Scene Coordinate Regression with Angle-Based Reprojection Loss for Camera Relocalization

Image-based camera relocalization is an important problem in computer vision and robotics. Recent works utilize convolutional neural networks (CNNs) to regress for pixels in a query image their corresponding 3D world coordinates in the scene. The final pose is then solved via a RANSAC-based optimization scheme using the predicted coordinates. Usually, the CNN is trained with ground truth scene coordinates, but it has also been shown that the network can discover 3D scene geometry automatically by minimizing single-view reprojection loss. However, due to the deficiencies of the reprojection loss, the network needs to be carefully initialized. In this paper, we present a new angle-based reprojection loss, which resolves the issues of the original reprojection loss. With this new loss function, the network can be trained without careful initialization, and the system achieves more accurate results. The new loss also enables us to utilize available multi-view constraints, which further improve performance.Comment: ECCV 2018 Workshop (Geometry Meets Deep Learning

Estimation of Regularization Parameters in Multiple-Image Deblurring

We consider the estimation of the regularization parameter for the simultaneous deblurring of multiple noisy images via Tikhonov regularization. We approach the problem in three ways. We first reduce the problem to a single-image deblurring for which the regularization parameter can be estimated through a classic generalized cross-validation (GCV) method. A modification of this function is used for correcting the undersmoothing typical of the original technique. With a second method, we minimize an average least-squares fit to the images and define a new GCV function. In the last approach, we use the classical $GCV$ on a single higher-dimensional image obtained by concatanating all the images into a single vector. With a reliable estimator of the regularization parameter, one can fully exploit the excellent computational characteristics typical of direct deblurring methods, which, especially for large images, makes them competitive with the more flexible but much slower iterative algorithms. The performance of the techniques is analyzed through numerical experiments. We find that under the independent homoscedastic and Gaussian assumptions made on the noise, the three approaches provide almost identical results with the first single image providing the practical advantage that no new software is required and the same image can be used with other deblurring algorithms.Comment: To appear in Astronomy & Astrophysic

The Double Cover of the Icosahedral Symmetry Group and Quark Mass Textures

We investigate the idea that the double cover of the rotational icosahedral symmetry group is the family symmetry group in the quark sector. The icosahedral (A5) group was previously proposed as a viable family symmetry group for the leptons. To incorporate the quarks, it is highly advantageous to extend the group to its double cover, as in the case of tetrahedral (A4) symmetry. We provide the basic group theoretical tools for flavor model-building based on the binary icosahedral group I' and construct a model of the quark masses and mixings that yields many of the successful predictions of the well-known U(2) quark texture models.Comment: 10 pages, references added, typos in up quark mass matrix correcte

Incompressible SPH method based on Rankine source solution for violent water wave simulation

With wide applications, the smoothed particle hydrodynamics method (abbreviated as SPH) has become an important numerical tool for solving complex flows, in particular those with a rapidly moving free surface. For such problems, the incompressible Smoothed Particle Hydrodynamics (ISPH) has been shown to yield better and more stable pressure time histories than the traditional SPH by many papers in literature. However, the existing ISPH method directly approximates the second order derivatives of the functions to be solved by using the Poisson equation. The order of accuracy of the method becomes low, especially when particles are distributed in a disorderly manner, which generally happens for modelling violent water waves. This paper introduces a new formulation using the Rankine source solution. In the new approach to the ISPH, the Poisson equation is first transformed into another form that does not include any derivative of the functions to be solved, and as a result, does not need to numerically approximate derivatives. The advantage of the new approach without need of numerical approximation of derivatives is obvious, potentially leading to a more robust numerical method. The newly formulated method is tested by simulating various water waves, and its convergent behaviours are numerically studied in this paper. Its results are compared with experimental data in some cases and reasonably good agreement is achieved. More importantly, numerical results clearly show that the newly developed method does need less number of particles and so less computational costs to achieve the similar level of accuracy, or to produce more accurate results with the same number of particles compared with the traditional SPH and existing ISPH when it is applied to modelling water waves

Propylene Carbonate Reexamined: Mode-Coupling β\beta Scaling without Factorisation ?

The dynamic susceptibility of propylene carbonate in the moderately viscous regime above $T_{\rm c}$ is reinvestigated by incoherent neutron and depolarised light scattering, and compared to dielectric loss and solvation response. Depending on the strength of $\alpha$ relaxation, a more or less extended $\beta$ scaling regime is found. Mode-coupling fits yield consistently $\lambda=0.72$ and $T_{\rm c}=182$K, although different positions of the susceptibility minimum indicate that not all observables have reached the universal asymptotics

The Golden Ratio Prediction for the Solar Angle from a Natural Model with A5 Flavour Symmetry

We formulate a consistent model predicting, in the leading order approximation, maximal atmospheric mixing angle, vanishing reactor angle and tan {\theta}_12 = 1/{\phi} where {\phi} is the Golden Ratio. The model is based on the flavour symmetry A5 \times Z5 \times Z3, spontaneously broken by a set of flavon fields. By minimizing the scalar potential of the theory up to the next-to-leading order in the symmetry breaking parameter, we demonstrate that this mixing pattern is naturally achieved in a finite portion of the parameter space, through the vacuum alignment of the flavon fields. The leading order approximation is stable against higher-order corrections. We also compare our construction to other models based on discrete symmetry groups.Comment: 28 pages, 2 figures. Minor changes, references added. Corrected typos in Appendix A. Version appeared on JHE

Seatbelt use and risk of major injuries sustained by vehicle occupants during motor-vehicle crashes: A systematic review and meta-analysis of cohort studies

BackgroundIn 2004, a World Health Report on road safety called for enforcement of measures such as seatbelt use, effective at minimizing morbidity and mortality caused by road traffic accidents. However, injuries caused by seatbelt use have also been described. Over a decade after publication of the World Health Report on road safety, this study sought to investigate the relationship between seatbelt use and major injuries in belted compared to unbelted passengers.MethodsCohort studies published in English language from 2005 to 2018 were retrieved from seven databases. Critical appraisal of studies was carried out using the Scottish Intercollegiate Guidelines Network (SIGN) checklist. Pooled risk of major injuries was assessed using the random effects meta-analytic model. Heterogeneity was quantified using I-squared and Tau-squared statistics. Funnel plots and Egger's test were used to investigate publication bias. This review is registered in PROSPERO (CRD42015020309).ResultsEleven studies, all carried out in developed countries were included. Overall, the risk of any major injury was significantly lower in belted passengers compared to unbelted passengers (RR 0.47; 95%CI, 0.29 to 0.80; I-2=99.7; P=0.000). When analysed by crash types, belt use significantly reduced the risk of any injury (RR 0.35; 95%CI, 0.24 to 0.52). Seatbelt use reduces the risk of facial injuries (RR=0.56, 95% CI=0.37 to 0.84), abdominal injuries (RR=0.87; 95% CI=0.78 to 0.98) and, spinal injuries (RR=0.56, 95% CI=0.37 to 0.84). However, we found no statistically significant difference in risk of head injuries (RR=0.49; 95% CI=0.22 to 1.08), neck injuries (RR=0.69: 95%CI 0.07 to 6.44), thoracic injuries (RR 0.96, 95%CI, 0.74 to 1.24), upper limb injuries (RR=1.05, 95%CI 0.83 to 1.34) and lower limb injuries (RR=0.77, 95%CI 0.58 to 1.04) between belted and non-belted passengers.ConclusionIn sum, the risk of most major road traffic injuries is lower in seatbelt users. Findings were inconclusive regarding seatbelt use and susceptibility to thoracic, head and neck injuries during road traffic accidents. Awareness should be raised about the dangers of inadequate seatbelt use. Future research should aim to assess the effects of seatbelt use on major injuries by crash type

Test of mode coupling theory for a supercooled liquid of diatomic molecules.I. Translational degrees of freedom

A molecular dynamics simulation is performed for a supercooled liquid of rigid diatomic molecules. The time-dependent self and collective density correlators of the molecular centers of mass are determined and compared with the predictions of the ideal mode coupling theory (MCT) for simple liquids. This is done in real as well as in momentum space. One of the main results is the existence of a unique transition temperature T_c, where the dynamics crosses over from an ergodic to a quasi-nonergodic behavior. The value for T_c agrees with that found earlier for the orientational dynamics within the error bars. In the beta- regime of MCT the factorization of space- and time dependence is satisfactorily fulfilled for both types of correlations. The first scaling law of ideal MCT holds in the von Schweidler regime, only, since the validity of the critical law can not be confirmed, due to a strong interference with the microscopic dynamics. In this first scaling regime a consistent description within ideal MCT emerges only, if the next order correction to the asymptotic law is taken into account. This correction is almost negligible for q=q_max, the position of the main peak in the static structure factor S(q), but becomes important for q=q_min, the position of its first minimum. The second scaling law, i.e. the time-temperature superposition principle, holds reasonably well for the self and collective density correlators and different values for q. The alpha-relaxation times tau_q^(s) and tau_q follow a power law in T-T_c over 2 -- 3 decades. The corresponding exponent gamma is weakly q-dependent and is around 2.55. This value is in agreement with the one predicted by MCT from the value of the von Schweidler exponent but at variance with the corresponding exponent gammaComment: 14 pages of RevTex, 19 figure

Dynamics of the rotational degrees of freedom in a supercooled liquid of diatomic molecules

Using molecular dynamics computer simulations, we investigate the dynamics of the rotational degrees of freedom in a supercooled system composed of rigid, diatomic molecules. The interaction between the molecules is given by the sum of interaction-site potentials of the Lennard-Jones type. In agreement with mode-coupling theory (MCT), we find that the relaxation times of the orientational time correlation functions C_1^(s), C_2^(s) and C_1 show at low temperatures a power-law with the same critical temperature T_c, and which is also identical to the critical temperature for the translational degrees of freedom. In contrast to MCT we find, however, that for these correlators the time-temperature superposition principle does not hold well and that also the critical exponent gamma depends on the correlator. We also study the temperature dependence of the rotational diffusion constant D_r and demonstrate that at high temperatures D_r is proportional to the translational diffusion constant D and that when the system starts to become supercooled the former shows an Arrhenius behavior whereas the latter exhibits a power-law dependence. We discuss the origin for the difference in the temperature dependence of D (or the relaxation times of C_l^(s) and D_r. Finally we present results which show that at low temperatures 180 degree flips of the molecule are an important component of the relaxation dynamics for the orientational degrees of freedom.Comment: 17 pages of RevTex, 12 figure