\L ojasiewicz-type inequalities and global error bounds for nonsmooth definable functions in o-minimal structures

In this paper, we give some {\L}ojasiewicz-type inequalities and a nonsmooth slope inequality on non-compact domains for continuous definable functions in an o-minimal structure. We also give a necessary and sufficicent condition for which global error bound exists. Moreover, we point out the relationship between the Palais-Smale condition and this global error bound.Comment: 14 page

Dense Piecewise Planar RGB-D SLAM for Indoor Environments

The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and formulate the problem of recovering the floor plan of the environment as an optimal labeling problem solved using dynamic programming. The temporal continuity is enforced in a recursive setting, where labeling from previous frames is used as a prior term in the objective function. In addition to recovery of piecewise planar weak Manhattan structure of the extended environment, the orthogonality constraints are also exploited by visual odometry and pose graph optimization. This yields reliable estimates in the presence of large motions and absence of distinctive features to track. We evaluate our method on several challenging indoors sequences demonstrating accurate SLAM and dense mapping of low texture environments. On existing TUM benchmark we achieve competitive results with the alternative approaches which fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS) 201

UA12/2/4 The Xi Psi Cry

Newsletter created by the Xi Psi chapter of Alpha Phi Omega for the period September - December 1992. If you have additional copies to donate, please contact the University Archives at [email protected]

UA68/8/3 Scrapbook

Scrapbook created by Phi Alpha Theta students documenting their activities during the 1982-1983 school year