A Linear Approach to Absolute Pose Estimation for Light Fields

This paper presents the first absolute pose estimation approach tailored to Light Field cameras. It builds on the observation that the ratio between the disparity arising in different sub-aperture images and their corresponding baseline is constant. Hence, we augment the 2D pixel coordinates with the corresponding normalised disparity to obtain the Light Field feature. This new representation reduces the effect of noise by aggregating multiple projections and allows for linear estimation of the absolute pose of a Light Field camera using the well-known Direct Linear Transformation algorithm. We evaluate the resulting absolute pose estimates with extensive simulations and experiments involving real Light Field datasets, demonstrating the competitive performance of our linear approach. Furthermore, we integrate our approach in a state-of-the-art Light Field Structure from Motion pipeline and demonstrate accurate multi-view 3D reconstruction

Real-time smart and standalone vision/IMU navigation sensor

In this paper, we present a smart, standalone, multi-platform stereo vision/IMU-based navigation system, providing ego-motion estimation. The real-time visual odometry algorithm is run on a nano ITX single-board computer (SBC) of 1.9 GHz CPU and 16-core GPU. High-resolution stereo images of 1.2 megapixel provide high-quality data. Tracking of up to 750 features is made possible at 5 fps thanks to a minimal, but efficient, features detection–stereo matching–feature tracking scheme runs on the GPU. Furthermore, the feature tracking algorithm benefits from assistance of a 100 Hz IMU whose accelerometer and gyroscope data provide inertial features prediction enhancing execution speed and tracking efficiency. In a space mission context, we demonstrate robustness and accuracy of the real-time generated 6-degrees-of-freedom trajectories from our visual odometry algorithm. Performance evaluations are comparable to ground truth measurements from an external motion capture system

Hybrid Focal Stereo Networks for Pattern Analysis in Homogeneous Scenes

In this paper we address the problem of multiple camera calibration in the presence of a homogeneous scene, and without the possibility of employing calibration object based methods. The proposed solution exploits salient features present in a larger field of view, but instead of employing active vision we replace the cameras with stereo rigs featuring a long focal analysis camera, as well as a short focal registration camera. Thus, we are able to propose an accurate solution which does not require intrinsic variation models as in the case of zooming cameras. Moreover, the availability of the two views simultaneously in each rig allows for pose re-estimation between rigs as often as necessary. The algorithm has been successfully validated in an indoor setting, as well as on a difficult scene featuring a highly dense pilgrim crowd in Makkah.Comment: 13 pages, 6 figures, submitted to Machine Vision and Application

Utilising Nonlinear Air Damping as a Soft Mechanical Stopper for MEMS Vibration Energy Harvesting

This paper reports on the theory and experimental verification of utilising air damping as a soft stopper mechanism for piezoelectric vibration energy harvesting to enhance shock resistance. Experiments to characterise device responsiveness under various vibration conditions were performed at different air pressure levels, and a dimensionless model was constructed with nonlinear damping terms included to model PVEH response. The relationship between the quadratic damping coefficient ζ n and air pressure is empirically established, and an optimal pressure level is calculated to trade off harvestable energy and device robustness for specific environmental conditions

nlstimedist: An R package for the biologically meaningful quantification of unimodal phenology distributions

Phenological investigation can provide valuable insights into the ecological effects of climate change. Appropriate modelling of the time distribution of phenological events is key to determining the nature of any changes, as well as the driving mechanisms behind those changes. Here we present the nlstimedist R package, a distribution function and modelling framework that describes the temporal dynamics of unimodal phenological events. The distribution function is derived from first principles and generates three biologically interpretable parameters. Using seed germination at different temperatures as an example, we show how the influence of environmental factors on a phenological process can be determined from the quantitative model parameters. The value of this model is its ability to represent various unimodal temporal processes statistically. The three intuitively meaningful parameters of the model can make useful comparisons between different time periods, geographical locations or species’ populations, in turn allowing exploration of possible causes

Inferring serum proteolytic activity from LC-MS/MS data

<p>Abstract</p> <p>Background</p> <p>In this paper we deal with modeling serum proteolysis process from tandem mass spectrometry data. The parameters of peptide degradation process inferred from LC-MS/MS data correspond directly to the activity of specific enzymes present in the serum samples of patients and healthy donors. Our approach integrate the existing knowledge about peptidases' activity stored in MEROPS database with the efficient procedure for estimation the model parameters.</p> <p>Results</p> <p>Taking into account the inherent stochasticity of the process, the proteolytic activity is modeled with the use of Chemical Master Equation (CME). Assuming the stationarity of the Markov process we calculate the expected values of digested peptides in the model. The parameters are fitted to minimize the discrepancy between those expected values and the peptide activities observed in the MS data. Constrained optimization problem is solved by Levenberg-Marquadt algorithm.</p> <p>Conclusions</p> <p>Our results demonstrates the feasibility and potential of high-level analysis for LC-MS proteomic data. The estimated enzyme activities give insights into the molecular pathology of colorectal cancer. Moreover the developed framework is general and can be applied to study proteolytic activity in different systems.</p

Influences of various magnetospheric and ionospheric current systems on geomagnetically induced currents around the world

Ground-based observations of geomagnetic field (B field) are usually a superposition of signatures from different source current systems in the magnetosphere and ionosphere. Fluctuating B fields generate geoelectric fields (E fields), which drive geomagnetically induced currents (GIC) in technological conducting media at the Earth's surface. We introduce a new Fourier integral B field model of east/west directed line current systems over a one-dimensional multilayered Earth in plane geometry. Derived layered-Earth profiles, given in the literature, are needed to calculate the surface impedance, and therefore reflection coefficient in the integral. The 2003 Halloween storm measurements were Fourier transformed for B field spectrum Levenberg-Marquardt least squares inversion over latitude. The inversion modeled strengths of the equatorial electrojets, auroral electrojets, and ring currents were compared to the forward problem computed strength. It is found the optimized and direct results match each other closely and supplement previous established studies about these source currents. Using this model, a data set of current system magnitudes may be used to develop empirical models linking solar wind activity to magnetospheric current systems. In addition, the ground E fields are also calculated directly, which serves as a proxy for computing GIC in conductor-based networks

Ectodermal Influx and Cell Hypertrophy Provide Early Growth for All Murine Mammary Rudiments, and Are Differentially Regulated among Them by Gli3

Mammary gland development starts in utero with one or several pairs of mammary rudiments (MRs) budding from the surface ectodermal component of the mammalian embryonic skin. Mice develop five pairs, numbered MR1 to MR5 from pectoral to inguinal position. We have previously shown that Gli3Xt-J/Xt-J mutant embryos, which lack the transcription factor Gli3, do not form MR3 and MR5. We show here that two days after the MRs emerge, Gli3Xt-J/Xt-J MR1 is 20% smaller, and Gli3Xt-J/Xt-J MR2 and MR4 are 50% smaller than their wild type (wt) counterparts. Moreover, while wt MRs sink into the underlying dermis, Gli3Xt-J/Xt-J MR4 and MR2 protrude outwardly, to different extents. To understand why each of these five pairs of functionally identical organs has its own, distinct response to the absence of Gli3, we determined which cellular mechanisms regulate growth of the individual MRs, and whether and how Gli3 regulates these mechanisms. We found a 5.5 to 10.7-fold lower cell proliferation rate in wt MRs compared to their adjacent surface ectoderm, indicating that MRs do not emerge or grow via locally enhanced cell proliferation. Cell-tracing experiments showed that surface ectodermal cells are recruited toward the positions where MRs emerge, and contribute to MR growth during at least two days. During the second day of MR development, peripheral cells within the MRs undergo hypertrophy, which also contributes to MR growth. Limited apoptotic cell death counterbalances MR growth. The relative contribution of each of these processes varies among the five MRs. Furthermore, each of these processes is impaired in the absence of Gli3, but to different extents in each MR. This differential involvement of Gli3 explains the variation in phenotype among Gli3Xt-J/Xt-J MRs, and may help to understand the variation in numbers and positions of mammary glands among mammals