Multi-environment Georeferencing of RGB-D Panoramic Images from Portable Mobile Mapping – a Perspective for Infrastructure Management

Hochaufgelöste, genau georeferenzierte RGB-D-Bilder sind die Grundlage für 3D-Bildräume bzw. 3D Street-View-Webdienste, welche bereits kommerziell für das Infrastrukturmanagement eingesetzt werden. MMS ermöglichen eine schnelle und effiziente Datenerfassung von Infrastrukturen. Die meisten im Aussenraum eingesetzten MMS beruhen auf direkter Georeferenzierung. Diese ermöglicht in offenen Bereichen absolute Genauigkeiten im Zentimeterbereich. Bei GNSS-Abschattung fällt die Genauigkeit der direkten Georeferenzierung jedoch schnell in den Dezimeter- oder sogar in den Meterbereich. In Innenräumen eingesetzte MMS basieren hingegen meist auf SLAM. Die meisten SLAM-Algorithmen wurden jedoch für niedrige Latenzzeiten und für Echtzeitleistung optimiert und nehmen daher Abstriche bei der Genauigkeit, der Kartenqualität und der maximalen Ausdehnung in Kauf. Das Ziel dieser Arbeit ist, hochaufgelöste RGB-D-Bilder in verschiedenen Umgebungen zu erfassen und diese genau und zuverlässig zu georeferenzieren. Für die Datenerfassung wurde ein leistungsstarkes, bildfokussiertes und rucksackgetragenes MMS entwickelt. Dieses besteht aus einer Mehrkopf-Panoramakamera, zwei Multi-Beam LiDAR-Scannern und einer GNSS- und IMU-kombinierten Navigationseinheit der taktischen Leistungsklasse. Alle Sensoren sind präzise synchronisiert und ermöglichen Zugriff auf die Rohdaten. Das Gesamtsystem wurde in Testfeldern mit bündelblockbasierten sowie merkmalsbasierten Methoden kalibriert, was eine Voraussetzung für die Integration kinematischer Sensordaten darstellt. Für eine genaue und zuverlässige Georeferenzierung in verschiedenen Umgebungen wurde ein mehrstufiger Georeferenzierungsansatz entwickelt, welcher verschiedene Sensordaten und Georeferenzierungsmethoden vereint. Direkte und LiDAR SLAM-basierte Georeferenzierung liefern Initialposen für die nachträgliche bildbasierte Georeferenzierung mittels erweiterter SfM-Pipeline. Die bildbasierte Georeferenzierung führt zu einer präzisen aber spärlichen Trajektorie, welche sich für die Georeferenzierung von Bildern eignet. Um eine dichte Trajektorie zu erhalten, die sich auch für die Georeferenzierung von LiDAR-Daten eignet, wurde die direkte Georeferenzierung mit Posen der bildbasierten Georeferenzierung gestützt. Umfassende Leistungsuntersuchungen in drei weiträumigen anspruchsvollen Testgebieten zeigen die Möglichkeiten und Grenzen unseres Georeferenzierungsansatzes. Die drei Testgebiete im Stadtzentrum, im Wald und im Gebäude repräsentieren reale Bedingungen mit eingeschränktem GNSS-Empfang, schlechter Beleuchtung, sich bewegenden Objekten und sich wiederholenden geometrischen Mustern. Die bildbasierte Georeferenzierung erzielte die besten Genauigkeiten, wobei die mittlere Präzision im Bereich von 5 mm bis 7 mm lag. Die absolute Genauigkeit betrug 85 mm bis 131 mm, was einer Verbesserung um Faktor 2 bis 7 gegenüber der direkten und LiDAR SLAM-basierten Georeferenzierung entspricht. Die direkte Georeferenzierung mit CUPT-Stützung von Bildposen der bildbasierten Georeferenzierung, führte zu einer leicht verschlechterten mittleren Präzision im Bereich von 13 mm bis 16 mm, wobei sich die mittlere absolute Genauigkeit nicht signifikant von der bildbasierten Georeferenzierung unterschied. Die in herausfordernden Umgebungen erzielten Genauigkeiten bestätigen frühere Untersuchungen unter optimalen Bedingungen und liegen in derselben Grössenordnung wie die Resultate anderer Forschungsgruppen. Sie können für die Erstellung von Street-View-Services in herausfordernden Umgebungen für das Infrastrukturmanagement verwendet werden. Genau und zuverlässig georeferenzierte RGB-D-Bilder haben ein grosses Potenzial für zukünftige visuelle Lokalisierungs- und AR-Anwendungen

Land use intensification alters ecosystem multifunctionality via loss of biodiversity and changes to functional composition

Global change, especially land‐use intensification, affects human well‐being by impacting the delivery of multiple ecosystem services (multifunctionality). However, whether biodiversity loss is a major component of global change effects on multifunctionality in real‐world ecosystems, as in experimental ones, remains unclear. Therefore, we assessed biodiversity, functional composition and 14 ecosystem services on 150 agricultural grasslands differing in land‐use intensity. We also introduce five multifunctionality measures in which ecosystem services were weighted according to realistic land‐use objectives. We found that indirect land‐use effects, i.e. those mediated by biodiversity loss and by changes to functional composition, were as strong as direct effects on average. Their strength varied with land‐use objectives and regional context. Biodiversity loss explained indirect effects in a region of intermediate productivity and was most damaging when land‐use objectives favoured supporting and cultural services. In contrast, functional composition shifts, towards fast‐growing plant species, strongly increased provisioning services in more inherently unproductive grasslands

Phylogenetic analysis of hepatitis C virus isolates from hemodialysis patients

Phylogenetic analysis of hepatitis C virus isolates from hemodialysis patients. A high prevalence of hepatitis C virus (HCV) infection has been reported in hemodialysis patients. Main risk factors for transmission are previous blood transfusions and possibly nosocomial infections within the dialytic environment. In the present study 224 hemodialysis patients from the same department were tested for the presence of anti-HCV antibodies and HCV-RNA. The presence of anti-HCV in hemodialysis patients was correlated with a history of more than 10 blood transfusions (P = 0.001) and with a duration of hemodialysis treatment for more than 10 years (P = 0.001). The issue of possible patient-to-patient infection was addressed by sequence analysis of all HCV-RNA positive hemodialysis patients (N = 14) together with a control panel of HCV isolates from 56 unrelated non-hemodialysis patients with hepatitis C from the same geographical area. Subsequent phylogenetic analysis of nucleotide sequences obtained from the 5′-noncoding region and the nonstructural NS-5 region of the HCV genome revealed that only two hemodialysis patients were infected by a highly related HCV isolate. The remaining HCV-RNA positive hemodialysis patients including those without previous blood transfusions were all infected by phylogenetically-distant HCV isolates, providing evidence against a nosocomial transmission route. The data of the present study show that molecular epidemiological techniques are important to investigate the issue of nosocomial infection. In our hemodialysis unit patient-to-patient infection appears uncommon and draws attention towards other possible (such as, blood products such as human serum albumin, immunoglobulins) or even yet unrecognized transmission routes

Group recruitment in a thermophilic desert ant, Ocymyrmex robustior

Thermophilic desert ants—Cataglyphis, Ocymyrmex, and Melophorus species inhabiting the arid zones of the Palaearctic region, southern Africa and central Australia, respectively—are solitary foragers, which have been considered to lack any kind of chemical recruitment. Here we show that besides mainly employing the solitary mode of food retrieval Ocymyrmex robustior regularly exhibits group recruitment to food patches that cannot be exploited individually. Running at high speed to recruitment sites that may be more than 60m apart from the nest a leading ant, the recruiter, is followed by a loose and often quite dispersed group of usually 2-7 recruits, which often overtake the leader, or may lose contact, fall back and return to the nest. As video recordings show the leader, while continually keeping her gaster in a downward position, intermittently touches the surface of the ground with the tip of the gaster most likely depositing a volatile pheromone signal. These recruitment events occur during the entire diurnal activity period of the Ocymyrmex foragers, that is, even at surface temperatures of more than 60°C. They may provide promising experimental paradigms for studying the interplay of orientation by chemical signals and path integration as well as other visual guidance routine

High Functional Diversity in Mycobacterium tuberculosis Driven by Genetic Drift and Human Demography

Mycobacterium tuberculosis infects one third of the human world population and kills someone every 15 seconds. For more than a century, scientists and clinicians have been distinguishing between the human- and animal-adapted members of the M. tuberculosis complex (MTBC). However, all human-adapted strains of MTBC have traditionally been considered to be essentially identical. We surveyed sequence diversity within a global collection of strains belonging to MTBC using seven megabase pairs of DNA sequence data. We show that the members of MTBC affecting humans are more genetically diverse than generally assumed, and that this diversity can be linked to human demographic and migratory events. We further demonstrate that these organisms are under extremely reduced purifying selection and that, as a result of increased genetic drift, much of this genetic diversity is likely to have functional consequences. Our findings suggest that the current increases in human population, urbanization, and global travel, combined with the population genetic characteristics of M. tuberculosis described here, could contribute to the emergence and spread of drug-resistant tuberculosis

Saproxylic species are linked to the amount and isolation of dead wood across spatial scales in a beech forest

ContextDead wood is a key habitat for saproxylicspecies, which are often used as indicators of habitatquality in forests. Understanding how the amount andspatial distribution of dead wood in the landscapeaffects saproxylic communities is therefore importantfor maintaining high forest biodiversity.ObjectivesWe investigated effects of the amountand isolation of dead wood on the alpha and betadiversity of four saproxylic species groups, with afocus on how the spatial scale influences results.MethodsWe inventoried saproxylic beetles, wood-inhabiting fungi, and epixylic bryophytes and lichenson 62 plots in the Sihlwald forest reserve in Switzer-land. We used GLMs to relate plot-level speciesrichness to dead wood amount and isolation on spatialscales of 20–200 m radius. Further, we used GDMs todetermine how dead wood amount and isolationaffected beta diversity.ResultsA larger amount of dead wood increasedbeetle richness on all spatial scales, while isolation hadno effect. For fungi, bryophytes and lichens this wasonly true on small spatial scales. On larger scales ofour study, dead wood amount had no effect, whilegreater isolation decreased species richness. Further,we found no strong consistent patterns explaining betadiversity

Gnotobiotic IL-10−/−; NF-κBEGFP Mice Develop Rapid and Severe Colitis Following Campylobacter jejuni Infection

Limited information is available on the molecular mechanisms associated with Campylobacter jejuni (C. jejuni) induced food-borne diarrheal illnesses. In this study, we investigated the function of TLR/NF-κB signaling in C. jejuni induced pathogenesis using gnotobiotic IL-10−/−; NF-κBEGFP mice. In vitro analysis showed that C. jejuni induced IκB phosphorylation, followed by enhanced NF-κB transcriptional activity and increased IL-6, MIP-2α and NOD2 mRNA accumulation in infected-mouse colonic epithelial cells CMT93. Importantly, these events were blocked by molecular delivery of an IκB inhibitor (Ad5IκBAA). NF-κB signalling was also important for C.jejuni-induced cytokine gene expression in bone marrow-derived dendritic cells. Importantly, C. jejuni associated IL-10−/−; NF-κBEGFP mice developed mild (day 5) and severe (day 14) ulcerating colonic inflammation and bloody diarrhea as assessed by colonoscopy and histological analysis. Macroscopic analysis showed elevated EGFP expression indicating NF-κB activation throughout the colon of C. jejuni associated IL-10−/−; NF-κBEGFP mice, while fluorescence microscopy revealed EGFP positive cells to be exclusively located in lamina propria mononuclear cells. Pharmacological NF-κB inhibition using Bay 11-7085 did not ameliorate C. jejuni induced colonic inflammation. Our findings indicate that C. jejuni induces rapid and severe intestinal inflammation in a susceptible host that correlates with enhanced NF-κB activity from lamina propria immune cells

Investigation of the Enteric Pathogenic Potential of Oral Campylobacter concisus Strains Isolated from Patients with Inflammatory Bowel Disease

BACKGROUND: Campylobacter concisus, a bacterium colonizing the human oral cavity, has been shown to be associated with inflammatory bowel disease (IBD). This study investigated if patients with IBD are colonized with specific oral C. concisus strains that have potential to cause enteric diseases. METHODOLOGY: Seventy oral and enteric C. concisus isolates obtained from eight patients with IBD and six controls were examined for housekeeping genes by multilocus sequence typing (MLST), Caco2 cell invasion by gentamicin-protection-assay, protein analysis by mass spectrometry and SDS-PAGE, and morphology by scanning electron microscopy. The whole genome sequenced C. concisus strain 13826 which was isolated from an individual with bloody diarrhea was included in MLST analysis. PRINCIPAL FINDINGS: MLST analysis showed that 87.5% of individuals whose C. concisus belonged to Cluster I had inflammatory enteric diseases (six IBD and one with bloody diarrhea), which was significantly higher than that in the remaining individuals (28.6%) (P<0.05). Enteric invasive C. concisus (EICC) oral strain was detected in 50% of patients with IBD and none of the controls. All EICC strains were in Cluster 1. The C. concisus strain colonizing intestinal tissues of patient No. 1 was closely related to the oral C. concisus strain from patient No. 6 and had gene recombination with the patient's own oral C. concisus. The oral and intestinal C. concisus strains of patient No. 3 were the same strain. Some individuals were colonized with multiple oral C. concisus strains that have undergone natural recombination. CONCLUSIONS: This study provides the first evidence that patients with IBD are colonized with specific oral C. concisus strains, with some being EICC strains. C. concisus colonizing intestinal tissues of patients with IBD at least in some instances results from an endogenous colonization of the patient's oral C. concisus and that C. concisus strains undergo natural recombination