Deep Learning Localization for Self-driving Cars

Identifying the location of an autonomous car with the help of visual sensors can be a good alternative to traditional approaches like Global Positioning Systems (GPS) which are often inaccurate and absent due to insufficient network coverage. Recent research in deep learning has produced excellent results in different domains leading to the proposition of this thesis which uses deep learning to solve the problem of localization in smart cars with visual data. Deep Convolutional Neural Networks (CNNs) were used to train models on visual data corresponding to unique locations throughout a geographic location. In order to evaluate the performance of these models, multiple datasets were created from Google Street View as well as manually by driving a golf cart around the campus while collecting GPS tagged frames. The efficacy of the CNN models was also investigated across different weather/light conditions. Validation accuracies as high as 98% were obtained from some of these models, proving that this novel method has the potential to act as an alternative or aid to traditional GPS based localization methods for cars. The root mean square (RMS) precision of Google Maps is often between 2-10m. However, the precision required for the navigation of self-driving cars is between 2-10cm. Empirically, this precision has been achieved with the help of different error-correction systems on GPS feedback. The proposed method was able to achieve an approximate localization precision of 25 cm without the help of any external error correction system

Triple-Decker Sandwich Complexes of Tungsten with Planar and Puckered Middle Decks

International audienceA triple-decker complex of tungsten, [(Cp*W){μ-η:η-BHCo(CO)}(H)] (; Cp* = η-CMe), with a planar middle deck has been isolated by thermolysis of an in situ formed intermediate from the reaction of Cp*WCl and LiBH with Co(CO). In addition, we have also isolated another triple-decker complex, [(Cp*W){μ-η:η-BHFe(CO)}(H)] (), having a puckered central ring, from a similar reaction with Fe(CO). Clusters and are unprecedented examples of a triple-decker complex having a 24-valence electron with bridging hydrogen atoms

Heterometallic Triply-Bridging Bis-Borylene Complexes

International audienceTriply-bridging bis-{hydrido(borylene)} and bis-borylene species of groups 6, 8 and 9 transition metals are reported. Mild thermolysis of [Fe-2(CO)(9)] with an in situ produced intermediate, generated from the low-temperature reaction of [Cp*WCl4] (Cp*=eta(5)-C5Me5) and [LiBH4.THF] afforded triply-bridging bis-{hydrido(borylene)}, [(mu(3)-BH)(2)H-2{Cp*W(CO)(2)}(2){Fe(CO)(2)}] (1) and bis-borylene, [(mu(3)-BH)(2){Cp*W(CO)(2)}(2){Fe(CO)(3)}] (2). The chemical bonding analyses of 1 show that the B-H interactions in bis-{hydrido (borylene)} species is stronger as compared to the M-H ones. Frontier molecular orbital analysis shows a significantly larger energy gap between the HOMO-LUMO for 2 as compared to 1. In an attempt to synthesize the ruthenium analogue of 1, a similar reaction has been performed with [Ru-3(CO)(12)]. Although we failed to get the bis-{hydrido(borylene)} species, the reaction afforded triply-bridging bis-borylene species [(mu(3)-BH)(2){WCp*(CO)(2)}(2){Ru(CO)(3)}] (2 '), an analogue of 2. In search for the isolation of bridging bis-borylene species of Rh, we have treated [Co-2(CO)(8)] with nido-[(RhCp*)(2)(B3H7)], which afforded triply-bridging bis-borylene species [(mu(3)-BH)(2)(RhCp*)(2)Co-2(CO)(4)(mu-CO)] (3). All the compounds have been characterized by means of single-crystal X-ray diffraction study; H-1, B-11, C-13 NMR spectroscopy; IR spectroscopy and mass spectrometry

Synthesis, Structures and Chemistry of the Metallaboranes of Group 4–9 with M₂B₅ Core Having a Cross Cluster M–M Bond

In an attempt to expand the library of M2B5 bicapped trigonal-bipyramidal clusters with different transition metals, we explored the chemistry of [Cp*WCl4] with metal carbonyls that enabled us to isolate a series of mixed-metal tungstaboranes with an M2{B4M’} {M = W; M’ = Cr(CO)4, Mo(CO)4, W(CO)4} core. The reaction of in situ generated intermediate, obtained from the low temperature reaction of [Cp*WCl4] with an excess of [LiBH4·thf], followed by thermolysis with [M(CO)5·thf] (M = Cr, Mo and W) led to the isolation of the tungstaboranes [(Cp*W)2B4H8M(CO)4], 1⁻3 (1: M = Cr; 2: M = Mo; 3: M = W). In an attempt to replace one of the BH—vertices in M2B5 with other group metal carbonyls, we performed the reaction with [Fe2(CO)9] that led to the isolation of [(Cp*W)2B4H8Fe(CO)3], 4, where Fe(CO)3 replaces a {BH} core unit instead of the {BH} capped vertex. Further, the reaction of [Cp*MoCl4] and [Cr(CO)5·thf] yielded the mixed-metal molybdaborane cluster [(Cp*Mo)2B4H8Cr(CO)4], 5, thereby completing the series with the missing chromium analogue. With 56 cluster valence electrons (cve), all the compounds obey the cluster electron counting rules. Compounds 1⁻5 are analogues to the parent [(Cp*M)2B5H9] (M= Mo and W) that seem to have generated by the replacement of one {BH} vertex from [(Cp*W)2B5H9] or [(Cp*Mo)2B5H9] (in case of 5). All of the compounds have been characterized by various spectroscopic analyses and single crystal X-ray diffraction studies