A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriat

A sensor fusion layer to cope with reduced visibility in SLAM

Mapping and navigating with mobile robots in scenarios with reduced visibility, e.g. due to smoke, dust, or fog, is still a big challenge nowadays. In spite of the tremendous advance on Simultaneous Localization and Mapping (SLAM) techniques for the past decade, most of current algorithms fail in those environments because they usually rely on optical sensors providing dense range data, e.g. laser range finders, stereo vision, LIDARs, RGB-D, etc., whose measurement process is highly disturbed by particles of smoke, dust, or steam. This article addresses the problem of performing SLAM under reduced visibility conditions by proposing a sensor fusion layer which takes advantage from complementary characteristics between a laser range finder (LRF) and an array of sonars. This sensor fusion layer is ultimately used with a state-of-the-art SLAM technique to be resilient in scenarios where visibility cannot be assumed at all times. Special attention is given to mapping using commercial off-the-shelf (COTS) sensors, namely arrays of sonars which, being usually available in robotic platforms, raise technical issues that were investigated in the course of this work. Two sensor fusion methods, a heuristic method and a fuzzy logic-based method, are presented and discussed, corresponding to different stages of the research work conducted. The experimental validation of both methods with two different mobile robot platforms in smoky indoor scenarios showed that they provide a robust solution, using only COTS sensors, for adequately coping with reduced visibility in the SLAM process, thus decreasing significantly its impact in the mapping and localization results obtained

A sensor fusion layer to cope with reduced visibility in SLAM

Mapping and navigating with mobile robots in scenarios with reduced visibility, e.g. due to smoke, dust, or fog, is still a big challenge nowadays. In spite of the tremendous advance on Simultaneous Localization and Mapping (SLAM) techniques for the past decade, most of current algorithms fail in those environments because they usually rely on optical sensors providing dense range data, e.g. laser range finders, stereo vision, LIDARs, RGB-D, etc., whose measurement process is highly disturbed by particles of smoke, dust, or steam. This article addresses the problem of performing SLAM under reduced visibility conditions by proposing a sensor fusion layer which takes advantage from complementary characteristics between a laser range finder (LRF) and an array of sonars. This sensor fusion layer is ultimately used with a state-of-the-art SLAM technique to be resilient in scenarios where visibility cannot be assumed at all times. Special attention is given to mapping using commercial off-the-shelf (COTS) sensors, namely arrays of sonars which, being usually available in robotic platforms, raise technical issues that were investigated in the course of this work. Two sensor fusion methods, a heuristic method and a fuzzy logic-based method, are presented and discussed, corresponding to different stages of the research work conducted. The experimental validation of both methods with two different mobile robot platforms in smoky indoor scenarios showed that they provide a robust solution, using only COTS sensors, for adequately coping with reduced visibility in the SLAM process, thus decreasing significantly its impact in the mapping and localization results obtained

1991-05-04

Abstract OBJECTIVES: To analyse the virological and clinical efficacy of cidofovir combined with highly active antiretroviral therapy (HAART) in AIDS-related progressive multifocal leukoencephalopathy (PML). DESIGN: Multicentre observational study of consecutive HIV-positive patients with histologically or virologically-proven PML. Group A, 26 patients treated with HAART; group B, 14 patients treated with HAART plus cidofovir 5 mg/kg intravenously per week for the first 2 weeks and alternate weeks thereafter. JC virus DNA was quantified in cerebrospinal fluid (CSF) by PCR. RESULTS: Baseline virological, immunological and clinical characteristics were homogeneous between the groups. In one case cidofovir was discontinued because of severe proteinuria. There was no significant difference in HIV RNA responses and changes in the number of CD4 cells between group A and B. After 2 months of therapy, five out of 12 (42%) patients from group A and seven out of eight (87%) from group B reached undetectable JC virus DNA in the CSF (Chi-square P = 0.04); moreover, 24% of group A and 57% of group B patients showed neurological improvement or stability (P = 0.038). One-year cumulative probability of survival was 0.67 with cidofovir and 0.31 without (log-rank test, P = 0.01). Variables independently associated with longer survival were the use of cidofovir, HAART prior to the onset of PML, a baseline JC virus DNA load in CSF or = 60. CONCLUSIONS: In AIDS-related PML, cidofovir added to HAART is associated with a more effective control of JCV replication, with improved neurological outcome and survival compared with HAART alone

Methylated HBHA Produced in M. smegmatis Discriminates between Active and Non-Active Tuberculosis Disease among RD1-Responders

A challenge in tuberculosis (TB) research is to develop a new immunological test that can help distinguish, among subjects responsive to QuantiFERON TB Gold In tube (QFT-IT), those who are able to control Mtb replication (remote LTBI, recent infection and past TB) from those who cannot (active TB disease). IFN-\u3b3 response to the Heparin-binding-hemagglutinin (HBHA) of Mtb has been associated with LTBI, but the cumbersome procedures of purifying the methylated and immunological active form of the protein from Mtb or M. bovis Bacillus Calmette et Guerin (BCG) have prevented its implementation in a diagnostic test. Therefore, the aim of the present study was to evaluate the IFN-\u3b3 response to methylated HBHA of Mtb produced in M. smegmatis (rHBHAms) in individuals at different stages of TB who scored positive to QFT-IT

Dynamics and phylogenetic relationships of HIV-1 transmitted drug resistance according to subtype in Italy over the years 2000-14

Background Transmitted drug-resistance (TDR) remains a critical aspect for the management of HIV-1-infected individuals. Thus, studying the dynamics of TDR is crucial to optimize HIV care. Methods In total, 4323 HIV-1 protease/reverse-transcriptase sequences from drug-naive individuals diagnosed in north and central Italy between 2000 and 2014 were analysed. TDR was evaluated over time. Maximum-likelihood and Bayesian phylogenetic trees with bootstrap and Bayesian-probability supports defined transmission clusters. Results Most individuals were males (80.2%) and Italian (72.1%), with a median (IQR) age of 37 (30-45) years. MSM accounted for 42.2% of cases, followed by heterosexuals (36.4%). Non-B subtype infections accounted for 30.8% of the overall population and increased over time (<2005-14: 19.5%-38.5%, P < 0.0001), particularly among Italians (<2005-14: 6.5%-28.8%, P < 0.0001). TDR prevalence was 8.8% and increased over time in non-B subtypes (<2005-14: 2%-7.1%, P = 0.018). Overall, 467 transmission clusters (involving 1207 individuals; 27.9%) were identified. The prevalence of individuals grouping in transmission clusters increased over time in both B (<2005-14: 12.9%-33.5%, P = 0.001) and non-B subtypes (<2005-14: 18.4%-41.9%, P = 0.006). TDR transmission clusters were 13.3% within the overall cluster observed and dramatically increased in recent years (<2005-14: 14.3%-35.5%, P = 0.005). This recent increase was mainly due to non-B subtype-infected individuals, who were also more frequently involved in large transmission clusters than those infected with a B subtype [median number of individuals in transmission clusters: 7 (IQR 6-19) versus 4 (3-4), P = 0.047]. Conclusions The epidemiology of HIV transmission changed greatly over time; the increasing number of transmission clusters (sometimes with drug resistance) shows that detection and proper treatment of the multi-transmitters is a major target for controlling HIV spread