Model-based estimation of off-highway road geometry using single-axis LADAR and inertial sensing

This paper applies some previously studied extended Kalman filter techniques for planar road geometry estimation to the domain of autonomous navigation of off-highway vehicles. In this work, a clothoid model of the road geometry is constructed and estimated recursively based on road features extracted from single-axis LADAR range measurements. We present a method for feature extraction of the road centerline in the image plane, and describe its application to recursive estimation of the road geometry. We analyze the performance of our method against simulated motion of varied road geometries and against closed-loop detection, tracking and following of desert roads. Our method accomodates full 6 DOF motion of the vehicle as it navigates, constructs consistent estimates of the road geometry with respect to a fixed global reference frame, and requires an estimate of the sensor pose for each range measurement

Compact continuum source-finding for next generation radio surveys

We present a detailed analysis of four of the most widely used radio source finding packages in radio astronomy, and a program being developed for the Australian Square Kilometer Array Pathfinder (ASKAP) telescope. The four packages; SExtractor, SFind, IMSAD and Selavy are shown to produce source catalogues with high completeness and reliability. In this paper we analyse the small fraction (~1%) of cases in which these packages do not perform well. This small fraction of sources will be of concern for the next generation of radio surveys which will produce many thousands of sources on a daily basis, in particular for blind radio transients surveys. From our analysis we identify the ways in which the underlying source finding algorithms fail. We demonstrate a new source finding algorithm Aegean, based on the application of a Laplacian kernel, which can avoid these problems and can produce complete and reliable source catalogues for the next generation of radio surveys.Comment: 14 pages, 12 figures, accepted for publication in MNRA

Discrete spherical means of directional derivatives and Veronese maps

We describe and study geometric properties of discrete circular and spherical means of directional derivatives of functions, as well as discrete approximations of higher order differential operators. For an arbitrary dimension we present a general construction for obtaining discrete spherical means of directional derivatives. The construction is based on using the Minkowski's existence theorem and Veronese maps. Approximating the directional derivatives by appropriate finite differences allows one to obtain finite difference operators with good rotation invariance properties. In particular, we use discrete circular and spherical means to derive discrete approximations of various linear and nonlinear first- and second-order differential operators, including discrete Laplacians. A practical potential of our approach is demonstrated by considering applications to nonlinear filtering of digital images and surface curvature estimation