Stereo Visual SLAM for Mobile Robots Navigation

Esta tesis está enfocada a la combinación de los campos de la robótica móvil y la visión por computador, con el objetivo de desarrollar métodos que permitan a un robot móvil localizarse dentro de su entorno mientras construye un mapa del mismo, utilizando como única entrada un conjunto de imágenes. Este problema se denomina SLAM visual (por las siglas en inglés de "Simultaneous Localization And Mapping") y es un tema que aún continúa abierto a pesar del gran esfuerzo investigador realizado en los últimos años. En concreto, en esta tesis utilizamos cámaras estéreo para capturar, simultáneamente, dos imágenes desde posiciones ligeramente diferentes, proporcionando así información 3D de forma directa. De entre los problemas de localización de robots, en esta tesis abordamos dos de ellos: el seguimiento de robots y la localización y mapeado simultáneo (o SLAM). El primero de ellos no tiene en cuenta el mapa del entorno sino que calcula la trayectoria del robot mediante la composición incremental de las estimaciones de su movimiento entre instantes de tiempo consecutivos. Cuando se usan imágenes para calcular esta trayectoria, el problema toma el nombre de "odometría visual", y su resolución es más sencilla que la del SLAM visual. De hecho, a menudo se integra como parte de un sistema de SLAM completo. Esta tesis contribuye con la propuesta de dos sistemas de odometría visual. Uno de ellos está basado en un solución cerrada y eficiente mientras que el otro está basado en un proceso de optimización no-lineal que implementa un nuevo método de detección y eliminación rápida de espurios. Los métodos de SLAM, por su parte, también abordan la construcción de un mapa del entorno con el objetivo de mejorar sensiblemente la localización del robot, evitando de esta forma la acumulación de error en la que incurre la odometría visual. Además, el mapa construido puede ser empleado para hacer frente a situaciones exigentes como la recuperación de la localización tras la pérdida del robot o realizar localización global. En esta tesis se presentan dos sistemas completos de SLAM visual. Uno de ellos se ha implementado dentro del marco de los filtros probabilísticos no parámetricos, mientras que el otro está basado en un método nuevo de "bundle adjustment" relativo que ha sido integrado con algunas técnicas recientes de visión por computador. Otra contribución de esta tesis es la publicación de dos colecciones de datos que contienen imágenes estéreo capturadas en entornos urbanos sin modificar, así como una estimación del camino real del robot basada en GPS (denominada "ground truth"). Estas colecciones sirven como banco de pruebas para validar métodos de odometría y SLAM visual

Sequential Monte Carlo localization in topometric appearance maps.

Representing the scene appearance by a global image descriptor (BoW, NetVLAD, etc.) is a widely adopted choice to address Visual Place Recognition (VPR). The main reasons are that appearance descriptors can be effectively provided with radiometric and perspective invariances as well as they can deal with large environments because of their compactness. However, addressing metric localization with such descriptors (a problem called Appearance-based Localization or AbL) achieves much poorer accuracy than those techniques exploiting the observation of 3D landmarks, which represent the standard for visual localization. In this paper, we propose ALLOM (Appearance-based Localization with Local Observation Models) which addresses AbL by leveraging the topological location of a robot within a map to achieve accurate metric estimations. This topology-assisted metric localization is implemented with a sequential Monte Carlo Bayesian filter that applies a specific observation model for each different place of the environment, thus taking advantage of the local correlation between the pose and the appearance descriptor within each region. ALLOM also benefits from the topological structure of the map to detect eventual robot loss-of-tracking and to effectively cope with its relocalization by applying VPR. Our proposal demonstrates superior metric localization capability compared to different state-of-the-art AbL methods under a wide range of situations.This work was supported by the Government of Spain in part under grant FPU17/04512, in part under the ARPEGGIO (PID2020-117057GB-I00) research project, and also by the Andalucian Regional Government under the Houndbot (PY20 01302) research project

Tutorial para el reconocimiento de objetos basado en características empleando herramientas Phyton

El reconocimiento de objetos es algo innato en el ser humano. Cuando las personas miramos una fotografía, somos capaces de detectar sin esfuerzo elementos como animales, señales, objetos de interés, etc. En el campo de la visión por computador este proceso se lleva a cabo mediante herramientas de Inteligencia Artificial, con el fin de obtener información sobre el contenido de una imagen. Esta tarea, aunque ampliamente investigada, a un sigue siendo un campo de estudio activo debido a los grandes retos que conlleva: la detección de objetos en distintas condiciones luminosas, con posibles oclusiones, distintos tamaños y perspectivas, etc. Este artículo describe las tareas a completar en el desarrollo de un sistema de reconocimiento de objetos exitoso, y proporciona al lector una serie de directrices prácticas sobre como realizarlas. El trabajo viene acompañado de una serie de scripts Python para experimentar con las diferentes técnicas descritas, pretendiendo servir de apoyo en tareas docentes o de iniciación a cualquier entusiasta en la materia.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Este trabajo se ha desarrollado en el marco del proyecto WISER (DPI2017-84827-R), financiado por el Ministerio de Ciencia e Innovación contando con fondos del Fondo Europeo de Desarrollo Regional (FEDER)

Treatment with tocilizumab or corticosteroids for COVID-19 patients with hyperinflammatory state: a multicentre cohort study (SAM-COVID-19)

Objectives: The objective of this study was to estimate the association between tocilizumab or corticosteroids and the risk of intubation or death in patients with coronavirus disease 19 (COVID-19) with a hyperinflammatory state according to clinical and laboratory parameters. Methods: A cohort study was performed in 60 Spanish hospitals including 778 patients with COVID-19 and clinical and laboratory data indicative of a hyperinflammatory state. Treatment was mainly with tocilizumab, an intermediate-high dose of corticosteroids (IHDC), a pulse dose of corticosteroids (PDC), combination therapy, or no treatment. Primary outcome was intubation or death; follow-up was 21 days. Propensity score-adjusted estimations using Cox regression (logistic regression if needed) were calculated. Propensity scores were used as confounders, matching variables and for the inverse probability of treatment weights (IPTWs). Results: In all, 88, 117, 78 and 151 patients treated with tocilizumab, IHDC, PDC, and combination therapy, respectively, were compared with 344 untreated patients. The primary endpoint occurred in 10 (11.4%), 27 (23.1%), 12 (15.4%), 40 (25.6%) and 69 (21.1%), respectively. The IPTW-based hazard ratios (odds ratio for combination therapy) for the primary endpoint were 0.32 (95%CI 0.22-0.47; p < 0.001) for tocilizumab, 0.82 (0.71-1.30; p 0.82) for IHDC, 0.61 (0.43-0.86; p 0.006) for PDC, and 1.17 (0.86-1.58; p 0.30) for combination therapy. Other applications of the propensity score provided similar results, but were not significant for PDC. Tocilizumab was also associated with lower hazard of death alone in IPTW analysis (0.07; 0.02-0.17; p < 0.001). Conclusions: Tocilizumab might be useful in COVID-19 patients with a hyperinflammatory state and should be prioritized for randomized trials in this situatio

Plant diversity patterns in neotropical dry forests and their conservation implications

This is the author accepted manuscript. The final version is available from American Association for the Advancement of Science via the DOI in this record.Seasonally dry tropical forests are distributed across Latin America and the Caribbean and are highly threatened, with less than 10% of their original extent remaining in many countries. Using 835 inventories covering 4660 species of woody plants, we show marked floristic turnover among inventories and regions, which may be higher than in other neotropical biomes, such as savanna. Such high floristic turnover indicates that numerous conservation areas across many countries will be needed to protect the full diversity of tropical dry forests. Our results provide a scientific framework within which national decision-makers can contextualize the floristic significance of their dry forest at a regional and continental scale.This paper is the result of the Latin American and Caribbean Seasonally Dry Tropical Forest Floristic Network (DRYFLOR), which has been supported at the Royal Botanic Garden Edinburgh by a Leverhulme Trust International Network Grant (IN-074). This work was also supported by the U.K. Natural Environment Research Council grant NE/I028122/1; Colciencias Ph.D. scholarship 529; Synthesys Programme GBTAF-2824; the NSF (NSF 1118340 and 1118369); the Instituto Humboldt (IAvH)–Red colombiana de investigación y monitoreo en bosque seco; the Inter-American Institute for Global Change Research (IAI; Tropi-Dry, CRN2-021, funded by NSF GEO 0452325); Universidad Nacional de Rosario (UNR); and Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET). The data reported in this paper are available at www.dryflor.info. R.T.P. conceived the study. M.P., A.O.-F., K.B.-R., R.T.P., and J.W. designed the DRYFLOR database system. K.B.-R. and K.G.D. carried out most analyses. K.B.-R. R.T.P., and K.G.D. wrote the manuscript with substantial input from A.D.-S., R.L.-P., A.O.-F., D.P., C.Q., and R.R. All the authors contributed data, discussed further analyses, and commented on various versions of the manuscript. K.B.-R. thanks G. Galeano who introduced her to dry forest research. We thank J. L. Marcelo, I. Huamantupa, C. Reynel, S. Palacios, and A. Daza for help with fieldwork and data entry in Peru

Time to Switch to Second-line Antiretroviral Therapy in Children With Human Immunodeficiency Virus in Europe and Thailand.

Background: Data on durability of first-line antiretroviral therapy (ART) in children with human immunodeficiency virus (HIV) are limited. We assessed time to switch to second-line therapy in 16 European countries and Thailand. Methods: Children aged <18 years initiating combination ART (≥2 nucleoside reverse transcriptase inhibitors [NRTIs] plus nonnucleoside reverse transcriptase inhibitor [NNRTI] or boosted protease inhibitor [PI]) were included. Switch to second-line was defined as (i) change across drug class (PI to NNRTI or vice versa) or within PI class plus change of ≥1 NRTI; (ii) change from single to dual PI; or (iii) addition of a new drug class. Cumulative incidence of switch was calculated with death and loss to follow-up as competing risks. Results: Of 3668 children included, median age at ART initiation was 6.1 (interquartile range (IQR), 1.7-10.5) years. Initial regimens were 32% PI based, 34% nevirapine (NVP) based, and 33% efavirenz based. Median duration of follow-up was 5.4 (IQR, 2.9-8.3) years. Cumulative incidence of switch at 5 years was 21% (95% confidence interval, 20%-23%), with significant regional variations. Median time to switch was 30 (IQR, 16-58) months; two-thirds of switches were related to treatment failure. In multivariable analysis, older age, severe immunosuppression and higher viral load (VL) at ART start, and NVP-based initial regimens were associated with increased risk of switch. Conclusions: One in 5 children switched to a second-line regimen by 5 years of ART, with two-thirds failure related. Advanced HIV, older age, and NVP-based regimens were associated with increased risk of switch

Evolution over Time of Ventilatory Management and Outcome of Patients with Neurologic Disease∗

OBJECTIVES: To describe the changes in ventilator management over time in patients with neurologic disease at ICU admission and to estimate factors associated with 28-day hospital mortality. DESIGN: Secondary analysis of three prospective, observational, multicenter studies. SETTING: Cohort studies conducted in 2004, 2010, and 2016. PATIENTS: Adult patients who received mechanical ventilation for more than 12 hours. INTERVENTIONS: None. MEASUREMENTS AND MAIN RESULTS: Among the 20,929 patients enrolled, we included 4,152 (20%) mechanically ventilated patients due to different neurologic diseases. Hemorrhagic stroke and brain trauma were the most common pathologies associated with the need for mechanical ventilation. Although volume-cycled ventilation remained the preferred ventilation mode, there was a significant (p &lt; 0.001) increment in the use of pressure support ventilation. The proportion of patients receiving a protective lung ventilation strategy was increased over time: 47% in 2004, 63% in 2010, and 65% in 2016 (p &lt; 0.001), as well as the duration of protective ventilation strategies: 406 days per 1,000 mechanical ventilation days in 2004, 523 days per 1,000 mechanical ventilation days in 2010, and 585 days per 1,000 mechanical ventilation days in 2016 (p &lt; 0.001). There were no differences in the length of stay in the ICU, mortality in the ICU, and mortality in hospital from 2004 to 2016. Independent risk factors for 28-day mortality were age greater than 75 years, Simplified Acute Physiology Score II greater than 50, the occurrence of organ dysfunction within first 48 hours after brain injury, and specific neurologic diseases such as hemorrhagic stroke, ischemic stroke, and brain trauma. CONCLUSIONS: More lung-protective ventilatory strategies have been implemented over years in neurologic patients with no effect on pulmonary complications or on survival. We found several prognostic factors on mortality such as advanced age, the severity of the disease, organ dysfunctions, and the etiology of neurologic disease

Children living with HIV in Europe: do migrants have worse treatment outcomes?

International audienceTo assess the effect of migrant status on treatment outcomes among children living with HIV in Europe