In recent years, the research on single-robot simultaneous localization and mapping (SLAM) has made a great success. However, multirobot SLAM faces many challenging problems, including unknown robot poses, unshared map, and unstable communication. In this paper, a map merging algorithm based on virtual robot motion is proposed for multi-robot SLAM. The thinning algorithm is used to construct th...

ecotourism as the most attractive subset of the tourism industry can contribute to natural resource conservation and local development. although great numbers of people annually visit abbasabad area, in veresk, mazandaran, to enjoy its brilliant landscape and moderate ecologic condition, there is no applicable plan for many natural attractive zones in this area. as a result, some specific well ...

In this work we introduce a curvature based shape feature extraction technique. To construct the proposed descriptor, first an input color channel is subject to edge detection and gradient computations. Then, based on the gradient map and edge map, the local curvature of the contour is computed for each pixel as the angular difference between the maximum and minimum gradient angle within a cert...

We consider the problem of constructing a linear map from a Hilbert space H (possibly infinite dimensional) to R that satisfies a restricted isometry property (RIP) on an arbitrary signal model S ⊂ H. We present a generic framework that handles a large class of low-dimensional subsets but also unstructured and structured linear maps. We provide a simple recipe to prove that a random linear map ...

In this paper, we will study compatible triples on Lie algebroids. Using a suitable decomposition for a Lie algebroid, we construct an integrable generalized distribution on the base manifold. As a result, the symplectic form on the Lie algebroid induces a symplectic form on each integral submanifold of the distribution. The induced Poisson structure on the base manifold can be represented by m...

A variety of methods are used for speaker adaptation in speech recognition. In some techniques, such as MAP estimation, only the models with available training data are updated. Hence, large amounts of training data are required in order to have significant recognition improvements. In some others, such as MLLR, where several general transformations are applied to model clusters, the results ar...

We introduce an algorithm, based on the Frank-Wolfe technique (conditional gradient), for performing marginal inference in undirected graphical models by repeatedly performing MAP inference. It minimizes standard Bethe-style convex variational objectives for inference, leverages known MAP algorithms as black boxes, and offers a principled means to construct sparse approximate marginals for high...