Keyframe-based visual–inertial odometry using nonlinear optimization

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that nonlinear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual–inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter. This competitive reference implementation performs tightly coupled filtering-based visual–inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy

Analytical pair correlations in ideal quantum gases: Temperature-dependent bunching and antibunching

The fluctuation-dissipation theorem together with the exact density response spectrum for ideal quantum gases has been utilized to yield a new expression for the static structure factor, which we use to derive exact analytical expressions for the temperature{dependent pair distribution function g(r) of the ideal gases. The plots of bosonic and fermionic g(r) display "Bose pile" and "Fermi hole" typically akin to bunching and antibunching as observed experimentally for ultracold atomic gases. The behavior of spin-scaled pair correlation for fermions is almost featureless but bosons show a rich structure including long-range correlations near T_c. The coherent state at T=0 shows no correlation at all, just like single-mode lasers. The depicted decreasing trend in correlation with decrease in temperature for T < T_c should be observable in accurate experiments.Comment: 8 pages, 1 figure, minor revisio

Petrochronology and hygrochronology of tectono-metamorphic events

U-Th-Pb petrochronology is based on the incontrovertible fact that the diffusion of radiogenic Pb is negligibly small relative to retrograde reaction rates. Multi-element maps demonstrate that patchy textures tightly correspond to (U+Th)-Pb age variations, requiring that fluid-induced dissolution/ reprecipitation is the principal cause of Pb mobility. Attempts to model intracrystalline core-rim Pb zonations as diffusive transport are not legitimate unless genuine bell-shaped diffusion profiles in minerals can be documented, which happens only exceptionally. Monazite and zircon intra-grain age maps confirm that coupled dissolution-reprecipitation and retrogression reactions assisted by fluids control (Th+U)-Pb ages, not temperature. The chemical zonations observed in many (Th+U)-bearing mineral chronometers (e.g. monazite, allanite, xenotime, zircon) provide petrological constraints. Linking petrology with textures and the isotope record allows reconstructing entire segments of the P-T-A-X-D-t history of a rock and its geodynamic environment. The dearth of mathematically sound diffusion profiles equally applies to the isotope record of micas and feldspars. The tight link between petrology, microtextures, chemical composition and geochronology also pertains to Rb-Sr and K-Ar. Overdetermined multi-mineral Rb-Sr isochrons with excess scatter, and spatially resolved/stepwise release 39Ar-40Ar results, demonstrate ubiquitous correspondence between relict phases and isotopic inheritance. Many rock-forming minerals are highly retentive of Sr and Ar, unless they are obliterated by retrograde reactions. The rates of dissolution in fluid-controlled reactions are several orders of magnitude faster at upper and mid-crustal levels than diffusive reequilibration rates. Thus, as a rule Rb-Sr and K-Ar chronometers date their own formation. Accurately establishing P-T paths of monometamorphic rocks requires assessing petrologic equilibrium using multivariate thermodynamic software. Dating complex parageneses of polymetamorphic, unequilibrated rocks requires labor-intensive disentangling by: (i) qualitative identification of relicts, retrogression reactions, and chemically open systems by imaging techniques (e.g. cathodoluminescence, element maps, etc.); (ii) microchemical analyses at the µm-scale quantifying heterochemical disequilibrium phases and assigning them to a P-T-A-X segment; (iii) spatially resolved/stepwise release, relating the chemical signature of the analyzed mineral to its age. K-Ar and Rb-Sr usually provide a different perspective on the P-T evolution of a rock than does (Th+U)-Pb, as K+Rb-rich minerals (phyllosilicates and especially feldspars) mostly form later and react/dissolve faster in the retrograde path than U-rich accessory phases. The present paper reviews these general principles by means of well-understood examples, both successful and insuccessful in matching the independently known external constraints

An Ambient Agent Model for Monitoring and Analysing Dynamics of Complex Human Behaviour

In ambient intelligent systems, monitoring of a human could consist of more complex tasks than merely identifying whether a certain value of a sensor is above a certain threshold. Instead, such tasks may involve monitoring of complex dynamic interactions between human and environment. In order to enable such more complex types of monitoring, this paper presents a generic agent-based framework. The framework consists of support on various levels of system design, namely: (1) the top level, including the interaction between agents, (2) the agent level, providing support on the design of individual agents, and (3) the level of monitoring complex dynamic behaviour, allowing the specification of the aforementioned complex monitoring properties within the agents. The approach is exemplified by a large case study concerning the assessment of driving behaviour, and is applied to two smaller cases as well (concerning fall detection of elderly, and assistance of naval operations, respectively), which are briefly described. These case studies have illustrated that the presented framework enables developers within ambient intelligence to build systems with more expressiveness regarding their monitoring focus. Moreover, they have shown that the framework is easy to use and applicable in a wide variety of domains. © 2011 - IOS Press and the authors. All rights reserved

Dynamical controls on the longevity of a non-linear vortex : The case of the Lofoten Basin Eddy

The Lofoten Basin is the largest oceanic reservoir of heat in the Nordic Seas, and the site of important heat fluxes to the atmosphere. An intense permanent anticyclone in the basin impacts the regional hydrography, energetics, and ecosystem. Repeated sampling of this Lofoten Basin Eddy from dedicated cruises, autonomous profiling gliders, and acoustically-tracked subsurface floats enables the documentation of its dynamics and energetics over the course of 15 months. The eddy core, in nearly solid-body rotation, exhibits an unusually low vertical vorticity close to the local inertial frequency and important strain rates at the periphery. Subsurface floats as deep as 800 m are trapped within the core for their entire deployment duration (up to 15 months). The potential vorticity is reduced in the core by two orders of magnitude relative to the surroundings, creating a barrier. In the winter, this barrier weakens and lateral exchanges and heat flux between the eddy and the surroundings increase, apparently the result of dynamical instabilities and a possible eddy merger. Based on a simple energy budget, the dissipation timescale for the eddy energy is three years, during which wintertime convection seasonally modulates potential and kinetic energy.publishedVersio