Effects of rotation and systematic occlusion on fiducial marker recognition

© 2017 The Authors. Fiducial marker systems consist of patterns that are placed in environment for miscellaneous applications and are further automatically detected with cameras. A variety of applications determines the criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. The paper compares existing ARTag, AprilTag, and CALTag systems utilizing a high fidelity camera, which is a main vision sensor of a full-size Russian humanoid robot AR-601M. In experiments the comparison of the three marker systems reliability and detection rate in occlusions of various types and intensities was verified. Finally, a preferable for AR-601M robot visual applications marker system was selected

Comparing fiducial marker systems in the presence of occlusion

© 2017 IEEE. A fiducial marker system is a system of unique 2D (planar) marker, which is placed in an environment and automatically will be detected with a camera with a help of a corresponding detection algorithm. Application areas of these markers include industrial systems, augmented reality, robots navigation, human-robot interaction and others. Marker system designed for such different applications must be robust to such factors as view angles, occlusions, changing distances, etc. This paper compares three existing systems of markers: ARTag, AprilTag, and CALTag. As a benchmark, we use their reliability and detection rate in presence of occlusions of various types and intensity. The paper presents experimental comparison of these markers. The marker detection was performed with a simple inexpensive Web camera

ARTag, AprilTag and CALTag fiducial marker systems: Comparison in a presence of partial marker occlusion and rotation

© 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved. Fiducial marker systems consist of patterns that are placed in environment and are automatically detected with a camera using appropriate for the marker detection algorithm. Marker systems are useful for many modern visual applications such as augmented reality, robot navigation and collaboration, industrial and space robotics, and human-robot interaction. A variety of applications demands certain quality assurance for marker properties. Among the most common criteria are resistance to partial occlusion and rotation, sensitivity to lightning conditions, marker size, false positive and false negative rates. This paper compares three types of markers for their resistance to partial occlusion in various types of occlusion and resistance to normal, lateral, and longitudinal rotations. Intensive experimental comparison of tags is presented with analysis. Detection of markers was performed with a common Web camera. Based on our experimental results, we have selected a marker system, which should be preferred for real world applications when only simple inexpensive hardware is available and appearance of rotation and occlusion disturbances are expected in the environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures

The Layer 0 Inner Silicon Detector of the D0 Experiment

This paper describes the design, fabrication, installation and performance of the new inner layer called Layer 0 (L0) that was inserted in the existing Run IIa Silicon Micro-Strip Tracker (SMT) of the D0 experiment at the Fermilab Tevatron collider. L0 provides tracking information from two layers of sensors, which are mounted with center lines at a radial distance of 16.1 mm and 17.6 mm respectively from the beam axis. The sensors and readout electronics are mounted on a specially designed and fabricated carbon fiber structure that includes cooling for sensor and readout electronics. The structure has a thin polyimide circuit bonded to it so that the circuit couples electrically to the carbon fiber allowing the support structure to be used both for detector grounding and a low impedance connection between the remotely mounted hybrids and the sensors.Comment: 28 pages, 9 figure

ПРЕИМУЩЕСТВА ПРИМЕНЕНИЯ ФЕНОТИПИРОВАНИЯ ПО КРИТЕРИЯМ ASCOD У ПАЦИЕНТОВ С ИНФАРКТОМ МОЗГА ПРИ АТЕРОСКЛЕРОЗЕ ЭКСТРАКРАНИАЛЬНЫХ АРТЕРИЙ

As a result of ASCOD phenotyping of 238 ischemic stroke (IS) patients with extracranial arteries atherosclerosis (AS) versus TOAST it is determined that ASCOD is useful to assess the contribution of the ethiopathogenetic mechanisms (EPM) and their combinations in development of IS including AS of low grades and subclinical microvascular complication that is important for development of strategies of phenotypeoriented therapy and preventive IS treatment.Combination of EPM with increase of total ASC score>5 is associated with decreaseof overall survival maybe taken into account when predicting IS outcomes.В результате анализа фенотипирования по ASCOD у 238 пациентов с инфарктом мозга (ИМ) при атеросклерозе (АС) экстракраниальных артерий в сравнении с классификацией TOAST установлено, что ASCOD позволяет оценить вклад многих этиопатогенетических механизмов (ЭПМ) и их сочетаний в развитие ИМ, в том числе АС невысокой градации и субклинической микроангиопатии, что важно для разработки стратегий фенотипориентированной терапии и профилактики ИМ. Сочетание ЭПМ с повышением суммарного балла ASC>5 связано со снижением общей выживаемости и может учитываться при прогнозировании исходов ИМ

Direct Measurement of the Top Quark Mass at D0

We determine the top quark mass m_t using t-tbar pairs produced in the D0 detector by \sqrt{s} = 1.8 TeV p-pbar collisions in a 125 pb^-1 exposure at the Fermilab Tevatron. We make a two constraint fit to m_t in t-tbar -> b W^+bbar W^- final states with one W boson decaying to q-qbar and the other to e-nu or mu-nu. Likelihood fits to the data yield m_t(l+jets) = 173.3 +- 5.6 (stat) +- 5.5 (syst) GeV/c^2. When this result is combined with an analysis of events in which both W bosons decay into leptons, we obtain m_t = 172.1 +- 5.2 (stat) +- 4.9 (syst) GeV/c^2. An alternate analysis, using three constraint fits to fixed top quark masses, gives m_t(l+jets) = 176.0 +- 7.9 (stat) +- 4.8 (syst) GeV/C^2, consistent with the above result. Studies of kinematic distributions of the top quark candidates are also presented.Comment: 43 pages, 53 figures, 33 tables. RevTeX. Submitted to Phys. Rev.

Search for Electroweak Production of Single Top Quarks in ppbar Collisions

We present a search for electroweak production of single top quarks in the electron+jets and muon+jets decay channels. The measurements use ~90 pb^-1 of data from Run 1 of the Fermilab Tevatron collider, collected at 1.8 TeV with the DZero detector between 1992 and 1995. We use events that include a tagging muon, implying the presence of a b jet, to set an upper limit at the 95% confidence level on the cross section for the s-channel process ppbar->tb+X of 39 pb. The upper limit for the t-channel process ppbar->tqb+X is 58 pb.Comment: 11 pages, 2 figures. This is the published versio

Search for Squarks and Gluinos in Events Containing Jets and a Large Imbalance in Transverse Energy

Using data corresponding to an integrated luminosity of 79 pb-1, D0 has searched for events containing multiple jets and large missing transverse energy in pbar-p collisions at sqrt(s)=1.8 TeV at the Fermilab Tevatron collider. Observing no significant excess beyond what is expected from the standard model, we set limits on the masses of squarks and gluinos and on the model parameters m_0 and m_1/2, in the framework of the minimal low-energy supergravity models of supersymmetry. For tan(beta) = 2 and A_0 = 0, with mu < 0, we exclude all models with m_squark < 250 GeV/c^2. For models with equal squark and gluino masses, we exclude m < 260 GeV/c^2.Comment: 10 pages, 3 figures, Submitted to PRL, Fixed typo on page bottom of p. 6 (QCD multijet background is 35.4 events

Search for Charged Higgs Bosons in Decays of Top Quark Pairs

We present a search for charged Higgs bosons in decays of pair-produced top quarks using 109.2 +- 5.8 pb^-1 of data recorded from ppbar collisions at sqrt{s} = 1.8 TeV by the D0 detector during 1992-96 at the Fermilab Tevatron. No evidence is found for charged Higgs production, and most parts of the [m(H+),tan(beta)] parameter space where the decay t -> bH+ has a branching fraction close to or larger than that for t -> bW+ are excluded at 95% confidence level. Assuming m(t) = 175 GeV and sigma(ppbar -> ttbar) = 5.5 pb, for m(H+) = 60 GeV, we exclude tan(beta) 40.9.Comment: 11 pages, 3 figures, submitted to PR

Limits on Anomalous WWgamma and WWZ Couplings

Limits on the anomalous WWgamma and WWZ couplings are presented from a simultaneous fit to the data samples of three gauge boson pair final states in pbar-p collisions at sqrt(s)=1.8 TeV: Wgamma production with the W boson decaying to enu or munu, W boson pair production with both of the W bosons decaying to enu or munu, and WW or WZ production with one W boson decaying to enu and the other W boson or the Z boson decaying to two jets. Assuming identical WWgamma and WWZ couplings, 95 % C.L. limits on the anomalous couplings of -0.30<Delta kappa<0.43 (lambda = 0) and -0.20<lambda<0.20 (Delta kappa = 0) are obtained using a form factor scale Lambda = 2.0 TeV. Limits found under other assumptions on the relationship between the WWgamma and WWZ couplings are also presented.Comment: 13 pages, 3 figures, submitted to Physical Review