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Events for April 27, 2017

  • CS Colloquium and RASC seminar: Steven Waslander (University of Waterloo) - Gimballed multi-camera localization and mapping for aerial vehicles

    Thu, Apr 27, 2017 @ 11:00 AM - 12:20 PM

    Computer Science

    Conferences, Lectures, & Seminars

    Speaker: Steven Waslander, University of Waterloo

    Talk Title: Gimballed multi-camera localization and mapping for aerial vehicles

    Series: RASC Seminar Series

    Abstract: This lecture satisfies requirements for CSCI 591: Computer Science Research Colloquium.

    Multi-camera clusters used for visual SLAM assume a fixed calibration between the cameras, which places many limitations on its performance, and directly excludes all configurations where a camera in the cluster is mounted to a moving component. We present a calibration method and SLAM solution for dynamic multi-camera clusters, where one or more of the cluster cameras is mounted to an actuated mechanism, such as a gimbal or robotic manipulator. Our approach parametrizes the actuated mechanism using the Denavit-Hartenberg convention, then determines the calibration parameters which allow for the estimation of the time varying extrinsic transformations between camera frames. We rely on joint encoder data or camera-attached IMU to identify the extrinsic transformations during operation, and are developing active calibration methods to automate the process in the field. We validate our calibration approach using a dynamic camera cluster consisting of a static camera and a camera mounted to a pan-tilt unit as well as on a four-camera system with a single three-axis gimballed unit on a hexacopter aerial vehicle, and demonstrate that dynamic camera clusters can be provide accurate pose tracking when used to perform SLAM.

    Biography: Prof. Steven Waslander is an Associate Professor in the Department of Mechanical and Mechatronics Engineering at the University of Waterloo in Waterloo, Ontario, Canada and director of the Waterloo Autonomous Vehicles Laboratory (WAVELab, http://wavelab.uwaterloo.ca . He received his B.Sc.E.in 1998 from Queen's University, his M.S. in 2002 and his Ph.D. in 2007, both from Stanford University in Aeronautics and Astronautics. He is the Program Co-Chair for the CIPPRS Computer and Robot Vision Conference, the Competition Chair for the IEEE/RSJ International Conference on Intelligent Robots and Systems and the former General Chair of the International Autonomous Robot Racing competition. His research interests lie in the areas of autonomous aerial and ground vehicles, autonomous driving, simultaneous localization and mapping, quadrotor vehicles, and machine learning. Prof. Waslander currently collaborates with numerous industrial partners, including Aeryon Labs, Clearpath Robotics, Nuvation Engineering, Denso, Renesas Electronics Corp, Qnx, and Applanix, and is a member of the NSERC Canadian Field Robotics Network. He also acts as the academic advisor to the University of Waterloo Robotics Team, which compete in multiple competitions, including the NASA Sample Return Robot Challenge, the Intelligent Ground Vehicle Competition and the University Rover Challenge.

    Host: Gaurav Sukhatme

    Location: Ronald Tutor Hall of Engineering (RTH) - 217

    Audiences: Everyone Is Invited

    Posted By: Assistant to CS chair

  • Measurement and Analysis of Mobile and Social Networks

    Thu, Apr 27, 2017 @ 11:00 AM - 12:15 PM

    Ming Hsieh Department of Electrical Engineering

    Conferences, Lectures, & Seminars

    Speaker: Athina Markopoulou, Professor/UC Irvine

    Talk Title: Measurement and Analysis of Mobile and Social Networks

    Abstract: The majority of Internet traffic today is through mobile devices and social media. Large-scale measurement and analysis of these systems is necessary in order to understand underlying patterns and enable engineering optimizations and new applications. In this talk, I will present highlights of our research in this area.

    First, I will discuss online social networks. I will present our "2K+" framework for generating synthetic graphs that resemble online social networks, in terms of joint degree distribution and additional characteristics, such as clustering and node attributes [INFOCOM'13, INFOCOM'15]. This problem was motivated by our prior work on graph sampling [JSAC'11, SIGMETRICS'11, INFOCOM'10] and by popular demand to make the Facebook datasets we collected publicly available.

    Second, I will discuss cellular networks. I will present our work on analyzing Call Detail Records (CDRs) in order to characterize human activity in urban environments, with applications to urban ecology [MOBIHOC'15] and ride-sharing [UBICOMP'14, SIGSPATIAL'15-16].

    Third, I will present our ongoing work on AntMonitor - a system for monitoring network traffic on mobile devices [SIGCOMM C2BID'15], with applications to privacy leaks detection [MOBICOM Demo'15], crowdsourcing of network performance measurements, and improved wireless access.

    Biography: Athina Markopoulou is an Associate Professor in EECS at the University of California, Irvine. She received the Diploma degree in Electrical and Computer Engineering from the National Technical University of Athens, Greece, in 1996, and the Master's and Ph.D. degrees in Electrical Engineering from Stanford University, in 1998 and 2003, respectively. She has held short-term/visiting appointments at SprintLabs (2003), Arista Networks (2005), IT University of Copenhagen (2012-2013), and she co-founded Shoelace Wireless (2012). She has received the NSF CAREER Award (2008), the Henry Samueli School of Engineering Faculty Midcareer Award for Research (2014), and the OCEC Educator Award (2017). She has been an Associate Editor for IEEE/ACM Transactions on Networking (2013-2015), an Associate Editor for ACM CCR (2016), the General Co-Chair for ACM CoNEXT 2016, and the Director of the Networked Systems program at UCI. Her research interests are in the area of networking including mobile systems and mobile data analytics, network measurement, online social networks, network security and privacy, network coding, and multimedia traffic.

    Host: Professor Konstantinos Psounis, kpsounis@usc.edu

    More Information: Seminar Announcement - Markopoulou 042717.pdf

    Location: Hughes Aircraft Electrical Engineering Center (EEB) - 132

    Audiences: Everyone Is Invited

    Posted By: Mayumi Thrasher

  • Le Val Lund Lecture with Student Symposium

    Thu, Apr 27, 2017 @ 01:00 PM - 09:00 PM

    Sonny Astani Department of Civil and Environmental Engineering

    Conferences, Lectures, & Seminars

    Speaker: Craig Davis, Technical Speaker and Recipient of the 2016 ASCE Le Val Lund Award for Practicing Lifeline Risk Reduction

    Talk Title: Operationalizing Resilience for Lifeline Systems

    Host: ASCE

    More Information: Final_LeVal Lund_Lecture_save_the_date_v4_27April17.pdf

    Location: California Institute of Technology

    Audiences: Everyone Is Invited

    Posted By: Kaela Berry

  • CS & ML Colloquium: Matus Telgarsky (UIUC) - Representation power of neural networks

    Thu, Apr 27, 2017 @ 04:00 PM - 05:00 PM

    Computer Science

    Conferences, Lectures, & Seminars

    Speaker: Matus Telgarsky, UIUC

    Talk Title: Representation power of neural networks

    Series: Yahoo! Labs Machine Learning Seminar Series

    Abstract: This lecture satisfies requirements for CSCI 591: Computer Science Research Colloquium.

    This talk will present a series of mathematical vignettes on the representation power of neural networks. Amongst old results, the classical universal approximation theorem will be presented, along with Kolmogorov's superposition theorem. Recent results will include depth hierarchies (for any choice of depth, there exists functions which can only be approximated by slightly less deep networks when they have exponential size), connections to polynomials (namely, rational functions and neural networks well-approximate each other), and the power of recurrent networks. Open problems will be sprinkled throughout.

    Biography: Matus Telgarsky is an assistant professor at UIUC. He received his PhD in 2013 at UCSD under Sanjoy Dasgupta. He works in machine learning theory; his current interests are non-convex optimization and neural network representation.

    Host: CS Department

    Location: Henry Salvatori Computer Science Center (SAL) - 101

    Audiences: Everyone Is Invited

    Posted By: Assistant to CS chair