Efficient volumetric mapping of multi-scale environments using wavelet-based compression

Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in sensor technology, generating increasingly vast amounts of precise measurements. Handling this data in a computationally and memory-efficient manner is paramount to representing the environment at the desired scales and resolutions. In this work, we express the desirable properties of a volumetric mapping framework through the lens of multi-resolution analysis. This shows that wavelets are a natural foundation for hierarchical and multi-resolution volumetric mapping. Based on this insight we design an efficient mapping system that uses wavelet decomposition. The efficiency of the system enables the use of uncertainty-aware sensor models, improving the quality of the maps. Experiments on both synthetic and real-world data provide mapping accuracy and runtime performance comparisons with state-of-the-art methods on both RGB-D and 3D LiDAR data. The framework is open-sourced to allow the robotics community at large to explore this approach.Comment: 11 pages, 6 figures, 2 tables, accepted to RSS 2023, code is open-source: https://github.com/ethz-asl/wavema

Family Member, Best Friend, Child or 'Just' a Pet, Owners' Relationship Perceptions and Consequences for Their Cats

Describing the relationship with one’s cat in human terms might reflect an underlying anthropomorphic view of the relationship which might be associated with an owner’s behavior towards their cat and the cat’s living environment. Owners self-categorized the relationship with their cat as either a ‘member of the family’, ‘as a child’, ‘best friend’, or ‘a pet animal’. The extent to which owner- and cat-related factors influence these four relationship descriptions are examined in survey data of approximately 1800 cat owners. Differences in outdoor access, care during absence of the owner, and access to the bedroom are examined between the four relationship perceptions. The owner’s age and household composition, ideas about their cat’s equality, support, and dependency, and whether their cat is a pedigree were significantly associated with relationship description and explained 46% of the variance. Owners who perceive their cat as a child or best friend see their cat as loyal, empathetic, equal to family, and dependent on them for love and care. Their cats are less often left in the care of others, are allowed more often in the bedroom and have less often (unrestricted) outdoor access. Moreover, cats perceived as children are more likely to live in a multi-cat household. Our results provide insight in the factors that are related to different (anthropomorphic) perceptions of the human–cat relationship and how perceptions relate to the living environment of cats

The search for translational pain outcomes to refine analgesic development: Where did we come from and where are we going?

Pain measures traditionally used in rodents record mere reflexes evoked by sensory stimuli; the results thus may not fully reflect the human pain phenotype. Alterations in physical and emotional functioning, pain-depressed behaviors and facial pain expressions were recently proposed as additional pain outcomes to provide a more accurate measure of clinical pain in rodents, and hence to potentially enhance analgesic drug development. We aimed to review how preclinical pain assessment has evolved since the development of the tail flick test in 1941, with a particular focus on a critical analysis of some nonstandard pain outcomes, and a consideration of how sex differences may affect the performance of these pain surrogates. We tracked original research articles in Medline for the following periods: 1973-1977, 1983-1987, 1993-1997, 2003-2007, and 2014-2018. We identified 606 research articles about alternative surrogate pain measures, 473 of which were published between 2014 and 2018. This indicates that preclinical pain assessment is moving toward the use of these measures, which may soon become standard procedures in preclinical pain laboratories.FPU grant from the Spanish Ministry of Education, Culture and SportsSpanish Ministry of Economy and Competitiveness (MINECO, grant SAF2016-80540-R)Ramón Areces FoundationJunta de Andalucía (grant CTS 109)Esteve PharmaceuticalsEuropean Regional Development Fund (ERDF