Visual SLAM for flying vehicles

The ability to learn a map of the environment is important for numerous types of robotic vehicles. In this paper, we address the problem of learning a visual map of the ground using flying vehicles. We assume that the vehicles are equipped with one or two low-cost downlooking cameras in combination with an attitude sensor. Our approach is able to construct a visual map that can later on be used for navigation. Key advantages of our approach are that it is comparably easy to implement, can robustly deal with noisy camera images, and can operate either with a monocular camera or a stereo camera system. Our technique uses visual features and estimates the correspondences between features using a variant of the progressive sample consensus (PROSAC) algorithm. This allows our approach to extract spatial constraints between camera poses that can then be used to address the simultaneous localization and mapping (SLAM) problem by applying graph methods. Furthermore, we address the problem of efficiently identifying loop closures. We performed several experiments with flying vehicles that demonstrate that our method is able to construct maps of large outdoor and indoor environments. © 2008 IEEE

Search for B+ -> l+ nu gamma decays with hadronic tagging using the full Belle data sample

We search for the decay B+ -> l+ nu gamma with l+ = e+ or mu+ using the full Belle data set of 772 x 10^6 BBbar pairs, collected at the Y(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. We reconstruct one B meson in a hadronic decay mode and search for the B+ -> l+ nu gamma decay in the remainder of the event. We observe no significant signal within the phase space of E_gamma^sig > 1 GeV and obtain upper limits of BR(B+ -> e+ nu gamma) mu+ nu gamma) l+ nu gamma) < 3.5 x 10^-6 at 90 % credibility level.Comment: Submitted to Phys. Rev.

Measurement of e+e−→γχcJe^+e^- \to \gamma\chi_{cJ} via initial state radiation at Belle

The process $e^+e^- \to \gamma\chi_{cJ}$ ($J$=1, 2) is studied via initial state radiation using 980 fb$^{-1}$ of data at and around the $\Upsilon(nS)$ ($n$=1, 2, 3, 4, 5) resonances collected with the Belle detector at the KEKB asymmetric-energy $e^+e^-$ collider. No significant signal is observed except from $\psi(2S)$ decays. Upper limits on the cross sections between $\sqrt{s}=3.80$ and $5.56~{\rm GeV}$ are determined at the 90% credibility level, which range from few pb to a few tens of pb. We also set upper limits on the decay rate of the vector charmonium [$\psi(4040$), $\psi(4160)$, and $\psi(4415)$] and charmoniumlike [$Y(4260)$, $Y(4360)$, and $Y(4660)$] states to $\gamma\chi_{cJ}$.Comment: Accepted by PR

Measurement of the direct CPCP asymmetry in Bˉ→Xs+dγ\bar{B}\rightarrow X_{s+d}\gamma decays with a lepton tag

We report the measurement of the direct $CP$ asymmetry in the radiative $\bar{B}\rightarrow X_{s+d}\gamma$ decay using a data sample of $(772 \pm 11)\times 10^6$ $B\bar{B}$ pairs collected at the $\Upsilon(4S)$ resonance with the Belle detector at the KEKB asymmetric-energy $e^+e^-$ collider. The $CP$ asymmetry is measured as a function of the photon energy threshold. For $E^{\rm{*}}_{\gamma} \geq 2.1~{\rm{GeV}}$, where $E^{\rm{*}}_{\gamma}$ is the photon energy in the center-of-mass frame, we obtain $\mathcal{A}_{CP}(\bar{B}\rightarrow X_{s+d}\gamma)= (2.2 \pm 3.9 \pm 0.9) \%$, consistent with the Standard Model prediction.Comment: Published at PR

First observation of the hadronic transition Υ(4S)→ηhb(1P) \Upsilon(4S) \to \eta h_{b}(1P) and new measurement of the hb(1P)h_b(1P) and ηb(1S)\eta_b(1S) parameters

Using a sample of $771.6 \times 10^{6}$ $\Upsilon(4S)$ decays collected by the Belle experiment at the KEKB $e^+e^-$ collider, we observe for the first time the transition $\Upsilon(4S) \to \eta h_b(1P)$ with the branching fraction ${\cal B}[\Upsilon(4S) \to \eta h_b(1P)]= (2.18 \pm 0.11 \pm 0.18) \times 10^{-3}$ and we measure the $h_b(1P)$ mass $M_{h_{b}(1P)} = (9899.3 \pm 0.4 \pm 1.0)$ MeV/$c^{2}$, corresponding to the hyperfine splitting $\Delta M_{\mathrm HF}(1P) = (0.6 \pm 0.4 \pm 1.0)$ MeV/$c^{2}$. Using the transition $h_b(1P) \to \gamma \eta_b(1S)$, we measure the $\eta_b(1S)$ mass $M_{\eta_{b}(1S)} = (9400.7 \pm 1.7 \pm 1.6)$ MeV/$c^{2}$, corresponding to $\Delta M_{\mathrm HF}(1S) = (59.6 \pm 1.7 \pm 1.6)$ MeV/$c^{2}$, the $\eta_b(1S)$ width $\Gamma_{\eta_{b}(1S)} = (8 ^{+6}_{-5} \pm 5)$ MeV/$c^{2}$ and the branching fraction ${\cal B}[h_b(1P) \to \gamma \eta_b(1S)]= (56 \pm 8 \pm 4) \%$.Comment: 7 pages, 2 figures, submitted to Phys. Rev. Let

Observation of X(3872)X(3872) in B→X(3872)KπB \to X(3872) K\pi decays

We report the first observation of $B^0 \to X(3872) (K^{+}\pi^{-})$ and evidence for $B^+ \to X(3872) (K^{0}\pi^{+})$. We measure the product of branching fractions for the former to be {\cal B}(B^0 \to X(3872) (K^+ \pi^-)) \times {\cal B}(X(3872) \to J/\psi \pi^+ \pi^-) = (7.9 \pm 1.3(\mbox{stat.})\pm 0.4(\mbox{syst.})) \times 10^{-6} and find that $B^{0}\to X(3872) K^{*}(892)^{0}$ does not dominate the $B^{0}\to X(3872)K^{+}\pi^{-}$ decay mode. We also measure {\cal B}(B^+ \to X(3872) (K^0 \pi^+)) \times {\cal B}(X(3872) \to J/\psi \pi^+ \pi^-) = (10.6 \pm 3.0(\mbox{stat.}) \pm 0.9(\mbox{syst.})) \times 10^{-6}. This study is based on the full data sample of 711~fb$^{-1}$ ($772\times 10^6 B\bar B$ pairs) collected at the $\Upsilon(4S)$ resonance with the Belle detector at the KEKB collider.Comment: 7 pages, 3 figure

Study of B^0 -> rho^0 rho^0 decays, implications for the CKM angle phi_2 and search for other B^0 decay modes with a four-pion final state

We present a study of the branching fraction of the decay B^0->rho0rho0 and the fraction of longitudinally polarized rho0 mesons in this decay. The results are obtained from the final data sample containing 772 million BBbar pairs collected at the Y(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. We find 166 +- 59 B^0 -> rho0 rho0 events (including systematic uncertainties), corresponding to a branching fraction of B(B^0->rho0rho0) = (1.02 +- 0.30 (stat) +- 0.15 (syst)) x 10^{-6} with a significance of 3.4 standard deviations and a longitudinal polarization fraction fL = 0.21^{+0.18}_{-0.22} (stat) +- 0.15 (syst). We use the longitudinal polarization fraction to determine the Cabibbo-Kobayashi-Maskawa matrix angle phi_2 = (84.9 +- 13.5) degrees through an isospin analysis in the B->rhorho system. We furthermore find 149 +- 49 B^0->f0rho0 events, corresponding to B(B^0->f0rho0) x B(f0->pi+pi-) = (0.78 +- 0.22 (stat) +- 0.11 (syst)) x 10^{-6}, with a significance of 3.1 standard deviations. We find no other significant contribution with the same final state, and set upper limits at 90% confidence level on the (product) branching fractions, B(B^0->pi+pi-pi+pi-)rho0pi+pi-)<12.0 x 10^{-6}, B(B^0->f0pi+pi-) x B(f0->pi+pi-) f0f0) x B(f0->pi+pi-)^{2} < 0.2 x 10^{-6}.Comment: 21 pages, 20 figures, conference paper for the 2012th CKM workshop, submitted to PR

Measurement of the CP Violation Parameters in B0 -> pi+ pi- Decays

We present a measurement of the time-dependent charge-parity (CP) violation parameters in B0 -> pi+ pi- decays. The results are obtained from the final data sample containing 772 million BBbar pairs collected at the Upsilon(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. We obtain the CP violation parameters Acp = +0.33 +/- 0.06 (stat) +/- 0.03 (syst) and Scp = -0.64 +/- 0.08 (stat) +/- 0.03 (syst), where Acp and Scp represent the direct and mixing-induced CP asymmetry, respectively. Using an isospin analysis including results from other Belle measurements, we find 23.8 < phi2 < 66.8 degrees is disfavored at the 1 sigma level, where phi2 is one of the three interior angles of the CKM unitarity triangle related to B_{u,d} decays.Comment: 16 pages, 5 figures, CKM2012 conference paper, Submitted to PR

Measurements of the masses and widths of the Σc(2455)0/++\Sigma_{c}(2455)^{0/++} and Σc(2520)0/++\Sigma_{c}(2520)^{0/++} baryons

We present measurements of the masses and decay widths of the baryonic states $\Sigma_{c}(2455)^{0/++}$ and $\Sigma_{c}(2520)^{0/++}$ using a data sample corresponding to an integrated luminosity of 711 fb$^{-1}$ collected with the Belle detector at the KEKB $e^{+}e^{-}$ asymmetric-energy collider operating at the $\Upsilon(4S)$ resonance. We report the mass differences with respect to the $\Lambda_{c}^{+}$ baryon $M(\Sigma_{c}(2455)^{0})-M(\Lambda_{c}^{+}) = 167.29\pm0.01\pm0.02$ MeV/$c^{2}$, $M(\Sigma_{c}(2455)^{++})-M(\Lambda_{c}^{+}) = 167.51\pm0.01\pm0.02$ MeV/$c^{2}$, $M(\Sigma_{c}(2520)^{0})-M(\Lambda_{c}^{+}) = 231.98\pm0.11\pm0.04$ MeV/$c^{2}$, $M(\Sigma_{c}(2520)^{++})-M(\Lambda_{c}^{+}) = 231.99\pm0.10\pm0.02$ MeV/$c^{2}$, and the decay widths $\Gamma(\Sigma_{c}(2455)^{0}) = 1.76\pm0.04^{+0.09}_{-0.21}$ MeV/$c^{2}$, $\Gamma(\Sigma_{c}(2455)^{++}) = 1.84\pm0.04^{+0.07}_{-0.20}$ MeV/$c^{2}$, $\Gamma(\Sigma_{c}(2520)^{0}) = 15.41\pm0.41^{+0.20}_{-0.32}$ MeV/$c^{2}$, $\Gamma(\Sigma_{c}(2520)^{++}) = 14.77\pm0.25^{+0.18}_{-0.30}$ MeV/$c^{2}$, where the first uncertainties are statistical and the second are systematic. The isospin mass splittings are measured to be $M(\Sigma_{c}(2455)^{++})-M(\Sigma_{c}(2455)^{0})=0.22\pm0.01\pm0.01$ MeV/$c^{2}$ and $M(\Sigma_{c}(2520)^{++})-M(\Sigma_{c}(2520)^{0})=0.01\pm0.15\pm0.03$ MeV/$c^{2}$. These results are the most precise to date.Comment: 13 pages, 4 figures, Submitted to PRD(RC