Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for motion planning. Though some work utilize plane or scene layout for dense map regularization, they require decent state estimation from other sources. In this paper, we propose real-time monocular plane SLAM to demonstrate that scene understanding could improve both state estimation and dense mapping especially in low-texture environments. The plane measurements come from a pop-up 3D plane model applied to each single image. We also combine planes with point based SLAM to improve robustness. On a public TUM dataset, our algorithm generates a dense semantic 3D model with pixel depth error of 6.2 cm while existing SLAM algorithms fail. On a 60 m long dataset with loops, our method creates a much better 3D model with state estimation error of 0.67%.Comment: International Conference on Intelligent Robots and Systems (IROS) 201

Gemini Planet Imager Observational Calibrations III: Empirical Measurement Methods and Applications of High-Resolution Microlens PSFs

The newly commissioned Gemini Planet Imager (GPI) combines extreme adaptive optics, an advanced coronagraph, precision wavefront control and a lenslet-based integral field spectrograph (IFS) to measure the spectra of young extrasolar giant planets between 0.9-2.5 um. Each GPI detector image, when in spectral model, consists of ~37,000 microspectra which are under or critically sampled in the spatial direction. This paper demonstrates how to obtain high-resolution microlens PSFs and discusses their use in enhancing the wavelength calibration, flexure compensation and spectral extraction. This method is generally applicable to any lenslet-based integral field spectrograph including proposed future instrument concepts for space missions.Comment: 10 pages, 6 figures. Proceedings of the SPIE, 9147-282 v2: reference adde

Review: Object vision in a structured world

In natural vision, objects appear at typical locations, both with respect to visual space (e.g., an airplane in the upper part of a scene) and other objects (e.g., a lamp above a table). Recent studies have shown that object vision is strongly adapted to such positional regularities. In this review we synthesize these developments, highlighting that adaptations to positional regularities facilitate object detection and recognition, and sharpen the representations of objects in visual cortex. These effects are pervasive across various types of high-level content. We posit that adaptations to real-world structure collectively support optimal usage of limited cortical processing resources. Taking positional regularities into account will thus be essential for understanding efficient object vision in the real world

Negotiating hegemonic masculinity: imaginary positions and psycho-discursive practices

In this paper we provide a critical analysis of the concept of hegemonic masculinity. We argue that although this concept embodies important theoretical insights, it is insufficiently developed as it stands to enable us to understand how men position themselves as gendered beings. In particular it offers a vague and imprecise account of the social psychological reproduction of male identities. We outline an alternative critical discursive psychology of masculinity. Drawing on data from interviews with a sample of men from a range of ages and from diverse occupational backgrounds, we delineate three distinctive, yet related, procedures or psycho-discursive practices, through which men construct themselves as masculine. The political implications of these discursive practices, as well as the broader implications of treating the psychological process of identification as form of discursive accomplishment, are also discussed

Early initiation of a replication origin tethered at the nuclear periphery

Peer reviewedPublisher PD