCM) for the causalities among the pre-trained knowledge, sample features, and labels. Thanks to it, we propose a novel FSL paradigm: Interventional Few-Shot Learning (IFSL). Specifically, we develop three effective IFSL algorithmic implementations based on the backdoor adjustment, which is essentially a causal intervention towards the SCM of many-shot learning: the upper-bound of FSL in a causal view. It is worth noting that the contribution …
Causal Intervention For Weakly-Supervised Semantic Segmentation, Zhang Dong, Hanwang Zhang, Jinhui Tang, Xian-Sheng Hua, Qianru Sun
Causal Intervention For Weakly-Supervised Semantic Segmentation, Zhang Dong, Hanwang Zhang, Jinhui Tang, Xian-Sheng Hua, Qianru Sun
Research Collection School Of Computing and Information Systems
We present a causal inference framework to improve Weakly-Supervised Semantic Segmentation (WSSS). Specifically, we aim to generate better pixel-level pseudo-masks by using only image-level labels --- the most crucial step in WSSS. We attribute the cause of the ambiguous boundaries of pseudo-masks to the confounding context, e.g., the correct image-level classification of "horse'' and "person'' may be not only due to the recognition of each instance, but also their co-occurrence context, making the model inspection (e.g., CAM) hard to distinguish between the boundaries. Inspired by this, we propose a structural causal model to analyze the causalities among images, contexts, and …
Espade: An Efficient And Semantically Secure Shortest Path Discovery For Outsourced Location-Based Services, Bharath K. Samanthula, Divyadharshini Karthikeyan, Boxiang Dong, K. Anitha Kumari
Espade: An Efficient And Semantically Secure Shortest Path Discovery For Outsourced Location-Based Services, Bharath K. Samanthula, Divyadharshini Karthikeyan, Boxiang Dong, K. Anitha Kumari
Department of Computer Science Faculty Scholarship and Creative Works
With the rapid growth of smart devices and technological advancements in tracking geospatial data, the demand for Location-Based Services (LBS) is facing a constant rise in several domains, including military, healthcare and transportation. It is a natural step to migrate LBS to a cloud environment to achieve on-demand scalability and increased resiliency. Nonetheless, outsourcing sensitive location data to a third-party cloud provider raises a host of privacy concerns as the data owners have reduced visibility and control over the outsourced data. In this paper, we consider outsourced LBS where users want to retrieve map directions without disclosing their location information. …
Dual-Slam: A Framework For Robust Single Camera Navigation, Huajian Huang, Wen-Yan Lin, Siying Liu, Dong Zhang, Sai-Kit Yeung
Dual-Slam: A Framework For Robust Single Camera Navigation, Huajian Huang, Wen-Yan Lin, Siying Liu, Dong Zhang, Sai-Kit Yeung
Research Collection School Of Computing and Information Systems
SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable to local pose estimation failures. As local pose estimation is ill-conditioned, local pose estimation failures happen regularly, making the overall SLAM system brittle. This paper attempts to correct this problem. We note that while local pose estimation is ill-conditioned, pose estimation over longer sequences is well-conditioned. Thus, local pose estimation errors eventually manifest themselves as mapping inconsistencies. When this occurs, we save the current map and activate two …