Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall realtime reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators.Comment: Accepted in the International Archives of the Photogrammetry, Remote Sensing and Spatial Information Scienc

Taxing International Portfolio Income

Most analyses of the taxation of international income earned by U.S. corporations or individuals have addressed income from direct investments abroad. With the exception of routine bows to the international tax compromise and sporadic discussions of the practical difficulties residence countries face in collecting taxes on international portfolio income, the taxation of international portfolio income generally has been ignored in the tax literature. Analysis and reassessment of U.S. tax policy regarding international portfolio income is long overdue. The amount of international portfolio investment and its role in the world economy has grown exponentially in recent years. In most years since 1990, the total market value of U.S. persons\u27 foreign portfolio investments has exceeded the value of U.S. corporations\u27 foreign direct investments, and the total amount of U.S. taxpayers\u27 foreign portfolio income has exceeded their income from foreign direct investments. Cross-border portfolio investments are no longer a tiny tail on a large direct-investment dog. International portfolio investments now playa major role in the world economy, a role quite different from that played by foreign direct investments. We can no longer afford simply to assume, as we have in the past, that the way the United States taxes the latter is obviously appropriate to the former. Instead we must ask explicitly what tax policy for income from portfolio investments best serves our nation\u27s interest. That is the task we undertake here

Feature-Based Probabilistic Data Association for Video-Based Multi-Object Tracking

This work proposes a feature-based probabilistic data association and tracking approach (FBPDATA) for multi-object tracking. FBPDATA is based on re-identification and tracking of individual video image points (feature points) and aims at solving the problems of partial, split (fragmented), bloated or missed detections, which are due to sensory or algorithmic restrictions, limited field of view of the sensors, as well as occlusion situations

Chandra X-ray spectroscopy of the focused wind in the Cygnus X-1 system III. Dipping in the low/hard state

We present an analysis of three Chandra High Energy Transmission Gratings observations of the black hole binary Cyg X-1/HDE 226868 at different orbital phases. The stellar wind that is powering the accretion in this system is characterized by temperature and density inhomogeneities including structures, or "clumps", of colder, more dense material embedded in the photoionized gas. As these clumps pass our line of sight, absorption dips appear in the light curve. We characterize the properties of the clumps through spectral changes during various dip stages. Comparing the silicon and sulfur absorption line regions (1.6-2.7 keV $\equiv$ 7.7-4.6 {\AA}) in four levels of varying column depth reveals the presence of lower ionization stages, i.e., colder or denser material, in the deeper dip phases. The Doppler velocities of the lines are roughly consistent within each observation, varying with the respective orbital phase. This is consistent with the picture of a structure that consists of differently ionized material, in which shells of material facing the black hole shield the inner and back shells from the ionizing radiation. The variation of the Doppler velocities compared to a toy model of the stellar wind, however, does not allow us to pin down an exact location of the clump region in the system. This result, as well as the asymmetric shape of the observed lines, point at a picture of a complex wind structure.Comment: 19 pages, 15 figures, accepted for publication in A&

Real-Time On-Board Obstacle Avoidance for UAVs based on Embedded Stereo Vision

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall real-time reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators

NICER/NuSTAR Characterization of 4U 1957+11: A Near Maximally Spinning Black Hole Potentially in the Mass Gap

© 2023. The Author(s). Published by the American Astronomical Society. This is an open access article distributed under the Creative Commons Attribution License, to view a copy of the license, see: https://creativecommons.org/licenses/by/4.0/4U 1957+11 is a black hole candidate system that has been in a soft X-ray spectral state since its discovery. We present analyses of recent joint NICER and NuSTAR spectra, which are extremely well described by a highly inclined disk accreting into a near maximally spinning black hole. Owing to the broad X-ray coverage of NuSTAR, the fitted spin and inclination are strongly constrained for our hypothesized disk models. The faintest spectra are observed out to 20 keV, even though their hard tail components are almost absent when described with a simple corona. The hard tail increases with luminosity, but shows clear two-track behavior with one track having appreciably stronger tails. The disk spectrum color-correction factor is anticorrelated with the strength of the hard tail (e.g., as measured by the Compton y parameter). Although the spin and inclination parameters are strongly constrained for our chosen model, the mass and distance are degenerate parameters. We use our spectral fits, along with a theoretical prior on color-correction, an observational prior on likely fractional Eddington luminosity, and an observational prior on distance obtained from Gaia studies, to present mass and distance contours for this system. The most likely parameters, given our presumed disk model, suggest a 4.6 M ⊙ black hole at 7.8 kpc observed at luminosities ranging from ≈1.7% to 9% of Eddington. This would place 4U 1957+11 as one of the few actively accreting sources within the mass gap of ≈2–5 M ⊙ where there are few known massive neutron stars or low-mass black holes. Higher mass and distance, however, remain viable.Peer reviewe