Related papers: Self-Organizing Maps with Optimized Latent Positio…
Leachates from garbage dumps can significantly compromise their surrounding area. Even if the distance between these and the populated areas could be considerable, the risk of affecting the aquifers for public use is imminent in most cases.…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Self-Organizing Maps are commonly used for unsupervised learning purposes. This paper is dedicated to the certain modification of SOM called SOMN (Self-Organizing Mixture Networks) used as a mechanism for representing grayscale digital…
In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…
An intelligent system capable of continual learning is one that can process and extract knowledge from potentially infinitely long streams of pattern vectors. The major challenge that makes crafting such a system difficult is known as…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…
Reliable pose estimation in previously unseen environments is a fundamental capability of autonomous systems. Existing LiDAR odometry methods typically employ point-, surfel-, or NDT-based map representations, which are distinct from the…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
The deployment of autonomous mobile robots is predicated on the availability of environmental maps, yet conventional generation via SLAM (Simultaneous Localization and Mapping) suffers from significant limitations in time, labor, and…
We propose a semismooth Newton algorithm for pathwise optimization (SNAP) for the LASSO and Enet in sparse, high-dimensional linear regression. SNAP is derived from a suitable formulation of the KKT conditions based on Newton derivatives.…
This paper takes an information visualization perspective to visual representations in the general SOM paradigm. This involves viewing SOM-based visualizations through the eyes of Bertin's and Tufte's theories on data graphics. The regular…
Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing methods rely on non-linear optimization techniques to find…
Self Organizing Migrating Algorithm (SOMA) is a meta-heuristic algorithm based on the self-organizing behavior of individuals in a simulated social environment. SOMA performs iterative computations on a population of potential solutions in…
The objective in statistical Optimal Transport (OT) is to consistently estimate the optimal transport plan/map solely using samples from the given source and target marginal distributions. This work takes the novel approach of posing…
Topographic feature maps are low dimensional representations of data, that preserve spatial dependencies. Current methods of training such maps (e.g. self organizing maps - SOM, generative topographic maps) require centralized control and…
We present a novel approach called Optimized Directed Roadmap Graph (ODRM). It is a method to build a directed roadmap graph that allows for collision avoidance in multi-robot navigation. This is a highly relevant problem, for example for…
We present Self-Organizing Visual Prototypes (SOP), a new training technique for unsupervised visual feature learning. Unlike existing prototypical self-supervised learning (SSL) methods that rely on a single prototype to encode all…