Probabilistic Combination of Noisy Points and Planes for RGB-D Odometry

This work proposes a visual odometry method that combines points and plane primitives, extracted from a noisy depth camera. Depth measurement uncertainty is modelled and propagated through the extraction of geometric primitives to the frame-to-frame motion estimation, where pose is optimized by weighting the residuals of 3D point and planes matches, according to their uncertainties. Results on an RGB-D dataset show that the combination of points and planes, through the proposed method, is able to perform well in poorly textured environments, where point-based odometry is bound to fail.Comment: Accepted to TAROS 201

Efficient Three Party Key Exchange Protocol

Key exchange protocols allow two or more parties communicating over a public network to establish a common secret key called a session key. In 1976, Diffie and Hellman proposed the first practical key exchange (DH key exchange) protocol. In 2005, Abdalla and Pointcheval suggested a new variation of the computational DH assumption called chosen based computational Diffie Hellman (CCDH) and presented simple password based authenticated key exchange protocols. Since then several three party password authenticated key agreement protocols have been proposed In 2007, Lu and Cao proposed a simple 3 party authenticated key exchange (S-3PAKE) protocol. Kim and Koi found that this protocol cannot resist undetectable online password guessing attack and gave fixed STPKE' protocol as a countermeasure using exclusive-or operation. Recently, Tallapally and Padmavathy found that STPKE' is still vulnerable to undetectable online password guessing attack and gave a modified STPKE' protocol. Unfortunately, we find that, although modified STPKE' protocol can resist undetectable online password guessing attack but it is vulnerable to man in the middle attack. Also, we propose and analyze an efficient protocol against all the known attacks

Fixed and coincidence points of hybrid mappings

summary:The purpose of this note is to provide a substantial improvement and appreciable generalizations of recent results of Beg and Azam; Pathak, Kang and Cho; Shiau, Tan and Wong; Singh and Mishra

Polarographic Behaviour of Picoline Complexes of Cu(II)

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Exploration of the Continental Margins of India

In mid 1970’s the Institute prepared a plan for systematic regional geological and geophysical surveys of the continental margins of India. This involved over 75,000 km of underway (bathymetric, side scan sonar, magnetic, gravity and seismic) surveys on tracks about 20 km apart, and collection of about 1500 seabed samples at about 10 to 20 km spacing. It was anticipated that the entire programme would require 22 ship’s months. This programme received considerable impetus from sponsored surveys of other organizations, chiefly the oil industry, ports and harbours as well as industries disposing of their effluents in the marine environment. By now the entire western continental shelf and a large part of the continental slope have been covered by about 68,314 km bathymetric surveys, 12,720 km side scan sonar surveys, 46,222 km magnetic surveys, 27,200 km seismic surveys (including 5,489 km multichannel seismic), and 9,065 km gravity surveys. Approximately 1500 seabed samples have been collected. These surveys, besides providing basic information on the morphology, sediments, and geochemistry of the sediments of the .western continental margin of India, have also led to the estimation of resources of offshore ilmenite placers and low grade phosphorite deposits. The data collected are proposed to be depicted in a series of maps showing the morphology, sediments and geochemistry of sediments

Radar Cross Section Studies/Compact Range Research

A summary is given of the achievements of NASA Grant NsG-1613 by Ohio State University from May 1, 1987 to April 30, 1988. The major topics covered are as follows: (1) electromagnetic scattering analysis; (2) indoor scattering measurement systems; (3) RCS control; (4) waveform processing techniques; (5) material scattering and design studies; (6) design and evaluation of design studies; and (7) antenna studies. Major progress has been made in each of these areas as verified by the numerous publications produced

Radar cross section studies

The ultimate goal is to generate experimental techniques and computer codes of rather general capability that would enable the aerospace industry to evaluate the scattering properties of aerodynamic shapes. Another goal involves developing an understanding of scattering mechanisms so that modification of the vehicular structure could be introduced within constraints set by aerodynamics. The development of indoor scattering measurement systems with special attention given to the compact range is another goal. There has been considerable progress in advancing state-of-the-art scattering measurements and control and analysis of the electromagnetic scattering from general targets

Generation of a superposition of multiple mesoscopic states of radiation in a resonant cavity

Using resonant interaction between atoms and the field in a high quality cavity, we show how to generate a superposition of many mesoscopic states of the field. We study the quasi-probability distributions and demonstrate the nonclassicality of the superposition in terms of the zeroes of the Q-function as well as the negativity of the Wigner function. We discuss the decoherence of the generated superposition state. We propose homodyne techniques of the type developed by Auffeves et al [Phys. Rev. Lett. 91, 230405 (2003)] to monitor the superposition of many mesoscopic states.Comment: submitted to Phys. Rev.