SPLODE: Semi-Probabilistic Point and Line Odometry with Depth Estimation from RGB-D Camera Motion

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on point and line features that leverages both measurements from a depth sensor and depth estimates from camera motion. Depth estimates are generated continuously by a probabilistic depth estimation framework for both types of features to compensate for the lack of depth measurements and inaccurate feature depth associations. The framework models explicitly the uncertainty of triangulating depth from both point and line observations to validate and obtain precise estimates. Furthermore, depth measurements are exploited by propagating them through a depth map registration module and using a frame-to-frame motion estimation method that considers 3D-to-2D and 2D-to-3D reprojection errors, independently. Results on RGB-D sequences captured on large indoor and outdoor scenes, where depth sensor limitations are critical, show that the combination of depth measurements and estimates through our approach is able to overcome the absence and inaccuracy of depth measurements.Comment: IROS 201

Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion framework based on Mixtures of Gaussians to denoise and derive the depth uncertainty, which is then propagated throughout the visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are used to model the uncertainties of the feature parameters and pose is estimated by combining the three types of primitives based on their uncertainties. Performance evaluation on RGB-D sequences collected in this work and two public RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth fusion framework and combining the three feature-types, particularly in scenes with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34 page

Acceleration computing process in wavelength scanning interferometry

The optical interferometry has been widely explored for surface measurement due to the advantages of non-contact and high accuracy interrogation. Eventually, some interferometers are used to measure both rough and smooth surfaces such as white light interferometry and wavelength scanning interferometry (WSI). The WSI can be used to measure large discontinuous surface profiles without the phase ambiguity problems. However, the WSI usually needs to capture hundreds of interferograms at different wavelength in order to evaluate the surface finish for a sample. The evaluating process for this large amount of data needs long processing time if CPUs traditional programming is used. This paper presents a parallel programming model to achieve the data parallelism for accelerating the computing analysis of the captured data. This parallel programming is based on CUDATM C program structure that developed by NVIDIA. Additionally, this paper explains the mathematical algorithm that has been used for evaluating the surface profiles. The computing time and accuracy obtained from CUDA program, using GeForce GTX 280 graphics processing unit (GPU), were compared to those obtained from sequential execution Matlab program, using Intel® Core™2 Duo CPU. The results of measuring a step height sample shows that the parallel programming capability of the GPU can highly accelerate the floating point calculation throughput compared to multicore CPU

Probabilistic teleportation of unknown two-particle state via POVM

We propose a scheme for probabilistic teleportation of unknown two-particle state with partly entangled four-particle state via POVM. In this scheme the teleportation of unknown two-particle state can be realized with certain probability by performing two Bell state measurements, a proper POVM and a unitary transformation.Comment: 5 pages, no figur

In vitro and in vivo effects of salbutamol on neutrophil function in acute lung injury

Background: Intravenous salbutamol (albuterol) reduces lung water in patients with the acute respiratory distress syndrome (ARDS). Experimental data show that it also reduces pulmonary neutrophil accumulation or activation and inflammation in ARDS. Aim: To investigate the effects of salbutamol on neutrophil function. Methods: The in vitro effects of salbutamol on neutrophil function were determined. Blood and bronchoalveolar lavage (BAL) fluid were collected from 35 patients with acute lung injury (ALI)/ARDS, 14 patients at risk from ARDS and 7 ventilated controls at baseline and after 4 days’ treatment with placebo or salbutamol (ALI/ARDS group). Alveolar–capillary permeability was measured in vivo by thermodilution (PiCCO). Neutrophil activation, adhesion molecule expression and inflammatory cytokines were measured. Results: In vitro, physiological concentrations of salbutamol had no effect on neutrophil chemotaxis, viability or apoptosis. Patients with ALI/ARDS showed increased neutrophil activation and adhesion molecule expression compared with at risk-patients and ventilated controls. There were associations between alveolar– capillary permeability and BAL myeloperoxidase (r = 0.4, p = 0.038) and BAL interleukin 8 (r = 0.38, p = 0.033). In patients with ALI/ARDS, salbutamol increased numbers of circulating neutrophils but had no effect on alveolar neutrophils. Conclusion: At the onset of ALI/ARDS, there is increased neutrophil recruitment and activation. Physiological concentrations of salbutamol did not alter neutrophil chemotaxis, viability or apoptosis in vitro. In vivo, salbutamol increased circulating neutrophils, but had no effect on alveolar neutrophils or on neutrophil activation. These data suggest that the beneficial effects of salbutamol in reducing lung water are unrelated to modulation of neutrophil-dependent inflammatory pathways

Consistency of shared reference frames should be reexamined

In a recent Letter [G. Chiribella et al., Phys. Rev. Lett. 98, 120501 (2007)], four protocols were proposed to secretly transmit a reference frame. Here We point out that in these protocols an eavesdropper can change the transmitted reference frame without being detected, which means the consistency of the shared reference frames should be reexamined. The way to check the above consistency is discussed. It is shown that this problem is quite different from that in previous protocols of quantum cryptography.Comment: 3 pages, 1 figure, comments are welcom

A Simultaneous Quantum Secure Direct Communication Scheme between the Central Party and Other M Parties

We propose a simultaneous quantum secure direct communication scheme between one party and other three parties via four-particle GHZ states and swapping quantum entanglement. In the scheme, three spatially separated senders, Alice, Bob and Charlie, transmit their secret messages to a remote receiver Diana by performing a series local operations on their respective particles according to the quadripartite stipulation. From Alice, Bob, Charlie and Diana's Bell measurement results, Diana can infer the secret messages. If a perfect quantum channel is used, the secret messages are faithfully transmitted from Alice, Bob and Charlie to Diana via initially shared pairs of four-particle GHZ states without revealing any information to a potential eavesdropper. As there is no transmission of the qubits carrying the secret message in the public channel, it is completely secure for the direct secret communication. This scheme can be considered as a network of communication parties where each party wants to communicate secretly with a central party or server.Comment: 4 pages, no figur

Optimal Controlled Teleportation

We give the analytic expressions of maximal probabilities of successfully controlled teleportating an unknown qubit via every kind of tripartite states. Besides, another kind of localizable entanglement is also determined. Furthermore, we give the sufficient and necessary condition that a three-qubit state can be collapsed to an EPR pair by a measurement on one qubit, and characterize the three-qubit states that can be used as quantum channel for controlled teleporting a qubit of unknown information with unit probability and with unit fidelity.Comment: 4 page