Kinect Depth Sensor Evaluation for Computer Vision Applications

This technical report describes our evaluation of the Kinect depth sensor by Microsoft for Computer Vision applications. The depth sensor is able to return images like an ordinary camera, but instead of color, each pixel value represents the distance to the point. As such, the sensor can be seen as a range- or 3D-camera. We have used the sensor in several different computer vision projects and this document collects our experiences with the sensor. We are only focusing on the depth sensing capabilities of the sensor since this is the real novelty of the product in relation to computer vision. The basic technique of the depth sensor is to emit an infrared light pattern (with an IR laser diode) and calculate depth from the reflection of the light at different positions (using a traditional IR sensitive camera). In this report, we perform an extensive evaluation of the depth sensor and investigate issues such as 3D resolution and precision, structural noise, multi-cam setups and transient response of the sensor. The purpose is to give the reader a well-founded background to choose whether or not the Kinect sensor is applicable to a specific problem

Solution to the 3-loop Φ\Phi-derivable Approximation for Scalar Thermodynamics

We solve the 3-loop $\Phi$-derivable approximation to the thermodynamics of the massless $\phi^4$ field theory by reducing it to a 1-parameter variational problem. The thermodynamic potential is expanded in powers of $g^2$ and $m/T$, where $g$ is the coupling constant, $m$ is a variational mass parameter, and $T$ is the temperature. There are ultraviolet divergences beginning at 6th order in $g$ that cannot be removed by renormalization. However the finite thermodynamic potential obtained by truncating after terms of 5th order in $g$ and $m/T$ defines a stable approximation to the thermodynamic functions.Comment: 4 pages, 1 figur

Hubbard-U calculations for Cu from first-principles Wannier functions

We present first-principles calculations of optimally localized Wannier functions for Cu and use these for an ab-initio determination of Hubbard (Coulomb) matrix elements. We use a standard linearized muffin-tin orbital calculation in the atomic-sphere approximation (LMTO-ASA) to calculate Bloch functions, and from these determine maximally localized Wannier functions using a method proposed by Marzari and Vanderbilt. The resulting functions were highly localized, with greater than 89% of the norm of the function within the central site for the occupied Wannier states. Two methods for calculating Coulomb matrix elements from Wannier functions are presented and applied to fcc Cu. For the unscreened on-site Hubbard $U$ for the Cu 3d-bands we have obtained about 25eV. These results are also compared with results obtained from a constrained local-density approximation (LDA) calculation.Comment: 13 pages, 8 figures, 5 table

Modeling of complex oxide materials from the first principles: systematic applications to vanadates RVO3 with distorted perovskite structure

"Realistic modeling" is a new direction of electronic structure calculations, where the main emphasis is made on the construction of some effective low-energy model entirely within a first-principle framework. Ideally, it is a model in form, but with all the parameters derived rigorously, on the basis of first-principles electronic structure calculations. The method is especially suit for transition-metal oxides and other strongly correlated systems, whose electronic and magnetic properties are predetermined by the behavior of some limited number of states located near the Fermi level. After reviewing general ideas of realistic modeling, we will illustrate abilities of this approach on the wide series of vanadates RVO3 (R= La, Ce, Pr, Nd, Sm, Gd, Tb, Yb, and Y) with distorted perovskite structure. Particular attention will be paid to computational tools, which can be used for microscopic analysis of different spin and orbital states in the partially filled t2g-band. We will explicitly show how the lifting of the orbital degeneracy by the monoclinic distortion stabilizes C-type antiferromagnetic (AFM) state, which can be further transformed to the G-type AFM state by changing the crystal distortion from monoclinic to orthorhombic one. Two microscopic mechanisms of such a stabilization, associated with the one-electron crystal field and electron correlation interactions, are discussed. The flexibility of the orbital degrees of freedom is analyzed in terms of the magnetic-state dependence of interatomic magnetic interactions.Comment: 23 pages, 13 figure

Structural and doping effects in the half-metallic double perovskite A2A_2CrWO6_6

he structural, transport, magnetic and optical properties of the double perovskite $A_2$CrWO$_6$ with $A=\text{Sr, Ba, Ca}$ have been studied. By varying the alkaline earth ion on the $A$ site, the influence of steric effects on the Curie temperature $T_C$ and the saturation magnetization has been determined. A maximum $T_C=458$ K was found for Sr$_2$CrWO$_6$ having an almost undistorted perovskite structure with a tolerance factor $f\simeq 1$. For Ca$_2$CrWO$_6$ and Ba$_2$CrWO$_6$ structural changes result in a strong reduction of $T_C$. Our study strongly suggests that for the double perovskites in general an optimum $T_C$ is achieved only for $f \simeq 1$, that is, for an undistorted perovskite structure. Electron doping in Sr$_2$CrWO$_6$ by a partial substitution of Sr$^{2+}$ by La$^{3+}$ was found to reduce both $T_C$ and the saturation magnetization $M_s$. The reduction of $M_s$ could be attributed both to band structure effects and the Cr/W antisites induced by doping. Band structure calculations for Sr$_2$CrWO$_6$ predict an energy gap in the spin-up band, but a finite density of states for the spin-down band. The predictions of the band structure calculation are consistent with our optical measurements. Our experimental results support the presence of a kinetic energy driven mechanism in $A_2$CrWO$_6$, where ferromagnetism is stabilized by a hybridization of states of the nonmagnetic W-site positioned in between the high spin Cr-sites.Comment: 14 pages, 10 figure

Does the QCD plasma contain propagating gluons?

Comparison of two appropriately chosen screening masses of colour singlet operators in the pure glue QCD plasma indicates that at sufficiently high temperature it contains a weakly-interacting massive quasi-particle with the quantum numbers of the electric gluon. Still in the deconfined phase, but closer to T_c, the same mass ratio is similar to that at zero temperature, indicating that the propagating modes are more glueball-like, albeit with a lower scale for the masses. We observe a continuity between these two regimes.Comment: 4 pages, 3 figure

Maximally-localized Wannier functions for entangled energy bands

We present a method for obtaining well-localized Wannier-like functions (WFs) for energy bands that are attached to or mixed with other bands. The present scheme removes the limitation of the usual maximally-localized WFs method (N. Marzari and D. Vanderbilt, Phys. Rev. B 56, 12847 (1997)) that the bands of interest should form an isolated group, separated by gaps from higher and lower bands everywhere in the Brillouin zone. An energy window encompassing N bands of interest is specified by the user, and the algorithm then proceeds to disentangle these from the remaining bands inside the window by filtering out an optimally connected N-dimensional subspace. This is achieved by minimizing a functional that measures the subspace dispersion across the Brillouin zone. The maximally-localized WFs for the optimal subspace are then obtained via the algorithm of Marzari and Vanderbilt. The method, which functions as a postprocessing step using the output of conventional electronic-structure codes, is applied to the s and d bands of copper, and to the valence and low-lying conduction bands of silicon. For the low-lying nearly-free-electron bands of copper we find WFs which are centered at the tetrahedral interstitial sites, suggesting an alternative tight-binding parametrization.Comment: 13 pages, with 9 postscript figures embedded. Uses REVTEX and epsf macro

Inclusive Measure of |V_ub| with the Analytic Coupling Model

By analyzing B -> X_u l nu_l spectra with a model based on soft-gluon resummation and an analytic time-like QCD coupling, we obtain |V_ub| = (3.76 +-0.13 +- 0.22)*10^(-3), where the first and the second error refers to experimental and theoretical errors, respectively. The V_ub value is obtained from the available measured semileptonic branching fractions in limited regions of the phase-space. The distributions in the lepton energy E_l, the hadron invariant mass m_X, the light-cone momentum P_+ = E_X - p_X, together with the double distributions in (m_X,q^2) and (E_l,s_h^max), are used to select the phase-space regions. The q^2 is the dilepton squared momentum and s_h^max is the maximal m_X^2 at fixed q^2 and E_l. The V_ub value obtained is in complete agreement with the value coming from exclusive B decays and from an over-all fit to the Standard Model parameters. We show that the slight disagreement (up to +2 sigma) with respect to previous inclusive measurements is not related to different choices for the b (and c) masses but to a different modelling of the threshold (Sudakov) region.Comment: 19 pages, 2 figures, revised version accepted in Eur.Phys.J.

Resonance peak in underdoped cuprates

The magnetic susceptibility measured in neutron scattering experiments in underdoped YBa$_2$Cu$_3$O$_{7-y}$ is interpreted based on the self-consistent solution of the t-J model of a Cu-O plane. The calculations reproduce correctly the frequency and momentum dependencies of the susceptibility and its variation with doping and temperature in the normal and superconducting states. This allows us to interpret the maximum in the frequency dependence -- the resonance peak -- as a manifestation of the excitation branch of localized Cu spins and to relate the frequency of the maximum to the size of the spin gap. The low-frequency shoulder well resolved in the susceptibility of superconducting crystals is connected with a pronounced maximum in the damping of the spin excitations. This maximum is caused by intense quasiparticle peaks in the hole spectral function for momenta near the Fermi surface and by the nesting.Comment: 9 pages, 6 figure

Approximately self-consistent resummations for the thermodynamics of the quark-gluon plasma. I. Entropy and density

We propose a gauge-invariant and manifestly UV finite resummation of the physics of hard thermal/dense loops (HTL/HDL) in the thermodynamics of the quark-gluon plasma. The starting point is a simple, effectively one-loop expression for the entropy or the quark density which is derived from the fully self-consistent two-loop skeleton approximation to the free energy, but subject to further approximations, whose quality is tested in a scalar toy model. In contrast to the direct HTL/HDL-resummation of the one-loop free energy, in our approach both the leading-order (LO) and the next-to-leading order (NLO) effects of interactions are correctly reproduced and arise from kinematical regimes where the HTL/HDL are justifiable approximations. The LO effects are entirely due to the (asymptotic) thermal masses of the hard particles. The NLO ones receive contributions both from soft excitations, as described by the HTL/HDL propagators, and from corrections to the dispersion relation of the hard excitations, as given by HTL/HDL perturbation theory. The numerical evaluations of our final expressions show very good agreement with lattice data for zero-density QCD, for temperatures above twice the transition temperature.Comment: 62 pages REVTEX, 14 figures; v2: numerous clarifications, sect. 2C shortened, new material in sect. 3C; v3: more clarifications, one appendix removed, alternative implementation of the NLO effects, corrected eq. (5.16