Contextual visual localization: cascaded submap classification, optimized saliency detection, and fast view matching

In this paper, we present a novel coarse-to-fine visual localization approach: contextual visual localization. This approach relies on three elements: (i) a minimal-complexity classifier for performing fast coarse localization (submap classification); (ii) an optimized saliency detector which exploits the visual statistics of the submap; and (iii) a fast view-matching algorithm which filters initial matchings with a structural criterion. The latter algorithm yields fine localization. Our experiments show that these elements have been successfully integrated for solving the global localization problem. Context, that is, the awareness of being in a particular submap, is defined by a supervised classifier tuned for a minimal set of features. Visual context is exploited both for tuning (optimizing) the saliency detection process, and to select potential matching views in the visual database, close enough to the query view.

Analysis of a metallic pedestrian bridge under dynamic human loads in pre and post reinforcement phases

The purpose of this work is to study the dynamic behavior of a pedestrian bridge in Alicante, Spain. It is a very slender footbridge with vertical and horizontal vibration problems during the passage of pedestrians. Accelerations have been recorded by accelerometers installed at various locations of the bridge. Two scenarios, in free vibration (after the passage of a certain number of pedestrians on the bridge) and forced vibration produced by a fixed number of pedestrians walking on the bridge at a certain speed and frequency. In each test, the effect on the comfort of the pedestrians, the natural frequencies of vibration, the mode shapes and damping factors have been estimated. It has been found that the acceleration levels are much higher than the allowable by the Spanish standards and this should be considered in the restoration of the footbridge.

Expression and cellular localization of the voltage-gated calcium channel α2δ3 in the rodent retina

High-voltage-activated calcium channels are hetero-oligomeric protein complexes that mediate multiple cellular processes, including the influx of extracellular Ca2+, neurotransmitter release, gene transcription, and synaptic plasticity. These channels consist of a primary α1 pore-forming subunit, which is associated with an extracellular α2δ subunit and an intracellular β auxiliary subunit, which alter the gating properties and trafficking of the calcium channel. The cellular localization of the α2δ3 subunit in the mouse and rat retina is unknown. In this study using RT-PCR, a single band at ∼305 bp corresponding to the predicted size of the α2δ3 subunit fragment was found in mouse and rat retina and brain homogenates. Western blotting of rodent retina and brain homogenates showed a single 123-kDa band. Immunohistochemistry with an affinity-purified antibody to the α2δ3 subunit revealed immunoreactive cell bodies in the ganglion cell layer and inner nuclear layer and immunoreactive processes in the inner plexiform layer and the outer plexiform layer. α2δ3 immunoreactivity was localized to multiple cell types, including ganglion, amacrine, and bipolar cells and photoreceptors, but not horizontal cells. The expression of the α2δ3 calcium channel subunit to multiple cell types suggests that this subunit participates widely in Ca-channel-mediated signaling in the retina.

Steel Pedestrian Bridge to Protect a Unique Tree

This paper describes the “Variation Guggenheim 3: Mirador de la palmera” project, situated in Daya Vieja (Alicante-Spain). This structure is inspired by the Guggenheim museum of New York and is designed to protect a land-mark palm-tree from wind loads. This six – trunk palm tree was declared monument by the Valencian government in 2012. The structure that now protect it appears to fly around de palm tree creating a helicoidally skywalk made of steel, while retrofitting the lateral trunks of the tree to protect them from collapse. An 18 m. long straight beam starts on the top of this helix, and stretches towards a lookout point that offers a view of the whole village and its surroundings. The reduction of the visual impact of the structure on the tree was a major aim for the project design. The structural elements are as slender as possible to avoid the visual obstruction of tree. They are painted white, while the walkway steel corrugated plate is painted green in order to highlight its neat shape among the blur created by the apparent mess of bars of the supporting structure. The two main piles of this pedestrian bridge were designed in steel and geometrically resemble trees. A Ground Penetrating Radar analysis was performed to detect the palm root location and to decide the best foundation system. Slender cast in-situ steel-concrete micropiles along with a concrete pile-cap, raised some centimeters above the ground level, were used to reduce the damage to the roots. The projected pile-cap is a slender, continuous, circular ring; which geometry resembles a concrete bench. This structure has been a finalist in the Architecture Awards for the 2010-2014 best construction projects, held by the Diputación de Alicante.

A Unique Prestressed Concrete Pedestrian Bridge in Spain

This paper describes the so-called Kiss Bridge. This structure resembles a kiss, a subtle touch of structures. The beams have been structurally designed to adapt the Japanese art of paper folding called "origami." The material used for constructing the floating beams is white reinforced concrete in the form of folded shells. The two geometrically different parts have distinct structural behaviors. The length of the main pathway of both structures is over 60 m. The pedestrian bridge crosses an artificial rainwater channel with a skew of 45° with respect to the referred channel. The joint between the cantilever structure and the Y-shaped one is located over the middle of the channel. Each stretch has different transversal sections. The pedestrian bridge is made with prestressed self-compacting reinforced concrete of 60 MPa. The foundation is shallow, comprising footings and footing beams made of 25 MPa conventional concrete. The cantilever structure with its foundations is designed as a semi-integral bridge whereas the Y-shaped one is an integral structure. The dynamic behavior of the structure was carefully studied to ensure that the dynamic loads generated by pedestrians do not cause excessive vibrations, especially to the cantilever structure, which could present dynamic interactions with the pedestrians walking. The bridge was recognized, in the 2014 edition of the fib Awards for Outstanding Concrete Structures, for having made a valuable contribution to the image and promotion of concrete structures.

Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.

Sub-Cellular Localization and Complex Formation by Aminoacyl-tRNA Synthetases in Cyanobacteria: Evidence for Interaction of Membrane-Anchored ValRS with ATP Synthase

tRNAs are charged with cognate amino acids by aminoacyl-tRNA synthetases (aaRSs) and subsequently delivered to the ribosome to be used as substrates for gene translation. Whether aminoacyl-tRNAs are channeled to the ribosome by transit within translational complexes that avoid their diffusion in the cytoplasm is a matter of intense investigation in organisms of the three domains of life. In the cyanobacterium Anabaena sp. PCC 7120, the valyl-tRNA synthetase (ValRS) is anchored to thylakoid membranes by means of the CAAD domain. We have investigated whether in this organism ValRS could act as a hub for the nucleation of a translational complex by attracting other aaRSs to the membranes. Out of the 20 aaRSs, only ValRS was found to localize in thylakoid membranes whereas the other enzymes occupied the soluble portion of the cytoplasm. To investigate the basis for this asymmetric distribution of aaRSs, a global search for proteins interacting with the 20 aaRSs was conducted. The interaction between ValRS and the FoF1 ATP synthase complex here reported is of utmost interest and suggests a functional link between elements of the gene translation and energy production machineries.

Variation Guggenheim 3. A Pedestrian Steel Structure

Pedestrian Unique Bridge in prestesed white concrete. Pilar de la Horadada. Alicante.

ViDRILO: The Visual and Depth Robot Indoor Localization with Objects information dataset

In this article we describe a semantic localization dataset for indoor environments named ViDRILO. The dataset provides five sequences of frames acquired with a mobile robot in two similar office buildings under different lighting conditions. Each frame consists of a point cloud representation of the scene and a perspective image. The frames in the dataset are annotated with the semantic category of the scene, but also with the presence or absence of a list of predefined objects appearing in the scene. In addition to the frames and annotations, the dataset is distributed with a set of tools for its use in both place classification and object recognition tasks. The large number of labeled frames in conjunction with the annotation scheme make this dataset different from existing ones. The ViDRILO dataset is released for use as a benchmark for different problems such as multimodal place classification and object recognition, 3D reconstruction or point cloud data compression.