Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-cameras

Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved faster, more robust and accurate than feature based methods on image registration. However, iFMI is restricted to work only when the camera moves in 2D space and has not been applied on omni-cameras images so far. In this work, we extend the iFMI method and apply a motion model to estimate an omni-camera's pose when it moves in 3D space. This is particularly useful in field robotics applications to get a rapid and comprehensive view of unstructured environments, and to estimate robustly the robot pose. In the experiment section, we compared the extended iFMI method against ORB and AKAZE feature based approaches on three datasets showing different type of environments: office, lawn and urban scenery (MPI-omni dataset). The results show that our method boosts the accuracy of the robot pose estimation two to four times with respect to the feature registration techniques, while offering lower processing times. Furthermore, the iFMI approach presents the best performance against motion blur typically present in mobile robotics.Comment: 5 pages, 4 figures, 1 tabl

Robust Continuous System Integration for Critical Deep-Sea Robot Operations Using Knowledge-Enabled Simulation in the Loop

Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data acquisition, perception and localization to control. We present an approach based on high-fidelity simulation that embeds spatial and environmental conditions from recorded real-world data. This simulation in the loop (SIL) methodology allows for mitigating the discrepancy between simulation and real-world conditions, e.g. regarding sensor noise. As a result, this work provides a platform to thoroughly investigate and benchmark behaviors of system components concurrently under real and simulated conditions. The conducted evaluation shows the benefit of the proposed work in tasks related to perception and self-localization under changing spatial and environmental conditions.Comment: published on IROS 201

Wolves in Utah: An analysis of potential impacts and recommendations for management

The historic range of gray wolves (Canis lupus) in Utah was essentially statewide. Although their presence cannot be disputed, the historic abundance of wolves in Utah is unknown. The release of gray wolves into Yellowstone National Park and central Idaho in 1995 established growing populations, and increasing dispersal is bringing these wolves closer to Utah. It seems likely that wolves will commingle with Utah\u27s other native mammals in the near future. The potential presence of wolves in Utah is generating a series of questions and debates. In this report, we review the potential of wolves in Utah and make predictions regarding the social and economic impacts of wolf recolonization on the livestock industry, on hunter success, and on wildlife managers, and then make recommendations on possible ways to mitigate these impacts

Economic aspects of wolf recolonization in Utah

An assessment of likely economic effects of wolf recovery should be included in the discussion of the future of wolves in Utah. In this section, we discuss both the potential benefits and the expected costs of wolf recovery to Utah’s economy. The potential benefits include both use—such as increases in tourism resulting from the presence of wolves—or non-use values that can be measured by willingness to pay surveys. The expected costs of recovery include direct costs born by agencies involved in wolf management, livestock owners that experience losses from wolf depredation, and those that might result from reduced game take by hunters. In addition, there may be indirect costs, which are more difficult to quantify

Biological aspects of wolf recolonization in Utah

Wolves have been one of the most scientifically examined of all wildlife species (Mech, 1995b). Many studies have focused on the effects of wolf reintroductions and recolonization. In this section, we address how wolves may naturally disperse into Utah, highlight areas identified in our habitat model as constituting the most favorable wolf habitat in Utah, estimate potential wolf populations in Utah, and describe what is currently known about the influence of wolves on an ecosystem