Floorplan-Aware Camera Poses Refinement

Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such as visual-based localization and navigation, where the correct position of walls is crucial. For many indoor scenes, there exists an image of a technical floorplan that contains information about the geometry and main structural elements of the scene, such as walls, partitions, and doors. We argue that such a floorplan is a useful source of spatial information, which can guide a 3D model optimization. The standard RGB-D 3D reconstruction pipeline consists of a tracking module applied to an RGB-D sequence and a bundle adjustment (BA) module that takes the posed RGB-D sequence and corrects the camera poses to improve consistency. We propose a novel optimization algorithm expanding conventional BA that leverages the prior knowledge about the scene structure in the form of a floorplan. Our experiments on the Redwood dataset and our self-captured data demonstrate that utilizing floorplan improves accuracy of 3D reconstructions.Comment: IROS 202

The third mission of the university in the context of war and post-war recovery

In the conditions of the war of russia against Ukraine, which began on February 24, 2022, Ukrainian universities are playing roles that were not characteristic of them in peacetime. To the greatest extent, this concerns the university’s third mission, serving society and responding to its urgent needs. The purpose of this study is to identify and characterize new meaningful directions for implementing the third mission of the university in the conditions of war and post-war reconstruction. The study uses quantitative and qualitative bibliometric analysis combining various methods, in particular, quantitative and dynamic analysis of publications and citations, keyword analysis, cluster analysis and content analysis of publications. The study’s results proved the lack of conceptual studies devoted to the role of universities in the war and post-war reconstruction. The main clusters of implementing the third mission of universities and the existing and potential areas of activity of Ukraine’s universities during the war and post-war reconstruction that belong to them were determined. In conclusion, it is substantiated that a new dimension of the mission of universities is being formed, which is at the stage of its formation and needs time for the necessary transformations. Depending on the consequences of the war in Ukraine, it can be a separate cluster of the third mission of universities, and the selection of a new fourth mission of universities, dedicated to peacebuilding and the role of the university during the war and post-war recovery

Comparative characteristics of recognition and evaluation costs as an element of financial statements in the national and international practice

У статті наведено порівняльну характеристику сутності, умов визнання, класифікації та оцінки витрат у Положеннях (стандартах) бухгалтерського обліку України, Положеннях бухгалтерського обліку Російської Федерації, Міжнародних стандартах фінансової звітності та Загальноприйнятих принципів бухгалтерського обліку США. The article deals with comparative description of the nature, conditions, recognition, classification and evaluation of costs according to the accounting standards of Ukraine, the accounting standards of the Russian Federation, the International Financial Reporting Standards and Generally Accepted Accounting Principles U.S

Development of socio-cultural area through budgetary grants for civil society institutions

Досліджено законодавчу та нормативно-правову базу надання фінансової підтримки інститутам громадянського суспільства, описано механізм фінансування на загальнодержавному та місцевому рівнях, технологічний процес подання заявок для отримання фінансування, подальшу процедуру взаємодії з органами виконавчої влади. Автори приділили увагу сучасному стану бюджетного фінансування інститутів громадянського суспільства у розрізі джерел фінансування та регіонів. Проаналізовано успішний досвід освоєння бюджетних коштів на регіональному рівні на прикладі Сумської області. Розкрито проблемні питання фінансування інститутів громадянського суспільства та надано відповідні рекомендаціїNowadays civil society organizations (CSO) became а main catalyst and agents for change. They especially needed in countries with developing and emerging economies. They reflect а general mood of society and implement socially and culturally important projects, build and maintain democracy. Civil society in Ukraine is in the stage of re-establishment since the events on Maidan and movements in the East of the country, non-governmental organizations try to solve social and cultural problems that government cannot solve. However, their main problem is a lack of recourses, especially financial ones. In the developed countries, such problem solves through interaction between civil society organizations and authorities. In addition, it is a very important for a healthy atmosphere in the society. Financial support is one kind of such interaction. The article described the legislative and regulatory framework of CSO financial support in Ukraine and mechanism of budgetary granting for non-governmental associations. The procedure of project competition and stages of a project was stated in the article. Authors analyzed the current state of CSO budgetary financing in terms of funding sources and regions of Ukraine. Also, the results of CSO projects funding from the budget of the Sumy Regional Administration, as one of the leaders in this area, were presented. As a result, authors proposed some recommendations for improving budgetary financial support for CSO

Impact of the participatory financing of international development projects on social capital of the local communities

To date, the promotion of local development of the territorial communities by means of the financial policy tools is one of the priority directions of scientific research not only in Ukraine, but also throughout the world. The article presents the results of the study of the impact of the participatory financing (attraction of the financial resources of community members, central and local budgets and the international donors) on the social capital of the territorial communities of Sumy region on the basis of the results of two phases of the project “Community-based Approach to Local Development”, which has been implemented in Ukraine by the United Nations Development Program since 2007. The main purpose of the article is to confirm the hypothesis that the participatory financing contributes to the social mobilization of the community residents, which leads to the activation of the “dormant” potential of collective actions and the desire of people to help themselves, as well as to improve some indicators of social capital. The difference-in-differences method and the multivariate regression analysis were used for the study. According to the results of the study, the characteristics of social capital, such as (anti)paternalism, the presence of traditions in community, involvement in social activities, collective action and cooperation are the most affected by the impact of participatory financing