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Dec 03, 2013
Computer Vision
Optimization and Control

We have provided a compact formula for the derivative of a rotation matrix in exponential coordinates. The formula is not only simpler than existing ones but it also has an intuitive interpretation according to the geometric decomposition that it pr…

A compact formula for the derivative of a 3-D rotation in exponential…

We present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordinates. A geometric interpretation of t…
Mar 03, 2019
Software Engineering

User Review-Based Change File Localization for Mobile Applications

In the current mobile app development, novel and emerging DevOps practices (e.g., Continuous Delivery, Integration, and user feedback analysis) and t…
May 27, 2019
Software Engineering

Improving Change Prediction Models with Code Smell-Related Information

Code smells represent sub-optimal implementation choices applied by developers when evolving software systems. The negative impact of code smells has…
Jan 21, 2014
Robotics

Bio-inspired friction switches: adaptive pulley systems

Frictional influences in tendon-driven robotic systems are generally unwanted, with efforts towards minimizing them where possible. In the human hand…
Jul 07, 2009
Human-Computer Interaction
Artificial Intelligence

How Controlled English can Improve Semantic Wikis

The motivation of semantic wikis is to make acquisition, maintenance, and mining of formal knowledge simpler, faster, and more flexible. However, mos…
Jan 11, 2019
Computer Vision

Unsupervised Moving Object Detection via Contextual Information Sep…

We propose an adversarial contextual model for detecting moving objects in images. A deep neural network is trained to predict the optical flow in a …
Mar 12, 2019
Computation and Language
Machine Learning

We performed an extensive evaluation of a neural encoder–decoder model on the task of historical text normalization, using mostly little or even no training data for the target language, and using multi-task learning strategies to improve the normal…

Few-Shot and Zero-Shot Learning for Historical Text Normalization

Historical text normalization often relies on small training datasets. Recent work has shown that multi-task learning can sometimes lead to significa…
Dec 27, 2011
Numerical Analysis
Optimization and Control

On best rank one approximation of tensors

In this paper we suggest a new algorithm for the computation of a best rank one approximation of tensors, called alternating singular value decomposi…
Mar 04, 2014
Robotics

Robustness: a new SLIP model based criterion for gait transitions in …

Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some releva…
Dec 08, 2015
Robotics

On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-t…
Jul 11, 2017
Software Engineering

Choosing Requirements for Experimentation with User Interfaces of R…

When designing a new presentation front-end called FlexiView for requirements modeling tools, we encountered a general problem: designing such an int…
Jul 29, 2008
Human-Computer Interaction
Artificial Intelligence

AceWiki: Collaborative Ontology Management in Controlled Natural La…

AceWiki is a prototype that shows how a semantic wiki using controlled natural language - Attempto Controlled English (ACE) in our case - can make on…
Sep 11, 2018
Graphics
Computational Engineering
Finance
and Science i
Machine Learning
Multimedia
Numerical Analysis

Visualization of High-dimensional Scalar Functions Using Principal …

Insightful visualization of multidimensional scalar fields, in particular parameter spaces, is key to many fields in computational science and engine…
Apr 20, 2018
Distributed
Parallel
and Cluster Computing
Computer Science and Game Theory
Performance

Bayesian Admission Policies for Cloud Computing Clusters

Cloud computing providers must handle customer workloads that wish to scale their use of resources, such as virtual machines, up and down over time. …
Aug 16, 2019
Social and Information Networks
Graphics
Machine Learning
Data Analysis
Statistics and Probability

Higher-Order Visualization of Causal Structures in Dynamics Graphs

Graph drawing and visualisation techniques are important tools for the exploratory analysis of complex systems. While these methods are regularly app…
Mar 12, 2020
Robotics
Computer Vision

AirSim Drone Racing Lab

Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introdu…
Jun 07, 2019
Robotics

Visual-Inertial Odometry of Aerial Robots

Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input…
Mar 21, 2019
Artificial Intelligence
Computation and Language

Iteratively Learning Embeddings and Rules for Knowledge Graph Reasoni…

Reasoning is essential for the development of large knowledge graphs, especially for completion, which aims to infer new triples based on existing on…
Jun 15, 2018
Graphics

TTHRESH: Tensor Compression for Multidimensional Visual Data

Memory and network bandwidth are decisive bottlenecks when handling high-resolution multidimensional data sets in visualization applications, and the…
Dec 06, 2017
Robotics

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacl…
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