Ground Extraction from 3D Lidar Point Clouds

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: PendingGround extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times.This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech

Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots

Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM- 30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps

Elevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or tunnels, can produce useless results. This paper proposes a simple processing of a ground-based point cloud that identifies and removes overhang points that do not constitute an obstacle for navigation while keeping vertical structures such as walls or tree trunks. The procedure uses efficient data structures to collapse unsupported 3D cubes down to the ground. This method has been successfully applied to 3D laser scans taken from a mobile robot in outdoor environments in order to build local elevation maps for navigation. Computation times show an improvement with respect to a previous point-based solution to this problem.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling

Morales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A., "Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling," 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4168-4173, 2013 doi:10.1109/IECON.2013.6699804Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Multidimensional quantum entanglement with large-scale integrated optics

The ability to control multidimensional quantum systems is key for the investigation of fundamental science and for the development of advanced quantum technologies. Here we demonstrate a multidimensional integrated quantum photonic platform able to robustly generate, control and analyze high-dimensional entanglement. We realize a programmable bipartite entangled system with dimension up to $15 \times 15$ on a large-scale silicon-photonics quantum circuit. The device integrates more than 550 photonic components on a single chip, including 16 identical photon-pair sources. We verify the high precision, generality and controllability of our multidimensional technology, and further exploit these abilities to demonstrate key quantum applications experimentally unexplored before, such as quantum randomness expansion and self-testing on multidimensional states. Our work provides a prominent experimental platform for the development of multidimensional quantum technologies.Comment: Science, (2018

NetB, a New Toxin That Is Associated with Avian Necrotic Enteritis Caused by Clostridium perfringens

For over 30 years a phospholipase C enzyme called alpha-toxin was thought to be the key virulence factor in necrotic enteritis caused by Clostridium perfringens. However, using a gene knockout mutant we have recently shown that alpha-toxin is not essential for pathogenesis. We have now discovered a key virulence determinant. A novel toxin (NetB) was identified in a C. perfringens strain isolated from a chicken suffering from necrotic enteritis (NE). The toxin displayed limited amino acid sequence similarity to several pore forming toxins including beta-toxin from C. perfringens (38% identity) and alpha-toxin from Staphylococcus aureus (31% identity). NetB was only identified in C. perfringens type A strains isolated from chickens suffering NE. Both purified native NetB and recombinant NetB displayed cytotoxic activity against the chicken leghorn male hepatoma cell line LMH; inducing cell rounding and lysis. To determine the role of NetB in NE a netB mutant of a virulent C. perfringens chicken isolate was constructed by homologous recombination, and its virulence assessed in a chicken disease model. The netB mutant was unable to cause disease whereas the wild-type parent strain and the netB mutant complemented with a wild-type netB gene caused significant levels of NE. These data show unequivocally that in this isolate a functional NetB toxin is critical for the ability of C. perfringens to cause NE in chickens. This novel toxin is the first definitive virulence factor to be identified in avian C. perfringens strains capable of causing NE. Furthermore, the netB mutant is the first rationally attenuated strain obtained in an NE-causing isolate of C. perfringens; as such it has considerable vaccine potential

Persistent pods of the tree Acacia caven: a natural refuge for diverse insects including Bruchid beetles and the parasitoids Trichogrammatidae, Pteromalidae and Eulophidae

The persistent pods of the tree, Acacia caven, that do not fall from the tree provide opportunities for the appearance of a diverse group of insects the following season. Such pods collected during the spring of 1999 in Chile were indehiscent with highly sclerified pod walls. In contrast, persistent pods collected in Uruguay after a wet winter and spring (2002) were partially dehiscent, inducing the deterioration of the woody pods, and consequently exposing the seeds. These persistent pods are a natural refuge for insect species, namely two bruchid beetles (Pseudopachymeria spinipes, Stator furcatus), one scolytidae (Dendroctonus sp), lepidopterous larvae, ant colonies (Camponotus sp),one species of oophagous parasitoid (Uscana espinae group senex), the gregarious larval-pupae parasitoid Monoksa dorsiplana (Pteromalidae) and two species of Horismenus spp. (Eulophidae). The patriline of M. dorsiplana is frequently formed by 1 son +7 daughters.Comment: 9 page

Habitat and Seasonality Affect Mosquito Community Composition in the West Region of Cameroon.

To identify potential sylvatic, urban and bridge-vectors that can be involved in current or future virus spillover from wild to more urbanised areas, entomological field surveys were conducted in rural, peri-urban and urban areas spanning the rainy and dry seasons in western Cameroon. A total of 2650 mosquitoes belonging to 37 species and eight genera were collected. Mosquito species richness was significantly influenced by the specific combination of the habitat type and the season. The highest species richness was found in the peri-urban area (S = 30, Chao1 = 121 ± 50.63, ACE = 51.97 ± 3.88) during the dry season (S = 28, Chao1 = 64 ± 25.7, ACE = 38.33 ± 3.1). Aedes (Ae.) africanus and Culex (Cx.) moucheti were only found in the rural and peri-urban areas, while Cx. pipiens s.l. and Ae. aegypti were only found in the urban area. Cx. (Culiciomyia) spp., Cx. duttoni and Ae. albopictus were caught in the three habitat types. Importantly, approximately 52% of the mosquito species collected in this study have been implicated in the transmission of diverse arboviruses. This entomological survey provides a catalogue of the different mosquito species that may be involved in the transmission of arboviruses. Further investigations are needed to study the vectorial capacity of each mosquito species in arbovirus transmission

Definition of the Chalcogen Bond (IUPAC Recommendations 2019)

This recommendation proposes a definition for the term “chalcogen bond”; it is recommended the term is used to designate the specific subset of inter- and intramolecular interactions formed by chalcogen atoms wherein the Group 16 element is the electrophilic site