Detecting end-effectors on 2.5D data using geometric deformable models: Application to human pose estimation

End-effectors are usually related to the location of limbs, and their reliable detection enables robust body tracking as well as accurate pose estimation. Recent innovation in depth cameras has re-stated the pose estimation problem. We focus on the information provided by these sensors, for which we borrow the name 2.5D data from the Graphics community. In this paper we propose a human pose estimation algorithm based on topological propagation. Geometric Deformable Models are used to carry out such propagation, implemented according to the Narrow Band Level Set approach. A variant of the latter method is proposed, including a density restriction which helps preserving the topological properties of the object under analysis. Principal end-effectors are extracted from a directed graph weighted with geodesic distances, also providing a skeletal-like structure describing human pose. An evaluation against reference methods is performed with promising results. The proposed solution allows a frame-wise end-effector detection, with no temporal tracking involved, which may be generalized to the tracking of other objects beyond human body.     

Solving weighted CSPs with meta-constraints by reformulation into satisfiability modulo theories

We introduce WSimply, a new framework for modelling and solving Weighted Constraint Satisfaction Problems (WCSP) using Satisfiability Modulo Theories (SMT) technology. In contrast to other well-known approaches designed for extensional representation of goods or no-goods, and with few declarative facilities, our approach aims to follow an intensional and declarative syntax style. In addition, our language has built-in support for some meta-constraints, such as priority and homogeneity, which allows the user to easily specify rich requirements on the desired solutions, such as preferences and fairness. We propose two alternative strategies for solving these WCSP instances using SMT. The first is the reformulation into Weighted SMT (WSMT) and the application of satisfiability test based algorithms from recent contributions in the Weighted Maximum Satisfiability field. The second one is the reformulation into an operation research-like style which involves an optimisation variable or objective function and the application of optimisation SMT solvers. We present experimental results of two well-known problems: the Nurse Rostering Problem (NRP) and a variant of the Balanced Academic Curriculum Problem (BACP), and provide some insights into the impact of the addition of meta-constraints on the quality of the solutions and the solving time.     

EOQ Model: The Case in Which the Placing of Orders Is Rewarded

The first models of optimization of inventory management costs have undergone few changes since they were developed at the beginning of the last century. It is only with the passage of time that new scenarios have appeared with the introduction of new systems of production, and consequently of new strategies in the logistics chain. In this article, we analyze and propose a revision of the basic inventory model of economic order quantity first defined by Harris in 1913 for a scenario in which the owner of the stock receives a bonus or reward each time he replenishes his stock. This situation arises when the supplier receives a benefit (which he then shares with the customer) when managing his stock replenishment. An array of nested models is shown to illustrate this scenario, from which the constraints of previous scenarios have been removed. The model provides insights into the negotiation of batch size between supplier and buyer in a win‐win environment in the specific situation in which the supplier gives a bonus to the buyer at each stock replenishment. © 2011 Wiley Periodicals, Inc.     

Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.     

Robust network monitoring in the presence of non-cooperative traffic queries

We present the design of a predictive load shedding scheme for a network monitoring platform that supports multiple and competing traffic queries. The proposed scheme can anticipate overload situations and minimize their impact on the accuracy of the traffic queries. The main novelty of our approach is that it considers queries as black boxes, with arbitrary (and highly variable) input traffic and processing cost. Our system only requires a high-level specification of the accuracy requirements of each query to guide the load shedding procedure and assures a fair allocation of computing resources to queries in a non-cooperative environment. We present an implementation of our load shedding scheme in an existing network monitoring system and evaluate it with a diverse set of traffic queries. Our results show that, with the load shedding mechanism in place, the monitoring system can preserve the accuracy of the queries within predefined error bounds even during extreme overload conditions.     

Hybrid microdata using microaggregation

Statistical disclosure control (also known as privacy-preserving data mining) of microdata is about releasing data sets containing the answers of individual respondents protected in such a way that: (i) the respondents corresponding to the released records cannot be re-identified; (ii) the released data stay analytically useful. Usually, the protected data set is generated by either masking (i.e. perturbing) the original data or by generating synthetic (i.e. simulated) data preserving some pre-selected statistics of the original data. Masked data may approximately preserve a broad range of distributional characteristics, although very few of them (if any) are exactly preserved; on the other hand, synthetic data exactly preserve the pre-selected statistics and may seem less disclosive than masked data, but they do not preserve at all any statistics other than those pre-selected. Hybrid data obtained by mixing the original data and synthetic data have been proposed in the literature to combine the strengths of masked and synthetic data. We show how to easily obtain hybrid data by combining microaggregation with any synthetic data generator. We show that numerical hybrid data exactly preserving means and covariances of original data and approximately preserving other statistics as well as some subdomain analyses can be obtained as a particular case with a very simple parameterization. The new method is competitive versus both the literature on hybrid data and plain multivariate microaggregation.     

Distance-based local linear regression for functional predictors

The problem of nonparametrically predicting a scalar response variable from a functional predictor is considered. A sample of pairs (functional predictor and response) is observed. When predicting the response for a new functional predictor value, a semi-metric is used to compute the distances between the new and the previously observed functional predictors. Then each pair in the original sample is weighted according to a decreasing function of these distances. A Weighted (Linear) Distance-Based Regression is fitted, where the weights are as above and the distances are given by a possibly different semi-metric. This approach can be extended to nonparametric predictions from other kinds of explanatory variables (e.g., data of mixed type) in a natural way.     

Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter

The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data association hypotheses. In general, recovering the state mean and covariance requires the inversion of a matrix with the size of the state, which is computationally too expensive in time and memory for large problems. Exactly sparse state representations, such as that of Pose SLAM, alleviate the cost of state recovery either in time or in memory, but not in both. In this paper, we present an approach to state estimation that is linear both in execution time and in memory footprint at loop closure, and constant otherwise. The method relies on a state representation that combines the Kalman and the information-based approaches. The strategy is valid for any SLAM system that maintains constraints between marginal states at different time slices. This includes both Pose SLAM, the variant of SLAM where only the robot trajectory is estimated, and hierarchical techniques in which submaps are registered with a network of relative geometric constraints.     

A geostatistical algorithm to reproduce lateral gradual facies transitions: Description and implementation

Valid representations of geological heterogeneity are fundamental inputs for quantitative models used in managing subsurface activities. Consequently, the simulation of realistic facies distributions is a significant aim. Realistic facies distributions are typically obtained by pixel-based, object-based or process-based methods. This work presents a pixel-based geostatistical algorithm suitable for reproducing lateral gradual facies transitions (LGFT) between two adjacent sedimentary bodies. Lateral contact (i.e. interfingering) between distinct depositional facies is a widespread geometric relationship that occurs at different scales in any depositional system. The algorithm is based on the truncation of the sum of a linear expectation trend and a random Gaussian field, and can be conditioned to well data. The implementation introduced herein also includes subroutines to clean and geometrically characterize the obtained LGFT. The cleaned sedimentary body transition provides a more appropriate and realistic facies distribution for some depositional settings. The geometric measures of the LGFT yield an intuitive measure of the morphology of the sedimentary body boundary, which can be compared to analogue data. An example of a LGFT obtained by the algorithm presented herein is also flow simulated, quantitatively demonstrating the importance of realistically reproducing them in subsurface models, if further flow-related accurate predictions are to be made.     

Consistent triangulation for mobile robot localization using discontinuous angular measurements

Localization is a fundamental operation for the navigation of mobile robots. The standard localization algorithms fuse external measurements of the environment with the odometric evolution of the robot pose to obtain its optimal estimation. In this work, we present a different approach to determine the pose using angular measurements discontinuously obtained in time. The presented method is based on an Extended Kalman Filter (EKF) with a state-vector composed of the external angular measurements. This algorithm keeps track of the angles between actual measurements from robot odometric information. This continuous angular estimation allows the consistent use of the triangulation methods to determine the robot pose at any time during its motion. The article reports experimental results that show the localization accuracy obtained by means of the presented approach. These results are compared to the ones obtained applying the EKF algorithm with the standard pose state-vector. For the experiments, an omnidirectional robotic platform with omnidirectional wheels is used.