3D plane-based egomotion for SLAM on semi-structured environment

Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment.

Structured carbons as supports for hydrogenation hybrid catalysts prepared by the immobilization of a Rh diamine complex

A CNF-monolith sample (carbon nanofibres grown on a ceramic monolith), and a granular carbon xerogel have been used as supports for hybrid catalysts where the active species is an Rh diamine complex. The advantages of these supports are their open porous structure and their morphology, which make catalyst handling easier and avoid difficult separation processes. The obtained catalysts are noticeably more active than the homogeneous Rh complex and are stable against leaching. At first use, partial reduction of the Rh complex takes place and nanometer-sized Rh particles develop, which increases the catalyst activity. Despite the open porous structure, mass transport limitations are present, especially in the case of the carbon xerogel based catalyst. Differences in internal mass transfer limitations are essentially due to the different diffusional path lengths.