3-D Motion Capture of an Unmodified Drone with Single-chip Millimeter Wave Radar

Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at present are optical motion capture (e.g. VICON) and Ultrawideband (UWB), but these are costly and cumbersome to deploy, due to their requirement of multiple cameras/sensors spaced around the tracking area. They also require the drone to be modified to carry an active or passive marker. In this work, we present an inexpensive system that can be rapidly installed, based on single-chip millimeter wave (mmWave) radar. Importantly, the drone does not need to be modified or equipped with any markers, as we exploit the Doppler signals from the rotating propellers. Furthermore, 3-D tracking is possible from a single point, greatly simplifying deployment. We develop a novel deep neural network and demonstrate decimeter level 3-D tracking at 10Hz, achieving better performance than classical baselines. Our hope is that this low-cost system will act to catalyse inexpensive drone research and increased autonomy.Comment: Submitted to The 2021 International Conference on Robotics and Automation (ICRA 2021

Frugivory and seed dispersal by the yellow-throated marten (Martes flavigula), in a subtropical forest of China

The yellow-throated marten, Martes flavigula, is the only living species of the genus Martes found in subtropical and tropical forests (Harrison et al. 2004). It is distributed throughout central and southern Asia in a wide variety of habitats. Despite its extensive geographical range, the ecology and behaviour of this species has so far received little attention, aside from a study of habitat use (Grassman et al. 2005). Studies on other martens have shown that fruits are an important food resource (e.g. M. martes, Bermejo & Guitian 2000; M. foina, Pandolfi et al. 1996). Thus, they are considered to be important potential seed dispersers (Corlett 1998, Herrera 1989, Willson 1993), as confirmed by recent studies (M. melampus, Otani 2002; M. americana, Hickey et al. 1999; M. foina and M. martes, Schaumann & Heinken 2002). Although no systematic study of the diet of M. flavigula has been conducted (Harrison et al. 2004), it is known to be omnivorous and to consume fruit (Gao & Wang 1987). To date, however, there has been no comprehensive study of frugivory and seed dispersal by M. flavigula (but see Corlett 1998)

AtLoc: Attention Guided Camera Localization

Deep learning has achieved impressive results in camera localization, but current single-image techniques typically suffer from a lack of robustness, leading to large outliers. To some extent, this has been tackled by sequential (multi-images) or geometry constraint approaches, which can learn to reject dynamic objects and illumination conditions to achieve better performance. In this work, we show that attention can be used to force the network to focus on more geometrically robust objects and features, achieving state-of-the-art performance in common benchmark, even if using only a single image as input. Extensive experimental evidence is provided through public indoor and outdoor datasets. Through visualization of the saliency maps, we demonstrate how the network learns to reject dynamic objects, yielding superior global camera pose regression performance. The source code is avaliable at https://github.com/BingCS/AtLoc

Gemini GNIRS near-infrared spectroscopy of 50 quasars at z>~5.7

We report initial results from a large Gemini program to observe z>~5.7 quasars with GNIRS near-IR spectroscopy. Our sample includes 50 quasars with simultaneous ~0.85-2.5 micron spectra covering the rest-frame ultraviolet and major broad emission lines from Ly-alpha to MgII. We present spectral measurements for these quasars and compare to their lower-redshift counterparts at z=1.5-2.3. We find that when quasar luminosity is matched, there are no significant differences between the rest-UV spectra of z>~5.7 quasars and the low-z comparison sample. High-z quasars have similar continuum and emission line properties and occupy the same region in the black hole mass and luminosity space as the comparison sample, accreting at an average Eddington ratio of ~0.3. There is no evidence for super-Eddington accretion or hypermassive (>10^10 Msun) black holes within our sample. We find a mild excess of quasars with weak CIV lines relative to the control sample. Our results, corroborating earlier studies but with better statistics, demonstrate that these high-z quasars are already mature systems of accreting supermassive black holes operating with the same physical mechanisms as those at lower redshifts.Comment: replaced with the accepted version (ApJ); improved the fitting results and replaced all figures and tables (w/ minor changes); conclusions unchange

Probing the interstellar medium and star formation of the Most Luminous Quasar at z=6.3

We report new IRAM/PdBI, JCMT/SCUBA-2, and VLA observations of the ultraluminous quasar SDSSJ010013.02+280225.8 (hereafter, J0100+2802) at z=6.3, which hosts the most massive supermassive black hole (SMBH) of 1.24x10^10 Msun known at z>6. We detect the [C II] 158 $\mu$m fine structure line and molecular CO(6-5) line and continuum emission at 353 GHz, 260 GHz, and 3 GHz from this quasar. The CO(2-1) line and the underlying continuum at 32 GHz are also marginally detected. The [C II] and CO detections suggest active star formation and highly excited molecular gas in the quasar host galaxy. The redshift determined with the [C II] and CO lines shows a velocity offset of ~1000 km/s from that measured with the quasar Mg II line. The CO (2-1) line luminosity provides direct constraint on the molecular gas mass which is about (1.0+/-0.3)x10^10 Msun. We estimate the FIR luminosity to be (3.5+/-0.7)x10^12 Lsun, and the UV-to-FIR spectral energy distribution of J0100+2802 is consistent with the templates of the local optically luminous quasars. The derived [C II]-to-FIR luminosity ratio of J0100+2802 is 0.0010+/-0.0002, which is slightly higher than the values of the most FIR luminous quasars at z~6. We investigate the constraint on the host galaxy dynamical mass of J0100+2802 based on the [C II] line spectrum. It is likely that this ultraluminous quasar lies above the local SMBH-galaxy mass relationship, unless we are viewing the system at a small inclination angle.Comment: 19 pages, 4 figures, published by the Astrophysical Journal, minimal changes in acknowledgement to match the published versio