SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction

We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any volumetric data structures, such as truncated signed distance function (TSDF) fields or deformation fields, which are performance and memory intensive. Our system works with a flat point (surfel) based representation of geometry, which can be directly acquired from commodity depth sensors. Standard graphics pipelines and general purpose GPU (GPGPU) computing are leveraged for all central operations: i.e., nearest neighbor maintenance, non-rigid deformation field estimation and fusion of depth measurements. Our pipeline inherently avoids expensive volumetric operations such as marching cubes, volumetric fusion and dense deformation field update, leading to significantly improved performance. Furthermore, the explicit and flexible surfel based geometry representation enables efficient tackling of topology changes and tracking failures, which makes our reconstructions consistent with updated depth observations. Our system allows robots to maintain a scene description with non-rigidly deformed objects that potentially enables interactions with dynamic working environments.Comment: RSS 2018. The video and source code are available on https://sites.google.com/view/surfelwarp/hom

Optical Mapping Near-eye Three-dimensional Display with Correct Focus Cues

We present an optical mapping near-eye (OMNI) three-dimensional display method for wearable devices. By dividing a display screen into different sub-panels and optically mapping them to various depths, we create a multiplane volumetric image with correct focus cues for depth perception. The resultant system can drive the eye's accommodation to the distance that is consistent with binocular stereopsis, thereby alleviating the vergence-accommodation conflict, the primary cause for eye fatigue and discomfort. Compared with the previous methods, the OMNI display offers prominent advantages in adaptability, image dynamic range, and refresh rate.Comment: 5 pages, 6 figures, 2 tables, short article for Optics Letter

Hydrogen enhanced thermal fatigue of y-titanium aluminide

A study of hydrogen enhanced thermal fatigue cracking was carried out for a gamma-based Ti-48Al-2Cr alloy by cycling between room temperature and 750 or 900 °C. The results showed that hydrogen can severely attack the gamma alloy, with resulting lifetimes as low as three cycles, while no failures were observed in helium for test durations of over 4000 cycles. The severity of hydrogen attack strongly depends on the upper limit of the temperature cycled and the cleanliness of the hydrogen. Specifically, the large scatter of life times at 750 °C (ranging from 36 to more than 3000 cycles) have resulted from the competition between surface oxidation and hydrogen attack. The results suggest that an understanding of the combined actions of thermal cycling and hydrogen degradation is needed for assessing materials for high temperature applications in hydrogen

Topological phase transition in the quench dynamics of a one-dimensional Fermi gas

We study the quench dynamics of a one-dimensional ultracold Fermi gas in an optical lattice potential with synthetic spin-orbit coupling. At equilibrium, the ground state of the system can undergo a topological phase transition and become a topological superfluid with Majorana edge states. As the interaction is quenched near the topological phase boundary, we identify an interesting dynamical phase transition of the quenched state in the long-time limit, characterized by an abrupt change of the pairing gap at a critical quenched interaction strength. We further demonstrate the topological nature of this dynamical phase transition from edge-state analysis of the quenched states. Our findings provide interesting clues for the understanding of topological phase transitions in dynamical processes, and can be useful for the dynamical detection of Majorana edge states in corresponding systems.Comment: 7 pages, 5 figure