6,815 research outputs found
Robust visual odometry using uncertainty models
In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work
Why Do Granular Materials Stiffen with Shear Rate? : Test of Novel Stress-Based Statistics
Peer reviewedPublisher PD
Support Vector Machine classification of strong gravitational lenses
The imminent advent of very large-scale optical sky surveys, such as Euclid
and LSST, makes it important to find efficient ways of discovering rare objects
such as strong gravitational lens systems, where a background object is
multiply gravitationally imaged by a foreground mass. As well as finding the
lens systems, it is important to reject false positives due to intrinsic
structure in galaxies, and much work is in progress with machine learning
algorithms such as neural networks in order to achieve both these aims. We
present and discuss a Support Vector Machine (SVM) algorithm which makes use of
a Gabor filterbank in order to provide learning criteria for separation of
lenses and non-lenses, and demonstrate using blind challenges that under
certain circumstances it is a particularly efficient algorithm for rejecting
false positives. We compare the SVM engine with a large-scale human examination
of 100000 simulated lenses in a challenge dataset, and also apply the SVM
method to survey images from the Kilo-Degree Survey.Comment: Accepted by MNRA
Self-Calibration of Cameras with Euclidean Image Plane in Case of Two Views and Known Relative Rotation Angle
The internal calibration of a pinhole camera is given by five parameters that
are combined into an upper-triangular calibration matrix. If the
skew parameter is zero and the aspect ratio is equal to one, then the camera is
said to have Euclidean image plane. In this paper, we propose a non-iterative
self-calibration algorithm for a camera with Euclidean image plane in case the
remaining three internal parameters --- the focal length and the principal
point coordinates --- are fixed but unknown. The algorithm requires a set of point correspondences in two views and also the measured relative
rotation angle between the views. We show that the problem generically has six
solutions (including complex ones).
The algorithm has been implemented and tested both on synthetic data and on
publicly available real dataset. The experiments demonstrate that the method is
correct, numerically stable and robust.Comment: 13 pages, 7 eps-figure
Auto-parallel equation as Euler-Lagrange's equation in spaces with affine connections and metrics
The auto-parallel equation over spaces with affine connections and metrics is
considered as a result of the application of the method of Lagrangians with
covariant derivatives (MLCD) on a given Lagrangian density.Comment: 19 pages, LaTe
Autocalibration with the Minimum Number of Cameras with Known Pixel Shape
In 3D reconstruction, the recovery of the calibration parameters of the
cameras is paramount since it provides metric information about the observed
scene, e.g., measures of angles and ratios of distances. Autocalibration
enables the estimation of the camera parameters without using a calibration
device, but by enforcing simple constraints on the camera parameters. In the
absence of information about the internal camera parameters such as the focal
length and the principal point, the knowledge of the camera pixel shape is
usually the only available constraint. Given a projective reconstruction of a
rigid scene, we address the problem of the autocalibration of a minimal set of
cameras with known pixel shape and otherwise arbitrarily varying intrinsic and
extrinsic parameters. We propose an algorithm that only requires 5 cameras (the
theoretical minimum), thus halving the number of cameras required by previous
algorithms based on the same constraint. To this purpose, we introduce as our
basic geometric tool the six-line conic variety (SLCV), consisting in the set
of planes intersecting six given lines of 3D space in points of a conic. We
show that the set of solutions of the Euclidean upgrading problem for three
cameras with known pixel shape can be parameterized in a computationally
efficient way. This parameterization is then used to solve autocalibration from
five or more cameras, reducing the three-dimensional search space to a
two-dimensional one. We provide experiments with real images showing the good
performance of the technique.Comment: 19 pages, 14 figures, 7 tables, J. Math. Imaging Vi
The Indian family on UK reality television: Convivial culture in salient contexts
This is the author's accepted manuscript. The final published article is available from the link below, copyright 2012 @ the author.This article demonstrates how The Family (2009), a fly-on-the wall UK reality series about a British Indian family, facilitates both current public service broadcasting requirements and mass audience appeal. From a critical cultural studies perspective, the author examines the journalistic and viewer responses to the series where authenticity, universality, and comedy emerge as major themes. Textual analysis of the racialized screen representations also helps locate the series within the contexts of contested multiculturalism, genre developments in reality television and public service broadcasting. Paul Gilroy’s concept of convivial culture is used as a frame in understanding how meanings of the series are produced within a South Asian popular representational space. The author suggests that the social comedy taxonomy is a prerequisite for the making of this particular observational documentary. Further, the popular (comedic) mode of conviviality on which the series depends is both expedient and necessary within the various sociopolitical contexts outlined
Exploring the use of strategic frameworks in dental practice
This paper explores the use of strategic frameworks in NHS and private dental practice. It reviews the policy context of dentistry and suggests the challenges in this context will require dental practices to prioritise understanding and engagement with a strategic approach. A strategic approach will be required in order to enhance and improve performance. Two specific strategic frameworks will be explored in terms of their relevance to NHS and private dental practic
Flows and particles with shear-free and expansion-free velocities in (L^-_n,g)- and Weyl's spaces
Conditions for the existence of flows with non-null shear-free and
expansion-free velocities in spaces with affine connections and metrics are
found. On their basis, generalized Weyl's spaces with shear-free and
expansion-free conformal Killing vectors as velocity's vectors of spinless test
particles moving in a Weyl's space are considered. The necessary and sufficient
conditions are found under which a free spinless test particle could move in
spaces with affine connections and metrics on a curve described by means of an
auto-parallel equation. In Weyl's spaces with Weyl's covector, constructed by
the use of a dilaton field, the dilaton field appears as a scaling factor for
the rest mass density of the test particle. PACS numbers: 02.40.Ky, 04.20.Cv,
04.50.+h, 04.90.+eComment: 20 pages, LaTeX, to appear in Classical and Quantum Gravity. arXiv
admin note: substantial text overlap with arXiv:gr-qc/001104
A switch from translational control to transcriptional control of protein-synthesis in mid-exponential growth-phase of bacterial cultures - specific radioimmune labeling of ribitol-dehydrogenase-synthesising polysomes from klebsiella-aerogenes in the presence of heparin
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