Real-Time RGB-D Camera Pose Estimation in Novel Scenes using a Relocalisation Cascade

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image and points in the scene to estimate the pose. In recent years, regression forests have become a popular alternative to establish such correspondences. They achieve accurate results, but have traditionally needed to be trained offline on the target scene, preventing relocalisation in new environments. Recently, we showed how to circumvent this limitation by adapting a pre-trained forest to a new scene on the fly. The adapted forests achieved relocalisation performance that was on par with that of offline forests, and our approach was able to estimate the camera pose in close to real time. In this paper, we present an extension of this work that achieves significantly better relocalisation performance whilst running fully in real time. To achieve this, we make several changes to the original approach: (i) instead of accepting the camera pose hypothesis without question, we make it possible to score the final few hypotheses using a geometric approach and select the most promising; (ii) we chain several instantiations of our relocaliser together in a cascade, allowing us to try faster but less accurate relocalisation first, only falling back to slower, more accurate relocalisation as necessary; and (iii) we tune the parameters of our cascade to achieve effective overall performance. These changes allow us to significantly improve upon the performance our original state-of-the-art method was able to achieve on the well-known 7-Scenes and Stanford 4 Scenes benchmarks. As additional contributions, we present a way of visualising the internal behaviour of our forests and show how to entirely circumvent the need to pre-train a forest on a generic scene.Comment: Tommaso Cavallari, Stuart Golodetz, Nicholas Lord and Julien Valentin assert joint first authorshi

Collaborative large-scale dense 3D reconstruction with online inter-agent pose optimisation

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These are good reasons to want instead to capture several smaller sub-scenes that can be joined to make the whole scene. Achieving this has traditionally been difficult: joining sub-scenes that may never have been viewed from the same angle requires a high-quality camera relocaliser that can cope with novel poses, and tracking drift in each sub-scene can prevent them from being joined to make a consistent overall scene. Recent advances, however, have significantly improved our ability to capture medium-sized sub-scenes with little to no tracking drift: real-time globally consistent reconstruction systems can close loops and re-integrate the scene surface on the fly, whilst new visual-inertial odometry approaches can significantly reduce tracking drift during live reconstruction. Moreover, high-quality regression forest-based relocalisers have recently been made more practical by the introduction of a method to allow them to be trained and used online. In this paper, we leverage these advances to present what to our knowledge is the first system to allow multiple users to collaborate interactively to reconstruct dense, voxel-based models of whole buildings using only consumer-grade hardware, a task that has traditionally been both time-consuming and dependent on the availability of specialised hardware. Using our system, an entire house or lab can be reconstructed in under half an hour and at a far lower cost than was previously possible

Real-time RGB-D camera pose estimation in novel scenes using a relocalisation cascade

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image and points in the scene to estimate the pose. In recent years, regression forests have become a popular alternative to establish such correspondences. They achieve accurate results, but have traditionally needed to be trained offline on the target scene, preventing relocalisation in new environments. Recently, we showed how to circumvent this limitation by adapting a pre-trained forest to a new scene on the fly. The adapted forests achieved relocalisation performance that was on par with that of offline forests, and our approach was able to estimate the camera pose in close to real time. In this paper, we present an extension of this work that achieves significantly better relocalisation performance whilst running fully in real time. To achieve this, we make several changes to the original approach: (i) instead of accepting the camera pose hypothesis without question, we make it possible to score the final few hypotheses using a geometric approach and select the most promising; (ii) we chain several instantiations of our relocaliser together in a cascade, allowing us to try faster but less accurate relocalisation first, only falling back to slower, more accurate relocalisation as necessary; and (iii) we tune the parameters of our cascade to achieve effective overall performance. These changes allow us to significantly improve upon the performance our original state-of-the-art method was able to achieve on the well-known 7-Scenes and Stanford 4 Scenes benchmarks. As additional contributions, we present a way of visualising the internal behaviour of our forests and show how to entirely circumvent the need to pre-train a forest on a generic scene

The N-terminal ricin propeptide influences the fate of ricin A-chain in tobacco protoplasts.

The plant toxin ricin is synthesized in castor bean seeds as an endoplasmic reticulum (ER)-targeted precursor. Removal of the signal peptide generates proricin in which the mature A- and B-chains are joined by an intervening propeptide and a 9-residue propeptide persists at the N terminus. The two propeptides are ultimately removed in protein storage vacuoles, where ricin accumulates. Here we have demonstrated that the N-terminal propeptide of proricin acts as a nonspecific spacer to ensure efficient ER import and glycosylation. Indeed, when absent from the N terminus of ricin A-chain, the non-imported material remained tethered to the cytosolic face of the ER membrane, presumably by the signal peptide. This species appeared toxic to ribosomes. The propeptide does not, however, influence catalytic activity per se or the vacuolar targeting of proricin or the rate of retrotranslocation/degradation of A-chain in the cytosol. The likely implications of these findings to the survival of the toxin-producing tissue are discussed

Velocity Amplitudes in Global Convection Simulations: The Role of the Prandtl Number and Near-Surface Driving

Several lines of evidence suggest that the velocity amplitude in global simulations of solar convection, U, may be systematically over-estimated. Motivated by these recent results, we explore the factors that determine U and we consider how these might scale to solar parameter regimes. To this end, we decrease the thermal diffusivity $\kappa$ along two paths in parameter space. If the kinematic viscosity $\nu$ is decreased proportionally with $\kappa$ (fixing the Prandtl number $P_r = \nu/\kappa$), we find that U increases but asymptotes toward a constant value, as found by Featherstone & Hindman (2016). However, if $\nu$ is held fixed while decreasing $\kappa$ (increasing $P_r$), we find that U systematically decreases. We attribute this to an enhancement of the thermal content of downflow plumes, which allows them to carry the solar luminosity with slower flow speeds. We contrast this with the case of Rayleigh-Benard convection which is not subject to this luminosity constraint. This dramatic difference in behavior for the two paths in parameter space (fixed $P_r$ or fixed $\nu$) persists whether the heat transport by unresolved, near-surface convection is modeled as a thermal conduction or as a fixed flux. The results suggest that if solar convection can operate in a high-$P_r$ regime, then this might effectively limit the velocity amplitude. Small-scale magnetism is a possible source of enhanced viscosity that may serve to achieve this high-$P_r$ regime.Comment: 34 Pages, 8 Figures, submitted to a special issue of "Advances in Space Research" on "Solar Dynamo Frontiers

The role of CDC48 in the retro-translocation of non-ubiquitinated toxin substrates in plant cells

When the catalytic A subunits of the castor bean toxins ricin and Ricinus communis agglutinin (denoted as RTA and RCA A, respectively) are delivered into the endoplasmic reticulum (ER) of tobacco protoplasts, they become substrates for ER-associated protein degradation (ERAD). As such, these orphan polypeptides are retro-translocated to the cytosol, where a significant proportion of each protein is degraded by proteasomes. Here we begin to characterise the ERAD pathway in plant cells, showing that retro-translocation of these lysine-deficient glycoproteins requires the ATPase activity of cytosolic CDC48. Lysine polyubiquitination is not obligatory for this step. We also show that while RCA A is found in a mannose-untrimmed form prior to its retro-translocation, a significant proportion of newly synthesised RTA cycles via the Golgi and becomes modified by downstream glycosylation enzymes. Despite these differences, both proteins are similarly retro-translocated

Judicial Review, Irrationality, and the Limits of Intervention by the Courts

When exercising judicial review, the courts, on occasions, have intervened in circumstances where administrative decisions were not irrational. However, these low standards of judicial intervention are arguably constitutional, especially since the enactment of the Human Rights Act 1998 (HRA). To this end, this article seeks to establish a zone of executive decision-making, for reasons of democracy, where the courts are clearly excluded. But it is unable to do so. Does this mean, therefore, that judicial intervention on the grounds of irrationality exists without limit? Assuming this to be the case, it is suggested that the courts should show greater respect to the administrative branch of the state where it has genuinely sought to engage with the legal process in arriving at its decisions

Characterization of

ABSTRACT Neuropeptide Y (NPY) is a 36-amino acid peptide discovered in the early 1980s that belongs to a family of peptides that includes pancreatic polypeptides (PP) and peptide YY (PYY) The use of various cloning techniques has resulted in the identification of five receptors to date (Y 1 , Y 2 , Y 4 , Y 5 , and y 6