Long-Term Localization using Semantic Cues in Floor Plan Maps

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used pre-built maps from the robot sensors may increase the cost and time of deployment. Furthermore, their detailed nature requires that they are updated when significant changes occur. We address the difficulty of localization when the correspondence between the map and the observations is low due to the sparsity of the CAD map and the changing environment. To overcome both challenges, we propose to exploit semantic cues that are commonly present in human-oriented spaces. These semantic cues can be detected using RGB cameras by utilizing object detection, and are matched against an easy-to-update, abstract semantic map. The semantic information is integrated into a Monte Carlo localization framework using a particle filter that operates on 2D LiDAR scans and camera data. We provide a long-term localization solution and a semantic map format, for environments that undergo changes to their interior structure and detailed geometric maps are not available. We evaluate our localization framework on multiple challenging indoor scenarios in an office environment, taken weeks apart. The experiments suggest that our approach is robust to structural changes and can run on an onboard computer. We released the open source implementation of our approach written in C++ together with a ROS wrapper.Comment: Under review for RA-

Constructing Metric-Semantic Maps using Floor Plan Priors for Long-Term Indoor Localization

Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the task of constructing a metric-semantic map for the purpose of long-term object-based localization. We exploit 3D object detections from monocular RGB frames for both, the object-based map construction, and for globally localizing in the constructed map. To tailor the approach to a target environment, we propose an efficient way of generating 3D annotations to finetune the 3D object detection model. We evaluate our map construction in an office building, and test our long-term localization approach on challenging sequences recorded in the same environment over nine months. The experiments suggest that our approach is suitable for constructing metric-semantic maps, and that our localization approach is robust to long-term changes. Both, the mapping algorithm and the localization pipeline can run online on an onboard computer. We release an open-source C++/ROS implementation of our approach.Comment: 7 pages, accepted to IROS 202

Plant functional traits have globally consistent effects on competition.

Phenotypic traits and their associated trade-offs have been shown to have globally consistent effects on individual plant physiological functions, but how these effects scale up to influence competition, a key driver of community assembly in terrestrial vegetation, has remained unclear. Here we use growth data from more than 3 million trees in over 140,000 plots across the world to show how three key functional traits--wood density, specific leaf area and maximum height--consistently influence competitive interactions. Fast maximum growth of a species was correlated negatively with its wood density in all biomes, and positively with its specific leaf area in most biomes. Low wood density was also correlated with a low ability to tolerate competition and a low competitive effect on neighbours, while high specific leaf area was correlated with a low competitive effect. Thus, traits generate trade-offs between performance with competition versus performance without competition, a fundamental ingredient in the classical hypothesis that the coexistence of plant species is enabled via differentiation in their successional strategies. Competition within species was stronger than between species, but an increase in trait dissimilarity between species had little influence in weakening competition. No benefit of dissimilarity was detected for specific leaf area or wood density, and only a weak benefit for maximum height. Our trait-based approach to modelling competition makes generalization possible across the forest ecosystems of the world and their highly diverse species composition.We are especially grateful to the researchers whose long-term commitment to establish and maintain forest plots and their associated databases made this study possible, and to those who granted us data access: forest inventories and permanent plots of New Zealand, Spain (MAGRAMA), France, Switzerland, Sweden, US and Canada (for the provinces of Quebec provided by the Ministère des Ressources Naturelles du Québec, Ontario provided by OnTAP’s Growth and Yield Program of the Ontario Ministry of Natural Resources, Saskatchewan, Manitoba, New Brunswick, Newfoundland and Labrador), CTFS (BCI and LTER-Luquillo), Taiwan (Fushan), Cirad (Paracou with funding by CEBA, ANR-10-LABX-25-01), Cirad, MEFCP and ICRA (M’Baïki) and Japan. We thank MPI-BGC Jena, who host TRY, and the international funding networks supporting TRY (IGBP, DIVERSITAS, GLP, NERC, QUEST, FRB and GIS Climate). G.K. was supported by a Marie Curie International Outgoing Fellowship within the 7th European Community Framework Program (Demo-Traits project, no. 299340). The working group that initiated this synthesis was supported by Macquarie University and by Australian Research Council through a fellowship to M.W.This is the author accepted manuscript. The final version is available from Nature Publishing Group via http://dx.doi.org/10.1038/nature1647

Minimal information for studies of extracellular vesicles (MISEV2023): From basic to advanced approaches

Extracellular vesicles (EVs), through their complex cargo, can reflect the state of their cell of origin and change the functions and phenotypes of other cells. These features indicate strong biomarker and therapeutic potential and have generated broad interest, as evidenced by the steady year-on-year increase in the numbers of scientific publications about EVs. Important advances have been made in EV metrology and in understanding and applying EV biology. However, hurdles remain to realising the potential of EVs in domains ranging from basic biology to clinical applications due to challenges in EV nomenclature, separation from non-vesicular extracellular particles, characterisation and functional studies. To address the challenges and opportunities in this rapidly evolving field, the International Society for Extracellular Vesicles (ISEV) updates its 'Minimal Information for Studies of Extracellular Vesicles', which was first published in 2014 and then in 2018 as MISEV2014 and MISEV2018, respectively. The goal of the current document, MISEV2023, is to provide researchers with an updated snapshot of available approaches and their advantages and limitations for production, separation and characterisation of EVs from multiple sources, including cell culture, body fluids and solid tissues. In addition to presenting the latest state of the art in basic principles of EV research, this document also covers advanced techniques and approaches that are currently expanding the boundaries of the field. MISEV2023 also includes new sections on EV release and uptake and a brief discussion of in vivo approaches to study EVs. Compiling feedback from ISEV expert task forces and more than 1000 researchers, this document conveys the current state of EV research to facilitate robust scientific discoveries and move the field forward even more rapidly

Illustrationen als Paratext beim Ubersetzen : Mit Beispielen aus einem Werk von O. Preusler

Purpose: The authors tested associations between (a) parent-reported temporary vs. persistent vocabulary delay and (b) parent-reported behavioral/emotional problems in a sample of 5,497 young Dutch children participating in a prospective population-based study. Method: Mothers completed the MacArthur Communicative Development Inventory-Netherlands (Zink & Lejaegere, 2003) at age 18 months and the Language Development Survey (Rescorla, 1989) at age 30 months, with expressive vocabulary delay defined as scores in the lowest 15th age-and gender-specific percentiles. The Child Behavior Checklist (Achenbach & Rescorla, 2000) was completed by mothers when their children were age 18 months and by both parents when their children were age 36 months, from which Internalizing Problems and Externalizing Problems scores were analyzed. Results: All analyses were adjusted for covariates. Expressive vocabulary delay at age 18 months was weakly related to Internalizing Problems scores at age 18 months as well as mother-reported Externalizing and Internalizing Problems scores at age 36 months (the latter for boys only). Expressive vocabulary delay at age 30 months was weakly associated with mother-reported Externalizing and Internalizing Problems scores (the latter for boys only) and father-reported Internalizing Problems scores. Persistent expressive vocabulary delay predicted the highest risk of mother-reported internalizing and externalizing problems at age 36 months. Conclusion: This population-based study showed modest associations between vocabulary delay and behavioral/emotional problems detectable from 18 months onward

Los 'fueguinos', Robert Lehmann-Nitsche y el estudio de los onas en la Exposición Nacional de Buenos Aires (1898)

Entre los primeros trabajos del antropólogo alemán Robert Lehmann-Nitsche como jefe del Departamento de Antropología del Museo de La Plata, Argentina, se cuentan las investigaciones sobre los habitantes de Tierra del Fuego, considerados como un 'relicto' evolutivo de la humanidad. Se repasa la importancia de las ferias y exposiciones como espacios de popularización científica y de 'trabajo de campo' para los estudiosos de fines del siglo XIX y principios del XX. Se examina la presentación de los 'fueguinos' en los espacios de las ferias y exposiciones europeas, los debates, los estudios realizados en Europa y el trabajo de Robert Lehmann-Nitsche en la Exposición Nacional de la Industria Argentina (Buenos Aires, 1898).Among the first projects of German anthropologist Robert Lehmann-Nitsche as head of the Museum de La Plata's Department of Anthropology in Argentina was his research on the inhabitants of Tierra del Fuego, deemed evolutionary 'relics' of humanity. The article explores the role of shows and exhibits as spaces where science was popularized and where late nineteenth- and early twentieth-century scholars could do field work. The focus is on the presentation of 'fueguinos' at European shows and exhibits, debates, and studies, especially the work of Robert Lehmann-Nitsche at the National Exhibit of Argentinean Industry, held in Buenos Aires, 1898

Board characteristics and the amount of capital raised in the Malaysian IPO market

This study examines the impact of board characteristics on the amount of capital raised through an IPO for a sample of 220 Malaysian IPOs over the period of 2005–2015, applying both ordinary least squares (OLS) and quantile regression (QR) techniques. The OLS results show that board with ethnic Malay directors has a significant and positive association with the amount of capital raised, while a weak significance is found for board size. However, the QR results reveal that other than board ethnicity, other board characteristics namely board size, board independence and CEO duality are significantly associated with the amount of capital raised. The additional results suggest that QR provides a more insightful and full picture into the association than does OLS. The overall empirical evidence lends support to the resource dependence role of the board of directors at the time of an IPO