In target tracking and sensor fusion contexts it is not unusual to deal with a large number of Gaussian densities that encode the available information (multiple hypotheses), as in applications where many sensors, affected by clutter or multimodal noise, take measurements on the same scene. In such cases reduction procedures must be implemented, with the purpose of limiting the computational load. In some situations it is required to fuse all available information into a single hypothesis, and this is usually done by computing the barycenter of the set. However, such computation strongly depends on the chosen dissimilarity measure, and most often it must be performed making use of numerical methods, since in very few cases the barycenter can be computed analytically. Some issues, like the constraint on the covariance, that must be symmetric and positive definite, make it hard the numerical computation of the barycenter of a set of Gaussians. In this work, Fixed-Point Iterations (FPI) are presented for the computation of barycenters according to several dissimilarity measures, making up a useful toolbox for fusion/reduction of Gaussian sets in applications where specific dissimilarity measures are required.

Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and lower-cost lidar products. This study benchmarks current state-of-the-art lidar SLAM algorithms with a multi-modal lidar sensor setup showcasing diverse scanning modalities (spinning and solid-state) and sensing technologies, and lidar cameras, mounted on a mobile sensing and computing platform. We extend our previous multi-modal multi-lidar dataset with additional sequences and new sources of ground truth data. Specifically, we propose a new multi-modal multi-lidar SLAM-assisted and ICP-based sensor fusion method for generating ground truth maps. With these maps, we then match real-time pointcloud data using a natural distribution transform (NDT) method to obtain the ground truth with full 6 DOF pose estimation. This novel ground truth data leverages high-resolution spinning and solid-state lidars. We also include new open road sequences with GNSS-RTK data and additional indoor sequences with motion capture (MOCAP) ground truth, complementing the previous forest sequences with MOCAP data. We perform an analysis of the positioning accuracy achieved with ten different SLAM algorithm and lidar combinations. We also report the resource utilization in four different computational platforms and a total of five settings (Intel and Jetson ARM CPUs). Our experimental results show that current state-of-the-art lidar SLAM algorithms perform very differently for different types of sensors. More results, code, and the dataset can be found at: \href{https://github.com/TIERS/tiers-lidars-dataset-enhanced}{github.com/TIERS/tiers-lidars-dataset-enhanced.

Do you have Data Warehousing, Hadoop/Data Lake experience? Do you like to solve the most complex and high scale (billions records) data challenges in the world today? Do you like to work on-site in a variety of business environments, leading teams through high impact projects that use the newest data analytic technologies? Would you like a career path that enables you to progress with the rapid adoption of cloud computing? This role will specifically focus on large scale data warehousing and data warehouse modernization.

Coupa Software, Inc. is hiring for Full Time Senior/Lead - ETL Test Automation Engineer (Remote) - San Mateo, California, United States - a Senior-level AI/ML/Data Science role offering benefits such as 401(k) matching, Competitive pay, Flex hours, Flex vacation, Health care, Team events

Language Models pretrained on large textual data have been shown to encode different types of knowledge simultaneously. Traditionally, only the features from the last layer are used when adapting to new tasks or data. We put forward that, when using or finetuning deep pretrained models, intermediate layer features that may be relevant to the downstream task are buried too deep to be used efficiently in terms of needed samples or steps. To test this, we propose a new layer fusion method: Depth-Wise Attention (DWAtt), to help re-surface signals from non-final layers. We compare DWAtt to a basic concatenation-based layer fusion method (Concat), and compare both to a deeper model baseline -- all kept within a similar parameter budget. Our findings show that DWAtt and Concat are more step- and sample-efficient than the baseline, especially in the few-shot setting. DWAtt outperforms Concat on larger data sizes. On CoNLL-03 NER, layer fusion shows 3.68-9.73% F1 gain at different few-shot sizes. The layer fusion models presented significantly outperform the baseline in various training scenarios with different data sizes, architectures, and training constraints.

More and more, with the growing focus on large scale analytics, we are confronted with the need of integrating data from multiple sources. The problem is that these data are impossible to reuse as-is. The net result is high cost, with the further drawback that the resulting integrated data will again be hardly reusable as-is.

The Cloud and BigData Software Architect is responsible for leading technical efforts related to modern data engineering, based on Cloud computing technologies. The candidate is expected to have demonstrated experience in the domain, with proven record of architecting data centric systems at Cloud scale, supporting complex use cases. Experience with public cloud environments, with a focus on the various data services and cloud native software architecture are important for the position. Effectively participate in defining, designing, architecting and implementing cloud based systems. Master new and emerging technologies, and effectively apply them into new systems. Be in the forefront of the happenings related to data.

Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of multi-sensors is growing. To calculate the extrinsic parameter, many researches have been dedicated to the two-step method, which integrates the respective calibration in pairs. It is inefficient and incompact because of losing sight of the constrain of all sensors. With regard to remove this burden, an optimization-based IMU/Lidar/Camera co-calibration method is proposed in the paper. Firstly, the IMU/camera and IMU/lidar online calibrations are conducted, respectively. Then, the corner and surface feature points in the chessboard are associated with the coarse result and the camera/lidar constraint is constructed. Finally, construct the co-calibration optimization to refine all extrinsic parameters. We evaluate the performance of the proposed scheme in simulation and the result demonstrates that our proposed method outperforms the two-step method.

In web 3.0, the dynamics of not just the internet but the data streams are undergoing a decentralized transformation. As a first step, thanks to distributed data governance every domain can now manage and govern its data products but at the same time, it also relies on central control of security policies, data modelling, and compliance. Data mesh distributes data across physical and virtual networks in a decentralized manner. Unlike conventional data integration tools that call for a highly centralized infrastructure, a data mesh instead works across on-premise, multi and single-cloud, edge environments. As per the findings from MIT, only 13% of surveyed organizations could successfully deliver as per their data strategy.

Sensor fusion can significantly improve the performance of many computer vision tasks. However, traditional fusion approaches are either not data-driven and cannot exploit prior knowledge nor find regularities in a given dataset or they are restricted to a single application. We overcome this shortcoming by presenting a novel deep hierarchical variational autoencoder called FusionVAE that can serve as a basis for many fusion tasks. Our approach is able to generate diverse image samples that are conditioned on multiple noisy, occluded, or only partially visible input images. We derive and optimize a variational lower bound for the conditional log-likelihood of FusionVAE. In order to assess the fusion capabilities of our model thoroughly, we created three novel datasets for image fusion based on popular computer vision datasets. In our experiments, we show that FusionVAE learns a representation of aggregated information that is relevant to fusion tasks. The results demonstrate that our approach outperforms traditional methods significantly. Furthermore, we present the advantages and disadvantages of different design choices.