An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor

This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the state-of-the-art visual-inertial state estimation package OKVIS to accommodate acoustic data from sonar in a non-linear optimization-based framework. This paper addresses drift and loss of localization -- one of the main problems affecting other packages in underwater domain -- by providing the following main contributions: a robust initialization method to refine scale using depth measurements, a fast preprocessing step to enhance the image quality, and a real-time loop-closing and relocalization method using bag of words (BoW). An additional contribution is the addition of depth measurements from a pressure sensor to the tightly-coupled optimization formulation. Experimental results on datasets collected with a custom-made underwater sensor suite and an autonomous underwater vehicle from challenging underwater environments with poor visibility demonstrate performance never achieved before in terms of accuracy and robustness

Image hashing for loop closing in underwater visual SLAM

This article presents an experimental assessment of a hash-based loop closure detection methodology specially addressed to Multi-robot underwater visual Simultaneous Localization and Mapping (SLAM). This methodology uses two diferent top quality image global descriptors, one learned (NetVLAD) and one handcrafted (HALOC). Complete tests were done to compare the performance of both hashing techniques applied in an extensive set of real underwater imagery.Peer Reviewe

Efficient Large-scale Approximate Nearest Neighbor Search on the GPU

We present a new approach for efficient approximate nearest neighbor (ANN) search in high dimensional spaces, extending the idea of Product Quantization. We propose a two-level product and vector quantization tree that reduces the number of vector comparisons required during tree traversal. Our approach also includes a novel highly parallelizable re-ranking method for candidate vectors by efficiently reusing already computed intermediate values. Due to its small memory footprint during traversal, the method lends itself to an efficient, parallel GPU implementation. This Product Quantization Tree (PQT) approach significantly outperforms recent state of the art methods for high dimensional nearest neighbor queries on standard reference datasets. Ours is the first work that demonstrates GPU performance superior to CPU performance on high dimensional, large scale ANN problems in time-critical real-world applications, like loop-closing in videos

ORB-SLAM: A Versatile and Accurate Monocular SLAM System

This paper presents ORB-SLAM, a feature-based monocular simultaneous localization and mapping (SLAM) system that operates in real time, in small and large indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public

Molecular principles underlying dual RNA specificity in the Drosophila SNF protein

The first RNA recognition motif of the Drosophila SNF protein is an example of an RNA binding protein with multi-specificity. It binds different RNA hairpin loops in spliceosomal U1 or U2 small nuclear RNAs, and only in the latter case requires the auxiliary U2A′ protein. Here we investigate its functions by crystal structures of SNF alone and bound to U1 stem-loop II, U2A′ or U2 stem-loop IV and U2A′, SNF dynamics from NMR spectroscopy, and structure-guided mutagenesis in binding studies. We find that different loop-closing base pairs and a nucleotide exchange at the tips of the loops contribute to differential SNF affinity for the RNAs. U2A′ immobilizes SNF and RNA residues to restore U2 stem-loop IV binding affinity, while U1 stem-loop II binding does not require such adjustments. Our findings show how U2A′ can modulate RNA specificity of SNF without changing SNF conformation or relying on direct RNA contacts

Lazy localization using the Frozen-Time Smoother

We present a new algorithm for solving the global localization problem called Frozen-Time Smoother (FTS). Time is 'frozen', in the sense that the belief always refers to the same time instant, instead of following a moving target, like Monte Carlo Localization does. This algorithm works in the case in which global localization is formulated as a smoothing problem, and a precise estimate of the incremental motion of the robot is usually available. These assumptions correspond to the case when global localization is used to solve the loop closing problem in SLAM. We compare FTS to two Monte Carlo methods designed with the same assumptions. The experiments suggest that a naive implementation of the FTS is more efficient than an extremely optimized equivalent Monte Carlo solution. Moreover, the FTS has an intrinsic laziness: it does not need frequent updates (scans can be integrated once every many meters) and it can process data in arbitrary order. The source code and datasets are available for download

Stretching force dependent transitions in single stranded DNA

Mechanical properties of DNA, in particular their stretch dependent extension and their loop formation characteristics, have been recognized as an effective probe for understanding the possible biochemical role played by them in a living cell. Single stranded DNA (ssDNA), which, till recently was presumed to be an simple flexible polymer continues to spring surprises. Synthetic ssDNA, like polydA (polydeoxyadenosines) has revealed an intriguing force-extension (FX) behavior exhibiting two plateaus, absent in polydT (polydeoxythymidines) for example. Loop closing time in polydA had also been found to scale exponentially with inverse temperature, unexpected from generic models of homopolymers. Here we present a new model for polydA which incorporates both a helix-coil transition and a over-stretching transition, accounting for the two plateaus. Using transfer matrix calculation and Monte-Carlo simulation we show that the model reproduces different sets of experimental observations, quantitatively. It also predicts interesting reentrant behavior in the temperature-extension characteristics of polydA, which is yet to be verified experimentally.Comment: 5 pages, 3 figure