76 research outputs found
VIO-DualProNet: Visual-Inertial Odometry with Learning Based Process Noise Covariance
Visual-inertial odometry (VIO) is a vital technique used in robotics,
augmented reality, and autonomous vehicles. It combines visual and inertial
measurements to accurately estimate position and orientation. Existing VIO
methods assume a fixed noise covariance for the inertial uncertainty. However,
accurately determining in real-time the noise variance of the inertial sensors
presents a significant challenge as the uncertainty changes throughout the
operation leading to suboptimal performance and reduced accuracy. To circumvent
this, we propose VIO-DualProNet, a novel approach that utilizes deep learning
methods to dynamically estimate the inertial noise uncertainty in real-time. By
designing and training a deep neural network to predict inertial noise
uncertainty using only inertial sensor measurements, and integrating it into
the VINS-Mono algorithm, we demonstrate a substantial improvement in accuracy
and robustness, enhancing VIO performance and potentially benefiting other
VIO-based systems for precise localization and mapping across diverse
conditions.Comment: 10 pages, 15 figures, bib fil
Ultrafast Laser Nanostructured ITO Acts as Liquid Crystal Alignment Layer and Higher Transparency Electrode
Electrodes with higher transparency that can also align liquid crystals (LCs)
are of high importance for improved costs and energy consumption of LC
displays. Here we demonstrate for the first time alignment of liquid crystals
on femtosecond laser nanostructured indium tin oxide (ITO) coated glass
exhibiting also higher transparency due to the less interface reflections. The
nano paterns were created by fs laser directlly on ITO films without any
additional spin coating materials or lithography procces. Nine regions of
laser-induced nanostructures were fabricated with different alignment
orientations and various pulse energy levels on top of the ITO. The device
interfacial anchoring energy was found to be comparable to the anchoring energy
of nematic LC on photosensitive polymers. The device exhibits contrast of 30:1
and relaxation time of 330ms expected for thick LC devices. The measured
transparency of the LC device with two ITO nanograting substrates is 10% higher
than the uniform ITO film based LC devices. The alignment methodology presented
here paves the way for improved LC displays and new structured LC photonic
devices
ChemInform Abstract: REACTIONS OF POLYCYCLIC KETONES. XVII. SYNTHESIS OF 3-AMINO-1-PHENALENONES
ChemInform Abstract: Novel Methods for the Synthesis of the Aromatic Hydrocarbon Peropyrene.
ChemInform Abstract: PHENALENODIAZEPINONE FORMED DURING THE REACTION OF 2,3-DIAMINOPHENALENONE WITH ACETONE
ChemInform Abstract: ASYMMETRIC AND REGIOSELECTIVE HYDROGENATION OF PIPERITENONE BY HOMOGENEOUS RHODIUM COMPLEXES
ChemInform Abstract: EIN VERBESSERTER ORGANISCH-ANORGANISCHER KONTAKT BEI DER BENZOIN-KONDENSATION
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