3D Segmentation Method for Natural Environments based on a Geometric-Featured Voxel Map

This work proposes a new segmentation algorithm for three-dimensional dense point clouds and has been specially designed for natural environments where the ground is unstructured and may include big slopes, non-flat areas and isolated areas. This technique is based on a Geometric-Featured Voxel map (GFV) where the scene is discretized in constant size cubes or voxels which are classified in flat surface, linear or tubular structures and scattered or undefined shapes, usually corresponding to vegetation. Since this is not a point-based technique the computational cost is significantly reduced, hence it may be compatible with Real-Time applications. The ground is extracted in order to obtain more accurate results in the posterior segmentation process. The scene is split into objects and a second segmentation in regions inside each object is performed based on the voxel’s geometric class. The work here evaluates the proposed algorithm in various versions and several voxel sizes and compares the results with other methods from the literature. For the segmentation evaluation the algorithms are tested on several differently challenging hand-labeled data sets using two metrics, one of which is novel.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Functional advantages offered by many-body coherences in biochemical systems

Quantum coherence phenomena driven by electronic-vibrational (vibronic) interactions, are being reported in many pulse (e.g. laser) driven chemical and biophysical systems. But what systems-level advantage(s) do such many-body coherences offer to future technologies? We address this question for pulsed systems of general size N, akin to the LHCII aggregates found in green plants. We show that external pulses generate vibronic states containing particular multipartite entanglements, and that such collective vibronic states increase the excitonic transfer efficiency. The strength of these many-body coherences and their robustness to decoherence, increase with aggregate size N and do not require strong electronic-vibrational coupling. The implications for energy and information transport are discussed.Comment: arXiv admin note: text overlap with arXiv:1706.0776

Pulsed Generation of Quantum Coherences and Non-classicality in Light-Matter Systems

We show that a pulsed stimulus can be used to generate many-body quantum coherences in light-matter systems of general size. Specifically, we calculate the exact real-time evolution of a driven, generic out-of-equilibrium system comprising an arbitrary number N qubits coupled to a global boson field. A novel form of dynamically-driven quantum coherence emerges for general N and without having to access the empirically challenging strong-coupling regime. Its properties depend on the speed of the changes in the stimulus. Non-classicalities arise within each subsystem that have eluded previous analyses. Our findings show robustness to losses and noise, and have potential functional implications at the systems level for a variety of nanosystems, including collections of N atoms, molecules, spins, or superconducting qubits in cavities -- and possibly even vibration-enhanced light harvesting processes in macromolecules.Comment: 9 pages, 4 figure

Optimizing Scan Homogeneity for Building Full-3D Lidars based on Rotating a Multi-Beam Velodyne Rangefinder

Multi-beam lidar (MBL) scanners are compact, light, and accessible 3D sensors with high data rates, but they offer limited vertical resolution and field of view (FOV). Some recent robotics research has profited from the addition of a degree-of-freedom (DOF) to an MBL to build rotating multi-beam lidars (RMBL) that can achieve high-resolution scans with full spherical FOV. In a previous work, we offered a methodology to analyze the complex 3D scan measurement distributions produced by RMBLs with a rolling DOF and no pitching. In this paper, we investigate the effect of introducing constant pitch angles in the construction of the RMBLs with the purpose of finding a kinematic configuration that optimizes scan homogeneity with a spherical FOV. To this end, we propose a scalar index of 3D sensor homogeneity that is based on the spherical formulation of Ripley's K function. The optimization is performed for the widely used Puck (VLP-16) and HDL-32 sensors by Velodyne.This work was partially funded by the Spanish project {DPI2015-65186-R}. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech