Robust visual odometry using uncertainty models

In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work

The effects of estimation of censoring, truncation, transformation and partial data vectors

The purpose of this research was to attack statistical problems concerning the estimation of distributions for purposes of predicting and measuring assembly performance as it appears in biological and physical situations. Various statistical procedures were proposed to attack problems of this sort, that is, to produce the statistical distributions of the outcomes of biological and physical situations which, employ characteristics measured on constituent parts. The techniques are described

Screening of the transcriptional regulatory regions of vascular endothelial growth factor receptor 2 (VEGFR2) in amyotrophic lateral sclerosis

Background Vascular endothelial growth factor (VEGF) has neurotrophic activity which is mediated by its main agonist receptor, VEGFR2. Dysregulation of VEGF causes motor neurone degeneration in a mouse model of amyotrophic lateral sclerosis (ALS), and expression of VEGFR2 is reduced in motor neurones and spinal cord of patients with ALS. Methods We have screened the promoter region and 4 exonic regions of functional significance of the VEGFR2 gene in a UK population of patients with ALS, for mutations and polymorphisms that may affect expression or function of this VEGF receptor. Results No mutations were identified in the VEGFR2 gene. We found no association between polymorphisms in the regulatory regions of the VEGFR2 gene and ALS. Conclusion Mechanisms other than genetic variation may downregulate expression or function of the VEGFR2 receptor in patients with ALS

Alien Registration- Haines, Hartley B. (Presque Isle, Aroostook County)

https://digitalmaine.com/alien_docs/33498/thumbnail.jp