Learning and then recognizing a route, whether travelled during the day or at night, in clear or inclement weather, and in summer or winter is a challenging task for state of the art algorithms in computer vision and robotics. In this paper, we present a new approach to visual navigation under changing conditions dubbed SeqSLAM. Instead of calculating the single location most likely given a current image, our approach calculates the best candidate matching location within every local navigation sequence. Localization is then achieved by recognizing coherent sequences of these “local best matches”. This approach removes the need for global matching performance by the vision front-end - instead it must only pick the best match within any short sequence of images. The approach is applicable over environment changes that render traditional feature-based techniques ineffective. Using two car-mounted camera datasets we demonstrate the effectiveness of the algorithm and compare it to one of the most successful feature-based SLAM algorithms, FAB-MAP. The perceptual change in the datasets is extreme; repeated traverses through environments during the day and then in the middle of the night, at times separated by months or years and in opposite seasons, and in clear weather and extremely heavy rain. While the feature-based method fails, the sequence-based algorithm is able to match trajectory segments at 100% precision with recall rates of up to 60%.

SeqSLAM : visual route-based navigation for sunny summer days and stormy winter nights

Query by Example

https://publikationen.bibliothek.kit.edu/1000124711/89982634

Enabling consistency in view-based system development — The Vitruvius approach

The advent of model-driven software development has put model transformations into focus. In practice, model transformations are expected to be applicable in different stages of a development process and help to consistently propagate changes between the different involved models which we refer to as model synchronization. However, most approaches do not fully support the requirements for model synchronization today and focus only on classical one-way batch-oriented transformations. In this paper, we present our approach for an incremental model transformation which supports model synchronization. Our approach employs the visual, formal, and bidirectional transformation technique of triple graph grammars. Using this declarative specification formalism, we focus on the efficient execution of the transformation rules and present our approach to achieve an incremental model transformation for synchronization purposes. We present an evaluation of our approach and demonstrate that due to the speedup for the incremental processing in the average case even larger models can be tackled.

Incremental model synchronization with triple graph grammars

Multi-view environments for software development allow different views of a software system to be defined to cover the requirements of different stakeholders. One way of ensuring consistency of overlapping information often contained in such views is to project them “on demand” from a Single Underlying Model (SUM). However, there are several ways to construct and adapt such SUMs. This paper presents four archetypal approaches and analyses their advantages and disadvantages based on several new criteria. In addition, guidelines are presented for selecting a suitable SUM construction approach for a specific project.

Classifying Approaches for Constructing Single Underlying Models

Models@runtime (M@RT) suffer from information fragmentation across heterogeneous runtime models conforming to several metamodels that are filled with information from a source model. This creates an amount of related models with replicated information. In contrast, a recent approach to software engineering utilizes Single Underlying Model (SUM) to generate views of a software system on demand. The views represent fragments specifying required information for model instances. This results in an increasingly complex source model which is consistent from scratch and views with relations between each other that require complex processes to maintain consistency. Thus, to hold the views and models consistent at runtime, an intuitive approach for the creation of an adaptable SUM should be introduced that permits runtime synchronization and adaptation of views. We propose utilizing the concept of roles in the domain of SUM-based software engineering and M@RT. Based on existing work in the area of role modeling, we present a Role-oriented Single Underlying Model approach that provides a natural way to create views from a running model. We show how the role concept simplifies the creation of runtime models as views from a SUM, provide an incremental view update approach, and introduce a flexible adaptation mechanism. Finally, we illustrate our approach with two example views to explain the benefits of a role-oriented SUM.

/pdf/model-synchronization-with-the-role-oriented-single-1x9ifbu9dr.pdf

Model Synchronization with the Role-oriented Single Underlying Model.

Model-driven Software Development (MDSD) promotes the use of multiple related models to realize a software system systematically. These models usually contain redundant information but are independently edited. This easily leads to inconsistencies among them. To ensure consistency among multiple models, model synchronizations have to be employed, e.g., by means of model transformations, trace links, or triple graph grammars. Model synchronization poses three main problems for MDSD. First, classical model synchronization approaches have to be manually triggered to perform the synchronization. However, to support the consistent evolution of multiple models, it is necessary to immediately and continuously update all of them. Second, synchronization rules are specified at design time and, in classic approaches, cannot be extended at runtime, which is necessary if metamodels evolve at runtime. Finally, most classical synchronization approaches focus on bilateral model synchronization, i.e., the synchronization between two models. Consequently, for more than two models, they require the definition of pairwise model synchronizations leading to a combinatorial explosion of synchronization rules. To remedy these issues, we propose a role-based approach for runtime model synchronization. In particular, we propose role-based synchronization rules that enable the immediate and continuous propagation of changes to multiple interrelated models (and back again). Additionally, our approach permits adding new and customized synchronization rules at runtime. We illustrate the benefits of role-based runtime model synchronization using the Families to Persons case study from the Transformation Tool Contest 2017.

/pdf/role-based-runtime-model-synchronization-4pdor0a8et.pdf

Role-Based Runtime Model Synchronization

In model-driven engineering, powerful query/view languages exist to compute result sets/views from underlying models. However, to use these languages effectively, one must understand the query/view language concepts as well as the underlying models and metamodels structures. Consequently, it is a challenge for domain experts to create queries/views due to the lack of knowledge about the computer-internal abstract representation of models and metamodels. To better support domain experts in the query/view creation, the goal of this paper is the presentation of a generic concept to specify queries/views on models without requiring deep knowledge on the realization of modeling languages. The proposed concept is agnostic to specific modeling languages and allows the query/view generation by-example with a simple mechanism for filtering model elements. Based on this generic concept, a generic query/view language is proposed that uses role-oriented modeling for its non-intrusive application for specific modeling languages. The proposed language is demonstrated based on the role-based single underlying model (RSUM) approach for AutomationML to create queries/views by-example, and subsequently, associated viewtypes to modify the result set or view.

/pdf/a-generic-language-for-query-and-viewtype-generation-by-412mkvizx1.pdf

A generic language for query and viewtype generation by-example

Using the example of a wheel loader, this paper presents a cloud-based system architecture enabling intelligent machine behavior. In order to achieve the final goal of a fully automated bucket filling routine, while controlling the loaders engine, travel drive and attachment, different levels of automation are processed gradually. As a first step towards automation, driver assistance can be considered. The paper explains the design choices for a cyber-physicalsystem architecture in the context of construction machinery. This comprises the communication framework and the cloud-application for self-adapting systems (i.e. the MAPE-K loop). As a validation of the architecture and as a demonstrator, a driver assistance functionality has been implemented. Calculations from the cloud-application give the operator feedback about efficiency, loads and task status. A developed visualization app on a tablet serves as user-interface. Concurrent simulation allow an optimization of control algorithms for the machine control and the trajectory planning. Besides changing the parametrization of the underlying models, a solution to change ECU-code at run-time without interrupting the operation is presented. The developed system architecture is the basis for further implementations of adaptive algorithms that improve future machine operation.

/pdf/cloud-based-system-architecture-for-driver-assistance-in-3aq0lti81f.pdf

Cloud-Based System Architecture for Driver Assistance in Mobile Machinery

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