10,052 research outputs found
Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation
The monocular vision-based simultaneous localization and mapping (vSLAM) is
one of the most challenging problem in mobile robotics and computer vision. In
this work we study the post-processing techniques applied to sparse 3D
point-cloud maps, obtained by feature-based vSLAM algorithms. Map
post-processing is split into 2 major steps: 1) noise and outlier removal and
2) upsampling. We evaluate different combinations of known algorithms for
outlier removing and upsampling on datasets of real indoor and outdoor
environments and identify the most promising combination. We further use it to
convert a point-cloud map, obtained by the real UAV performing indoor flight to
3D voxel grid (octo-map) potentially suitable for path planning.Comment: 10 pages, 4 figures, camera-ready version of paper for "The 3rd
International Conference on Interactive Collaborative Robotics (ICR 2018)
On-chip integrated amplifiers and lasers utilizing rare-earth-ion activation
This contribution reviews our recent results on rare-earth-ion-doped integrated amplifiers and lasers. We have concentrated our efforts on complex-doped polymers, amorphous Al2O3, and crystalline potassium double tungstates
Volume modulus inflection point inflation and the gravitino mass problem
Several models of inflection point inflation with the volume modulus as the
inflaton are investigated. Non-perturbative superpotentials containing two
gaugino condensation terms or one such term with threshold corrections are
considered. It is shown that the gravitino mass may be much smaller than the
Hubble scale during inflation if at least one of the non-perturbative terms has
a positive exponent. Higher order corrections to the Kahler potential have to
be taken into account in such models. Those corrections are used to stabilize
the potential in the axion direction in the vicinity of the inflection point.
Models with only negative exponents require uplifting and in consequence have
the supersymmetry breaking scale higher than the inflation scale. Fine-tuning
of parameters and initial conditions is analyzed in some detail for both types
of models. It is found that fine-tuning of parameters in models with heavy
gravitino is much stronger than in models with light gravitino. It is shown
that recently proposed time dependent potentials can provide a solution to the
problem of the initial conditions only in models with heavy gravitino. Such
potentials can not be used to relax fine tuning of parameters in any model
because this would lead to values of the spectral index well outside the
experimental bounds.Comment: 27 pages, 9 figures, comments and references added, version to be
publishe
Faint Infrared Flares from the Microquasar GRS 1915+105
We present simultaneous infrared and X-ray observations of the Galactic
microquasar GRS 1915+105 using the Palomar 5-m telescope and Rossi X-ray Timing
Explorer on July 10, 1998 UT. Over the course of 5 hours, we observed 6 faint
infrared (IR) flares with peak amplitudes of mJy and durations
of seconds. These flares are associated with X-ray
soft-dip/soft-flare cycles, as opposed to the brighter IR flares associated
with X-ray hard-dip/soft-flare cycles seen in August 1997 by Eikenberry et al.
(1998). Interestingly, the IR flares begin {\it before} the X-ray oscillations,
implying an ``outside-in'' origin of the IR/X-ray cycle. We also show that the
quasi-steady IR excess in August 1997 is due to the pile-up of similar faint
flares. We discuss the implications of this flaring behavior for understanding
jet formation in microquasars.Comment: 10 pages, 4 figures Accepted for publication in ApJ Letter
Exact Microscopic Entropy of Non-Supersymmetric Extremal Black Rings
In this brief note we show that the horizon entropy of the largest known
class of non-supersymmetric extremal black rings, with up to six parameters, is
exactly reproduced for all values of the ring radius using the same conformal
field theory of the four-charge four-dimensional black hole. A particularly
simple case is a dipole black ring without any conserved charges. The mass gets
renormalized, but the first corrections it receives can be easily understood as
an interaction potential energy. Finally, we stress that even if the entropy is
correctly reproduced, this only implies that one sector of chiral excitations
has been identified, but an understanding of excitations in the other sector is
still required in order to capture the black ring dynamics.Comment: 7 pages. v2: minor improvements, ref adde
Scanning the Landscape of Flux Compactifications: Vacuum Structure and Soft Supersymmetry Breaking
We scan the landscape of flux compactifications for the Calabi-Yau manifold
with two K\" ahler moduli by varying the value of
the flux superpotential over a large range of values. We do not include
uplift terms. We find a rich phase structure of AdS and dS vacua. Starting with
we reproduce the exponentially large volume scenario, but as
is reduced new classes of minima appear. One of them corresponds to the
supersymmetric KKLT vacuum while the other is a new, deeper non-supersymmetric
minimum. We study how the bare cosmological constant and the soft supersymmetry
breaking parameters for matter on D7 branes depend on , for these classes
of minima. We discuss potential applications of our results.Comment: draft format remove
On supersymmetric Minkowski vacua in IIB orientifolds
Supersymmetric Minkowski vacua in IIB orientifold compactifications based on
orbifolds with background fluxes and non-perturbative superpotentials are
investigated. Especially, microscopic requirements and difficulties to obtain
such vacua are discussed. We show that orbifold models with one and two complex
structure moduli and supersymmetric 2-form flux can be successfully stabilized
to such vacua. By taking additional gaugino condensation on fixed space-time
filling D3-branes into account also models without complex structure can be
consistently stabilized to Minkowski vacua.Comment: 17 pages, 2 figures; More detailed proof for absence of complex flat
directions in susy AdS vacua given; Footnotes and reference adde
Systematics of Moduli Stabilization, Inflationary Dynamics and Power Spectrum
We study the scalar sector of type IIB superstring theory compactified on
Calabi-Yau orientifolds as a place to find a mechanism of inflation in the
early universe. In the large volume limit, one can stabilize the moduli in
stages using perturbative method. We relate the systematics of moduli
stabilization with methods to reduce the number of possible inflatons, which in
turn lead to a simpler inflation analysis. Calculating the order-of-magnitude
of terms in the equation of motion, we show that the methods are in fact valid.
We then give the examples where these methods are used in the literature. We
also show that there are effects of non-inflaton scalar fields on the scalar
power spectrum. For one of the two methods, these effects can be observed with
the current precision in experiments, while for the other method, the effects
might never be observable.Comment: 20 pages, JHEP style; v.2 and v.3: typos fixed, discussion and
references adde
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