Related papers: Information Maps: A Practical Approach to Position…
Semantic mapping is the incremental process of "mapping" relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
Informative path planning (IPP) is used to design paths for robotic sensor platforms to extract the best/maximum possible information about a quantity of interest while operating under a set of constraints, such as the dynamic feasibility…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
We consider the problem of estimating the parameters of a vehicle dynamics model for predictive control in driving applications. Instead of solely using the instantaneous parameters estimated from the vehicle signals, we combine this with…
A new class of functions, called the `Information sensitivity functions' (ISFs), which quantify the information gain about the parameters through the measurements/observables of a dynamical system are presented. These functions can be…
Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…
Despite the popularity of information measures in analysis of probabilistic systems, proper tools for their visualization are not common. This work develops a simple matrix representation of information transfer in sequential systems,…
One of the major problems in modeling natural signals is that signals with very similar structure may locally have completely different measurements, e.g., images taken under different illumination conditions, or the speech signal captured…
Spectrum cartography constructs maps of metrics such as channel gain or received signal power across a geographic area of interest using spatially distributed sensor measurements. Applications of these maps include network planning,…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Information theory and the framework of information dynamics have been used to provide tools to characterise complex systems. In particular, we are interested in quantifying information storage, information modification and information…
One of the elements that have popularized and facilitated the use of geographical information on a variety of computational applications has been the use of Web maps; this has opened new research challenges on different subjects, from…
Target localization is a critical task for mobile sensors and has many applications. However, generating informative trajectories for these sensors is a challenging research problem. A common method uses information maps that estimate the…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
Information gathered along a path is inherently submodular; the incremental amount of information gained along a path decreases due to redundant observations. In addition to submodularity, the incremental amount of information gained is a…
The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…
In Geographical Information search, map visualization can challenge the user because results can consist of a large set of heterogeneous items, increasing visual complexity. We propose a novel visualization model to address this issue. Our…
The appearance of the world varies dramatically not only from place to place but also from hour to hour and month to month. Every day billions of images capture this complex relationship, many of which are associated with precise time and…
The MAP model was introduced in information system engineering in order to model processes on a flexible way. The intentional level of this model helps an engineer to execute a process with a strong relationship to the situation of the…