Online learning enables effective predictive modeling on complex data streams. To overcome the negative impact of possibly high-dimensional data, sparse online learning (SOL) has been proposed by imposing various sparse constraints to sheer the resultant model structure. However, most existing SOL studies focused on a fixed feature space, whereas in practice the steaming data observations may increment in both quantity and feature dimensions, leading to varying feature spaces. In this paper, we propose a novel ℓ1,∞-mixed norm-based row sparsity SOL algorithm (SOOFS) to handle data streams in varying feature spaces. We empower SOOFS with a tailored online CUR matrix decomposition method based on the promoted row sparsity to actively and adaptively select informative instances in the sliding windows, facilitating stable online performance over time. Empirical results on ten benchmark datasets substantiate the superiority of SOOFS over three state-of-the-art competitors in terms of classification accuracy and model sparsity.

Aiming at learning from a sequence of data instances over time, online learning has attracted increasing attention in the big data era. As two important variants, sparse online learning has been extensively explored by facilitating sparse constraints for online models such as truncated gradient, ℓ1-norm regularization, ℓ1-ball projection, and regularized dual averaging; while online active learning aims to build an online prediction model with a limited number of labeled instances, deploying the so called query strategies to select informative instances over time. However, most existing studies consider sparse online learning or online active learning with fixed feature spaces, whereby in real practice the features may be dynamically evolved over time. To the end, we propose a novel unified one-pass online learning framework named OASF for simultaneously online active learning and sparse online learning tailored for data streams described by open feature spaces, where new features can emerge constantly, and old features may be vanished over various time spans. Specifically, we technically develop an effective online CUR matrix decomposition based on the ℓ1,2mixed norm constraint for simultaneously selecting important up-to-date samples in a sliding window and facilitating stable and meaningful features in open feature spaces over time. If the loss function is simultaneously Lipschitz and convex, a sub-linear regret bound of our proposed algorithm is guaranteed with. Extensive experiments that are conducted with multiple streaming datasets have demonstrated the effectiveness of the proposed OASF compared with state-of-the-art online active learning and sparse online learning methods.

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional assumptions, limiting their performance. In this article, we present a comprehensive object SLAM framework that focuses on object-based perception and object-oriented robot tasks. First, we propose an ensemble data association approach for associating objects in complicated conditions by incorporating parametric and nonparametric statistic testing. In addition, we suggest an outlier-robust centroid and scale estimation algorithm for modeling objects based on the iForest and line alignment. Then a lightweight and object-oriented map is represented by estimated general object models. Taking into consideration the semantic invariance of objects, we convert the object map to a topological map to provide semantic descriptors to enable multimap matching. Finally, we suggest an object-driven active exploration strategy to achieve autonomous mapping in the grasping scenario. A range of public datasets and real-world results in mapping, augmented reality, scene matching, relocalization, and robotic manipulation have been used to evaluate the proposed object SLAM framework for its efficient performance.

The dynamic factors in the environment will lead to the decline of camera localization accuracy due to the violation of the static environment assumption of SLAM algorithm. Recently, some related works generally use the combination of semantic constraints and geometric constraints to deal with dynamic objects, but problems can still be raised, such as poor real-time performance, easy to treat people as rigid bodies, and poor performance in low dynamic scenes. In this paper, a dynamic scene-oriented visual SLAM algorithm based on object detection and coarse-to-fine static probability named CFP-SLAM is proposed. The algorithm combines semantic constraints and geometric constraints to calculate the static probability of objects, keypoints and map points, and takes them as weights to participate in camera pose estimation. Extensive evaluations show that our approach can achieve almost the best results in high dynamic and low dynamic scenarios compared to the state-of-the-art dynamic SLAM methods, and shows quite high real-time ability.

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation process that is optimized for robotic grasping. Aiming to reduce the observation uncertainty on target objects and increase their pose estimation accuracy, we also design an object-driven exploration strategy to guide the object mapping process, enabling autonomous mapping and high-level perception. Combining the mapping module and the exploration strategy, an accurate object map that is compatible with robotic grasping can be generated. Additionally, quantitative evaluations also indicate that the proposed framework has a very high mapping accuracy. Experiments with manipulation (including object grasping and placement) and augmented reality significantly demonstrate the effectiveness and advantages of our proposed framework.