Singly Cabibbo suppressed decays of Λc+\Lambda_{c}^+ with SU(3) flavor symmetry

We analyze the weak processes of anti-triplet charmed baryons decaying to octet baryons and mesons with the SU(3) flavor symmetry and topological quark diagram scheme. We study the decay branching ratios without neglecting the contributions from ${\cal O}(\overline{15})$ for the first time in the SU(3) flavor symmetry approach. The fitting results for the Cabibbo allowed and suppressed decays of $\Lambda_{c}^+$ are all consistent with the experimental data. We predict all singly Cabibbo suppressed decays. In particular, we find that ${\cal B}(\Lambda_c^+\to p \pi^0)=(1.3\pm0.7)\times 10^{-4}$, which is slightly below the current experimental upper limit of $2.7\times 10^{-4}$ and can be tested by the ongoing experiment at BESIII as well as the future one at Belle-II.Comment: 11 pages, 2 figure, revised version accepted by PL

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain circumstances. However, some problems are still not well solved, for example, how to tackle the moving objects in the dynamic environments, how to make the robots truly understand the surroundings and accomplish advanced tasks. In this paper, a robust semantic visual SLAM towards dynamic environments named DS-SLAM is proposed. Five threads run in parallel in DS-SLAM: tracking, semantic segmentation, local mapping, loop closing, and dense semantic map creation. DS-SLAM combines semantic segmentation network with moving consistency check method to reduce the impact of dynamic objects, and thus the localization accuracy is highly improved in dynamic environments. Meanwhile, a dense semantic octo-tree map is produced, which could be employed for high-level tasks. We conduct experiments both on TUM RGB-D dataset and in the real-world environment. The results demonstrate the absolute trajectory accuracy in DS-SLAM can be improved by one order of magnitude compared with ORB-SLAM2. It is one of the state-of-the-art SLAM systems in high-dynamic environments. Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLAMComment: 7 pages, accepted at the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLA