Probabilistic Combination of Noisy Points and Planes for RGB-D Odometry

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the frame-to-frame motion estimation, where pose is optimized by weighting the residuals of 3D point and planes matches, according to their uncertainties. Results on an RGB-D dataset show that the combination of points and planes, through the proposed method, is able to perform well in poorly textured environments, where point-based odometry is bound to fail.Comment: Accepted to TAROS 201

Stairs detection with odometry-aided traversal from a wearable RGB-D camera

Stairs are one of the most common structures present in human-made scenarios, but also one of the most dangerous for those with vision problems. In this work we propose a complete method to detect, locate and parametrise stairs with a wearable RGB-D camera. Our algorithm uses the depth data to determine if the horizontal planes in the scene are valid steps of a staircase judging their dimensions and relative positions. As a result we obtain a scaled model of the staircase with the spatial location and orientation with respect to the subject. The visual odometry is also estimated to continuously recover the current position and orientation of the user while moving. This enhances the system giving the ability to come back to previously detected features and providing location awareness of the user during the climb. Simultaneously, the detection of the staircase during the traversal is used to correct the drift of the visual odometry. A comparison of results of the stair detection with other state-of-the-art algorithms was performed using public dataset. Additional experiments have also been carried out, recording our own natural scenes with a chest-mounted RGB-D camera in indoor scenarios. The algorithm is robust enough to work in real-time and even under partial occlusions of the stair

Chapter 14 - Regional development and cooperation

This chapter provides an assessment of knowledge and practice on regional development and cooperation to achieve climate change mitigation. It will examine the regional trends and dimensions of the mitigation challenge. It will also analyze what role regional initiatives, both with a focus on climate change and in other domains such as trade, can play in addressing these mitigation challenges. The regional dimension of mitigation was not explicitly addressed in the IPCC Fourth Assessment Report (AR4). Its discussion of policies, instruments, and cooperative agreements (Working Group III AR4, Chapter 13) was focused primarily on the global and national level. However, mitigation challenges and opportunities differ significantly by region. This is particularly the case for the interaction between development / growth opportunities and mitigation policies, which are closely linked to resource endowments, the level of economic development, patterns of urbanization and industrialization, access to finance and technology, and - more broadly - the capacity to develop and implement various mitigation options. There are also modes of regional cooperation, ranging from regional initiatives focused specifically on climate change (such as the emissions trading scheme (ETS) of the European Union (EU)) to other forms of cooperation in the areas of trade, energy, or infrastructure, that could potentially provide a platform for delivering and implementing mitigation policies. These dimensions will be examined in this chapter. Specifically, this chapter will address the following questions: - Why is the regional level important for analyzing and achieving mitigation objectives? - What are the trends, challenges, and policy options for mitigation in different regions? - To what extent are there promising opportunities, existing examples, and barriers for leapfrogging in technologies and development strategies to low-carbon development paths for different regions? - What are the interlinkages between mitigation and adaptation at the regional level? - To what extent can regional initiatives and regional integration and cooperation promote an agenda of low-carbon climate-resilient development? What has been the record of such initiatives, and what are the barriers? Can they serve as a platform for further mitigation activities

ABJM Baryon Stability and Myers effect

We consider magnetically charged baryon vertex like configurations in AdS^4 X CP^3 with a reduced number of quarks l. We show that these configurations are solutions to the classical equations of motion and are stable beyond a critical value of l. Given that the magnetic flux dissolves D0-brane charge it is possible to give a microscopical description in terms of D0-branes expanding into fuzzy CP^n spaces by Myers dielectric effect. Using this description we are able to explore the region of finite 't Hooft coupling.Comment: 29 pages, Latex; minor changes; version to appear in JHE