Phrynosoma mcallii

Number of Pages: 2Integrative BiologyGeological Science

TVL₁ Planarity Regularization for 3D Shape Approximation

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points when sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment which the robots operate within. This work focuses on the fundamental task of 3D shape reconstruction and modelling from 3D point clouds. The novelty lies in the representation of surfaces by algebraic functions having limited support, which enables the extraction of smooth consistent implicit shapes from noisy samples with a heterogeneous density. The minimization of total variation of second differential degree makes it possible to enforce planar surfaces which often occur in man-made environments. Applying the new technique means that less accurate, low-cost 3D sensors can be employed without sacrificing the 3D shape reconstruction accuracy

TVL₁shape approximation from scattered 3D data

With the emergence in 3D sensors such as laser scanners and 3D reconstruction from cameras, large 3D point clouds can now be sampled from physical objects within a scene. The raw 3D samples delivered by these sensors however, contain only a limited degree of information about the environment the objects exist in, which means that further geometrical high-level modelling is essential. In addition, issues like sparse data measurements, noise, missing samples due to occlusion, and the inherently huge datasets involved in such representations makes this task extremely challenging. This paper addresses these issues by presenting a new 3D shape modelling framework for samples acquired from 3D sensor. Motivated by the success of nonlinear kernel-based approximation techniques in the statistics domain, existing methods using radial basis functions are applied to 3D object shape approximation. The task is framed as an optimization problem and is extended using non-smooth L1 total variation regularization. Appropriate convex energy functionals are constructed and solved by applying the Alternating Direction Method of Multipliers approach, which is then extended using Gauss-Seidel iterations. This significantly lowers the computational complexity involved in generating 3D shape from 3D samples, while both numerical and qualitative analysis confirms the superior shape modelling performance of this new framework compared with existing 3D shape reconstruction techniques

HESS J1825-137: A pulsar wind nebula associated with PSR B1823-13?

HESS J1825-137 was detected with a significance of 8.1 $\sigma$ in the Galactic Plane survey conducted with the H.E.S.S. instrument in 2004. Both HESS J1825-137 and the X-ray pulsar wind nebula G18.0--0.7 (associated with the Vela-like pulsar PSR B1823-13) are offset south of the pulsar, which may be the result of the SNR expanding into an inhomogeneous medium. The TeV size ($\sim 35$ pc, for a distance of 4 kpc) is $\sim 6$ times larger than the X-ray size, which may be the result of propagation effects as a result of the longer lifetime of TeV emitting electrons, compared to the relatively short lifetime of keV synchrotron emitting electrons. The TeV photon spectral index of $\sim 2.4$ can also be related to the extended PWN X-ray synchrotron photon index of $\sim 2.3$, if this spectrum is dominated by synchrotron cooling. The anomalously large size of the pulsar wind nebula can be explained if the pulsar was born with a relatively large initial spindown power and braking index $n\sim 2$, provided that the SNR expanded into the hot ISM with relatively low density ($\sim 0.003$ cm$^{-3}$).Comment: 4 pages, 4 figures, to appear in the Proc. of the 29th International Cosmic Ray Conference, OG Sessio

Results from the H.E.S.S. Galactic Plane survey

The H.E.S.S. experiment (High Energy Stereoscopic System) is an array of imaging Cherenkov telescopes for the detection of γ-rays in the energy domain above 100 GeV. Its improved sensitivity and angular resolution in comparison to previous instruments and the large field of view of 5 degrees makes H.E.S.S. perfectly suited for a survey of the galactic plane. We report on a scan of the inner part of the Galactic plane in very high energy γ-rays with the H.E.S.S telescope system. The Galactic plane between longitude 330 deg and 30 deg and Galactic latitude -3 deg to +3 deg was observed for a total of 230 hours, reaching an average flux sensitivity of 3% of the Crab Nebula at energies above 200 GeV. Several unknown sources of very high energy γ-ray emission were found at a high statistical significance. We will present results for these new sources, along with a discussion on possible counterparts in other wavelength bands