Experimental analysis of sample-based maps for long-term SLAM

This paper presents a system for long-term SLAM (simultaneous localization and mapping) by mobile service robots and its experimental evaluation in a real dynamic environment. To deal with the stability-plasticity dilemma (the trade-off between adaptation to new patterns and preservation of old patterns), the environment is represented at multiple timescales simultaneously (5 in our experiments). A sample-based representation is proposed, where older memories fade at different rates depending on the timescale, and robust statistics are used to interpret the samples. The dynamics of this representation are analysed in a five week experiment, measuring the relative influence of short- and long-term memories over time, and further demonstrating the robustness of the approach

3D modeling of indoor environments by a mobile platform with a laser scanner and panoramic camera

One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realistic, visually convincing D model of indoor environments based on a mobile platform that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the simultaneous lo- calization and mapping problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multiresolution blending is used to hide seams in the gen- erated textures. The scene is further enriched by 3D-geometry cal- culated from a graph cut stereo technique. We present experimental results from a moderately large real environment.

Detecting Invalid Map Merges in Lifelong SLAM

For Lifelong SLAM, one has to deal with temporary localization failures, e.g., induced by kidnapping. We achieve this by starting a new map and merging it with the previous map as soon as relocalization succeeds. Since relocalization methods are fallible, it can happen that such a merge is invalid, e.g., due to perceptual aliasing. To address this issue, we propose methods to detect and undo invalid merges. These methods compare incoming scans with scans that were previously merged into the current map and consider how well they agree with each other. Evaluation of our methods takes place using a dataset that consists of multiple flat and office environments, as well as the public MIT Stata Center dataset. We show that methods based on a change detection algorithm and on comparison of gridmaps perform well in both environments and can be run in real-time with a reasonable computational cost.Comment: Accepted at IROS 202

Impact of Climate Trends and Drought Events on the Growth of Oaks (Quercus robur L. and Quercus petraea (Matt.) Liebl.) within and beyond Their Natural Range

Due to predicted climate change, it is important to know to what extent trees and forests will be impacted by chronic and episodic drought stress. As oaks play an important role in European forestry, this study focuses on the growth response of sessile oak (Quercus petraea (Matt.) Liebl.) and pedunculate oak (Quercus robur (L.)) under contrasting climatic conditions. Analyses cover both site conditions of their natural occurrence (Southern Germany and Northeast Italy) and site conditions beyond their natural range (South Africa). The sites beyond their natural range represent possible future climate conditions. Tree-ring series from three different sites were compared and analysed using dendrochronological methods. The long-term growth development of oak trees appears to be similar across the sites, yet the growth level over time is higher in the drier and warmer climate than in the temperate zone. When compared with previous growth periods, growth models reveal that oak trees grew more than expected during the last decades. A recent setback in growth can be observed, although growth is still higher than the model predicts. By focusing on the short-term reactions of the trees, distinct drought events and periods were discovered. In each climatic region, similar growth reactions developed after drought periods. A decline in growth rate occurred in the second or third year after the drought event. Oaks in South Africa are currently exposed to a warmer climate with more frequent drought events. This climatic condition is a future prediction also for Europe. In view of this climate change, we discuss the consequences of the long- and short- term growth behaviour of oaks grown in the climate of South Africa for a tree species selection that naturally occurs in Europe

Evaluation of the forest growth model SILVA along an elevational gradient in Switzerland

The semi-empirical single-tree model SILVA 2.2 has been developed and parameterised using forest research and inventory data from Germany that range from the colline to the montane zone. The focus of the model evaluation presented in this study was to test the applicability of the model for the main Swiss forest types and at elevations ranging from the colline to the upper subalpine zone. To this end, SILVA was initialized using data from long-term forest yield research plots. The results at the end of the 30-year simulation were compared with observed data. The analysis of the results at each test site showed that there were no significant differences in model performance between forest types. However, the deviation between simulated and observed growth depended strongly on the elevational zone, i.e., on climate. As expected, the best results were found in the colline zone, for which the model had been calibrated, whereas the upper subalpine sites revealed the strongest differences. The quality of the data regarding forest structure that were available for model initialization had a strong impact on the simulation results, mainly at high-elevation zones (i.e., supalpine and upper subalpine). We conclude that SILVA 2.2 is a suitable tool to estimate the development of single trees and standing volume for a large fraction of the forests in Switzerland. However, extreme climate conditions should be avoided with the model, and the availability of detailed stand structure information is a key priority that has a strong effect on the quality of the simulation result

Modeling Ecosystem Services for Park Trees : Sensitivity of i-Tree Eco Simulations to Light Exposure and Tree Species Classification

Ecosystem modeling can help decision making regarding planting of urban trees for climate change mitigation and air pollution reduction. Algorithms and models that link the properties of plant functional types, species groups, or single species to their impact on specific ecosystem services have been developed. However, these models require a considerable effort for initialization that is inherently related to uncertainties originating from the high diversity of plant species in urban areas. We therefore suggest a new automated method to be used with the i-Tree Eco model to derive light competition for individual trees and investigate the importance of this property. Since competition depends also on the species, which is difficult to determine from increasingly used remote sensing methodologies, we also investigate the impact of uncertain tree species classification on the ecosystem services by comparing a species-specific inventory determined by field observation with a genus-specific categorization and a model initialization for the dominant deciduous and evergreen species only. Our results show how the simulation of competition affects the determination of carbon sequestration, leaf area, and related ecosystem services and that the proposed method provides a tool for improving estimations. Misclassifications of tree species can lead to large deviations in estimates of ecosystem impacts, particularly concerning biogenic volatile compound emissions. In our test case, monoterpene emissions almost doubled and isoprene emissions decreased to less than 10% when species were estimated to belong only to either two groups instead of being determined by species or genus. It is discussed that this uncertainty of emission estimates propagates further uncertainty in the estimation of potential ozone formation. Overall, we show the importance of using an individual light competition approach and explicitly parameterizing all ecosystem functions at the species-specific level

When Geometry is not Enough: Using Reflector Markers in Lidar SLAM

Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environments, we propose to add reflector markers in specific locations that would otherwise be difficult. We present an algorithm to reliably detect these markers and two approaches to fuse the detected markers with geometry-based scan matching. The performance of the proposed methods is demonstrated on real-world datasets from several industrial environments.Comment: Accepted at IROS 202

Na Transport across Frog Skin at Low External Na Concentrations

Isolated frog skin was bathed with a dilute solution containing 1 mm NaCl on the outside and with normal Ringer’s solution on the inner surface. Net Na flux was determined by simultaneous measurement of unidirectional fluxes with Na22 and Na24 and intracellular electrical potentials were examined with microelectrodes. There was a net inward transport of Na under both open-circuit and short-circuit conditions. The short-circuit current was approximately 15% greater than the net Na flux; the discrepancy could be accounted for by a small outward flux of Cl. The electrical potential profile did not differ greatly from that observed in skins bathed on the outside with normal Ringer’s solution. Under open-circuit conditions, there were usually several potential steps and under short-circuit conditions the cells were negative relative to the bathing solutions. Estimates of epithelial Na concentrations utilizing radioactive Na suggested that if all epithelial Na were in a single compartment, an active entry step would be necessary to allow a net inward Na transport. The results could also be explained by a series arrangement of Na compartments without necessarily postulating an active Na entry. The behavior of the potential profile suggested that this latter alternative was more likely