Topic
Multimap
About: Multimap is a research topic. Over the lifetime, 102 publications have been published within this topic receiving 1273 citations. The topic is also known as: multihash & multidict.
Papers published on a yearly basis
Papers
TL;DR: ORB-SLAM3 as mentioned in this paper is the first system able to perform visual, visual-inertial and multimap SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models.
Abstract: This article presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multimap SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a tightly integrated visual-inertial SLAM system that fully relies on maximum a posteriori (MAP) estimation, even during IMU initialization, resulting in real-time robust operation in small and large, indoor and outdoor environments, being two to ten times more accurate than previous approaches. The second main novelty is a multiple map system relying on a new place recognition method with improved recall that lets ORB-SLAM3 survive to long periods of poor visual information: when it gets lost, it starts a new map that will be seamlessly merged with previous maps when revisiting them. Compared with visual odometry systems that only use information from the last few seconds, ORB-SLAM3 is the first system able to reuse in all the algorithm stages all previous information from high parallax co-visible keyframes, even if they are widely separated in time or come from previous mapping sessions, boosting accuracy. Our experiments show that, in all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature and significantly more accurate. Notably, our stereo-inertial SLAM achieves an average accuracy of 3.5 cm in the EuRoC drone and 9 mm under quick hand-held motions in the room of TUM-VI dataset, representative of AR/VR scenarios. For the benefit of the community we make public the source code.
950 citations
TL;DR: An expert system computer program, MultiMap, is developed, which automates this step–by–step procedure for map construction and allows investigator control of marker locus characteristics, such as informativeness, scorability or distance to nearest neighbours.
Abstract: High–resolution genetic linkage maps are indispensable for positional cloning of disease genes Current procedures for map construction, although aided considerably by many existing computer programs, require extensive user–intervention at each of many repetitive steps This is time consuming, labour intensive and increases the chance of error. We have developed an expert system computer program, MultiMap, which automates this step–by–step procedure. MultiMap is based on a novel map construction algorithm and allows investigator control of marker locus characteristics, such as informativeness, scorability or distance to nearest neighbours. We used MultiMap to construct a human genetic map at an average resolution of 6 cM, using published genotypes at 1266 microsatelhto markers, and further extended this map by adding 397 VNTR and polymorphic gene markers.
419 citations
25 Mar 2016
TL;DR: This paper defines and establishes the basic metatheory of a type theory supporting a ‘dependent lollipop’ \((x\!:\!S)\multimap T[x]\), where what the input used to be is in some way commemorated by the type of the output.
Abstract: Work to date on combining linear types and dependent types has deliberately and successfully avoided doing so. Entirely fit for their own purposes, such systems wisely insist that types depend only on the replicable sublanguage, thus sidestepping the issue of counting uses of limited-use data either within types or in ways which are only really needed to shut the typechecker up. As a result, the linear implication (‘lollipop’) stubbornly remains a non-dependent \(S \multimap T\). This paper defines and establishes the basic metatheory of a type theory supporting a ‘dependent lollipop’ \((x\!:\!S)\multimap T[x]\), where what the input used to be is in some way commemorated by the type of the output. For example, we might convert list to length-indexed vectors in place by a function with type \((l\!:\!\mathsf {List}\,X)\multimap \mathsf {Vector}\,X\,(\mathsf {length}\,l)\). Usage is tracked with resource annotations belonging to an arbitrary rig, or ‘riNg without Negation’. The key insight is to use the rig’s zero to mark information in contexts which is present for purposes of contemplation rather than consumption, like a meal we remember fondly but cannot eat twice. We need no runtime copies of l to form the above vector type. We can have plenty of nothing with no additional runtime resource, and nothing is plenty for the construction of dependent types.
75 citations
TL;DR: This work presents a dynamic programming model using the average outdegree of neighboring nodes of different levels as the variable and the minimum time difference as the target and shows that this model can solve the load-imbalance problem of large scale-free network very well.
Abstract: Computing the average shortest-path length of a large scale-free network needs much memory space and computation time. Hence, parallel computing must be applied. In order to solve the load-balancing problem for coarse-grained parallelization, the relationship between the computing time of a single-source shortest-path length of node and the features of node is studied. We present a dynamic programming model using the average outdegree of neighboring nodes of different levels as the variable and the minimum time difference as the target. The coefficients are determined on time measurable networks. A native array and multimap representation of network are presented to reduce the memory consumption of the network such that large networks can still be loaded into the memory of each computing core. The simplified load-balancing model is applied on a network of tens of millions of nodes. Our experiment shows that this model can solve the load-imbalance problem of large scale-free network very well. Also, the characteristic of this model can meet the requirements of networks with ever-increasing complexity and scale.
69 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2021 | 8 |
| 2020 | 9 |
| 2019 | 3 |
| 2018 | 4 |
| 2017 | 3 |
| 2016 | 4 |