The systematic position of Gradsteinia andicola Ochyra (Donrichardsiaceae, Bryopsida) : evidence from nrDNA internal transcribed spacer sequences

Nuclear ribosomal DNA internal transcribed spacer (ITS) 1/2 sequences of the Colombian endemic Gradsteinia andicola were determined and compared with those of 16 other species of the Hypnales (Amblystegiaceae, Brachytheciaceae, Hypnaceae, Plagiotheciaceae and Rhytidiaceae). In a maximum parsimony tree Gradsteinia andicola belongs to a well supported clade consisting of Amblystegium, Cratoneuron, Cratoneuropsis, Hypnobartlettia and Palustriella, and seems to be closely related to Cratoneuropsis relaxa from New Zealand. Gradsteinia andicola is therefore transferred to Amblystegiaceae, but the genus Gradsteinia is maintained. The systematic relationship of Amblystegiaceae and Donrichardsiaceae is discussed

Visual Odometry for Non-overlapping Views Using Second-Order Cone Programming

We present a solution for motion estimation for a set of cameras which are firmly mounted on a head unit and do not have overlapping views in each image. This problem relates to ego-motion estimation of multiple cameras, or visual odometry. We reduce motion estimation to solving a triangulation problem, which finds a point in space from multiple views. The optimal solution of the triangulation problem in L-infinity norm is found using SOCP (Second-Order Cone Programming) Consequently, with the help of the optimal solution for the triangulation, we can solve visual odometry by using SOCP as well