Multi-Visual-Inertial System: Analysis, Calibration and Estimation

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or) rolling shutter cameras. We are especially interested in the full calibration of the associated visual-inertial sensors, including the IMU or camera intrinsics and the IMU-IMU(or camera) spatiotemporal extrinsics as well as the image readout time of rolling-shutter cameras (if used). To this end, we develop a new analytic combined IMU integration with intrinsics-termed ACI3-to preintegrate IMU measurements, which is leveraged to fuse auxiliary IMUs and(or) gyroscopes alongside a base IMU. We model the multi-inertial measurements to include all the necessary inertial intrinsic and IMU-IMU spatiotemporal extrinsic parameters, while leveraging IMU-IMU rigid-body constraints to eliminate the necessity of auxiliary inertial poses and thus reducing computational complexity. By performing observability analysis of MVIS, we prove that the standard four unobservable directions remain - no matter how many inertial sensors are used, and also identify, for the first time, degenerate motions for IMU-IMU spatiotemporal extrinsics and auxiliary inertial intrinsics. In addition to the extensive simulations that validate our analysis and algorithms, we have built our own MVIS sensor rig and collected over 25 real-world datasets to experimentally verify the proposed calibration against the state-of-the-art calibration method such as Kalibr. We show that the proposed MVIS calibration is able to achieve competing accuracy with improved convergence and repeatability, which is open sourced to better benefit the community

NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System

Achieving accurate, efficient, and consistent localization within an a priori environment map remains a fundamental challenge in robotics and computer vision. Conventional map-based keyframe localization often suffers from sub-optimal viewpoints due to limited field of view (FOV), thus degrading its performance. To address this issue, in this paper, we design a real-time tightly-coupled Neural Radiance Fields (NeRF)-aided visual-inertial navigation system (VINS), termed NeRF-VINS. By effectively leveraging NeRF's potential to synthesize novel views, essential for addressing limited viewpoints, the proposed NeRF-VINS optimally fuses IMU and monocular image measurements along with synthetically rendered images within an efficient filter-based framework. This tightly coupled integration enables 3D motion tracking with bounded error. We extensively compare the proposed NeRF-VINS against the state-of-the-art methods that use prior map information, which is shown to achieve superior performance. We also demonstrate the proposed method is able to perform real-time estimation at 15 Hz, on a resource-constrained Jetson AGX Orin embedded platform with impressive accuracy.Comment: 6 pages, 7 figure

Land Use and Habitat Conditions Across the Southwestern Wyoming Sagebrush Steppe: Development Impacts, Management Effectiveness and the Distribution of Invasive Plants

For the past several years, USGS has taken a multi-faceted approach to investigating the condition and trends in sagebrush steppe ecosystems. This recent effort builds upon decades of work in semi-arid ecosystems providing a specific, applied focus on the cumulative impacts of expanding human activities across these landscapes. Here, we discuss several on-going projects contributing to these efforts: (1) mapping and monitoring the distribution and condition of shrub steppe communities with local detail at a regional scale, (2) assessing the relationships between specific, land-use features (for example, roads, transmission lines, industrial pads) and invasive plants, including their potential (environmentally defined) distribution across the region, and (3) monitoring the effects of habitat treatments on the ecosystem, including wildlife use and invasive plant abundance. This research is focused on the northern sagebrush steppe, primarily in Wyoming, but also extending into Montana, Colorado, Utah and Idaho. The study area includes a range of sagebrush types (including, Artemisia tridentata ssp. tridentata, Artemisia tridentata ssp. wyomingensis, Artemisia tridentata ssp. vaseyana, Artemisia nova) and other semi-arid shrubland types (for example, Sarcobatus vermiculatus, Atriplex confertifolia, Atriplex gardneri), impacted by extensive interface between steppe ecosystems and industrial energy activities resulting in a revealing multiple-variable analysis. We use a combination of remote sensing (AWiFS (1 Any reference to platforms, data sources, equipment, software, patented or trade-marked methods is for information purposes only. It does not represent endorsement of the U.S.D.I., U.S.G.S. or the authors), Landsat and Quickbird platforms), Geographic Information System (GIS) design and data management, and field-based, replicated sampling to generate multiple scales of data representing the distribution of shrub communities for the habitat inventory. Invasive plant sampling focused on the interaction between human infrastructure and weedy plant distributions in southwestern Wyoming, while also capturing spatial variability associated with growing conditions and management across the region. In a separate but linked study, we also sampled native and invasive composition of recent and historic habitat treatments. Here, we summarize findings of this ongoing work, highlighting patterns and relationships between vegetation (native and invasive), land cover, landform, and land-use patterns in the sagebrush steppe

A cluster randomized trial of standard quality improvement versus patient-centered interventions to enhance depression care for African Americans in the primary care setting: study protocol NCT00243425

<p>Abstract</p> <p>Background</p> <p>Several studies document disparities in access to care and quality of care for depression for African Americans. Research suggests that patient attitudes and clinician communication behaviors may contribute to these disparities. Evidence links patient-centered care to improvements in mental health outcomes; therefore, quality improvement interventions that enhance this dimension of care are promising strategies to improve treatment and outcomes of depression among African Americans. This paper describes the design of the BRIDGE (Blacks Receiving Interventions for Depression and Gaining Empowerment) Study. The goal of the study is to compare the effectiveness of two interventions for African-American patients with depression--a standard quality improvement program and a patient-centered quality improvement program. The main hypothesis is that patients in the patient-centered group will have a greater reduction in their depression symptoms, higher rates of depression remission, and greater improvements in mental health functioning at six, twelve, and eighteen months than patients in the standard group. The study also examines patient ratings of care and receipt of guideline-concordant treatment for depression.</p> <p>Methods/Design</p> <p>A total of 36 primary care clinicians and 132 of their African-American patients with major depressive disorder were recruited into a cluster randomized trial. The study uses intent-to-treat analyses to compare the effectiveness of standard quality improvement interventions (academic detailing about depression guidelines for clinicians and disease-oriented care management for their patients) and patient-centered quality improvement interventions (communication skills training to enhance participatory decision-making for clinicians and care management focused on explanatory models, socio-cultural barriers, and treatment preferences for their patients) for improving outcomes over 12 months of follow-up.</p> <p>Discussion</p> <p>The BRIDGE Study includes clinicians and African-American patients in under-resourced community-based practices who have not been well-represented in clinical trials to improve depression care. The patient-centered and culturally targeted approach to depression care is a relatively new one that has not been tested in most previous studies. The study will provide evidence about whether patient-centered accommodations improve quality of care and outcomes to a greater extent than standard quality improvement strategies for African Americans with depression.</p> <p>Trial Registration</p> <p>ClinicalTrials.gov NCT00243425</p

The rise of noncommunicable diseases in Latin America and the Caribbean: challenges for public health policies

The health landscape in Latin America and the Caribbean is changing quickly. The region is undergoing a demographic and epidemiological transition in which health problems are highly concentrated on noncommunicable diseases (NCDs). In light of this, the region faces two main challenges: (1) develop cost-effective policies to prevent NCD risk factors, and (2) increase access to quality healthcare in a scenario in which a large share of the labor force is employed in the informal sector. This paper describes both alternative interventions to expand health insurance coverage and their trade-off with labor informality and moral hazard problems. The paper also focuses on obesity as a case example of an NCD, and emphasizes how lack of knowledge along with self-control problems would lead people to make suboptimal decisions related to food consumption, which may later manifest in obesity problems.Fil: Anauati, Maria Victoria. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; ArgentinaFil: Galiani, Sebastian. University of Maryland; Estados UnidosFil: Weinschelbaum, Federico. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de San Andrés; Argentin