Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An emerging technology, based on solid-state depth sensors, with no mechanical parts, allows fast, adaptive, programmable scans. In this paper, we investigate the topic of adaptive, image-driven, sampling and reconstruction strategies. First, we formulate a piece-wise linear depth model with several tolerance parameters and estimate its validity for indoor and outdoor scenes. Our model and experiments predict that, in the optimal case, about 20-60 piece-wise linear structures can approximate well a depth map. This translates to a depth-to-image sampling ratio of about 1 1200. We propose a simple, generic, sampling and reconstruction algorithm, based on super-pixels. We reach a sampling rate which is still far from the optimal case. However, our sampling improves grid and random sampling, consistently, for a wide variety of reconstruction methods. Moreover, our proposed reconstruction achieves state-of-the-art results, compared to image-guided depth completion algorithms, reducing the required sampling rate by a factor of 3-4. A single-pixel depth camera built in our lab illustrates the concept.
Among the unguided methods, some use classical approach @cite_27 @cite_33 , while others rely on more advanced tools such as deep learning @cite_13 @cite_19 .
@cite_19 @cite_27 @cite_13 @cite_33
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This paper investigates, several methods for coping with inconsistency caused by multiple source information by introducing suitable consequence relations capable of inferring non trivial conclusions from an inconsistent stratified knowledge base. Some of these methods presuppose a revision step, namely a selection of one or several consistent subsets of formulas, and then classical inference is used for inferring from these subsets. Two alternative methods that do not require any revision step are studied: inference based on arguments and a new approach called safely supported inference, where inconsistency is kept local. These two last methods look suitable when the inconsistency is due to the presence of several sources of information. The paper offers a comparative study of the various inference modes under inconsistency. We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations. We use logical inference techniques for recognising textual entailment. As the performance of theorem proving turns out to be highly dependent on not readily available background knowledge, we incorporate model building, a technique borrowed from automated reasoning, and show that it is a useful robust method to approximate entailment. Finally, we use machine learning to combine these deep semantic analysis techniques with simple shallow word overlap; the resulting hybrid model achieves high accuracy on the RTE testset, given the state of the art. Our results also show that the different techniques that we employ perform very differently on some of the subsets of the RTE corpus and as a result, it is useful to use the nature of the dataset as a feature. We present three approaches for unsupervised grammar induction that are sensitive to data complexity and apply them to Klein and Manning's Dependency Model with Valence. The first, Baby Steps, bootstraps itself via iterated learning of increasingly longer sentences and requires no initialization. This method substantially exceeds Klein and Manning's published scores and achieves 39.4 accuracy on Section 23 (all sentences) of the Wall Street Journal corpus. The second, Less is More, uses a low-complexity subset of the available data: sentences up to length 15. Focusing on fewer but simpler examples trades off quantity against ambiguity; it attains 44.1 accuracy, using the standard linguistically-informed prior and batch training, beating state-of-the-art. Leapfrog, our third heuristic, combines Less is More with Baby Steps by mixing their models of shorter sentences, then rapidly ramping up exposure to the full training set, driving up accuracy to 45.0 . These trends generalize to the Brown corpus; awareness of data complexity may improve other parsing models and unsupervised algorithms.