Simple and efficient method for calibration of a camera and 2D laser rangefinder

In the last few years, the integration of cameras and laser rangefinders has been applied to a lot of researches on robotics, namely autonomous navigation vehicles, and intelligent transportation systems. The system based on multiple devices usually requires the relative pose of devices for processing. Therefore, the requirement of calibration of a camera and a laser device is very important task. This paper presents a calibration method for determining the relative position and direction of a camera with respect to a laser rangefinder. The calibration method makes use of depth discontinuities of the calibration pattern, which emphasizes the beams of laser to automatically estimate the occurred position of laser scans on the calibration pattern. Laser range scans are also used for estimating corresponding 3D image points in the camera coordinates. Finally, the relative parameters between camera and laser device are discovered by using corresponding 3D points of them.In the last few years, the integration of cameras and laser rangefinders has been applied to a lot of researches on robotics, namely autonomous navigation vehicles, and intelligent transportation systems. The system based on multiple devices usually requires the relative pose of devices for processing. Therefore, the requirement of calibration of a camera and a laser device is very important task. This paper presents a calibration method for determining the relative position and direction of a camera with respect to a laser rangefinder. The calibration method makes use of depth discontinuities of the calibration pattern, which emphasizes the beams of laser to automatically estimate the occurred position of laser scans on the calibration pattern. Laser range scans are also used for estimating corresponding 3D image points in the camera coordinates. Finally, the relative parameters between camera and laser device are discovered by using corresponding 3D points of them

Combining Edge and One-Point RANSAC Algorithm to Estimate Visual Odometry

In recent years, classical structure from motion based SLAM has achieved significant results. Omnidirectional camera-based motion estimation has become interested researchers due to the lager field of view. This paper proposes a method to estimate the 2D motion of a vehicle and mapping by using EKF based on edge matching and one point RANSAC. Edge matching based azimuth rotation estimation is used as pseudo prior information for EKF predicting state vector. In order to reduce requirement parameters for motion estimation and reconstruction, the vehicle moves under nonholonomic constraints car-like structured motion model assumption. The experiments were carried out using an electric vehicle with an omnidirectional camera mounted on the roof. In order to evaluate the motion estimation, the vehicle positions were compared with GPS information and superimposed onto aerial images collected by Google map API. The experimental results showed that the method based on EKF without using prior rotation information given error is about 1.9 times larger than our proposed method.In recent years, classical structure from motion based SLAM has achieved significant results. Omnidirectional camera-based motion estimation has become interested researchers due to the lager field of view. This paper proposes a method to estimate the 2D motion of a vehicle and mapping by using EKF based on edge matching and one point RANSAC. Edge matching based azimuth rotation estimation is used as pseudo prior information for EKF predicting state vector. In order to reduce requirement parameters for motion estimation and reconstruction, the vehicle moves under nonholonomic constraints car-like structured motion model assumption. The experiments were carried out using an electric vehicle with an omnidirectional camera mounted on the roof. In order to evaluate the motion estimation, the vehicle positions were compared with GPS information and superimposed onto aerial images collected by Google map API. The experimental results showed that the method based on EKF without using prior rotation information given error is about 1.9 times larger than our proposed method

Real-Time Lane Region Detection Using a Combination of Geometrical and Image Features

Over the past few decades, pavement markings have played a key role in intelligent vehicle applications such as guidance, navigation, and control. However, there are still serious issues facing the problem of lane marking detection. For example, problems include excessive processing time and false detection due to similarities in color and edges between traffic signs (channeling lines, stop lines, crosswalk, arrows, etc.). This paper proposes a strategy to extract the lane marking information taking into consideration its features such as color, edge, and width, as well as the vehicle speed. Firstly, defining the region of interest is a critical task to achieve real-time performance. In this sense, the region of interest is dependent on vehicle speed. Secondly, the lane markings are detected by using a hybrid color-edge feature method along with a probabilistic method, based on distance-color dependence and a hierarchical fitting model. Thirdly, the following lane marking information is extracted: the number of lane markings to both sides of the vehicle, the respective fitting model, and the centroid information of the lane. Using these parameters, the region is computed by using a road geometric model. To evaluate the proposed method, a set of consecutive frames was used in order to validate the performanceOver the past few decades, pavement markings have played a key role in intelligent vehicle applications such as guidance, navigation, and control. However, there are still serious issues facing the problem of lane marking detection. For example, problems include excessive processing time and false detection due to similarities in color and edges between traffic signs (channeling lines, stop lines, crosswalk, arrows, etc.). This paper proposes a strategy to extract the lane marking information taking into consideration its features such as color, edge, and width, as well as the vehicle speed. Firstly, defining the region of interest is a critical task to achieve real-time performance. In this sense, the region of interest is dependent on vehicle speed. Secondly, the lane markings are detected by using a hybrid color-edge feature method along with a probabilistic method, based on distance-color dependence and a hierarchical fitting model. Thirdly, the following lane marking information is extracted: the number of lane markings to both sides of the vehicle, the respective fitting model, and the centroid information of the lane. Using these parameters, the region is computed by using a road geometric model. To evaluate the proposed method, a set of consecutive frames was used in order to validate the performanc

El efecto moderador de la comunicación de RSC en redes sociales en la relación de la RSC y la identidad de marca, y la influencia de esta relación en el Desempeño de Marca, de las marcas de cuidado personal en el Perú

En los últimos tiempos la Responsabilidad Social Corporativa (RSC) se ha convertido en un tema de gran discusión dentro del entorno empresarial. Muchas marcas han implementado diversas acciones para involucrar a la RSC en estrategias de Identidad de Marca. Comunicar las actividades de RSC dentro de las Redes Sociales es vital para responder a las necesidades y exigencias sociales del público actual, y necesario para consolidar en los consumidores la identidad de marca. Estas recientes relaciones, son un desafío para las organizaciones, dado que es prioridad definir la verdadera influencia de estas variables en el desempeño de la marca, a lo largo de la literatura desarrollada, existe escasa evidencia del nivel de relación entre ellas. Por ello, en el presente estudio se plantea determinar la influencia del efecto moderador de la comunicación de RSC en redes sociales en la relación de la RSC y la identidad de marca, y la influencia de esta relación en el Desempeño de Marca. Para la validación del modelo propuesto en la investigación, se plantea un estudio explicativo, de corte transversal con enfoque cuantitativo, donde aplicaremos un cuestionario de 39 preguntas a gerentes de marca de 80 marcas del sector de cuidado personal en Perú

On the power and the systematic biases of the detection of chromosomal inversions by paired-end genome sequencing

One of the most used techniques to study structural variation at a genome level is paired-end mapping (PEM). PEM has the advantage of being able to detect balanced events, such as inversions and translocations. However, inversions are still quite difficult to predict reliably, especially from high-throughput sequencing data. We simulated realistic PEM experiments with different combinations of read and library fragment lengths, including sequencing errors and meaningful base-qualities, to quantify and track down the origin of false positives and negatives along sequencing, mapping, and downstream analysis. We show that PEM is very appropriate to detect a wide range of inversions, even with low coverage data. However, % of inversions located between segmental duplications are expected to go undetected by the most common sequencing strategies. In general, longer DNA libraries improve the detectability of inversions far better than increments of the coverage depth or the read length. Finally, we review the performance of three algorithms to detect inversions -SVDetect, GRIAL, and VariationHunter-, identify common pitfalls, and reveal important differences in their breakpoint precisions. These results stress the importance of the sequencing strategy for the detection of structural variants, especially inversions, and offer guidelines for the design of future genome sequencing projects

Assessment of angle velocity in girls with adolescent idiopathic scoliosis

<p>Abstract</p> <p>Background</p> <p>Although it has been demonstrated that the peak height velocity (PHV) is a predictive factor of progression in adolescent idiopathic scoliosis (AIS), little is known about the usefulness of angle progression in clinical practice. The purpose of this study was to establish a relationship between height and angle velocities, as well as to determine if peak angle velocity (PAV) occurs at the same time than PHV.</p> <p>Methods</p> <p>A retrospective study of a cohort of girls with idiopathic scoliotic curves greater than 10°. Data of 132 girls who participated in a previous retrospective study about growth in AIS were used to calculate height and angle velocities. Relationship between height and angle velocities was estimated by the use of a Linear Mixed Model.</p> <p>Results</p> <p>PHV and PAV take place simultaneously 1 year before menarche in progressive curves managed with a brace in AIS. Changes in angle velocity are influenced by changes in height growth velocity, in such a way that as from 6 months post-menarche, height growth velocity in this group of girls estimates curve progression velocity (β-coefficient -0.88, p = 0.04).</p> <p>Conclusion</p> <p>As from 6 months post-menarche, there is an inverse relationship between height velocity and curve progression in the group of AIS girls with progressive curves managed with a brace. Because height velocity is decreasing from 1 year before menarche, this finding corroborates that at the end of puberty, there is still a risk of progression in this group of girls despite bracing. The assessment of both height and angle velocity might be useful in clinical practice at the time of assessing brace effectiveness and how long bracing has to be indicated.</p

Prevalence of HIV, Herpes Simplex Virus-2, and Syphilis in male sex partners of pregnant women in Peru

<p>Abstract</p> <p>Background:</p> <p>Sexually active heterosexual men may represent an important risk factor for HIV infection and STI transmission to their female partners and unborn children, though little is known about the prevalence of STIs in this population. We sought to determine the prevalence of HIV, herpes simplex virus type 2 (HSV-2), and syphilis infection and associated risk behaviors among male sex partners of pregnant women in Peru.</p> <p>Methods:</p> <p>Survey and seroprevalence data were collected from 1,835 male partners of pregnant women in four cities in Peru. Serum was tested for antibodies to HIV, HSV-2, and syphilis.</p> <p>Results:</p> <p>Among the 1,835 male participants, HIV prevalence was 0.8% (95% CI = 0.5–1.4%), HSV-2 16.0% (95% CI = 14.3–17.8%), and syphilis 1.6% (95% CI = 1.0–2.2%). Additionally, 11.0% reported a lifetime history of intercourse with men, and 37.1% with female sex workers. Unprotected intercourse with men during the previous year was reported by 0.9% and with female sex workers by 1.2%.</p> <p>Conclusion:</p> <p>Pregnant women's sex partners reported lifetime sexual contact with core risk groups, had an elevated prevalence of HSV-2, and demonstrated the potential to spread HIV and other STIs to their partners. Though the prevalence of HIV in the population was not significantly higher than observed in other samples of heterosexuals in Peru, the risk of HIV transmission to their female partners may be exacerbated by their increased prevalence of HSV-2 infection. Further study of heterosexual populations is necessary to fully understand the epidemiology of HIV/STIs in Latin America.</p

A study of the dry forest communities in the Dominican Republic

This paper is a floristic and phytosociological study of the dry forest communities of the Dominican Republic. A total of 69 relevés in dry forest biotopes were carried out. The samples were subsequently subjected to Detrended Correspondence Analysis for the determination and study of possible groupings. The study does not cover tree formations growing on serpentines, nor the so-called semideciduous forests, peculiar to areas with higher rainfall. A total of nine phytocoenoses were identified. The most significant results led to the description of six new phytosociological associations: Simaroubetum berteroani (thorny dry forest on coastal dunes), Phyllostylo rhamnoidis-Prosopidetum juliflorae (southern Dominican disturbed dry forest), Consoleo moniliformis-Camerarietum linearifoliae (dry forest on hard limestones), Lemaireocereo hystricis-Prosopidetum juliflorae (northern Dominican disturbed dry forest), Lycio americani-Prosopidetum juliflorae (disturbed dry forest on saline soils) and Guettardo ellipticae-Guapiretum discoloris (dry forest on flat-topped hillocks in Montecristi). This is an important step forward in the phytosociological and floristic studies of the Caribbean territories.Este trabalho apresenta um estudo florístico e fitossociológico das comunidades de florestas secas da República Dominicana. Um total de 69 amostras foram obtidas pelo método relevé em biótopos florestais secos. As amostras foram posteriormente submetidas à análise de correspondência destendenciada para a determinação e estudo de possíveis agrupamentos. O estudo não abrange formações arbóreas desenvolvidas sobre serpentinitos, nem as chamadas florestas semideciduais, peculiares às áreas de maior pluviosidade. Foram identificados nove fitocenoses. Os resultados mais significativos levaram à descrição de seis novas associações fitossociológicas: Simaroubetum berteroani (floresta espinhosa seca em dunas costeiras), Phyllostylo rhamnoidis-Prosopidetum juliflorae (floresta seca perturbada do sul da República Dominicana), Consoleo moniliformis-Camerarietum linearifoliae (floresta seca sobre calcários compactos), Lemaireocereo hystricis-Prosopidetum juliflorae (floresta seca perturbada do norte da República Dominicana), Lycio americani-Prosopidetum juliflorae (floresta seca perturbada desenvolvida em solos salinos) Guettardo ellipticae-Guapiretum discoloris (floresta seca em colinas de topo achatado em Montecristi). O trabalho realizado representa um importante avanço nos estudos fitossociológicos e florísticos dos territórios do Caribe.This research paper was possible thanks to the sponsorship of the Agencia Española de Cooperación Internacional para el Desarrollo (AECID), under the auspices of the Ministerio de Asuntos Exteriores y de Cooperación de España, which funded the project (cod. A/3499/05)

Age and date for early arrival of the Acheulian in Europe (Barranc de la Boella, la Canonja, Spain)

The first arrivals of hominin populations into Eurasia during the Early Pleistocene are currently considered to have occurred as short and poorly dated biological dispersions. Questions as to the tempo and mode of these early prehistoric settlements have given rise to debates concerning the taxonomic significance of the lithic assemblages, as trace fossils, and the geographical distribution of the technological traditions found in the Lower Palaeolithic record. Here, we report on the Barranc de la Boella site which has yielded a lithic assemblage dating to ,1 million years ago that includes large cutting tools (LCT). We argue that distinct technological traditions coexisted in the Iberian archaeological repertoires of the late Early Pleistocene age in a similar way to the earliest sub-Saharan African artefact assemblages. These differences between stone tool assemblages may be attributed to the different chronologies of hominin dispersal events. The archaeological record of Barranc de la Boella completes the geographical distribution of LCT assemblages across southern Eurasia during the EMPT (Early-Middle Pleistocene Transition, circa 942 to 641 kyr). Up to now, chronology of the earliest European LCT assemblages is based on the abundant Palaeolithic record found in terrace river sequences which have been dated to the end of the EMPT and later. However, the findings at Barranc de la Boella suggest that early LCT lithic assemblages appeared in the SW of Europe during earlier hominin dispersal episodes before the definitive colonization of temperate Eurasia took place.The research at Barranc de la Boella has been carried out with the financial support of the Spanish Ministerio de Economı´a y Competitividad (CGL2012- 36682; CGL2012-38358, CGL2012-38434-C03-03 and CGL2010-15326; MICINN project HAR2009-7223/HIST), Generalitat de Catalunya, AGAUR agence (projects 2014SGR-901; 2014SGR-899; 2009SGR-324, 2009PBR-0033 and 2009SGR-188) and Junta de Castilla y Leo´n BU1004A09. Financial support for Barranc de la Boella field work and archaeological excavations is provided by the Ajuntament de la Canonja and Departament de Cultura (Servei d’Arqueologia i Paleontologia) de la Generalitat de Catalunya. A. Carrancho’s research was funded by the International Excellence Programme, Reinforcement subprogramme of the Spanish Ministry of Education. I. Lozano-Ferna´ndez acknowledges the pre-doctoral grant from the Fundacio´n Atapuerca. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript