Simultaneous localization and mappingSimultaneous 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.
Concurrency controlIn information technology and computer science, especially in the fields of computer programming, operating systems, multiprocessors, and databases, concurrency control ensures that correct results for concurrent operations are generated, while getting those results as quickly as possible. Computer systems, both software and hardware, consist of modules, or components. Each component is designed to operate correctly, i.e., to obey or to meet certain consistency rules.
Multiversion concurrency controlMultiversion concurrency control (MCC or MVCC), is a concurrency control method commonly used by database management systems to provide concurrent access to the database and in programming languages to implement transactional memory. Without concurrency control, if someone is reading from a database at the same time as someone else is writing to it, it is possible that the reader will see a half-written or inconsistent piece of data.
Visual odometryIn robotics and computer vision, visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of robotic applications, such as on the Mars Exploration Rovers. In navigation, odometry is the use of data from the movement of actuators to estimate change in position over time through devices such as rotary encoders to measure wheel rotations.
Optimistic concurrency controlOptimistic concurrency control (OCC), also known as optimistic locking, is a concurrency control method applied to transactional systems such as relational database management systems and software transactional memory. OCC assumes that multiple transactions can frequently complete without interfering with each other. While running, transactions use data resources without acquiring locks on those resources. Before committing, each transaction verifies that no other transaction has modified the data it has read.
Pose (computer vision)In the fields of computing and computer vision, pose (or spatial pose) represents the position and orientation of an object, usually in three dimensions. Poses are often stored internally as transformation matrices. The term “pose” is largely synonymous with the term “transform”, but a transform may often include scale, whereas pose does not. In computer vision, the pose of an object is often estimated from camera input by the process of pose estimation.
Read-copy-updateIn computer science, read-copy-update (RCU) is a synchronization mechanism that avoids the use of lock primitives while multiple threads concurrently read and update elements that are linked through pointers and that belong to shared data structures (e.g., linked lists, trees, hash tables). Whenever a thread is inserting or deleting elements of data structures in shared memory, all readers are guaranteed to see and traverse either the older or the new structure, therefore avoiding inconsistencies (e.g.
Camera resectioningCamera resectioning is the process of estimating the parameters of a pinhole camera model approximating the camera that produced a given photograph or video; it determines which incoming light ray is associated with each pixel on the resulting image. Basically, the process determines the pose of the pinhole camera. Usually, the camera parameters are represented in a 3 × 4 projection matrix called the camera matrix. The extrinsic parameters define the camera pose (position and orientation) while the intrinsic parameters specify the camera image format (focal length, pixel size, and image origin).
Isolation (database systems)In database systems, isolation determines how transaction integrity is visible to other users and systems. A lower isolation level increases the ability of many users to access the same data at the same time, but increases the number of concurrency effects (such as dirty reads or lost updates) users might encounter. Conversely, a higher isolation level reduces the types of concurrency effects that users may encounter, but requires more system resources and increases the chances that one transaction will block another.
Real-time computingReal-time computing (RTC) is the computer science term for hardware and software systems subject to a "real-time constraint", for example from event to system response. Real-time programs must guarantee response within specified time constraints, often referred to as "deadlines". Real-time responses are often understood to be in the order of milliseconds, and sometimes microseconds. A system not specified as operating in real time cannot usually guarantee a response within any timeframe, although typical or expected response times may be given.
