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Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection

Authors: --- --- --- --- et al.
ISBN: 9789811562631 Year: Pages: 137 DOI: 10.1007/978-981-15-6263-1 Language: English
Publisher: Springer Nature
Subject: Agriculture (General) --- Mathematics --- Computer Science
Added to DOAB on : 2020-09-01 00:02:34
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Abstract

This open access book focuses on robot introspection, which has a direct impact on physical human–robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.

Mobile Mapping Technologies

Authors: --- --- ---
ISBN: 9783039280186 9783039280193 Year: Pages: 334 DOI: 10.3390/books978-3-03928-019-3 Language: English
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2020-01-07 09:08:26
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Mobile Mapping technologies have seen a rapid growth of research activity and interest in the last years, due to the increased demand of accurate, dense and geo-referenced 3D data. Their main characteristic is the ability of acquiring 3D information of large areas dynamically. This versatility has expanded their application fields from the civil engineering to a broader range (industry, emergency response, cultural heritage...), which is constantly widening. This increased number of needs, some of them specially challenging, is pushing the Scientific Community, as well as companies, towards the development of innovative solutions, ranging from new hardware / open source software approaches and integration with other devices, up to the adoption of artificial intelligence methods for the automatic extraction of salient features and quality assessment for performance verification The aim of the present book is to cover the most relevant topics and trends in Mobile Mapping Technology, and also to introduce the new tendencies of this new paradigm of geospatial science.

Keywords

cultural heritage --- restoration --- indoor mapping --- laser scanning --- wearable mobile laser system --- 3D digitalization --- SLAM --- visual landmark sequence --- indoor topological localization --- convolutional neural network (CNN) --- second order hidden Markov model --- ORB-SLAM2 --- binary vocabulary --- small-scale vocabulary --- rapid relocation --- terrestrial laser scanning --- tunnel central axis --- tunnel cross section --- enhanced RANSAC --- quadric fitting --- constrained nonlinear least-squares problem --- visual simultaneous localization and mapping --- dynamic environment --- RGB-D camera --- encoder --- OctoMap --- IMMS --- indoor mapping --- MLS --- mobile laser scanning --- SLAM --- point clouds --- 2D laser scanner --- 2D laser range-finder --- LiDAR --- LRF --- sensors configurations --- Lidar localization system --- unmanned vehicle --- segmentation-based feature extraction --- category matching --- multi-group-step L-M optimization --- map management --- indoor mapping --- room type tagging --- semantic enrichment --- grammar --- Bayesian inference --- indoor localization --- crowdsourcing trajectory --- fingerprinting --- smartphone --- mobile mapping --- laser scanning --- self-calibration --- 3D point clouds --- geometric features --- motion estimation --- trajectory fusion --- mobile mapping --- sensor fusion --- optical sensors --- robust statistical analysis --- portable mobile mapping system --- handheld --- 3D processing --- point cloud --- Vitis vinifera --- terrestrial laser scanning --- plant vigor --- mobile mapping --- precision agriculture --- vine size --- visual positioning --- indoor scenes --- automated database construction --- image retrieval

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