Landmark Guided Probabilistic Roadmap Queries

A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (\PRM) motion planning method. The heuristic is generated by storing minimum spanning trees from a small number of vertices within the \PRM graph and using these trees to approximate the cost of a shortest path between any two vertices of the graph. The intermediate step of preprocessing the graph increases the time and memory requirements of the classical motion planning technique in exchange for speeding up individual queries making the method advantageous in multi-query applications. This paper investigates these trade-offs on \PRM graphs constructed in randomized environments as well as a practical manipulator simulation.We conclude that the method is preferable to Dijkstra's algorithm or the ${\rm A}^*$ algorithm with conventional heuristics in multi-query applications.Comment: 7 Page

Automatic Estimation of Ice Bottom Surfaces from Radar Imagery

Ground-penetrating radar on planes and satellites now makes it practical to collect 3D observations of the subsurface structure of the polar ice sheets, providing crucial data for understanding and tracking global climate change. But converting these noisy readings into useful observations is generally done by hand, which is impractical at a continental scale. In this paper, we propose a computer vision-based technique for extracting 3D ice-bottom surfaces by viewing the task as an inference problem on a probabilistic graphical model. We first generate a seed surface subject to a set of constraints, and then incorporate additional sources of evidence to refine it via discrete energy minimization. We evaluate the performance of the tracking algorithm on 7 topographic sequences (each with over 3000 radar images) collected from the Canadian Arctic Archipelago with respect to human-labeled ground truth.Comment: 5 pages, 3 figures, published in ICIP 201