BOOL-AN: A method for comparative sequence analysis and phylogenetic reconstruction

A novel discrete mathematical approach is proposed as an additional tool for molecular systematics which does not require prior statistical assumptions concerning the evolutionary process. The method is based on algorithms generating mathematical representations directly from DNA/RNA or protein sequences, followed by the output of numerical (scalar or vector) and visual characteristics (graphs). The binary encoded sequence information is transformed into a compact analytical form, called the Iterative Canonical Form (or ICF) of Boolean functions, which can then be used as a generalized molecular descriptor. The method provides raw vector data for calculating different distance matrices, which in turn can be analyzed by neighbor-joining or UPGMA to derive a phylogenetic tree, or by principal coordinates analysis to get an ordination scattergram. The new method and the associated software for inferring phylogenetic trees are called the Boolean analysis or BOOL-AN

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection

Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as visual navigation and obstacle detection. We can use a surround multi-camera system to cover the full 360-degree field-of-view around the car. In this way, we avoid blind spots which can otherwise lead to accidents. To minimize the number of cameras needed for surround perception, we utilize fisheye cameras. Consequently, standard vision pipelines for 3D mapping, visual localization, obstacle detection, etc. need to be adapted to take full advantage of the availability of multiple cameras rather than treat each camera individually. In addition, processing of fisheye images has to be supported. In this paper, we describe the camera calibration and subsequent processing pipeline for multi-fisheye-camera systems developed as part of the V-Charge project. This project seeks to enable automated valet parking for self-driving cars. Our pipeline is able to precisely calibrate multi-camera systems, build sparse 3D maps for visual navigation, visually localize the car with respect to these maps, generate accurate dense maps, as well as detect obstacles based on real-time depth map extraction

Comparison and affine combination of generalized barycentric coordinates for convex polygons

In this paper, we study and compare different types of generalized bary- centric coordinates in detail, including Wachspress, discrete harmonic and mean value coordinates for convex, n-sided polygons. Contour lines are computed in each barycentric coordinate method, and curvature plots of these contour line curves are visualized. Moreover, different distortions of uniform patterns are also shown, providing exact visual method to compare these methods. To overcome the shortcomings of different generalized barycentric computations, affine combination of methods is provided

Vision based motion control for a humanoid head

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head