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Lecture

Continual SLAM: Beyond Lifelong SLAM

Description

This lecture presents Continual SLAM, a method that goes beyond Lifelong Simultaneous Localization and Mapping by incorporating continual learning. The speaker discusses bidirected knowledge transfer between environments, the technical approach using CL-SLAM, and experimental evaluations showing superior performance.

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Related concepts (10)

Unsupervised learning

Unsupervised learning, is paradigm in machine learning where, in contrast to supervised learning and semi-supervised learning, algorithms learn patterns exclusively from unlabeled data. Neural network tasks are often categorized as discriminative (recognition) or generative (imagination). Often but not always, discriminative tasks use supervised methods and generative tasks use unsupervised (see Venn diagram); however, the separation is very hazy. For example, object recognition favors supervised learning but unsupervised learning can also cluster objects into groups.

Feature learning

In machine learning, feature learning or representation learning is a set of techniques that allows a system to automatically discover the representations needed for feature detection or classification from raw data. This replaces manual feature engineering and allows a machine to both learn the features and use them to perform a specific task. Feature learning is motivated by the fact that machine learning tasks such as classification often require input that is mathematically and computationally convenient to process.

Simultaneous localization and mapping

Simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. While this initially appears to be a chicken or the egg problem, there are several algorithms known to solve it in, at least approximately, tractable time for certain environments. Popular approximate solution methods include the particle filter, extended Kalman filter, covariance intersection, and GraphSLAM.

Self-supervised learning

Self-supervised learning (SSL) is a paradigm in machine learning for processing data of lower quality, rather than improving ultimate outcomes. Self-supervised learning more closely imitates the way humans learn to classify objects. The typical SSL method is based on an artificial neural network or other model such as a decision list. The model learns in two steps. First, the task is solved based on an auxiliary or pretext classification task using pseudo-labels which help to initialize the model parameters.

Machine learning

Machine learning (ML) is an umbrella term for solving problems for which development of algorithms by human programmers would be cost-prohibitive, and instead the problems are solved by helping machines 'discover' their 'own' algorithms, without needing to be explicitly told what to do by any human-developed algorithms. Recently, generative artificial neural networks have been able to surpass results of many previous approaches.

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