Localization in urban environments: monocular vision compared to a differential GPS sensor

International audienceIn this paper we present a method for computing the localization of a mobile robot with reference to a learning video sequence. The robot is first guided on a path by a human, while the camera records a monocular learning sequence. Then a 3D reconstruction of the path and the environment is computed off line from the learning sequence. The 3D reconstruction is then used for computing the pose of the robot in real time (30 Hz) in autonomous navigation. Results from our localization method are compared to the ground truth measured with a differential GPS

GeoStream: Spatial Information Indexing Within Textual Documents Supported by a Dynamically Parameterized Web Service

International audienceCultural heritage content is everywhere on the web: digital libraries, archives, and portals of museums or galleries. Cultural heritage document collections are characterized by contents related to a territory and its land's history. In this context, the GeoTopia project is supported by the CNRS-TGE-Adonis and focuses on archive data sharing and interpretation. It consists in a Content Management System (CMS) that aims to manage a repository of multimedia digital documents: it exploits information like origin, theme, period, area, etc. to index and/or query documents. Our contribution is dedicated to spatial information contained in non structured textual documents. More specifically, we have developed a process flow that can extract the spatial information contained in textual documents. This process flow indexes spatial information and computes precise geolocalized representations. We propose to encapsulate it into the GeoStream specific web service and to make its behavior dynamically customizable for easier integration into such platforms used for the management of cultural heritage electronic document

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A bulk modulus dependent linear model for acoustical imaging

Modeling the acoustical process of soft biological tissue imaging and understanding the consequences of the approximations required by. such modeling are key steps for accurately simulating ultrasonic scanning as well as estimating the scattering coefficient of the imaged matter. In this document, a linear solution to the inhomogeneous ultrasonic wave equation is proposed. The classical assumptions required for linearization are applied; however, no approximation is made in the mathematical development regarding density and speed of sound. This leads to an expression of the scattering term that establishes a correspondence between the signal measured by an ultrasound transducer and an intrinsic mechanical property of the imaged tissues. This expression shows that considering the scattering as a function of small variations in the density and speed of sound around their mean values along with classical assumptions in this domain is equivalent to associating the acoustical acquisition with a measure of the relative longitudinal bulk modulus. comparison of the model proposed to Jensen's earlier model shows that it is also appropriate to perform accurate simulations of the acoustical imaging process. (C) 2009 Acoustical Society of America. [DOI: 10.1121/1.3087427

PLATO EM first cryogenic vacuum test campaign PSF results

PLATO (PLAnetary Transits and Oscillations of stars) is a European Space Agency medium class mission, whose launch is foreseen for 2026. Its primary goal is to discover and characterise terrestrial exoplanets orbiting the habitable zone of their host stars. This goal will be reached with a set of 26 wide field-of-view cameras mounted on a common optical bench. Here we show some results of the first cryogenic vacuum test campaign made on the Engineering Model (EM) of one PLATO camera, performed at the Netherlands Institute for Space Research (SRON). In particular we present the search for the best focus temperature, which was done first by using a Hartmann mask, and then by maximizing the ensquared energy fractions of the point spread functions (PSFs) on the entire field of view taken at different temperature plateaus. Furthermore we present the PSF properties of the EM at the nominal focus temperature over all the field of view, focusing on the ensquared energy fractions. The Engineering Model camera was successfully integrated and validated under cryo-vacuum tests, allowing the mission to pass ESA’s Critical Milestone, and confirming the mission is on track for launch in 2026

The SuperCam Instrument Suite on the Mars 2020 Rover: Science Objectives and Mast-Unit Description

On the NASA 2020 rover mission to Jezero crater, the remote determination of the texture, mineralogy and chemistry of rocks is essential to quickly and thoroughly characterize an area and to optimize the selection of samples for return to Earth. As part of the Perseverance payload, SuperCam is a suite of five techniques that provide critical and complementary observations via Laser-Induced Breakdown Spectroscopy (LIBS), Time-Resolved Raman and Luminescence (TRR/L), visible and near-infrared spectroscopy (VISIR), high-resolution color imaging (RMI), and acoustic recording (MIC). SuperCam operates at remote distances, primarily 2-7 m, while providing data at sub-mm to mm scales. We report on SuperCam's science objectives in the context of the Mars 2020 mission goals and ways the different techniques can address these questions. The instrument is made up of three separate subsystems: the Mast Unit is designed and built in France; the Body Unit is provided by the United States; the calibration target holder is contributed by Spain, and the targets themselves by the entire science team. This publication focuses on the design, development, and tests of the Mast Unit; companion papers describe the other units. The goal of this work is to provide an understanding of the technical choices made, the constraints that were imposed, and ultimately the validated performance of the flight model as it leaves Earth, and it will serve as the foundation for Mars operations and future processing of the data.In France was provided by the Centre National d'Etudes Spatiales (CNES). Human resources were provided in part by the Centre National de la Recherche Scientifique (CNRS) and universities. Funding was provided in the US by NASA's Mars Exploration Program. Some funding of data analyses at Los Alamos National Laboratory (LANL) was provided by laboratory-directed research and development funds

Gaia Data Release 2 Mapping the Milky Way disc kinematics

Context. The second Gaia data release (Gaia DR2) contains high-precision positions, parallaxes, and proper motions for 1.3 billion sources as well as line-of-sight velocities for 7.2 million stars brighter than G(RVS) = 12 mag. Both samples provide a full sky coverage. Aims. To illustrate the potential of Gaia DR2, we provide a first look at the kinematics of the Milky Way disc, within a radius of several kiloparsecs around the Sun. Methods. We benefit for the first time from a sample of 6.4 million F-G-K stars with full 6D phase-space coordinates, precise parallaxes (sigma((omega) over bar)/(omega) over bar Results. Gaia DR2 allows us to draw 3D maps of the Galactocentric median velocities and velocity dispersions with unprecedented accuracy, precision, and spatial resolution. The maps show the complexity and richness of the velocity field of the galactic disc. We observe streaming motions in all the components of the velocities as well as patterns in the velocity dispersions. For example, we confirm the previously reported negative and positive galactocentric radial velocity gradients in the inner and outer disc, respectively. Here, we see them as part of a non-axisymmetric kinematic oscillation, and we map its azimuthal and vertical behaviour. We also witness a new global arrangement of stars in the velocity plane of the solar neighbourhood and in distant regions in which stars are organised in thin substructures with the shape of circular arches that are oriented approximately along the horizontal direction in the U - V plane. Moreover, in distant regions, we see variations in the velocity substructures more clearly than ever before, in particular, variations in the velocity of the Hercules stream. Conclusions. Gaia DR2 provides the largest existing full 6D phase-space coordinates catalogue. It also vastly increases the number of available distances and transverse velocities with respect to Gaia DR1. Gaia DR2 offers a great wealth of information on the Milky Way and reveals clear non-axisymmetric kinematic signatures within the Galactic disc, for instance. It is now up to the astronomical community to explore its full potential.Peer reviewe