InfiniTAM v3: A Framework for Large-Scale 3D Reconstruction with Loop Closure

Volumetric models have become a popular representation for 3D scenes in recent years. One breakthrough leading to their popularity was KinectFusion, which focuses on 3D reconstruction using RGB-D sensors. However, monocular SLAM has since also been tackled with very similar approaches. Representing the reconstruction volumetrically as a TSDF leads to most of the simplicity and efficiency that can be achieved with GPU implementations of these systems. However, this representation is memory-intensive and limits applicability to small-scale reconstructions. Several avenues have been explored to overcome this. With the aim of summarizing them and providing for a fast, flexible 3D reconstruction pipeline, we propose a new, unifying framework called InfiniTAM. The idea is that steps like camera tracking, scene representation and integration of new data can easily be replaced and adapted to the user's needs. This report describes the technical implementation details of InfiniTAM v3, the third version of our InfiniTAM system. We have added various new features, as well as making numerous enhancements to the low-level code that significantly improve our camera tracking performance. The new features that we expect to be of most interest are (i) a robust camera tracking module; (ii) an implementation of Glocker et al.'s keyframe-based random ferns camera relocaliser; (iii) a novel approach to globally-consistent TSDF-based reconstruction, based on dividing the scene into rigid submaps and optimising the relative poses between them; and (iv) an implementation of Keller et al.'s surfel-based reconstruction approach.Comment: This article largely supersedes arxiv:1410.0925 (it describes version 3 of the InfiniTAM framework

Random lattice superstrings

We propose some new simplifying ingredients for Feynman diagrams that seem necessary for random lattice formulations of superstrings. In particular, half the fermionic variables appear only in particle loops (similarly to loop momenta), reducing the supersymmetry of the constituents of the Type IIB superstring to N=1, as expected from their interpretation in the 1/N expansion as super Yang-Mills.Comment: Section 5 which describes contributions of the string measure adde

On finitely ambiguous B\"uchi automata

Unambiguous B\"uchi automata, i.e. B\"uchi automata allowing only one accepting run per word, are a useful restriction of B\"uchi automata that is well-suited for probabilistic model-checking. In this paper we propose a more permissive variant, namely finitely ambiguous B\"uchi automata, a generalisation where each word has at most $k$ accepting runs, for some fixed $k$. We adapt existing notions and results concerning finite and bounded ambiguity of finite automata to the setting of $\omega$-languages and present a translation from arbitrary nondeterministic B\"uchi automata with $n$ states to finitely ambiguous automata with at most $3^n$ states and at most $n$ accepting runs per word

Generalized Gauge Theories and Weinberg-Salam Model with Dirac-K\"ahler Fermions

We extend previously proposed generalized gauge theory formulation of Chern-Simons type and topological Yang-Mills type actions into Yang-Mills type actions. We formulate gauge fields and Dirac-K\"ahler matter fermions by all degrees of differential forms. The simplest version of the model which includes only zero and one form gauge fields accommodated with the graded Lie algebra of $SU(2|1)$ supergroup leads Weinberg-Salam model. Thus the Weinberg-Salam model formulated by noncommutative geometry is a particular example of the present formulation.Comment: 33 pages, LaTe

The perfect action for non-degenerate staggered fermions

The perfect action of free staggered fermions is calculated by blocking from the continuum for degenerate and non-degenerate flavor masses. The symmetry structure, connecting flavor transformations and translations, is explained directly from the blocking scheme. It is convenient to use a modified Fourier transformation, respecting this connection, to treat the spin-flavor structure of the blockspins. The perfect action remains local in the non-degenerate case; it is explicitly calculated in two dimensions. I finally comment on the relation of the blocking scheme to the transition from Dirac-K\"ahler fermions to staggered fermions.Comment: 14 pages, Latex2e, 1 Latex figure, some minor changes and two references adde

Cholera hotspots and surveillance constraints contributing to recurrent epidemics in Tanzania

Objective: We described the dynamics of cholera in Tanzania between 2007 and 2017 and assessed the weaknesses of the current surveillance system in providing necessary data in achieving the global roadmap to 2030 for cholera control. Results: The Poisson-based spatial scan identifed cholera hotspots in mainland Tanzania. A zero-infated Poisson regression investigated the relationship between the incidence of cholera and available demographic, socio-economic and climatic exposure variables. Four cholera hotspots were detected covering 17 regions, home to 28 million people, including the central regions and those surrounding the Lakes Victoria, Tanganyika and Nyaza. The risk of experiencing cholera in these regions was up to 2.9 times higher than elsewhere in the country. Regression analyses revealed that every 100 km of water perimeter in a region increased the cholera incidence by 1.5%. Due to the compilation of surveillance data at regional level rather than at district, we were unable to reliably identify any other signifcant risk factors and specifc hotspots. Cholera high-risk populations in Tanzania include those living near lakes and central regions. Successful surveillance require disaggregated data available weekly and at district levels in order to serve as data for action to support the roadmap for cholera control.Published versio

On local boundary CFT and non-local CFT on the boundary

The holographic relation between local boundary conformal quantum field theories (BCFT) and their non-local boundary restrictions is reviewed, and non-vacuum BCFT's, whose existence was conjectured previously, are constructed.Comment: 16 pages. Contribution to "Rigorous Quantum Field Theory", Symposium in honour of J. Bros, Paris, July 2004. Based on joint work math-ph/0405067 with R. Long

The role of carbonaceous deposits in the activity and stability of Ni-based catalysts applied in the dry reforming of methane

Highly stable Ni catalysts with varying Ni contents up to 50 mol% originating from hydrotalcite-like precursors were applied in the dry reforming of methane at 800 and 900 °C. The integral specific rate of methane conversion determined after 10 h on stream was 3.8 mmol s-1 gcat-1 at 900 °C. Due to the outstanding high activity, a catalyst mass of just 10 mg had to be used to avoid operating the reaction in thermodynamic equilibrium. The resulting WHSV was as high as 1.44 × 106 ml gcat-1 h-1. The observed axial temperature distribution with a pronounced cold spot was analyzed by computational fluid dynamics simulations to verify the strong influence of this highly endothermic reaction. Transmission electron microscopy and temperature-programmed oxidation experiments were used to probe the formation of different carbon species, which was found to depend on the catalyst composition and the reaction temperature. Among the formed carbon species, multi-walled carbon nanofibers were detrimental to the long-term stability at 800 °C, whereas their formation was suppressed at 900 °C. The formation of graphitic carbon at 900 °C originating from methane pyrolysis played a minor role. The methane conversion after 100 h of dry reforming at 900 °C compared to the initial one amounted to 98% for the 25 mol% Ni catalyst. The oxidative regeneration of the catalyst was achieved in the isothermal mode using only carbon dioxide in the feed

Dirac-K\"ahler approach connected to quantum mechanics in Grassmann space

We compare the way one of us got spinors out of fields, which are a priori antisymmetric tensor fields, to the Dirac-K\"ahler rewriting. Since using our Grassmann formulation is simple it may be useful in describing the Dirac-K\"ahler formulation of spinors and in generalizing it to vector internal degrees of freedom and to charges. The ``cheat'' concerning the Lorentz transformations for spinors is the same in both cases and is put clearly forward in the Grassmann formulation. Also the generalizations are clearly pointed out. The discrete symmetries are discussed, in particular the appearance of two kinds of the time-reversal operators as well as the unavoidability of four families.Comment: 36 page