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Mapping spatiotemporal patterns in an online and continuous fashion
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BHM_tutorial.ipynb
README.md Update README.md Apr 2, 2019

README.md

Bayesian Hilbert Maps

Online Bayesian Hilbert Mapping

Hilbert occupancy mapping without tuning regularization parameters. We can obtain both mean and variance estimates.

Tutorials An intuitive guide to Bayesian Hilbert maps - BHM_tutorial.ipynb

Demonstrations Now BHM is available in both numpy and pytorch (CUDA).

Datasets Intel Lab dataset KITTI dataset

Videos: https://youtu.be/LDrLsvfJ0V0

https://youtu.be/gxi0JKuzJvU

https://youtu.be/iNXnRjLEsHQ

Example:

import sbhm

X = #numpy array of size (N,2)
y = #numpy array of size (N,)
X_pred = #numpy array of size (N_pred,2)

model = sbhm.SBHM(gamma)
model.fit(X, y)
y_pred = model.predict(X_pred)

# with pytorch
See the demonstrations.

Papers: Introduction to Bayesian Hilbert Maps:

@inproceedings{senanayake2017bayesian,
  title={Bayesian hilbert maps for dynamic continuous occupancy mapping},
  author={Senanayake, Ransalu and Ramos, Fabio},
  booktitle={Conference on Robot Learning},
  pages={458--471},
  year={2017}
}

Examples with moving robots and the similarities to Gaussian process based techniques:

@inproceedings{senanayake2018continuous,
  title={Building Continuous Occupancy Maps with Moving Robots},
  author={Senanayake, Ransalu and Ramos, Fabio},
  booktitle={Proceedings of the Thirty Second AAAI Conference on Artificial Intelligence},
  year={2018},
  organization={AAAI Press}
}

Learning hinge points and kernel parameters:

@inproceedings{senanayake2018automorphing,
  title={Automorphing Kernels for Nonstationarity in Mapping Unstructured Environments},
  author={Senanayake*, Ransalu and Tomkins*, Anthony and Ramos, Fabio},
  booktitle={Conference on Robot Learning},
  pages={--},
  year={2018}
}

code: https://github.com/MushroomHunting/autormorphing-kernels

Fast fusion with multiple robots

@inproceedings{zhi2019fusion,
  title={Continuous Occupancy Map Fusion with Fast Bayesian Hilbert Maps},
  author={Zhi, William and Ott, Lionel and Senanayake, Ransalu and Ramos, Fabio},
  booktitle={The International Conference on Robotics and Automation (ICRA)},
  pages={--},
  year={2019}
}
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