On-Manifold Preintegration for Real-Time Visual-Inertial Odometry

Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time, this problem is further emphasized by the fact that inertial measurements come at high rate, hence leading to fast growth of the number of variables in the optimization. In this paper, we address this issue by preintegrating inertial measurements between selected keyframes into single relative motion constraints. Our first contribution is a \emph{preintegration theory} that properly addresses the manifold structure of the rotation group. We formally discuss the generative measurement model as well as the nature of the rotation noise and derive the expression for the \emph{maximum a posteriori} state estimator. Our theoretical development enables the computation of all necessary Jacobians for the optimization and a-posteriori bias correction in analytic form. The second contribution is to show that the preintegrated IMU model can be seamlessly integrated into a visual-inertial pipeline under the unifying framework of factor graphs. This enables the application of incremental-smoothing algorithms and the use of a \emph{structureless} model for visual measurements, which avoids optimizing over the 3D points, further accelerating the computation. We perform an extensive evaluation of our monocular \VIO pipeline on real and simulated datasets. The results confirm that our modelling effort leads to accurate state estimation in real-time, outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions on Robotics (TRO) 201

Static/Dynamic Filtering for Mesh Geometry

The joint bilateral filter, which enables feature-preserving signal smoothing according to the structural information from a guidance, has been applied for various tasks in geometry processing. Existing methods either rely on a static guidance that may be inconsistent with the input and lead to unsatisfactory results, or a dynamic guidance that is automatically updated but sensitive to noises and outliers. Inspired by recent advances in image filtering, we propose a new geometry filtering technique called static/dynamic filter, which utilizes both static and dynamic guidances to achieve state-of-the-art results. The proposed filter is based on a nonlinear optimization that enforces smoothness of the signal while preserving variations that correspond to features of certain scales. We develop an efficient iterative solver for the problem, which unifies existing filters that are based on static or dynamic guidances. The filter can be applied to mesh face normals followed by vertex position update, to achieve scale-aware and feature-preserving filtering of mesh geometry. It also works well for other types of signals defined on mesh surfaces, such as texture colors. Extensive experimental results demonstrate the effectiveness of the proposed filter for various geometry processing applications such as mesh denoising, geometry feature enhancement, and texture color filtering

Consistent ICP for the registration of sparse and inhomogeneous point clouds

In this paper, we derive a novel iterative closest point (ICP) technique that performs point cloud alignment in a robust and consistent way. Traditional ICP techniques minimize the point-to-point distances, which are successful when point clouds contain no noise or clutter and moreover are dense and more or less uniformly sampled. In the other case, it is better to employ point-to-plane or other metrics to locally approximate the surface of the objects. However, the point-to-plane metric does not yield a symmetric solution, i.e. the estimated transformation of point cloud p to point cloud q is not necessarily equal to the inverse transformation of point cloud q to point cloud p. In order to improve ICP, we will enforce such symmetry constraints as prior knowledge and make it also robust to noise and clutter. Experimental results show that our method is indeed much more consistent and accurate in presence of noise and clutter compared to existing ICP algorithms

Neptune at Summer Solstice: Zonal Mean Temperatures from Ground-Based Observations 2003-2007

Imaging and spectroscopy of Neptune's thermal infrared emission is used to assess seasonal changes in Neptune's zonal mean temperatures between Voyager-2 observations (1989, heliocentric longitude Ls=236) and southern summer solstice (2005, Ls=270). Our aim was to analyse imaging and spectroscopy from multiple different sources using a single self-consistent radiative-transfer model to assess the magnitude of seasonal variability. Globally-averaged stratospheric temperatures measured from methane emission tend towards a quasi-isothermal structure (158-164 K) above the 0.1-mbar level, and are found to be consistent with spacecraft observations of AKARI. This remarkable consistency, despite very different observing conditions, suggests that stratospheric temporal variability, if present, is $\pm$5 K at 1 mbar and $\pm$3 K at 0.1 mbar during this solstice period. Conversely, ethane emission is highly variable, with abundance determinations varying by more than a factor of two. The retrieved C2H6 abundances are extremely sensitive to the details of the T(p) derivation. Stratospheric temperatures and ethane are found to be latitudinally uniform away from the south pole (assuming a latitudinally-uniform distribution of stratospheric methane). At low and midlatitudes, comparisons of synthetic Voyager-era images with solstice-era observations suggest that tropospheric zonal temperatures are unchanged since the Voyager 2 encounter, with cool mid-latitudes and a warm equator and pole. A re-analysis of Voyager/IRIS 25-50 {\mu}m mapping of tropospheric temperatures and para-hydrogen disequilibrium suggests a symmetric meridional circulation with cold air rising at mid-latitudes (sub-equilibrium para-H2 conditions) and warm air sinking at the equator and poles (super-equilibrium para-H2 conditions). The most significant atmospheric changes are associated with the polar vortex (absent in 1989).Comment: 35 pages, 19 figures. Accepted for publication in Icaru

Hierarchical Bayesian Detection Algorithm for Early-Universe Relics in the Cosmic Microwave Background

A number of theoretically well-motivated additions to the standard cosmological model predict weak signatures in the form of spatially localized sources embedded in the cosmic microwave background (CMB) fluctuations. We present a hierarchical Bayesian statistical formalism and a complete data analysis pipeline for testing such scenarios. We derive an accurate approximation to the full posterior probability distribution over the parameters defining any theory that predicts sources embedded in the CMB, and perform an extensive set of tests in order to establish its validity. The approximation is implemented using a modular algorithm, designed to avoid a posteriori selection effects, which combines a candidate-detection stage with a full Bayesian model-selection and parameter-estimation analysis. We apply this pipeline to theories that predict cosmic textures and bubble collisions, extending previous analyses by using: (1) adaptive-resolution techniques, allowing us to probe features of arbitrary size, and (2) optimal filters, which provide the best possible sensitivity for detecting candidate signatures. We conclude that the WMAP 7-year data do not favor the addition of either cosmic textures or bubble collisions to the standard cosmological model, and place robust constraints on the predicted number of such sources. The expected numbers of bubble collisions and cosmic textures on the CMB sky within our detection thresholds are constrained to be fewer than 4.0 and 5.2 at 95% confidence, respectively.Comment: 34 pages, 18 figures. v3: corrected very minor typos to match published versio

On the properties of discrete spatial filters for CFD

© 2016. This version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/The spatial filtering of variables in the context of Computational Fluid Dynamics (CFD) is a common practice. Most of the discrete filters used in CFD simulations are locally accurate models of continuous operators. However, when filters are adaptative, i.e. the filter width is not constant, or meshes are irregular, discrete filters sometimes break relevant global properties of the continuous models they are based on. For example, the principle of maxima and minima reduction or conservation are eventually infringed. In this paper, we analyze the properties of analytic continuous convolution filters and extract those we consider to define filtering. Then, we impose the accomplishment of these properties on explicit discrete filters by means of constraints. Three filters satisfying the derived conditions are deduced and compared to common differential discrete CFD filters on synthetic fields. Tests on the developed discrete filters show the fulfillment of the imposed properties. In particular, the problem of maxima and minima generation is resolved for physically relevant cases. The tests are conducted on the basis of the eigenvectors of graph Laplacian matrices of meshes. Thus, insight into the relations between filtering and oscillation growth on general meshes is provided. Further tests on singularity fields and on isentropic vortices have also been conducted to evaluate the performance of filters on basic CFD fields. Results confirm that imposing the proposed conditions makes discrete filters properties consistent with those of the continuous ones.Peer ReviewedPostprint (author's final draft

Data Assimilation: A Mathematical Introduction

These notes provide a systematic mathematical treatment of the subject of data assimilation