Seamless Navigation, 3D Reconstruction, Thermographic and Semantic Mapping for Building Inspection

We present a workflow for seamless real-time navigation and 3D thermal mapping in combined indoor and outdoor environments in a global reference frame. The automated workflow and partly real-time capabilities are of special interest for inspection tasks and also for other time-critical applications. We use a hand-held integrated positioning system (IPS), which is a real-time capable visual-aided inertial navigation technology, and augment it with an additional passive thermal infrared camera and global referencing capabilities. The global reference is realized through surveyed optical markers (AprilTags). Due to the sensor data’s fusion of the stereo camera and the thermal images, the resulting georeferenced 3D point cloud is enriched with thermal intensity values. A challenging calibration approach is used to geometrically calibrate and pixel-co-register the trifocal camera system. By fusing the terrestrial dataset with additional geographic information from an unmanned aerial vehicle, we gain a complete building hull point cloud and automatically reconstruct a semantic 3D model. A single-family house with surroundings in the village of Morschenich near the city of Jülich (German federal state North Rhine-Westphalia) was used as a test site to demonstrate our workflow. The presented work is a step towards automated building information modeling

Antithrombotic therapy in patients with acute coronary syndrome complicated by cardiogenic shock or out-of-hospital cardiac arrest: a Joint Position Paper from the European Society of Cardiology (ESC) Working Group on Thrombosis, in association with the Acute Cardiovascular Care Association (ACCA) and European Association of Percutaneous Cardiovascular Interventions (EAPCI)

© The Author 2020. This is a pre-copyedited, author-produced version of an article accepted for publication in European Heart Journal - Cardiovascular Pharmacotherapy following peer review. The version of record [Gorog et al., Antithrombotic therapy in patients with acute coronary syndrome complicated by cardiogenic shock or out-of-hospital cardiac arrest: a Joint Position Paper from the European Society of Cardiology (ESC) Working Group on Thrombosis, in association with the Acute Cardiovascular Care Association (ACCA) and European Association of Percutaneous Cardiovascular Interventions (EAPCI), European Heart Journal - Cardiovascular Pharmacotherapy, pvaa009] is available online at: https://doi.org/10.1093/ehjcvp/pvaa009.Peer reviewedFinal Accepted Versio

Mystery of fatal 'staggering disease' unravelled: novel rustrela virus causes severe meningoencephalomyelitis in domestic cats

‘Staggering disease’ is a neurological disease entity considered a threat to European domestic cats (Felis catus) for almost five decades. However, its aetiology has remained obscure. Rustrela virus (RusV), a relative of rubella virus, has recently been shown to be associated with encephalitis in a broad range of mammalian hosts. Here, we report the detection of RusV RNA and antigen by metagenomic sequencing, RT-qPCR, in-situ hybridization and immunohistochemistry in brain tissues of 27 out of 29 cats with non-suppurative meningoencephalomyelitis and clinical signs compatible with’staggering disease’ from Sweden, Austria, and Germany, but not in non-affected control cats. Screening of possible reservoir hosts in Sweden revealed RusV infection in wood mice (Apodemus sylvaticus). Our work indicates that RusV is the long-sought cause of feline ‘staggering disease’. Given its reported broad host spectrum and considerable geographic range, RusV may be the aetiological agent of neuropathologies in further mammals, possibly even including humans

Accuracy Evaluation of Stereo Vision Aided Inertial Navigation for Indoor Environments

Accurate knowledge of position and orientation is a prerequisite for many applications regarding unmanned navigation, mapping, or environmental modelling. GPS-aided inertial navigation is the preferred solution for outdoor applications. Nevertheless a similar solution for navigation tasks in difficult environments with erroneous or no GPS-data is needed. Therefore a stereo vision aided inertial navigation system is presented which is capable of providing real-time local navigation for indoor applications. A method is described to reconstruct the ego motion of a stereo camera system aided by inertial data. This, in turn, is used to constrain the inertial sensor drift. The optical information is derived from natural landmarks, extracted and tracked over consequent stereo image pairs. Using inertial data for feature tracking effectively reduces computational costs and at the same time increases the reliability due to constrained search areas. Mismatched features, e.g. at repetitive structures typical for indoor environments are avoided. An Integrated Positioning System (IPS) was deployed and tested on an indoor navigation task. IPS was evaluated for accuracy, ro- bustness, and repeatability in a common office environment. In combination with a dense disparity map, derived from the navigation cameras, a high density point cloud is generated to show the capability of the navigation algorithm

IPS – ein System für eine mobile Datenerfassung in Innenräumen

Vermessung und Inspektion von Innenräumen ist eine aufwendige Aufgabe. Die Fotos oder 3D Scans müssen immer räumlich zueinander referenziert sein, um die Konsistenz des Modells sicherzustellen. Erschwerend kommt hinzu, dass die Vermessung in oft zuvor unbekannten oder nicht kartierten Bereichen stattfindet. Wir propagieren ein System zur gleichzeitigen Kartierung und Lokalisierung auf Basis von Bild- und Beschleunigungsssensoren, sodass z.B. alle Fotos automatisch zueinander referenziert werden und sehr große konsistente 3D Modelle aufgebaut werden können