Efficient scene simulation for robust monte carlo localization using an RGB-D camera

This paper presents Kinect Monte Carlo Localization (KMCL), a new method for localization in three dimensional indoor environments using RGB-D cameras, such as the Microsoft Kinect. The approach makes use of a low fidelity a priori 3-D model of the area of operation composed of large planar segments, such as walls and ceilings, which are assumed to remain static. Using this map as input, the KMCL algorithm employs feature-based visual odometry as the particle propagation mechanism and utilizes the 3-D map and the underlying sensor image formation model to efficiently simulate RGB-D camera views at the location of particle poses, using a graphical processing unit (GPU). The generated 3D views of the scene are then used to evaluate the likelihood of the particle poses. This GPU implementation provides a factor of ten speedup over a pure distance-based method, yet provides comparable accuracy. Experimental results are presented for five different configurations, including: (1) a robotic wheelchair, (2) a sensor mounted on a person, (3) an Ascending Technologies quadrotor, (4) a Willow Garage PR2, and (5) an RWI B21 wheeled mobile robot platform. The results demonstrate that the system can perform robust localization with 3D information for motions as fast as 1.5 meters per second. The approach is designed to be applicable not just for robotics but other applications such as wearable computing

Mapping Complex Marine Environments with Autonomous Surface Craft

This paper presents a novel marine mapping system using an Autonomous Surface Craft (ASC). The platform includes an extensive sensor suite for mapping environments both above and below the water surface. A relatively small hull size and shallow draft permits operation in cluttered and shallow environments. We address the Simultaneous Mapping and Localization (SLAM) problem for concurrent mapping above and below the water in large scale marine environments. Our key algorithmic contributions include: (1) methods to account for degradation of GPS in close proximity to bridges or foliage canopies and (2) scalable systems for management of large volumes of sensor data to allow for consistent online mapping under limited physical memory. Experimental results are presented to demonstrate the approach for mapping selected structures along the Charles River in Boston.United States. Office of Naval Research (N00014-06-10043)United States. Office of Naval Research (N00014-05-10244)United States. Office of Naval Research (N00014-07-11102)Massachusetts Institute of Technology. Sea Grant College Program (grant 2007-R/RCM-20

Sensor fusion for flexible human-portable building-scale mapping

This paper describes a system enabling rapid multi-floor indoor map building using a body-worn sensor system fusing information from RGB-D cameras, LIDAR, inertial, and barometric sensors. Our work is motivated by rapid response missions by emergency personnel, in which the capability for one or more people to rapidly map a complex indoor environment is essential for public safety. Human-portable mapping raises a number of challenges not encountered in typical robotic mapping applications including complex 6-DOF motion and the traversal of challenging trajectories including stairs or elevators. Our system achieves robust performance in these situations by exploiting state-of-the-art techniques for robust pose graph optimization and loop closure detection. It achieves real-time performance in indoor environments of moderate scale. Experimental results are demonstrated for human-portable mapping of several floors of a university building, demonstrating the system's ability to handle motion up and down stairs and to organize initially disconnected sets of submaps in a complex environment.Lincoln LaboratoryUnited States. Air Force (Contract FA8721-05-C-0002)United States. Office of Naval Research (Grant N00014-10-1-0936)United States. Office of Naval Research (Grant N00014-11-1-0688)United States. Office of Naval Research (Grant N00014-12-10020

Kintinuous: Spatially Extended KinectFusion

In this paper we present an extension to the KinectFusion algorithm that permits dense mesh-based mapping of extended scale environments in real-time. This is achieved through (i) altering the original algorithm such that the region of space being mapped by the KinectFusion algorithm can vary dynamically, (ii) extracting a dense point cloud from the regions that leave the KinectFusion volume due to this variation, and, (iii) incrementally adding the resulting points to a triangular mesh representation of the environment. The system is implemented as a set of hierarchical multi-threaded components which are capable of operating in real-time. The architecture facilitates the creation and integration of new modules with minimal impact on the performance on the dense volume tracking and surface reconstruction modules. We provide experimental results demonstrating the system's ability to map areas considerably beyond the scale of the original KinectFusion algorithm including a two story apartment and an extended sequence taken from a car at night. In order to overcome failure of the iterative closest point (ICP) based odometry in areas of low geometric features we have evaluated the Fast Odometry from Vision (FOVIS) system as an alternative. We provide a comparison between the two approaches where we show a trade off between the reduced drift of the visual odometry approach and the higher local mesh quality of the ICP-based approach. Finally we present ongoing work on incorporating full simultaneous localisation and mapping (SLAM) pose-graph optimisation

Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

This paper presents an on-line nonlinear least squares algorithm for multi-sensor autonomous underwater vehicle (AUV) navigation. The approach integrates the global constraints of range to and GPS position of a surface vehicle or buoy communicated via acoustic modems and relative pose constraints arising from targets detected in side-scan sonar images. The approach utilizes an efficient optimization algorithm, iSAM, which allows for consistent on-line estimation of the entire set of trajectory constraints. The optimized trajectory can then be used to more accurately navigate the AUV, to extend mission duration, and to avoid GPS surfacing. As iSAM provides efficient access to the marginal covariances of previously observed features, automatic data association is greatly simplified — particularly in sparse marine environments. A key feature of our approach is its intended scalability to single surface sensor (a vehicle or buoy) broadcasting its GPS position and simultaneous one-way travel time range (OWTT) to multiple AUVs. We discuss why our approach is scalable as well as robust to modem transmission failure. Results are provided for an ocean experiment using a Hydroid REMUS 100 AUV co-operating with one of two craft: an autonomous surface vehicle (ASV) and a manned support vessel. During these experiments the ranging portion of the algorithm ran online on-board the AUV. Extension of the paradigm to multiple missions via the optimization of successive survey missions (and the resultant sonar mosaics) is also demonstrated.United States. Office of Naval Research (Grant N000140711102

Oral ketamine vs placebo in patients with cancer-related neuropathic pain

Ketamine hydrochloride is used as an adjuvant treatment for cancer-related neuropathic pain, but evidence of its effectiveness is limited.1 Findings of a large trial investigating the use of ketamine for general cancer pain were negative, but the population studied did not specifically have neuropathic pain. A randomized trial of oral ketamine for cancer-related neuropathic pain has been called for, and the present trial addresses that need

Extensive Addition to Library Planned

The following day, March 30, 1859, the motion to put the Committee\u27s plan (to found the Law School of the University of Michigan) into operation was taken from the table and passed by the Board of Regents ... At their June meeting the Regents authorized the Law Committee to purchase up to $2000 worth of law books for the new department ... And to the long projected Law Department at last became a reality. From the humble seed planted in 1859, the present Law School was to grow. Ninety five years to the very month later, the tree which grew from that seed will feel the bud of a new branch. The eyes which have patiently watched that growth through the years will witness the birth of the latest addition to the Quadrangle. The Editors of this magazine did not realize at publication time a month ago, that Don Steiner\u27s article would be so appropriate

Interview of John McCloskey by John Fallon

John McCloskey was born in 1920 in Philadelphia’s Olney section. Born into a working-class Irish Catholic family, McCloskey moved to Cornwell Heights, Pennsylvania, in Bucks County, in 1924. He graduated from Northeast Catholic High School in 1938. He held several jobs before settling in at Crown Cork & Seal’s seamless can manufacturing plant located at I Street and Erie Avenue in Philadelphia’s Kensington section. He joined the U.S. Army Air Corps in 1942. He was selected to instruct future pilots in the operation of B-17 Bombers. He attained the rank of First Lieutenant. Following his time in the Army, McCloskey used to GI Bill to attend La Salle College where he graduated with a degree in accounting in 1948. He did this while working full-time as the student manager of the College’s campus store and supporting his family which included his wife Betty, and his first two sons, John and James. After graduation McCloskey was made full manager of the campus store. During this time he taught Military Science in the college’s ROTC program. In 1955, he was made Assistant to the President under Brother Stanislaus. At this time he also had begun work on his MBA in marketing at Temple University. He served in that post until 1959 when he was made Vice-President of Public Affairs. In 1986, he would step down as vice-president but continued to serve La Salle the Director of Public Relations, 1986-1988, and then as Assistant Vice-President for Development until he finally retired in 1992. Ultimately, he and his wife had four children: John, James, Kathy, and Dan. In addition to his years at La Salle McCloskey was also extremely active in the Philadelphia community assisting in numerous educational projects and donating his time to many Catholic charities. His service has been honored in many ways. In 1991 he received two distinct designations. He was Affiliated as a Honorary Christian Brother at La Salle, a honor that is not given out lightly. Also, in 1991 he was named a knight in the Order of St. Gregory, a Papal distinction given for outstanding service. On the occasion of his ninetieth birthday, McCloskey received letters of recognition from President and First Lady, Barack and Michelle Obama, Pennsylvania Governor Ed Rendell, U.S. Senator Robert Casey, as well as from Philadelphia officials. At the time of the interview he was retired and living in Bucks County. He spent every morning at St. Joseph’s Manor, a nursing care facility, with his wife of over sixty-seven years, Betty. John McCloskey passed away in March 2019