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Road Curb Detection using 3D Lidar and Integral Laser Points for Intelligent Vehicles

Road Curb Detection using 3D Lidar and Integral Laser Points...

6th International Conference on Soft Computing and Intelligent Systems (SCIS) / 13th International Symposium on Advanced Intelligence Systems (ISIS)

作者： Yao, Wentao Deng, Zhidong Zhou, Lipu Tsinghua Univ Dept Comp Sci & Technol Tsinghua Key Natl Lab Informat Sci & Technol State Key Lab Intelligent Technol & Syst Beijing 100084 Peoples R China

ISBN: (纸本)9781467327435;9781467327428

Road curb detection and tracking is essential for the autonomous driving of intelligent vehicles on highways and urban roads. In this paper, we present a fast and robust road curb detection algorithm using 3D lidar data and Integral Laser Points (ILP) features. Range and intensity data of the 3D lidar is decomposed into elevation data and data projected on the ground plane. First, left and right road curbs are detected for each scan line using the ground projected range and intensity data and line segment features. Then, curb points of each scan line are determined using elevation data. The ILP features are proposed to speed up the both detection procedures. Finally, parabola model and RANSAC algorithm is used to fit the left and right curb points and generate vehicle controlling parameters. The proposed method and feature provide fast and reliable road curb detection speed and performance. Experiments show good results on various highways and urban roads under different situations.

关键词： scan line Intelligent vehicles Urban road Freeway Kerbstones Lidar inductive logic programming Road Line sections Fasting

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Scheduling Heterogeneous Multi-Cores through Performance Impact Estimation (PIE)

Scheduling Heterogeneous Multi-Cores through Performance Imp...

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39th Annual International Symposium on Computer Architecture (ISCA)

作者： Van Craeynest, Kenzo Jaleel, Aamer Eeckhout, Lieven Narvaez, Paolo Emer, Joel Univ Ghent B-9000 Ghent Belgium VSSAD Intel Corp Hudson MA USA

ISBN: (纸本)9781467304764

Single-ISA heterogeneous multi-core processors are typically composed of small (e. g., in-order) power-efficient cores and big (e. g., out-of-order) high-performance cores. The effectiveness of heterogeneous multi-cores depends on how well a scheduler can map workloads onto the most appropriate core type. In general, small cores can achieve good performance if the workload inherently has high levels of ILP. On the other hand, big cores provide good performance if the workload exhibits high levels of MLP or requires the ILP to be extracted dynamically. This paper proposes Performance Impact Estimation (PIE) as a mechanism to predict which workload-to-core mapping is likely to provide the best performance. PIE collects CPI stack, MLP and ILP profile information, and estimates performance if the workload were to run on a different core type. Dynamic PIE adjusts the scheduling at run-time and thereby exploits fine-grained time-varying execution behavior. We show that PIE requires limited hardware support and can improve system performance by an average of 5.5% over recent state-of-the-art scheduling proposals and by 8.7% over a sampling-based scheduling policy.

关键词： project independence evaluation system Workload core type inductive logic programming running condition CSRP3 gene Core samples core Runtime System performance

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Improving expressivity of inductive logic programming by learning different kinds of fuzzy rules

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SOFT COMPUTING 2007年第5期11卷 459-466页

作者： Serrurier, Mathieu Prade, Henri UPS IRIT F-31062 Toulouse 9 France

Introducing fuzzy predicates in inductive logic programming may serve two different purposes: allowing for more adaptability when learning classical rules or getting more expressivity by learning fuzzy rules. This latter concern is the topic of this paper. Indeed, introducing fuzzy predicates in the antecedent and in the consequent of rules may convey different non-classical meanings. The paper focuses on the learning of gradual and certainty rules, which have an increased expressive power and have no simple crisp counterpart. The benefit and the application domain of each kind of rules are discussed. Appropriate confidence degrees for each type of rules are introduced. These confidence degrees play a major role in the adaptation of the classical FOIL inductive logic programming algorithm to the induction of fuzzy rules for guiding the learning process. The method is illustrated on a benchmark example and a case-study database.

关键词： inductive logic programming fuzzy rules

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Automating Model Transformation by Example Using inductive logic programming 07

Automating Model Transformation by Example Using Inductive L...

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22nd ACM Symposium on Applied Computing

作者： Varro, Daniel Balogh, Zoltan Budapest Univ Technol & Econ Dept Measurement & Informat Syst H-1117 Budapest Hungary

ISBN: (纸本)9781595934802

Model transformation by example [18] is a novel approach in model-driven software engineering to derive model transformation rules from an initial prototypical set of interrelated source and target models, which describe critical cases of the model transformation problem in a purely declarative way. In the current paper, we automate this approach using inductive logic programming [14] which aims at the inductive construction of first-order clausal theories from examples and background knowledge.

关键词： model transformation by-example synthesis inductive logic programming

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inductive logic programming by instance patterns 07

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Proceedings of the 9th international conference on Practical Aspects of Declarative Languages

作者： Chongbing Liu Enrico Pontelli Dept. Computer Science New Mexico State University

ISBN: (纸本)9783540696087

Effectiveness and efficiency are two most important properties of ILP approaches. For both top-down and bottom-up search-based approaches, greater efficiency is usually gained at the expense of effectiveness. In this paper, we propose a bottom-up approach, called ILP by instance patterns, for the problem of concept learning in ILP. This approach is based on the observation that each example has its own pieces of description in the background knowledge, and the example together with these descriptions constitute a instance of the concept subject to learn. Our approach first captures the instance structures by patterns, then constructs the final theory purely from the patterns. On the effectiveness aspect, this approach does not assume determinacy of the learned concept. On the efficiency aspect, this approach is more efficient than existing ones due to its constructive nature, the fact that after the patterns are obtained, both the background and examples are not needed anymore, and the fact that it does not perform coverage test and needs no theorem prover.

关键词： patterns concept instance inductive logic programming

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BioNLP Shared Task - The Bacteria Track

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BMC BIOINFORMATICS 2012年第s11期13卷 S3-S3页

作者： Bossy, Robert Jourde, Julien Manine, Alain-Pierre Veber, Philippe Alphonse, Erick van de Guchte, Maarten Bessieres, Philippe Nedellec, Claire INRA UR1077 F-78352 Jouy En Josas France PredictiveDB F-75010 Paris France INRA MICALIS UMR1319 F-78352 Jouy En Josas France

Background: We present the BioNLP 2011 Shared Task Bacteria Track, the first Information Extraction challenge entirely dedicated to bacteria. It includes three tasks that cover different levels of biological knowledge. The Bacteria Gene Renaming supporting task is aimed at extracting gene renaming and gene name synonymy in PubMed abstracts. The Bacteria Gene Interaction is a gene/protein interaction extraction task from individual sentences. The interactions have been categorized into ten different sub-types, thus giving a detailed account of genetic regulations at the molecular level. Finally, the Bacteria Biotopes task focuses on the localization and environment of bacteria mentioned in textbook articles. We describe the process of creation for the three corpora, including document acquisition and manual annotation, as well as the metrics used to evaluate the participants' submissions. Results: Three teams submitted to the Bacteria Gene Renaming task;the best team achieved an F-score of 87%. For the Bacteria Gene Interaction task, the only participant's score had reached a global F-score of 77%, although the system efficiency varies significantly from one sub-type to another. Three teams submitted to the Bacteria Biotopes task with very different approaches;the best team achieved an F-score of 45%. However, the detailed study of the participating systems efficiency reveals the strengths and weaknesses of each participating system. Conclusions: The three tasks of the Bacteria Track offer participants a chance to address a wide range of issues in Information Extraction, including entity recognition, semantic typing and coreference resolution. We found commond trends in the most efficient systems: the systematic use of syntactic dependencies and machine learning. Nevertheless, the originality of the Bacteria Biotopes task encouraged the use of interesting novel methods and techniques, such as term compositionality, scopes wider than the sentence.

关键词： inductive logic programming Entity Recognition Event Extraction Reference Event NCBI Taxonomy

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An Exact Dual Decomposition Algorithm for Shallow Semantic Parsing with Constraints 12

An Exact Dual Decomposition Algorithm for Shallow Semantic P...

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Joint Conference on Lexical and Computational Semantics

作者： Dipanjan Das Andre F. T. Martins Noah A. Smith Language Technologies Institute Carnegie Mellon University Pittsburgh PA 15213 USA Language Technologies Institute Carnegie Mellon University Pittsburgh PA 15213 USAInstitute de Telecomunicacoes Institute Superior Tecnico Lisboa Portugal

ISBN: (纸本)9781622765027

We present a novel technique for jointly predicting semantic arguments for lexical predicates. The task is to find the best matching between semantic roles and sentential spans, subject to structural constraints that come from expert linguistic knowledge (e.g., in the FrameNet lexicon). We formulate this task as an integer linear program (ILP); instead of using an off-the-shelf tool to solve the ILP, we employ a dual decomposition algorithm, which we adapt for exact decoding via a branch-and-bound technique. Compared to a baseline that makes local predictions, we achieve better argument identification scores and avoid all structural violations. Runtime is nine times faster than a proprietary ILP solver.

关键词： inductive logic programming Semantics Parsing Constraint Dual Exact decomposition branch-and-bound techniques Optimal matching

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Improving Hybrid FSO/RF Network Reliability Through Transceiver Reconfiguration

Improving Hybrid FSO/RF Network Reliability Through Transcei...

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IEEE Global Communications Conference

作者： Farshad Ahdi Suresh Subramaniam Department of Electrical and Computer Engineering George Washington University

ISBN: (纸本)9781467309202

Despite the increasing popularity of Free-Space Optics (FSO) in wireless mesh networks, reliability is still a major concern. Due to the strong dependence of FSO link availability on weather conditions (e.g., fog, cloud, air turbulence) using KF links is inevitable, both for backup and signaling. In addition, reconfiguration of FSO transceivers could preserve network reliability when several connections suffer outages. In this paper, we find the optimal reconfiguration of transceivers and rerouting of traffic flows using an integer-linear program (ILP). The link availability prediction is used as an input and the overall throughput of the network is maximized while guaranteeing fairness to all traffic demands. To avoid the complexity of the ILP, an efficient probabilistic heuristic that computes a set of schedules for dynamic reconfiguration of FSO transceivers is proposed. We show that this heuristic achieves a high fraction of the optimal throughput, as verified by extensive simulations.

关键词： Transceivers Reconfiguration Traffic flow dynamic reconfiguration Heuristics Throughput inductive logic programming weather condition Connections Traffic

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A Fast Path-Based ILP Formulation for Offline RWA in Mesh Optical Networks

A Fast Path-Based ILP Formulation for Offline RWA in Mesh Op...

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IEEE Global Communications Conference

作者： Zeyu Liu George N. Rouskas Department of Computer Science North Carolina State University

ISBN: (纸本)9781467309202

RWA is a fundamental problem in the design and control of optical networks. We introduce the concept of symmetric RWA solutions and present a new ILP formulation to construct optimally such solutions. The formulation scales to mesh topologies representative of backbone and regional networks. Numerical results demonstrate that the new formulation achieves a decrease of up to two orders of magnitude in running time compared to existing formulations. In particular, optimal solutions for topologies up to 20 nodes can be obtained within minutes using commodity CPUs, and larger networks can be solved in reasonable time. Our approach significantly lowers the barrier to entry in fully exploring the solution space of optical network design and in investigating the sensitivity of design decisions to forecast demands via extensive "what-if" analysis. Such analysis cannot be carried out currently without large investments in computational resources and time.

关键词： Fiber optic networks Solution space inductive logic programming Network design Runtime Medical Subject Headings Mesh OFF LINE Spine

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Multiple Aspect Summarization Using Integer Linear programming 12

Multiple Aspect Summarization Using Integer Linear Programmi...

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Conference on Empirical Methods in Natural Language Processing

作者： Kristian Woodsend Mirella Lapata Institute for Language Cognition and Computation School of Informatics University of Edinburgh 10 Crichton Street Edinburgh EH8 9AB

ISBN: (纸本)9781622765034

Multi-document summarization involves many aspects of content selection and surface realization. The summaries must be informative, succinct, grammatical, and obey stylistic writing conventions. We present a method where such individual aspects are learned separately from data (without any hand-engineering) but optimized jointly using an integer linear programme. The ILP framework allows us to combine the decisions of the expert learners and to select and rewrite source content through a mixture of objective setting, soft and hard constraints. Experimental results on the TAC-08 data set show that our model achieves state-of-the-art performance using ROUGE and significantly improves the informativeness of the summaries.

关键词： Integer linear programming aspect inductive logic programming

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