Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is discarded or a new landmark is initialized rather than risking an incorrect association. To address the inevitable “duplicate” landmarks that arise, we present an efficient map-merging framework to detect duplicate constellations of landmarks, providing a high-confidence loopclosure mechanism well-suited for object-level SLAM. This approach uses an incrementally-computable approximation of landmark uncertainty that only depends on local information in the SLAM graph, avoiding expensive recovery of the full system covariance matrix. This enables a search based on geometric consistency (GC) (rather than full joint compatibility (JC)) that inexpensively reduces the search space to a handful of “best” hypotheses. Furthermore, we reformulate the commonly-used interpretation tree to allow for more efficient integration of clique-based pairwise compatibility, accelerating the branch-and-bound max-cardinality search. Our method is demonstrated to match the performance of full JC methods at significantly-reduced computational cost, facilitating robust object-based loop-closure over large SLAM problems.
More along the lines of this work, @cite_11 merge duplicate'' landmarks based on a semantic-aware clustering algorithm. However, the clustering formulation is somewhat limited, as data associations (i.e. merge decisions) are made individually rather than jointly.
@cite_11
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Traditional approaches to simultaneous localization and mapping (SLAM) rely on low-level geometric features such as points, lines, and planes. They are unable to assign semantic labels to landmarks observed in the environment. Furthermore, loop closure recognition based on low-level features is often viewpoint-dependent and subject to failure in ambiguous or repetitive environments. On the other hand, object recognition methods can infer landmark classes and scales, resulting in a small set of easily recognizable landmarks, ideal for view-independent unambiguous loop closure. In a map with several objects of the same class, however, a crucial data association problem exists. While data association and recognition are discrete problems usually solved using discrete inference, classical SLAM is a continuous optimization over metric information. In this paper, we formulate an optimization problem over sensor states and semantic landmark positions that integrates metric information, semantic information, and data associations, and decompose it into two interconnected problems: an estimation of discrete data association and landmark class probabilities, and a continuous optimization over the metric states. The estimated landmark and robot poses affect the association and class distributions, which in turn affect the robot-landmark pose optimization. The performance of our algorithm is demonstrated on indoor and outdoor datasets. Abstract Large amount of data is being generated from sensors, satellites, social media etc. This big data (velocity, variety, veracity, value and veracity) can be processed so as to make timely decisions by the decision makers. This paper presents results of the proposed Hadoop framework that performs entity resolution in Map and reduce phase. MapReduce phase matches two real world objects and generates rules. The similarity score of these rules are used for matching stream data during testing phase. Similarity is calculated using 13 different semantic measures such as token-based similarity, edit-based similarity, hybrid similarity, phonetic similarity as well as domain dependent Natural language processing measures. Semantic measures are implemented using Hive programming. The proposed system is tested using e-catalogues of Amazon and Google. This paper presents a new approach to the multi-robot map-alignment problem that enables teams of robots to build joint maps without initial knowledge of their relative poses. The key contribution of this work is an optimal algorithm for merging (not necessarily overlapping) maps that are created by different robots independently. Relative pose measurements between pairs of robots are processed to compute the coordinate transformation between any two maps. Noise in the robot-to-robot observations, propagated through the map-alignment process, increases the error in the position estimates of the transformed landmarks, and reduces the overall accuracy of the merged map. When there is overlap between the two maps, landmarks that appear twice provide additional information, in the form of constraints, which increases the alignment accuracy. Landmark duplicates are identified through a fast nearest-neighbor matching algorithm. In order to reduce the computational complexity of this search process, a kd-tree is used to represent the landmarks in the original map. The criterion employed for matching any two landmarks is the Mahalanobis distance. As a means of validation, we present experimental results obtained from two robots mapping an area of 4,800 m2 The problem of merging multiple databases of information about common entities is frequently encountered in KDD and decision support applications in large commercial and government organizations. The problem we study is often called the Merge Purge problem and is difficult to solve both in scale and accuracy. Large repositories of data typically have numerous duplicate information entries about the same entities that are difficult to cull together without an intelligent ’’equational theory‘‘ that identifies equivalent items by a complex, domain-dependent matching process. We have developed a system for accomplishing this Data Cleansing task and demonstrate its use for cleansing lists of names of potential customers in a direct marketing-type application. Our results for statistically generated data are shown to be accurate and effective when processing the data multiple times using different keys for sorting on each successive pass. Combing results of individual passes using transitive closure over the independent results, produces far more accurate results at lower cost. The system provides a rule programming module that is easy to program and quite good at finding duplicates especially in an environment with massive amounts of data. This paper details improvements in our system, and reports on the successful implementation for a real-world database that conclusively validates our results previously achieved for statistically generated data.