Gravitational bending of light by planetary multipoles and its measurement with microarcsecond astronomical interferometers

General relativistic deflection of light by mass, dipole, and quadrupole moments of gravitational field of a moving massive planet in the Solar system is derived. All terms of order 1 microarcsecond are taken into account, parametrized, and classified in accordance with their physical origin. We calculate the instantaneous patterns of the light-ray deflections caused by the monopole, the dipole and the quadrupole moments, and derive equations describing apparent motion of the deflected position of the star in the sky plane as the impact parameter of the light ray with respect to the planet changes due to its orbital motion. The present paper gives the physical interpretation of the observed light-ray deflections and discusses the observational capabilities of the near-future optical (SIM) and radio (SKA) interferometers for detecting the Doppler modulation of the radial deflection, and the dipolar and quadrupolar light-ray bendings by the Jupiter and the Saturn.Comment: 33 pages, 10 figures, accepted to Phys. Rev.

Recursive Motion and Structure Estimation with Complete Error Characterization

We present an algorithm that perfom recursive estimation of ego-motion andambient structure from a stream of monocular Perspective images of a number of feature points. The algorithm is based on an Extended Kalman Filter (EKF) that integrates over time the instantaneous motion and structure measurements computed by a 2-perspective-views step. Key features of our filter are (I) global observability of the model, (2) complete on-line characterization of the uncertainty of the measurements provided by the two-views step. The filter is thus guaranteed to be well-behaved regardless of the particular motion undergone by the observel: Regions of motion space that do not allow recovery of structure (e.g. pure rotation) may be crossed while maintaining good estimates of structure and motion; whenever reliable measurements are available they are exploited. The algorithm works well for arbitrary motions with minimal smoothness assumptions and no ad hoc tuning. Simulations are presented that illustrate these characteristics

Motion in gauge theories of gravity

A description of motion is proposed, adapted to the composite bundle interpretation of Poincar\'e Gauge Theory. Reference frames, relative positions and time evolution are characterized in gauge-theoretical terms. The approach is illustrated by an appropriate formulation of the familiar example of orbital motion induced by Schwarzschild spacetime.Comment: 24 pages, 6 figures, revised version with minor change

Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 1: Modeling

The literature on recursive estimation of structure and motion from monocular image sequences comprises a large number of different models and estimation techniques. We propose a framework that allows us to derive and compare all models by following the idea of dynamical system reduction. The "natural" dynamic model, derived by the rigidity constraint and the perspective projection, is first reduced by explicitly decoupling structure (depth) from motion. Then implicit decoupling techniques are explored, which consist of imposing that some function of the unknown parameters is held constant. By appropriately choosing such a function, not only can we account for all models seen so far in the literature, but we can also derive novel ones

Causality and momentum conservation from relative locality

Theories with a curved momentum space, which became recently of interest in the quantum-gravity literature, can in general violate many apparently robust aspects of our current description of the laws of physics, including relativistic invariance, locality, causality and global momentum conservation. We here explore some aspects of the particularly severe pathologies arising in generic theories with curved momentum space for what concerns causality and momentum conservation. However, we also report results suggesting that when momentum space is maximally symmetric, and the theory is formulated (DSR-)relativistically, with the associated relativity of spacetime locality, momentum is globally conserved and there is no violation of causality.Comment: 20 pages, 6 figures, latex (V2: minor editing

A Neural Model of How the Brain Computes Heading from Optic Flow in Realistic Scenes

Animals avoid obstacles and approach goals in novel cluttered environments using visual information, notably optic flow, to compute heading, or direction of travel, with respect to objects in the environment. We present a neural model of how heading is computed that describes interactions among neurons in several visual areas of the primate magnocellular pathway, from retina through V1, MT+, and MSTd. The model produces outputs which are qualitatively and quantitatively similar to human heading estimation data in response to complex natural scenes. The model estimates heading to within 1.5° in random dot or photo-realistically rendered scenes and within 3° in video streams from driving in real-world environments. Simulated rotations of less than 1 degree per second do not affect model performance, but faster simulated rotation rates deteriorate performance, as in humans. The model is part of a larger navigational system that identifies and tracks objects while navigating in cluttered environments.National Science Foundation (SBE-0354378, BCS-0235398); Office of Naval Research (N00014-01-1-0624); National-Geospatial Intelligence Agency (NMA201-01-1-2016