Event-Based Visual-Inertial Odometry Using Smart Features

Event-based cameras are a novel type of visual sensor that operate under a unique paradigm, providing asynchronous data on the log-level changes in light intensity for individual pixels. This hardware-level approach to change detection allows these cameras to achieve ultra-wide dynamic range and high temporal resolution. Furthermore, the advent of convolutional neural networks (CNNs) has led to state-of-the-art navigation solutions that now rival or even surpass human engineered algorithms. The advantages offered by event cameras and CNNs make them excellent tools for visual odometry (VO). This document presents the implementation of a CNN trained to detect and describe features within an image as well as the implementation of an event-based visual-inertial odometry (EVIO) pipeline, which estimates a vehicle\u27s 6-degrees-offreedom (DOF) pose using an affixed event-based camera with an integrated inertial measurement unit (IMU). The front-end of this pipeline utilizes a neural network for generating image frames from asynchronous event camera data. These frames are fed into a multi-state constraint Kalman filter (MSCKF) back-end that uses the output of the developed CNN to perform measurement updates. The EVIO pipeline was tested on a selection from the Event-Camera Dataset [1], and on a dataset collected from a fixed-wing unmanned aerial vehicle (UAV) flight test conducted by the Autonomy and Navigation Technology (ANT) Center

Optical variability of quasars with 20-yr photometric light curves

We study the optical gri photometric variability of a sample of 190 quasars within the SDSS Stripe 82 region that have long-term photometric coverage during ∼1998−2020 with SDSS, PanSTARRS-1, the Dark Energy Survey, and dedicated follow-up monitoring with Blanco 4m/DECam. With on average ∼200 nightly epochs per quasar per filter band, we improve the parameter constraints from a Damped Random Walk (DRW) model fit to the light curves over previous studies with 10–15 yr baselines and ≲ 100 epochs. We find that the average damping time-scale τDRW continues to rise with increased baseline, reaching a median value of ∼750 d (g band) in the rest frame of these quasars using the 20-yr light curves. Some quasars may have gradual, long-term trends in their light curves, suggesting that either the DRW fit requires very long baselines to converge, or that the underlying variability is more complex than a single DRW process for these quasars. Using a subset of quasars with better-constrained τDRW (less than 20 per cent of the baseline), we confirm a weak wavelength dependence of τDRW∝λ0.51 ± 0.20. We further quantify optical variability of these quasars over days to decades time-scales using structure function (SF) and power spectrum density (PSD) analyses. The SF and PSD measurements qualitatively confirm the measured (hundreds of days) damping time-scales from the DRW fits. However, the ensemble PSD is steeper than that of a DRW on time-scales less than ∼ a month for these luminous quasars, and this second break point correlates with the longer DRW damping time-scale

Optical Variability of Quasars with 20-Year Photometric Light Curves

We study the optical $gri$ photometric variability of a sample of 190 quasars within the SDSS Stripe 82 region that have long-term photometric coverage during $\sim 1998-2020$ with SDSS, PanSTARRS-1, the Dark Energy Survey, and dedicated follow-up monitoring with Blanco 4m/DECam. With on average $\sim 200$ nightly epochs per quasar per filter band, we improve the parameter constraints from a Damped Random Walk (DRW) model fit to the light curves over previous studies with 10-15 yr baselines and $\lesssim 100$ epochs. We find that the average damping timescale $\tau_{\rm DRW}$ continues to rise with increased baseline, reaching a median value of $\sim 750$ days ($g$ band) in the rest-frame of these quasars using the 20-yr light curves. Some quasars may have gradual, long-term trends in their light curves, suggesting that either the DRW fit requires very long baselines to converge, or that the underlying variability is more complex than a single DRW process for these quasars. Using a subset of quasars with better-constrained $\tau_{\rm DRW}$ (less than 20\% of the baseline), we confirm a weak wavelength dependence of $\tau_{\rm DRW}\propto \lambda^{0.51\pm0.20}$. We further quantify optical variability of these quasars over days to decades timescales using structure function (SF) and power spectrum density (PSD) analyses. The SF and PSD measurements qualitatively confirm the measured (hundreds of days) damping timescales from the DRW fits. However, the ensemble PSD is steeper than that of a DRW on timescales less than $\sim$ a month for these luminous quasars, and this second break point correlates with the longer DRW damping timescale.Comment: 20 pages, 24 figure

Effectiveness of Pfizer-BioNTech and Moderna Vaccines Against COVID-19 Among Hospitalized Adults Aged ≥65 Years — United States, January–March 2021

Adults aged ≥65 years are at increased risk for severe outcomes from COVID-19 and were identified as a priority group to receive the first COVID-19 vaccines approved for use under an Emergency Use Authorization (EUA) in the United States (1-3). In an evaluation at 24 hospitals in 14 states,* the effectiveness of partial or full vaccination† with Pfizer-BioNTech or Moderna vaccines against COVID-19-associated hospitalization was assessed among adults aged ≥65 years. Among 417 hospitalized adults aged ≥65 years (including 187 case-patients and 230 controls), the median age was 73 years, 48% were female, 73% were non-Hispanic White, 17% were non-Hispanic Black, 6% were Hispanic, and 4% lived in a long-term care facility. Adjusted vaccine effectiveness (VE) against COVID-19-associated hospitalization among adults aged ≥65 years was estimated to be 94% (95% confidence interval [CI] = 49%-99%) for full vaccination and 64% (95% CI = 28%-82%) for partial vaccination. These findings are consistent with efficacy determined from clinical trials in the subgroup of adults aged ≥65 years (4,5). This multisite U.S. evaluation under real-world conditions suggests that vaccination provided protection against COVID-19-associated hospitalization among adults aged ≥65 years. Vaccination is a critical tool for reducing severe COVID-19 in groups at high risk