Echtzeitfähige kamerabasierte Objektdetektion für automatisierte Fahrzeuge

Automatisierte Fahrzeuge müssen ihre Umgebung schnell und präzise erfassen um in der Lage zu sein, mit ihr zu interagieren. Sie müssen dabei in einer Verkehrsumgebung zurecht kommen, welche speziell so gestaltet ist, dass sie für die visuelle Wahrnehmung des Menschens leicht zugänglich ist. Aus diesem Grund sind bildgebende Verfahren mit ähnlicher Verarbeitungsgeschwindigkeit, Zuverlässigkeit und Robustheit wie das menschliche Sehsystem, unabdingbar. Diese Arbeit befasst sich deshalb mit der echtzeitfähigen kamerabasierten 3D-Objekterkennung. Im Gegensatz zu existierenden Arbeiten liegt der Fokus dabei nicht nur auf Fahrzeugen, sondern auf allen Arten von Verkehrsteilnehmern, wie zum Beispiel Fußgängern und Radfahrern. Das Ziel dieser Arbeit ist es, einen Ansatz zur Objektdetektion zu entwickeln, welcher mit möglichst geringem Rechenaufwand Ergebnisse liefert, die in ihrer Genauigkeit und Zuverlässigkeit für die in automatisierten Fahrzeugen auf die Umfelderfassung folgenden Module wie die Prädiktion, Verhaltensgenerierung und Trajektorienplanung ausreichend sind. Dafür werden zwei binokulare Methoden vorgestellt, welche Rasterkarten in der Vogelperspektive als abstrahierte Darstellung des Fahrzeugumfelds verwenden. Durch die damit verbundene direkte räumliche Information und die Dimensionsreduktion gegenüber Punktwolken verringert sich die Komplexität und somit die Laufzeit der Objektdetektion. Da die Verwendung eines binokularen Kamerasystems nicht nur höhere Kosten als eine einzige Kamera verursacht, sondern vor allem auch eine aufwendigere Kalibrierung benötigt, wird in dieser Arbeit ebenfalls untersucht, welche Genauigkeiten mit einer monokularen 3D-Objektdetektion erreicht werden können. Untersuchungen auf dem öffentlich verfügbaren KITTI-Datensatz zeigen, dass die vorgestellten Ansätze den Stand der Technik für echtzeitfähige kamerabasierte 3D-Objekterkennung übertreffen. Darüber hinaus zeigen Experimente auf dem Testfahrzeug BerthaOne gute Objektdetektionen hinsichtlich Position und Abmessung auch für Objekte in 100 m Entfernung

Diverse depositional and geochemical signatures of the Frasnian-Famennian global event in western Thailand reveal palaeotethyan vs. Western Australian geotectonic affinities

Two studied sections of the Frasnian-Famennian (F-F) boundary beds in western Thailand differ significantly in their depositional and geochemical characteristics. The highly condensed, monotonous Mae Sariang (MS) limestone succession generally corresponds to the event-chemostratigraphic pattern of the F-F biocrisis based primarily on German sections, and brief anoxic episodes are identifiable in trace-metal signatures (but neither organic-rich intercalations nor distinct volcanic signals). In the case of the Thong Pha Phum (TPP) site, two specific features are especially notable: (1) a δ13C positive excursion, comparable only with the peculiar Western Australian biogeochemical signature, and (2) elemental proxies that indicate exclusively oxic and probably largely oligotrophic conditions during both Kellwasser intervals. Therefore, the demonstrated biogeochemical and environmental differentiation confirms the totally different paleogeographic settings of the studied successions, as indicated previously by the Nd isotope composition of Late Devonian seawater. The distinctiveness of the TPP section clearly indicates its affinity with the Western Australian shelf successions, which are characterized by a well-known “atypical” biogeochemical and ecological signature. In terms of provenance, the siliciclastic fraction in the MS succession corresponds to continental margin. The Paleotethyan region was sourced by felsic-volcanic or granite-gneissic massifs. In the case of the TPP section, the continental margin, as well as the partly the continental island arc, are recorded in the detritus, predominantly derived from older, continental sedimentary-metasedimentary terrains. Therefore, the assumed Western Australian geotectonic assignment of TPP corresponds to the variable, partly recycled mat

U-Pb detrital zircon geochronology of sedimentary rocks in NE Vietnam: Implication for Early and Middle Devoni-an Palaeogeography

Rocks of the Do Son Peninsula in NE Vietnam are mainly composed of Paleozoic siliciclastics. The overall sedimentary record represents fluvial to deltaic prograding deposits close to a shoreline. We present detrital zircon U-Pb analytical results from two samples, the Van Canh and the Van Huong Formations (east Red River Basin). Zircons were analyzed for U, Th, and Pb isotopes by LA-SF ICP-MS techniques. The youngest zircon of each formation provides maximum ages of sedimentation at 407.1 ± 9.5 Ma and 406.3 ± 4.0 Ma. The zircon cluster of both samples supports the postulated position of NE Vietnam close to the western Himalaya.ReferencesAnh H.T.H., Hieu P.T., Le Tu V., Choi S.H. and Yu Y., 2015. Age and tectonic implications of Paleoproterozoic Deo Khe Granitoids within the Phan Si Pan Zone, Vietnam. Journal of Asian Earth Sciences, 111, 781-791. Braddy S.J., Seldon P.A., Doan Nhat T., 2002. A new carcinosomatid eurypterid from the Upper Silurian of northern Vietnam. Palaeontology, 45, 897-915. Burrett C., 1974. Plate tectonics and the fusion of Asia. Earth and Planetary Science Letters, 21, 181-189. Burrett C. and Stait B., 1985. South East Asia as a part of Ordovician Gondwanaland-a palaeobiogeographic test of a tectonic hypothesis. Earth and Planetary Science Letters, 75, 184-190. Burrett C. and Stait B., 1987. China and Southeast Asia as part of the Tethyan margin of Cambro-Ordovician Gondwanaland. In: McKenzie, K. (Ed.), Shallow Tethys, 2. Balkema, Rotterdam, 65-77. Burrett C., Long J. and Stait B., 1990. Early-Middle Palaeozoic biogeography of Asian terranes derived from Gondwana. In: McKerrow, W., Scotese, C. (Eds.), Palaeozoic Palaeogeography and Biogeography. Geological Society Memoir, 12, 163-174. Burrett C., Duhig N., Berry R. and Varne R., 1991. Asian and south-western Pacific continental terranes derived from Gondwana and their biogeographic significance. Australian Systematic Botany, 4, 13-24. Burrett C., Zaw K., Meffre S., Lai C.K., Khositanont S., Chaodumrong P., Udchachon M., Ekins S. and Halpin J., 2014. The Configuration of Greater Gondwana - Evidence from LA ICPMS, U-Pb geochronology of detrital zircons from the Palaeozoic and Mesozoic of Southeast Asia and China. Gondwana Research, 26, 31-51. http://dx.doi.org/10.1016/j.gr.2013.05.020. Condie K., Belousova E., Griffin W. and Sircombe K., 2009. Granitoid events in space and time: constraints from igneous and detrital zircon age spectra. Gondwana Research, 15, 228-242. http://dx.doi.org/10.1016/j.gr2008.06.001. Faure M., Lepvier C., Nguyen V.V., Vu T.V., Lin W. and Chen Z., 2014. The South China block-Indochina collision: Where, when, and how? Journal of Asian Earth Sciences, 79, 260-274. Findlay R.H., 1997 The Song Ma anticlinorium, northern Vietnam: the structure of an allochthonous terrane containing an early Paleozoic island arc sequence. Journal of Asian Earth Sciences, 15, 453-464. Gerdes A. and Zeh A., 2006. Combined U-Pb and Hf isotope LA-(MC-) ICP-MS analysis of detrital zircons: comparison with SHRIMP and new constraints for the provenance and age of an Armorican metasediment in Central Germany. Earth and Planetary Science Letters, 249, 47-61. Hall R., 2009. The Eurasia SE Asian margin as a modern example of an accretionary orogen. In: Cawood, P.A., Kroner, A. (Eds.), Earth Accretionary Systems in Space and Time. The Geological Society London, Special Publications, 318, 351-372. Helmcke D., 1985. The Permo-Triassic “Paleotethys” in mainland Southeast Asia and adjacent parts of China. Geologische Rundschau, 74, 215-228. Hieu P.T., Chen F., Me L.T., Thuy N.T.B., Siebel W. and Lan T.G., 2012. Zircon U-Pb ages and Hf isotopic compositions from the Sin Quyen Formation: the Precambrian crustal evolution of northwest Vietnam. International Geology Review, 54(13), 1548-1561. Hieu P.T., Dung N.T., Thuy N.T.B., Minh N.T. and Pham M.I.N.H., 2016. U=Pb ages and Hf isotopic composition of zircon and bulk rock geochemistry of the Dai Loc granitoid complex in Kontum massif: Implications for early Paleozoic crustal evolution in Central Vietnam. Journal of Mineralogical and Petrological Sciences, 111(5), 326-336. Horstwood M.S.A., Košler J., Gehrels G., Jackson S.E., McLean N.M., Paton C., Pearson N.J., Sircombe K., Sylvester P., Vermeesch P., Bowring J.F., Condon D.J. and Schoene, B., 2016. Community-derived standards for LA-ICP-MS U-Th-Pb geochronology - uncertainty propagation, age interpretation and data reporting. Geostand Geoanalytical Research, 40, 311-332. Jackson S., Pearson N.J., Griffin W.L. and Belousova E.A., 2004. The application of laser ablation-inductively coupled plasma-mass spectrometry to in situ U-Pb zircon geochronology. Chemical Geology, 211, 47-69. Janvier P., Blieck A., Gerrienne P. and Tong-Dzuy T., 1987. Faune et flore de la Formation de Sika (Devonien inferieur) dans la peninsule de Do Son (Viet Nam). Bulletin du Museum National d’Histoire Naturelle Paris, 9, 291-301. Janvier P., Racheboeuf P., Nguyen Huu H. and Doan Nhat T., 2003. Devonian fish (Placodermi, Antiarcha) from the Tra Ban Island (Bai Tu Long Bay, Quang Ninh, Vietnam) and the question of the age of the Do Son Formation. Journal of Asian Earth Sciences, 21, 795-801. Janvier P. and Ta Hoa P., 1999. Les Vertebres (Placodermi, Galeaspida) du Devonien inferieur de la coupe de Lung Co-Mia Le, province de Ha Giang. Vietnam, avec des donnees complementaires sur les gisements a Vertebres du Devonien du Bac Bo oriental. Geodiversitas, 21, 33-67. Janvier P. and Tong-Dzuy T., 1998. The Silurian and Devonian vertebrates of Vietnam: a review. Journal of Geology (Hanoi), B11, 12, 18-28. Jones N.S., Fyfe J.A., Sewell R.T., Lai K.W. and Lee C.M., 1997. Devonian fluviodeltaic sedimentation in Hong Kong. Journal of Asian Earth Sciences, 15(6), 533-545. 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Lee C.M., 1991. The discovery of Devonian Placodermi in Hong Kong and its significance. In: Chang M.M., Liu Y.H., Zhang G.R. (Eds.). Early Vertebrates and Related Problems of Evolutionary Biology. Science Press, Beijing, 131-138. Lepvrier C., Faure M., Nguyen Van V., Van Vu T., Lin W., Ta Trong T. and Ta Hoa P., 2011. North-directed Triassic nappes in Northeastern Vietnam (East Bac Bo). Journal of Asian Earth Sciences, 41, 56-68. Long J.A., Burrett C., Pham Kim N. and Janvier P., 1990. A new bothriolepid antiarch (Pisces, Placodermi) from the Devonian of Do Son Peninsula, northern Vietnam. Alcheringa, 14, 181-194. Ludwig K.R., 2001. Users Manual for Isoplot/Ex rev. 2.49: Berkeley Geochronology Center Special Publication, No.1a, 1-56. Metcalfe I., 1984. Stratigraphy, palaeontology and palaeogeography of the Carboniferous of Southeast Asia. Mémoires Société Géologiques France (New Series), 147, 107-118. Metcalfe I., 1998. Palaeozoic and Mesozoic geological evolution of the SE Asian region: multidisziplinary constraints and implications for biogeography. In: Hall R., Holloway J.D. (Eds.), Biogeography and Geological Evolution of SE Asia. Backhuys Publishers, Leiden, The Netherlands, 25-41. Metcalfe I., 2006. Palaeozoic and Mesozoic tectonic evolution and Palaeogeography of East Asian crustal fragments: the Korean Penninsula in context. Gondwanan Research, 9, 24-46. Metcalfe I., 2011. Tectonic framework and Phanerozoic evolution of Sundaland. Gondwana Research, 19, 3-21. http://dx.doi.org/10.1016/j.gr.2010.02.016. Morley C.K., Ampaiwan P., Thanudamrong S., Kuenphan N. and Warren J., 2013. Development of the Khao Kwang Fold and thrust belt: implications for the geodynamic setting of Thailand and Cambodia during the Indosinian Orogeny. Journal of Asian Earth Sciences, 62, 705-719. http://dx.doi.org/10.1016/j.seaes.2012.11.021. My Dung Tran, Junlai L.I.U., Xiaochun L.I. and My Cung Dang., 2016. Geology, Fluid Inclusion and Isotopic Study of the Neoproterozoic Suoi Thau Copper Deposit, Northwest Vietnam. Acta Geologica Sinica (English Edition), 90(3), 913-927. Nagy E.A., Maluski H., Lepvrier Q., Scharer U., Thi P.T. and Leyreloup A., 2001. Geodynamic significance of the Kontum Massif in Central Vietnam: Composite 40Ar-39Ar and U/Pb ages from the Palaeozoic to Triassic. Journal of Geology, 109, 755-770. Nam T.N., 1995. The Geology of Vietnam: A brief summary and problems. Geoscientific Reports, Shizuoka University, 1-10. Nam T.N., Toriumi M., Sano Y., Terada K. and Thang T.T., 2003. 2.9, 2.36, and 1.96 Ga zircons in orthogneiss south of the Red River shear zone in Viet Nam: evidence from SHRIMP U-Pb dating and tectonothermal implications. Journal of Asian Earth Sciences, 21(7), 743-753. Nguyen T.T.B., Hieu P.T., Hai T.T., Xuan N.T. and Cung D.M., 2014. Petrogenesis and zircon U-Pb ages of the Thien Ke granitic pluton in the Tam Dao region: Implications for early Paleozoic tectonic evolution in NE Vietnam. Journal of Mineralogical and Petrological Sciences, 109(5), 209-221. Nie Y.S., 1991. Paleoclimate and paleomagnetic constraints on the Paleozoic reconstructions of South China, North China and Tarim. Tectonophysics, 196, 279-309. Ogg J.G., Ogg G.M. and Gradstein F.M., 2016. A concise geologic time scale. Elsevier: 1-234. Racheboeuf P.R., Janvier P., Ta Hoa P., Vannier J. and Wang S.-Q., 2005. Lower Devonian vertebrates, arthropods and brachiopods from northern Vietnam. Geobios, 38, 533-551. Roger F., Leloup P.H., Jolivet M., Lacassin R., Trinh P.T., Brunel M. and Seward D., 2000. Long and complex thermal history of the Song Chay metamorphic dome (Northern Vietnam) by multi-system geochronology. Tectonophysics, 321, 449-466. Sengör A.M.C., Altiner D., Cin A., Ustaomer T. and Hsu K.J., 1988. 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Estadísticas de uso de Z39.50

Sección: La RedHa transcurrido un año desde que se realizó la primera sesión informativa sobre Z39.50 dirigida a las bibliotecas de Madrid. En febrero de 2002 se repitieron estas jornadas de formación en Valencia y Barcelona, y en junio en AndalucíaN

Knowledge Augmented Machine Learning with Applications in Autonomous Driving: A Survey

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving

100 years of Palaeobiodiversity and Palaeoenvironments

100 years of evolution of the journals’ scientific focus from Senckenbergiana to Palaeobiodiversity and Palaeoenvironments are described.Senckenberg Gesellschaft für Naturforschung (SGN) (3507