Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then amounts to finding correspondences between 2D keypoints in a query image and 3D points in the model using local descriptors. However, computational power is often limited on robotic platforms, making this task challenging in large-scale environments. Binary feature descriptors significantly speed up this 2D-3D matching, and have become popular in the robotics community, but also strongly impair the robustness to perceptual aliasing and changes in viewpoint, illumination and scene structure. In this work, we propose to leverage recent advances in deep learning to perform an efficient hierarchical localization. We first localize at the map level using learned image-wide global descriptors, and subsequently estimate a precise pose from 2D-3D matches computed in the candidate places only. This restricts the local search and thus allows to efficiently exploit powerful non-binary descriptors usually dismissed on resource-constrained devices. Our approach results in state-of-the-art localization performance while running in real-time on a popular mobile platform, enabling new prospects for robotics research.Comment: CoRL 2018 Camera-ready (fix typos and update citations

Experimental Study of electron acceleration by plasma beat-waves with Nd lasers

International audienceWe have observed the acceleration of electrons by a beat-wave generated in a deuterium plasma by two Nd-YAG and Nd-YLF laser wavelengths. Electrons injected at an energy of 3.3 MeV are observed to be accelerated up to 4.7 MeV after the plasma. The energy gain is compatible with a peak electric field of the order of 1.2 GV/m. The experiment has been performed with different injection energies, from 2.5 to 3.3 MeV, with different plasma dimensions, and with different laser intensitie

Energy Resolution Performance of the CMS Electromagnetic Calorimeter

The energy resolution performance of the CMS lead tungstate crystal electromagnetic calorimeter is presented. Measurements were made with an electron beam using a fully equipped supermodule of the calorimeter barrel. Results are given both for electrons incident on the centre of crystals and for electrons distributed uniformly over the calorimeter surface. The electron energy is reconstructed in matrices of 3 times 3 or 5 times 5 crystals centred on the crystal containing the maximum energy. Corrections for variations in the shower containment are applied in the case of uniform incidence. The resolution measured is consistent with the design goals

CMS physics technical design report : Addendum on high density QCD with heavy ions

Peer reviewe

Le Français Robert Aymar à la tête du CERN

"Le Conseil du CERN a approuvé en fin de semaine derniere la nomination du physicien francais Robert Aymar, 68 ans, à la tête de l'organisation europeenne basée à Ge