Dynamic Body VSLAM with Semantic Constraints

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches make the assumption of observing static scenes, dynamic objects are relegated to the noise modeling section of such systems. This is an approach of convenience since the RANSAC based framework used to compute most multiview geometric quantities for static scenes naturally confine dynamic objects to the class of outlier measurements. However, reconstructing dynamic objects along with the static environment helps us get a complete picture of an urban environment. Such understanding can then be used for important robotic tasks like path planning for autonomous navigation, obstacle tracking and avoidance, and other areas. In this paper, we propose a system for robust SLAM that works in both static and dynamic environments. To overcome the challenge of dynamic objects in the scene, we propose a new model to incorporate semantic constraints into the reconstruction algorithm. While some of these constraints are based on multi-layered dense CRFs trained over appearance as well as motion cues, other proposed constraints can be expressed as additional terms in the bundle adjustment optimization process that does iterative refinement of 3D structure and camera / object motion trajectories. We show results on the challenging KITTI urban dataset for accuracy of motion segmentation and reconstruction of the trajectory and shape of moving objects relative to ground truth. We are able to show average relative error reduction by a significant amount for moving object trajectory reconstruction relative to state-of-the-art methods like VISO 2, as well as standard bundle adjustment algorithms

Integrated Management of the Yellow Mite, Polyphagotarsonemus latus (Banks), on Sweet Pepper Grown under Polyhouse

Different IPM modules were evaluated for the management of yellow mite, Polyphagotarsonemus latus (Banks) on sweet pepper grown under protected cultivation at the Indian Institute of Horticultural Research, Bangalore. Results indicated that application of module 1(spray of abamectin followed by ethion and abamectin) or module 2 (spray of abamectin followed by profenophos and abamectin) was significantly more effective (3.91-6.58 mites/ leaf) than module 3 (spray of dicofol followed by pongamia oil and neem seed kernal extract (5.79 -6.95 mites/ leaf) in the first two trials (Sept. 2002- Mar. 2003 and June - Dec.2003). IPM modules like module 4 (spray of dicofol followed by release of Amblyseius tetranychivorus and spray of Verticillium lecanii and module 5 (spray of dicofol followed by release of A. tetranychivorus and spray of pongamia oil (9.25-15.53 mites/leaf) were marginally effective during the first two trials. However, in the third trial (Mar. - Sept., 2004) all the revised modules, viz., abamectin followed by dicofol (M1), dicofol-fenazaquin (M2), fenazaquin-pongamia oil (M3) and organic module oxymetrin-neem soap (M4) were effective (2.30-3.03 mites/leaf) against the yellow mite

Influence of non uniform heat source/sink on Powell-Eyring fluid past an inclined stretching sheet with suction/injection

Through this paper, we studied the effects of non uniform het source/sink on unsteady flow of Powell-Eyring fluid past an inclined stretching sheet with suction/injection effects. The governing equations are transformed into a system of ordinary differential equations by making use of self similarity transformations and then solved numerically using Runge-Kutta based shooting technique. Further we studied the influence of governing parameters on the flow, heat transfer, friction factor and local Nusselt number through graphs and tables, which are obtained using MATLAB package. From this study, it is found that increasing values of non uniform heat source/sink parameters enhances the temperature. Key words: Unsteady flow, Powell-Eyring fluid, Non-uniform heat source/sink, Suction/injection

Classification of Solutions of Non-homogeneous Non-linear Second Order Neutral Delay Dynamic Equations with Positive and Negative Coefficients

In this paper we have studied the non-homogeneous non-linear second order neutral delay dynamic equations with positive and negative coefficients of the form classified all solutions of this type equations and obtained conditions for the existence or non-existence of solutions into four classes and these four classes are mutually disjoint. Examples are included to illustrate the validation of the main results

The Stability of Strange Star Crusts and Strangelets

We construct strangelets, taking into account electrostatic effects, including Debye screening, and arbitrary surface tension sigma of the interface between vacuum and quark matter. We find that there is a critical surface tension sigma_crit below which large strangelets are unstable to fragmentation and below which quark star surfaces will fragment into a crystalline crust made of charged strangelets immersed in an electron gas. We derive a model-independent relationship between sigma_crit and two parameters that characterize any quark matter equation of state. For reasonable model equations of state, we find sigma_crit typically of order a few MeV/fm^2. If sigma <= sigma_crit, the size-distribution of strangelets in cosmic rays could feature a peak corresponding to the stable strangelets that we construct.Comment: 11 pages, LaTe

A lack of response of irrigated soybean (Glycine max L. Merr.) in rotation with cotton (Gossypium hirsutum L.) in the Mississippi Delta, USA

The effects of cotton (Gossypium hirsutum&nbsp;L.): soybean [Glycine max&nbsp;(L.) Merr.] rotations on the respective crops are limited. This manuscript discusses the response of irrigated soybean in crop rotation with cotton. An irrigated soybean: cotton rotation experiment was conducted from the year 2012 through 2015 near Elizabeth, MS. The crop rotation sequences were included continuous soybean (SSSS), continuous cotton (CCCC), cotton followed by soybean (SCSC), soybean followed by cotton (CSCS), soybean followed by two year of cotton (SCCS), and cotton followed by two year of soybean (CSSC). The rotations were grown under two production systems conventional and transgenetic with respect to weed control. During this study, a weed control treatment of (pendimethalin pre-emergence vs. glyphosate post-emergence) as included on the soybean plots was used. The soybean yields across rotations within a year were not significantly different. The means yields differed among years (3655.1, 3023.6, 3500.6 and 2600.3 Kg ha-1&nbsp;for the year 2012, 2013, 2014 and 2015, respectively) and appear related to difference in rainfall/irrigation amounts. The results revealed that the weights of 100 seed samples averaged 13.9g in the year 2015 which differed from the previous years (16.2, 15.6, and 16.2g; 2012, 2013 and 2014, respectively). Therefore, the rotations of cotton with soybean appear to have neither a beneficial or negative effect on soybean yield