This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.

This paper presents an self-supervised deep learning network for monocular visual inertial odometry (named DeepVIO). DeepVIO provides absolute trajectory estimation by directly merging 2D optical flow feature (OFF) and Inertial Measurement Unit (IMU) data. Specifically, it firstly estimates the depth and dense 3D point cloud of each scene by using stereo sequences, and then obtains 3D geometric constraints including 3D optical flow and 6-DoF pose as supervisory signals. Note that such 3D optical flow shows robustness and accuracy to dynamic objects and textureless environments. In DeepVIO training, 2D optical flow network is constrained by the projection of its corresponding 3D optical flow, and LSTM-style IMU preintegration network and the fusion network are learned by minimizing the loss functions from ego-motion constraints. Furthermore, we employ an IMU status update scheme to improve IMU pose estimation through updating the additional gyroscope and accelerometer bias. The experimental results on KITTI and EuRoC datasets show that DeepVIO outperforms state-of-the-art learning based methods in terms of accuracy and data adaptability. Compared to the traditional methods, DeepVIO reduces the impacts of inaccurate Camera-IMU calibrations, unsynchronized and missing data.

In this paper we identify a novel query type, the top-K assignment query (αTop-K). Consider a set of objects and a set of suppliers, where each object must be assigned to one supplier. Assume that there is a cost associated with every object-supplier pair. If we allocate each object to the server with the smallest cost (for the specific object), the derived overall assignment will have the minimum total cost. In many scenarios, however, runner-up assignments may be required too, like for example when a decision maker needs to make additional considerations, not captured by individual object-supplier costs. In this case, it is necessary to examine several shortlisted assignments before choosing one. This motivates the αTop-K query, which computes the K best assignments, i.e., those achieving the K smallest total costs. Algorithms for the traditional assignment ranking problem could be adapted to process the query, but their time requirements are prohibitive for large datasets (cubic to the input size). In this work we exploit the specific properties of the αTop-K problem and develop scalable methods for its processing. We also consider its incremental version, where K is not specified in advance; instead, the best assignments are iteratively computed on demand. An empirical evaluation with real data verifies the practicality and efficiency of our framework.

Research on spatial network databases has so far considered that there is a single cost value associated with each road segment of the network. In most real-world situations, however, there may exist multiple cost types involved in transportation decision making. For example, the different costs of a road segment could be its Euclidean length, the driving time, the walking time, possible toll fee, etc. The relative significance of these cost types may vary from user to user. In this paper we consider such multi-cost transportation networks (MCN), where each edge (road segment) is associated with multiple cost values. We formulate skyline and top-k queries in MCNs and design algorithms for their efficient processing. Our solutions have two important properties in preference-based querying; the skyline methods are progressive and the top-k ones are incremental. The performance of our techniques is evaluated with experiments on a real road network.

Shortest path search in transportation networks is unarguably one of the most important online search services nowadays (e.g., Google Maps, MapQuest, etc), with applications spanning logistics, spatial optimization, or everyday driving decisions. Often times, the owner of the road network data (e.g., a transport authority) provides its database to third-party query services, which are responsible for answering shortest path queries posed by their clients. The issue arising here is that a query service might be returning sub-optimal paths either purposely (in order to serve its own purposes like computational savings or commercial reasons) or because it has been compromised by Internet attackers who falsify the results. Therefore, for the above applications to succeed, it is essential that each reported path is accompanied by a proof, which allows clients to verify the path's correctness. This is the first study on shortest path verification in outsourced network databases. We propose the concept of authenticated hints, which is used to reduce the size of the proofs. We develop several authentication techniques and quantify their tradeoffs with respect to offline construction cost and proof size. Experiments on real road networks demonstrate that our solutions are indeed efficient and lead to compact query proofs.