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.

CIMBNC- Combination and interactions of three kinds of nanoclays structural modifiers, for the colored bio-nanocomposites optimization

Biopolymers do not have competitive prices, which has prevented their industrial exploitation on a global scale so far. In this context, Using nanoclays, improvements in certain biopolymer properties, mainly mechanical and thermal, have been achieved. However, research has been much less focused on changing optical properties through the incorporation of nanoclays. At the same time, current research has focused on obtaining nanopigments, by organic dyes adsoptions into different nanoclays in order to achieve sustainable colouring and high performance materials. By combining advances in these lines of research, biodegradable composites with optimal mechanical and optical properties can be obtained. The aim of this work is to find the optimal formulation of naturally sourced nanopigments, incorporate them into a biological origin epoxy resin, and obtain a significant improvement in their mechanical, and optical properties. We combine three structural modifiers in the nanopigment synthesis: surfactant, silane and mordant salt. The latter was selected in order to replicate the mordant textile dyeing with natural dyes. Using a Taguchi’s desing L8, we look for the effect of the presence of the modifiers, the pH acidification, and the interactions effect between the synthesis factors. Three natural dyes were selected: chlorophyll, beta-carotene, and beetroot extract. Furthermore we use two kinds of laminar nanoclays, differentiated by the ion exchange charge: montmorillonite, and hydrotalcite. Then the thermal, mechanical and colorimetric characterization of the bionanocomposite materials was carried out. The optimal conditions to obtain the best bionanocomposite materials are using acid pH, and modifying the nanoclays with mordant and surfactant.

Ziphodont crocodiles, Pristichampsus vorax (Troxell), new combination, from the Eocene of North America / Wann Langston, Jr. --.

v.33:no.16(1975)

Spatial distribution patterns of ascidians (Ascidiacea: Tunicata) in combination with information on bathymetry, oceanography, chlorophyll-a, and sea-ice on the continental shelves off the northern Antarctic Peninsula during POLARSTERN cruise ANT-XXIX/3

Ascidians (Ascidiacea: Tunicata) are sessile suspension feeders that represent dominant epifaunal components of the Southern Ocean shelf benthos and play a significant role in the pelagic-benthic coupling. Here, we report the results of a first study on the relationship between the distribution patterns of eight common and/or abundant (putative) ascidian species, and environmental drivers in the waters off the northern Antarctic Peninsula. During RV Polarstern cruise XXIX/3 (PS81) in January-March 2013, we used seabed imaging surveys along 28 photographic transects of 2 km length each at water depths from 70 to 770 m in three regions (northwestern Weddell Sea, southern Bransfield Strait and southern Drake Passage), differing in their general environmental setting, primarily oceanographic characteristics and sea-ice dynamics, to comparatively analyze the spatial patterns in the abundance of the selected ascidians, reliably to be identified in the photographs, at three nested spatial scales. At a regional (100-km) scale, the ascidian assemblages of the Weddell Sea differed significantly from those of the other two regions, whereas at an intermediate 10-km scale no such differences were detected among habitat types (bank, upper slope, slope, deep/canyon) on the shelf and at the shelf break within each region. These spatial patterns were superimposed by a marked small-scale (10-m) patchiness of ascidian distribution within the 2-km-long transects. Among the environmental variables considered in our study, a combination of water-mass characteristics, sea-ice dynamics (approximated by 5-year averages in sea-ice cover in the region of or surrounding the photographic stations), as well as the seabed ruggedness, was identified as explaining best the distribution patterns of the ascidians.

Comparison of California accident rates for single and double tractor-trailer combination trucks. Final report.

Federal Highway Administration, Washington, D.C.

The modern English verb-adverb combination /

Includes bibliographical references (p.[7]-8)

Safety criteria for longer combination vehicles. Final report.

Federal Highway Administration, Office of Safety and Traffic Operations Research and Development, McLean, Va.

Color in everyday : a manual for lay students, artisans and artists on the principles of color combination and color arrangement, and their applications in dress, home, business, the theatre and community play /

"The book has grown out of a course of lectures on 'Color and its applications, based on a study of Museum originals' given at the Metropolitan Museum of Art under the auspices of New York University."--Introd.

A guide to the selection, combination, and cooking of foods /

Some recipes include wine or liquor as ingredients.

Directory of combination export managers.

Section 1. Food, feed, and fertilizer.--section 2. Fuel.--section 3. Raw materials and semi-finished products.--section 4. Machinery and vehicles.--section 5. Miscellaneous and unclassified.

An assessment of the operational impact of the longer and wider combination vehicles on the geometry of diamond interchanges. Final report.

Texas State Department of Highways and Public Transportation, Austin

Longer combination vehicles: potential infrastructure impacts, productivity benefits, and safety concerns.

Mode of access: Internet.

Longer combination trucks: potential infrastructure impacts, productivity benefits, and safety concerns.

Mode of access: Internet.

Accounting in the furniture and woodworking industries, designed in combination with General factory accounting by the same author; to afford a definite standard of practice in the industries referred to in the title ...

Mode of access: Internet.