Navigating, recognizing and describing urban spaces with vision and lasers

In this paper we describe a body of work aimed at extending the reach of mobile navigation and mapping. We describe how running topological and metric mapping and pose estimation processes concurrently, using vision and laser ranging, has produced a full six-degree-of-freedom outdoor navigation system. It is capable of producing intricate three-dimensional maps over many kilometers and in real time. We consider issues concerning the intrinsic quality of the built maps and describe our progress towards adding semantic labels to maps via scene de-construction and labeling. We show how our choices of representation, inference methods and use of both topological and metric techniques naturally allow us to fuse maps built from multiple sessions with no need for manual frame alignment or data association

Genomics of quality traits

The quality attributes of cereal grains are valued in the context of a complex food chain that integrates outputs achievable by breeding, production, and processing. New processing technologies, environmental change, and changes in consumer preferences demand that quality attributes of wheat and barley need to be continually modified. The advances in the genomics of quality described in this chapter provide the basis for ensuring that the genetic approaches encompassing the complexities of the gene networks underpinning quality attributes can meet the challenges presented by the rapid changes occurring within the food chain