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Combining odometry and visual loop-closure detection for consistent topo-metrical mapping

S. Bazeille, D. Filliat (2010)

RAIRO - Operations Research - Recherche Opérationnelle

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM 24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited...

Combining Odometry and Visual Loop-Closure Detection for Consistent Topo-Metrical Mapping

S. Bazeille, D. Filliat (2011)

RAIRO - Operations Research

We address the problem of simultaneous localization and mapping (SLAM) by combining visual loop-closure detection with metrical information given by a robot odometry. The proposed algorithm extends a purely appearance-based loop-closure detection method based on bags of visual words [A. Angeli, D. Filliat, S. Doncieux and J.-A. Meyer, IEEE Transactions On Robotics, Special Issue on Visual SLAM24 (2008) 1027–1037], which is able to detect when the robot has returned back to a previously visited...

Communication Complexity and Lower Bounds on Multilective Computations

Juraj Hromkovič (2010)

RAIRO - Theoretical Informatics and Applications

Communication complexity of two-party (multiparty) protocols has established itself as a successful method for proving lower bounds on the complexity of concrete problems for numerous computing models. While the relations between communication complexity and oblivious, semilective computations are usually transparent and the main difficulty is reduced to proving nontrivial lower bounds on the communication complexity of given computing problems, the situation essentially changes, if one...

Communication with www in Czech

Lukáš Svoboda, Luboš Popelínský (2004)

Kybernetika

This paper describes UIO, a multi–domain question–answering system for the Czech language that looks for answers on the web. UIO exploits two fields, namely natural language interface to databases and question answering. In its current version, UIO can be used for asking questions about train and coach timetables, cinema and theatre performances, about currency exchange rates, name–days and on the Diderot Encyclopaedia. Much effort have been made into making addition of a new domain very easy. No...

Commutative images of rational languages and the abelian kernel of a monoid

Manuel Delgado (2001)

RAIRO - Theoretical Informatics and Applications - Informatique Théorique et Applications

Natural algorithms to compute rational expressions for recognizable languages, even those which work well in practice, may produce very long expressions. So, aiming towards the computation of the commutative image of a recognizable language, one should avoid passing through an expression produced this way. We modify here one of those algorithms in order to compute directly a semilinear expression for the commutative image of a recognizable language. We also give a second modification of the algorithm...

Commutative images of rational languages and the Abelian kernel of a monoid

Manuel Delgado (2010)

RAIRO - Theoretical Informatics and Applications

Natural algorithms to compute rational expressions for recognizable languages, even those which work well in practice, may produce very long expressions. So, aiming towards the computation of the commutative image of a recognizable language, one should avoid passing through an expression produced this way. We modify here one of those algorithms in order to compute directly a semilinear expression for the commutative image of a recognizable language. We also give a second modification of the algorithm...

Compactness and Löwenheim-Skolem properties in categories of pre-institutions

Antonino Salibra, Giuseppe Scollo (1993)

Banach Center Publications

The abstract model-theoretic concepts of compactness and Löwenheim-Skolem properties are investigated in the "softer" framework of pre-institutions [18]. Two compactness results are presented in this paper: a more informative reformulation of the compactness theorem for pre-institution transformations, and a theorem on natural equivalences with an abstract form of the first-order pre-institution. These results rely on notions of compact transformation, which are introduced as arrow-oriented generalizations...

Comparative Analysis: A Feasible Software Engineering Method

Maneva, Nelly (2007)

Serdica Journal of Computing

The reasonable choice is a critical success factor for decision- making in the field of software engineering (SE). A case-driven comparative analysis has been introduced and a procedure for its systematic application has been suggested. The paper describes how the proposed method can be built in a general framework for SE activities. Some examples of experimental versions of the framework are brie y presented.

Comparative analysis of noise robustness of type 2 fuzzy logic controllers

Emanuel Ontiveros-Robles, Patricia Melin, Oscar Castillo (2018)

Kybernetika

Nowadays Fuzzy logic in control applications is a well-recognized alternative, and this is thanks to its inherent advantages as its robustness. However, the Type-2 Fuzzy Logic approach, allows managing uncertainty in the model. Type-2 Fuzzy Logic has recently shown to provide significant improvement in image processing applications, however it is also important to analyze its impact in controller performance. This paper is presenting a comparison in the robustness of Interval Type-2 and Generalized...

Comparing algorithms based on marginal problem

Otakar Kříž (2007)

Kybernetika

The paper deals with practical aspects of decision making under uncertainty on finite sets. The model is based on marginal problem. Numerical behaviour of 10 different algorithms is compared in form of a study case on the data from the field of rheumatology. (Five of the algorithms types were suggested by A. Perez.) The algorithms (expert systems, inference engines) are studied in different situations (combinations of parameters).

Comparing Complexity Functions of a Language and Its Extendable Part

Arseny M. Shur (2008)

RAIRO - Theoretical Informatics and Applications

Right (left, two-sided) extendable part of a language consists of all words having infinitely many right (resp. left, two-sided) extensions within the language. We prove that for an arbitrary factorial language each of these parts has the same growth rate of complexity as the language itself. On the other hand, we exhibit a factorial language which grows superpolynomially, while its two-sided extendable part grows only linearly.

Comparing notions of approximation.

Mario Furnari, Antonio Massarotti (1988)

Stochastica

In this note we discuss some drawbacks of some approaches to the classification of NP-complete optimization problems. Then we analyze the Theory of Analytical Computational Complexity to gain some insight about the notions of approximation and approximate algorithms. We stress the different roles played by these notions within the theories of Analytical and Algebraic Complexity. We finally outline a possible strategy to capture a more useful notion of approximation which is inspired by some results...

Comparing numerical integration schemes for a car-following model with real-world data

Přikryl, Jan, Vaniš, Miroslav (2017)

Programs and Algorithms of Numerical Mathematics

A key element of microscopic traffic flow simulation is the so-called car-following model, describing the way in which a typical driver interacts with other vehicles on the road. This model is typically continuous and traffic micro-simulator updates its vehicle positions by a numerical integration scheme. While increasing the order of the scheme should lead to more accurate results, most micro-simulators employ the simplest Euler rule. In our contribution, inspired by [1], we will provide some additional...

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