The presentation with the topic AI methods for localization in a noisy environment, held by Ana Antonova and Kameliya Kosekova, was introduced at Robotics Days '19.
In the next slides, you can find information techniques for Robot localization in more details and several GitHub Repos on the topic.
Self-Flying Drones: On a Mission to Navigate Dark, Dangerous and Unknown WorldsTahoe Silicon Mountain
http://tahoesiliconmountain.com/
Tahoe Silicon Mountain, a network of entrepreneurs and professionals who live and work in the Tahoe-Truckee area, is pleased to welcome Dr. Christos Papachristos to present at Mountain Minds Monday: “Self-Flying Drones: On a Mission to Navigate Dark, Dangerous and Unknown Worlds”
Even with all our current technical advances, dangerous and unpleasant jobs are still a part of modern life. Imagine a world where flying robots could be used to navigate in any environment, under any possible conditions, and complete risky tasks that humans currently perform.
Dr. Christos Papachristos, Post-Doc Researcher at the Autonomous Robots Lab at University of Nevada, Reno, will be speaking about how, without the benefit of GPS or previously mapped environments, drones can be used in beyond line-of-sight operation to autonomously navigate, map and explore dark and dusty, partially sealed or underground, and generally visually-degraded environments like mines or nuclear waste sites.
Dr. Papachristos will discuss the use of regular cameras with flashers, inertial sensors, 3D-structure time-of-flight cameras combined with infrared cameras, ionizing radiation detectors, and the logic behind the algorithms that guide the drones on their missions.
You can learn more about the Autonomous Robots Lab here: http://www.autonomousrobotslab.com/
Mountain Minds Monday will be on Monday, October 9th, 6-8 pm at Pizza on the Hill, in Tahoe Donner at 11509 Northwoods Blvd., Truckee. A $5 fee includes pizza and salad. Before and after the presentation, there will be time for networking.
The event will also be livestreamed and available online as it happens on YouTube: bit.ly/YouTubeTSM
This month’s event is sponsored by New Leaders, Holland & Hart LLP, Molsby & Bordner, LLP and The Lift.
You can find us on LinkedIn and Facebook and at TahoeSiliconMountain.com or sign up for email meeting announcements here: http://bit.ly/TSMEmail
Self-Flying Drones: On a Mission to Navigate Dark, Dangerous and Unknown WorldsTahoe Silicon Mountain
http://tahoesiliconmountain.com/
Tahoe Silicon Mountain, a network of entrepreneurs and professionals who live and work in the Tahoe-Truckee area, is pleased to welcome Dr. Christos Papachristos to present at Mountain Minds Monday: “Self-Flying Drones: On a Mission to Navigate Dark, Dangerous and Unknown Worlds”
Even with all our current technical advances, dangerous and unpleasant jobs are still a part of modern life. Imagine a world where flying robots could be used to navigate in any environment, under any possible conditions, and complete risky tasks that humans currently perform.
Dr. Christos Papachristos, Post-Doc Researcher at the Autonomous Robots Lab at University of Nevada, Reno, will be speaking about how, without the benefit of GPS or previously mapped environments, drones can be used in beyond line-of-sight operation to autonomously navigate, map and explore dark and dusty, partially sealed or underground, and generally visually-degraded environments like mines or nuclear waste sites.
Dr. Papachristos will discuss the use of regular cameras with flashers, inertial sensors, 3D-structure time-of-flight cameras combined with infrared cameras, ionizing radiation detectors, and the logic behind the algorithms that guide the drones on their missions.
You can learn more about the Autonomous Robots Lab here: http://www.autonomousrobotslab.com/
Mountain Minds Monday will be on Monday, October 9th, 6-8 pm at Pizza on the Hill, in Tahoe Donner at 11509 Northwoods Blvd., Truckee. A $5 fee includes pizza and salad. Before and after the presentation, there will be time for networking.
The event will also be livestreamed and available online as it happens on YouTube: bit.ly/YouTubeTSM
This month’s event is sponsored by New Leaders, Holland & Hart LLP, Molsby & Bordner, LLP and The Lift.
You can find us on LinkedIn and Facebook and at TahoeSiliconMountain.com or sign up for email meeting announcements here: http://bit.ly/TSMEmail
Darwin’s Magic: Evolutionary Computation in Nanoscience, Bioinformatics and S...Natalio Krasnogor
In this talk I will overview ten years of research in the application of evolutionary computation ideas in the natural sciences. The talk will take us on a tour that will cover problems in nanoscience, e.g. controlling self-‐organizing systems, optimizing scanning probe microscopy, etc., problems arising in bioinformatics, such as predicting protein structures and their features, to challenges emerging in systems and synthetic biology. Although the algorithmic solutions involved in these problems are different from each other, at their core, they retain Darwin’s wonderful insights. I will conclude the talk by giving a personal view on why EC has been so successful and where, in my mind, the future lies.
Detection and Tracking of Moving Object: A SurveyIJERA Editor
Object tracking is the process of locating moving object or multiple objects in sequence of frames. Object
tracking is basically a challenging problem. Difficulties in tracking of an object may arise due to abrupt changes
in environment, motion of object, noise etc. To overcome such problems different tracking algorithms have been
proposed. This paper presents various techniques related to object detection and tracking..The goal of this paper
is to present a survey of these techniques.
Three-dimensional structure from motion recovery of a moving object with nois...IJECEIAES
In this paper, a Nonlinear Unknown Input Observer (NLUIO) based approach is proposed for three-dimensional (3-D) structure from motion identification. Unlike the previous studies that require prior knowledge of either the motion parameters or scene geometry, the proposed approach assumes that the object motion is imperfectly known and considered as an unknown input to the perspective dynamical system. The reconstruction of the 3-D structure of the moving objects can be achieved using just twodimensional (2-D) images of a monocular vision system. The proposed scheme is illustrated with a numerical example in the presence of measurement noise for both static and dynamic scenes. Those results are used to clearly demonstrate the advantages of the proposed NLUIO.
Talk from /dev/summer
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A ROS IMPLEMENTATION OF THE MONO-SLAM ALGORITHMcsandit
Computer vision approaches are increasingly used in mobile robotic systems, since they allow
to obtain a very good representation of the environment by using low-power and cheap sensors.
In particular it has been shown that they can compete with standard solutions based on laser
range scanners when dealing with the problem of simultaneous localization and mapping
(SLAM), where the robot has to explore an unknown environment while building a map of it and
localizing in the same map. We present a package for simultaneous localization and mapping in
ROS (Robot Operating System) using a monocular camera sensor only. Experimental results in
real scenarios as well as on standard datasets show that the algorithm is able to track the
trajectory of the robot and build a consistent map of small environments, while running in near
real-time on a standard PC.
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In this talk Metodi Nikolov, a Quantitative Researcher, is reviewing, without being exhaustive, the usage of factor models in finance – from the simplest single factor linear regression models, through latent variables and beyond. The focus was not be put solely on stocks but rather, on exploring other data types. The hope is to give the listeners an appreciation for the different ways the models can be applied.
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In this talk I will overview ten years of research in the application of evolutionary computation ideas in the natural sciences. The talk will take us on a tour that will cover problems in nanoscience, e.g. controlling self-‐organizing systems, optimizing scanning probe microscopy, etc., problems arising in bioinformatics, such as predicting protein structures and their features, to challenges emerging in systems and synthetic biology. Although the algorithmic solutions involved in these problems are different from each other, at their core, they retain Darwin’s wonderful insights. I will conclude the talk by giving a personal view on why EC has been so successful and where, in my mind, the future lies.
Detection and Tracking of Moving Object: A SurveyIJERA Editor
Object tracking is the process of locating moving object or multiple objects in sequence of frames. Object
tracking is basically a challenging problem. Difficulties in tracking of an object may arise due to abrupt changes
in environment, motion of object, noise etc. To overcome such problems different tracking algorithms have been
proposed. This paper presents various techniques related to object detection and tracking..The goal of this paper
is to present a survey of these techniques.
Three-dimensional structure from motion recovery of a moving object with nois...IJECEIAES
In this paper, a Nonlinear Unknown Input Observer (NLUIO) based approach is proposed for three-dimensional (3-D) structure from motion identification. Unlike the previous studies that require prior knowledge of either the motion parameters or scene geometry, the proposed approach assumes that the object motion is imperfectly known and considered as an unknown input to the perspective dynamical system. The reconstruction of the 3-D structure of the moving objects can be achieved using just twodimensional (2-D) images of a monocular vision system. The proposed scheme is illustrated with a numerical example in the presence of measurement noise for both static and dynamic scenes. Those results are used to clearly demonstrate the advantages of the proposed NLUIO.
Talk from /dev/summer
Brief overview of Simulatneous Localistion and Mapping incl. brief intro to localisation methods. Relates these methods to autonomous vehicles and touches on ethical concerns.
A ROS IMPLEMENTATION OF THE MONO-SLAM ALGORITHMcsandit
Computer vision approaches are increasingly used in mobile robotic systems, since they allow
to obtain a very good representation of the environment by using low-power and cheap sensors.
In particular it has been shown that they can compete with standard solutions based on laser
range scanners when dealing with the problem of simultaneous localization and mapping
(SLAM), where the robot has to explore an unknown environment while building a map of it and
localizing in the same map. We present a package for simultaneous localization and mapping in
ROS (Robot Operating System) using a monocular camera sensor only. Experimental results in
real scenarios as well as on standard datasets show that the algorithm is able to track the
trajectory of the robot and build a consistent map of small environments, while running in near
real-time on a standard PC.
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In this talk Metodi Nikolov, a Quantitative Researcher, is reviewing, without being exhaustive, the usage of factor models in finance – from the simplest single factor linear regression models, through latent variables and beyond. The focus was not be put solely on stocks but rather, on exploring other data types. The hope is to give the listeners an appreciation for the different ways the models can be applied.
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Check out our Data Science Meetup devoted to Data Science in Journalism
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Empowering the Data Analytics Ecosystem: A Laser Focus on Value
The data analytics ecosystem thrives when every component functions at its peak, unlocking the true potential of data. Here's a laser focus on key areas for an empowered ecosystem:
1. Democratize Access, Not Data:
Granular Access Controls: Provide users with self-service tools tailored to their specific needs, preventing data overload and misuse.
Data Catalogs: Implement robust data catalogs for easy discovery and understanding of available data sources.
2. Foster Collaboration with Clear Roles:
Data Mesh Architecture: Break down data silos by creating a distributed data ownership model with clear ownership and responsibilities.
Collaborative Workspaces: Utilize interactive platforms where data scientists, analysts, and domain experts can work seamlessly together.
3. Leverage Advanced Analytics Strategically:
AI-powered Automation: Automate repetitive tasks like data cleaning and feature engineering, freeing up data talent for higher-level analysis.
Right-Tool Selection: Strategically choose the most effective advanced analytics techniques (e.g., AI, ML) based on specific business problems.
4. Prioritize Data Quality with Automation:
Automated Data Validation: Implement automated data quality checks to identify and rectify errors at the source, minimizing downstream issues.
Data Lineage Tracking: Track the flow of data throughout the ecosystem, ensuring transparency and facilitating root cause analysis for errors.
5. Cultivate a Data-Driven Mindset:
Metrics-Driven Performance Management: Align KPIs and performance metrics with data-driven insights to ensure actionable decision making.
Data Storytelling Workshops: Equip stakeholders with the skills to translate complex data findings into compelling narratives that drive action.
Benefits of a Precise Ecosystem:
Sharpened Focus: Precise access and clear roles ensure everyone works with the most relevant data, maximizing efficiency.
Actionable Insights: Strategic analytics and automated quality checks lead to more reliable and actionable data insights.
Continuous Improvement: Data-driven performance management fosters a culture of learning and continuous improvement.
Sustainable Growth: Empowered by data, organizations can make informed decisions to drive sustainable growth and innovation.
By focusing on these precise actions, organizations can create an empowered data analytics ecosystem that delivers real value by driving data-driven decisions and maximizing the return on their data investment.
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Whilst competitive headwinds remain, represented through the recent second bankruptcy filing of Sungard, which blames “COVID-19 and other macroeconomic trends including delayed customer spending decisions, insourcing and reductions in IT spending, energy inflation and reduction in demand for certain services”, the industry has seen key adjustments, where MCG believes that engineering cost management and technological innovation will be paramount to success.
MCG reports that the more favorable market conditions expected over the next few years, helped by the winding down of pandemic restrictions and a hybrid working environment will be driving market momentum forward. The continuous injection of capital by alternative investment firms, as well as the growing infrastructural investment from cloud service providers and social media companies, whose revenues are expected to grow over 3.6x larger by value in 2026, will likely help propel center provision and innovation. These factors paint a promising picture for the industry players that offset rising input costs and adapt to new technologies.
According to M Capital Group: “Specifically, the long-term cost-saving opportunities available from the rise of remote managing will likely aid value growth for the industry. Through margin optimization and further availability of capital for reinvestment, strong players will maintain their competitive foothold, while weaker players exit the market to balance supply and demand.”
As Europe's leading economic powerhouse and the fourth-largest hashtag#economy globally, Germany stands at the forefront of innovation and industrial might. Renowned for its precision engineering and high-tech sectors, Germany's economic structure is heavily supported by a robust service industry, accounting for approximately 68% of its GDP. This economic clout and strategic geopolitical stance position Germany as a focal point in the global cyber threat landscape.
In the face of escalating global tensions, particularly those emanating from geopolitical disputes with nations like hashtag#Russia and hashtag#China, hashtag#Germany has witnessed a significant uptick in targeted cyber operations. Our analysis indicates a marked increase in hashtag#cyberattack sophistication aimed at critical infrastructure and key industrial sectors. These attacks range from ransomware campaigns to hashtag#AdvancedPersistentThreats (hashtag#APTs), threatening national security and business integrity.
🔑 Key findings include:
🔍 Increased frequency and complexity of cyber threats.
🔍 Escalation of state-sponsored and criminally motivated cyber operations.
🔍 Active dark web exchanges of malicious tools and tactics.
Our comprehensive report delves into these challenges, using a blend of open-source and proprietary data collection techniques. By monitoring activity on critical networks and analyzing attack patterns, our team provides a detailed overview of the threats facing German entities.
This report aims to equip stakeholders across public and private sectors with the knowledge to enhance their defensive strategies, reduce exposure to cyber risks, and reinforce Germany's resilience against cyber threats.
3. LOCALIZATION?
Position Tracking Global
Localization Kidnapped Robot
Static and Dynamic Environment
Passive and Active Localization
Localization and Mapping
A.ANTONOVA & K.KOSEKOVA 3
8. GAUSSIAN FILTERS
Earliest implementations of the Bayes filter
Assumptions:
Beliefs are represented by multivariate normal distributions
Properties of Gaussians:
Unimodal
A.ANTONOVA & K.KOSEKOVA 8
9. KALMAN FILTER
Applicable to linear systems and continuous states
Assumptions:
Linearity in the state probability
Linearity in the measurement probability
Normally distributed initial belief
A.ANTONOVA & K.KOSEKOVA 9
10. EXTENDED KALMAN FILTER
Applicable to nonlinear systems
Applies linearization via Taylor expansion
Approximates the nonlinear functions -> leads to a
Gaussian posterior belief
The most popular tool for state estimation
Computationally efficient
Drawbacks: Uncapable of representing multi-modal
beliefs
A.ANTONOVA & K.KOSEKOVA 10GitHub: AtsushiSakai/PythonRobotics
11. EKF LOCALIZATION
Special case of Markov localization
Well-suited technique for local position tracking with limited uncertainty and in environments with distinct
features (landmarks)
Initial position is known
For the implementation of the algorithm we need the following:
Motion model
Measurement model
Map of the environment
A.ANTONOVA & K.KOSEKOVA 11
12. PARTICLE FILTER
Approximates the posterior by a finite number of
parameters
A random state samples (particles) drawn from the
posterior
Each particle is a hypothesis to the true state
Uses importance resampling to form a set of particles
This set of particles approximates the belief
A.ANTONOVA & K.KOSEKOVA 12
Jeremy Cohen, “Self-Driving Cars & Localization”
13. MONTE CARLO LOCALIZATION
Uses particle filter
Able to solve local/global localization and kidnapped robot problems (recover from localization failure)
The kidnapped robot problem is solved by adding random particles
Able to process raw sensor measurements and negative information
The accuracy-computational costs trade-off is achieved through the size of the particle set
For the implementation of the algorithm we need the following:
Motion model
Measurement model
Map of the environment
Initial belief
A.ANTONOVA & K.KOSEKOVA 13
14. SLAM
Robot has no initial information of the environment
Online and full SLAM
Known correspondence and unknown
correspondence
A.ANTONOVA & K.KOSEKOVA 14
15. EKF SLAM
Underwater vehicle Oberon, developed at the University of Sydney. Image
courtesy of Stefan Williams and Hugh Durrant-Whyte.
Earliest application of SLAM
Some assumptions:
Feature-based maps
Gaussian noise
Positive measurements
Online SLAM
A.ANTONOVA & K.KOSEKOVA 15
16. FASTSLAM
Resolving the computational complexity of EKF SLAM
Each Particle in the algorithm get separate landmark
estimators for each landmark – log(N) time.
A.ANTONOVA & K.KOSEKOVA 16
GitHub: AtsushiSakai/PythonRobotics
17. 17
“FastSLAM: A Factored Solution to theSimultaneous Localization and Mapping
ProblemWith Unknown Data Association”, M. Montemerlo