Registration of Sub-Sequence and Multi-Camera Reconstructions for Camera Motion Estimation

This paper presents different application scenarios for which the registration of sub-sequence reconstructions or multi-camera reconstructions is essential for successful camera motion estimation and 3D reconstruction from video. The registration is achieved by merging unconnected feature point tracks between the reconstructions. One application is drift removal for sequential camera motion estimation of long sequences. The state-of-the-art in drift removal is to apply a RANSAC approach to find unconnected feature point tracks. In this paper an alternative spectral algorithm for pairwise matching of unconnected feature point tracks is used. It is then shown that the algorithms can be combined and applied to novel scenarios where independent camera motion estimations must be registered into a common global coordinate system. In the first scenario multiple moving cameras, which capture the same scene simultaneously, are registered. A second new scenario occurs in situations where the tracking of feature points during sequential camera motion estimation fails completely, e.g., due to large occluding objects in the foreground, and the unconnected tracks of the independent reconstructions must be merged. In the third scenario image sequences of the same scene, which are captured under different illuminations, are registered. Several experiments with challenging real video sequences demonstrate that the presented techniques work in practice.

Antarctic Climate Change and the Environment

The Antarctic climate system varies on timescales from orbital, through millennial to sub-annual, and is closely coupled to other parts of the global climate system. We review these variations from the perspective of the geological and glaciological records and the recent historical period from which we have instrumental data (similar to the last 50 years). We consider their consequences for the biosphere, and show how the latest numerical models project changes into the future, taking into account human actions in the form of the release of greenhouse gases and chlorofluorocarbons into the atmosphere. In doing so, we provide an essential Southern Hemisphere companion to the Arctic Climate Impact Assessment.

Passively Track WiFi Users with an Enhanced Particle Filter using Power-based Ranging

Passive positioning systems produce user location information for third-party providers of positioning services. Since the tracked wireless devices do not participate in the positioning process, passive positioning can only rely on simple, measurable radio signal parameters, such as timing or power information. In this work, we provide a passive tracking system for WiFi signals with an enhanced particle filter using fine-grained power-based ranging. Our proposed particle filter provides an improved likelihood function on observation parameters and is equipped with a modified coordinated turn model to address the challenges in a passive positioning system. The anchor nodes for WiFi signal sniffing and target positioning use software defined radio techniques to extract channel state information to mitigate multipath effects. By combining the enhanced particle filter and a set of enhanced ranging methods, our system can track mobile targets with an accuracy of 1.5m for 50% and 2.3m for 90% in a complex indoor environment. Our proposed particle filter significantly outperforms the typical bootstrap particle filter, extended Kalman filter and trilateration algorithms.

Pleistocene chronology of sediments from the Lomonosov Ridge

Despite its importance in the global climate system, age-calibrated marine geologic records reflecting the evolution of glacial cycles through the Pleistocene are largely absent from the central Arctic Ocean. This is especially true for sediments older than 200 ka. Three sites cored during the Integrated Ocean Drilling Program's Expedition 302, the Arctic Coring Expedition (ACEX), provide a 27 m continuous sedimentary section from the Lomonosov Ridge in the central Arctic Ocean. Two key biostratigraphic datums and constraints from the magnetic inclination data are used to anchor the chronology of these sediments back to the base of the Cobb Mountain subchron (1215 ka). Beyond 1215 ka, two best fitting geomagnetic models are used to investigate the nature of cyclostratigraphic change. Within this chronology we show that bulk and mineral magnetic properties of the sediments vary on predicted Milankovitch frequencies. These cyclic variations record "glacial" and "interglacial" modes of sediment deposition on the Lomonosov Ridge as evident in studies of ice-rafted debris and stable isotopic and faunal assemblages for the last two glacial cycles and were used to tune the age model. Potential errors, which largely arise from uncertainties in the nature of downhole paleomagnetic variability, and the choice of a tuning target are handled by defining an error envelope that is based on the best fitting cyclostratigraphic and geomagnetic solutions.

Radiocarbon ages and diatom isotope data for Lake El'gygytgyn sediment core Lz1029

Determining the response of sites within the Arctic Circle to long-term climatic change remains an essential pre-requisite for assessing the susceptibility of these regions to future global warming and Arctic amplification. To date, existing records from North East Russia have demonstrated significant spatial variability across the region during the late Quaternary. Here we present diatom d18O and d30Si data from Lake El'gygytgyn, Russia, and suggest environmental changes that would have impacted across West Beringia from the Last Glacial Maximum to the modern day. In combination with other records, the results raise the potential for climatic teleconnections to exist between the region and sites in the North Atlantic. The presence of a series of 2-3 per mil decreases in d18Odiatom during both the Last Glacial and the Holocene indicates the sensitivity of the region to perturbations in the global climate system. Evidence of an unusually long Holocene thermal maximum from 11.4 ka BP to 7.6 ka BP is followed by a cooling trend through the remainder of the Holocene in response to changes in solar insolation. This is culminated over the last 900 years by a significant decrease in d18Odiatom of 2.3 per mil, which may be related to a strengthening and easterly shift of the Aleutian Low in addition to possible changes in precipitation seasonality.

Larcform 1 - single column model intercomparison of Arctic air formation, link to model results in NetCDF format

Weather and climate models struggle to represent lower tropospheric temperature and moisture profiles and surface fluxes in Arctic winter, not least because they lack or misrepresent physical processes that are specific to high latitudes. The Arctic boundary layer in winter has been observed to be in either a radiatively clear or cloudy state: The radiatively clear state is characterized by strong surface radiative cooling leading to the build-up of surface-based temperature inversions, whereas the cloudy state occurs when cloud liquid water is present in the atmospheric column, allowing little or no surface radiative cooling and leading to weaker and typically elevated temperature inversions. Many large-scale models have been shown to lack the cloudy state, and some do substantially underestimate stability in the clear state. We here present results from the first Lagrangian ARCtic air FORMation experiment (Larcform 1), a GASS (Global atmospheric system studies) single-column model intercomparison which reproduces these biases of large-scale models in an idealised setup.

Median grain size in ODP Sites 184-1143 and 184-1144

Monsoon climate is an important component of the global climatic system. A comprehensive understanding of its variability over glacial-interglacial time scales as well as of its effects on the continent and in the ocean is required to decipher links between climate, continental weathering and productivity. A detailed multiproxy study, including bulk and clay mineralogy, grain-size analysis, phosphorus geochemistry (SEDEX extraction), organic matter characterization, and nitrogen stable isotopes, was carried out on samples from ODP Sites 1143 and 1144 (Leg 184, South China Sea), covering the past 140 000 years. We tentatively reconstruct the complex sedimentation and climatic history of the region during the last glacial-interglacial cycle, when sea-level variations, linked to the growth and melting of ice caps, interact with monsoon variability. During interglacial periods of high sea level, summer monsoon was strong, and humid and warm climate characterized the adjacent continent and islands. Clay minerals bear signals of chemical weathering during these intervals. High calcite and reactive phosphorus mass accumulation rates (MARs) indicate high productivity, especially in the southern region of the basin. During glacial intervals, strong winter monsoon provided enhanced detrital input from the continent, as indicated by high detrital MAR. Glacial low sea level resulted in erosion of sediments from the exposed Sunda shelf to the south, and clay mineral variations indicate that warm and humid conditions still prevailed in the southern tropical areas. Enhanced supply of nutrients from the continent, both by river and eolian input, maintained high primary productivity. Reduced circulation during these periods possibly induced active remobilization of nutrients, such as phosphorus, from the sediments. Intense and short cold periods recorded during glacial and interglacial stages correlate with loess records in China and marine climatic records in the North Atlantic, confirming a teleconnection between low- and high-latitude climate variability.

High-resolution IP25 of three sediment cores in the western North Pacific and Bering Sea

Due to its strong influence on heat and moisture exchange between the ocean and the atmosphere, sea ice is an essential component of the global climate system. In the context of its alarming decrease in terms of concentration, thickness and duration, understanding the processes controlling sea-ice variability and reconstructing paleo-sea-ice extent in polar regions have become of great interest for the scientific community. In this study, for the first time, IP25, a recently developed biomarker sea-ice proxy, was used for a high-resolution reconstruction of the sea-ice extent and its variability in the western North Pacific and western Bering Sea during the past 18,000 years. To identify mechanisms controlling the sea-ice variability, IP25 data were associated with published sea-surface temperature as well as diatom and biogenic opal data. The results indicate that a seasonal sea-ice cover existed during cold periods (Heinrich Stadial 1 and Younger Dryas), whereas during warmer intervals (Bølling-Allerød and Holocene) reduced sea ice or ice-free conditions prevailed in the study area. The variability in sea-ice extent seems to be linked to climate anomalies and sea-level changes controlling the oceanographic circulation between the subarctic Pacific and the Bering Sea, especially the Alaskan Stream injection though the Aleutian passes.

Megnetic susceptibility of a subtropical South Atlantic transect

The Mid-Pleistocene transition (MPT) of the global climate system, initiated by a shift towards much larger northern hemisphere ice shields at around 920 ka and ending with predominance of 100 kyr ice age cyclicity since about 640 ka, is one of the fundamental enigmas in Quaternary climate evolution. Climate proxy records not exclusively linked to global ice volume are necessary to advance understanding of the MPT. Here we present a high-resolution Pleistocene magnetic susceptibility time series of 12 sediment cores from the subtropical South Atlantic essentially reflecting dissolution driven variations in carbonate accumulation controlled by changes in deep water circulation. In addition to characteristics known from delta18O records, the data sets reveal three remarkable features intimately related to the MPT: (1) an all-Pleistocene minimum of carbonate accumulation in the South Atlantic at 920 ka, (2) a MPT interim state of reduced carbonate deposition, indicating that the MPT period may have been a discrete state of the Pleistocene deep water circulation and climate system and (3) a terminal MPT event at around 540-530 ka documented in several peculiarities such as thick laminated layers of the giant diatom Ethmodiscus rex.

Sedimentology and Nd isotope ratios of sediment core PS72/410-1

The freshwater budget of the Arctic Ocean is a key component governing the deep water formation in the North Atlantic and the global climate system. We analyzed the isotopic composition of neodymium (epsilon-Nd) in authigenic phases of marine sediments on the Mendeleev Ridge in the western Arctic Ocean spanning an estimated time interval from present to about 75 ka BP. This continuous record was used to reconstruct the epsilon-Nd of the polar deep water (PDW) and changes in freshwater sources to the PDW through time. Three deviations in epsilon-Nd from a long term average of -10.2 were identified at estimated 46-51, 35-39 and 13-21 ka BP. The estimated 46-51 ka BP event can be traced to bursting of ice-dammed lakes accompanying the collapse of the Barents-Kara Ice Sheet, which would have released radiogenic Nd to the eastern Arctic Ocean. The cyclonic surface circulation in the eastern Arctic Ocean must have been stronger than at present for the event to be recorded on the Mendeleev Ridge. For the 35-39 and 13-21 ka BP events, it is likely that the Laurentide Ice Sheet (LIS) supplied the unradiogenic freshwater. The configuration of the anticyclonic circulation in the western Arctic was probably similar to today or expanded eastward. Our simple mass balance calculations suggest that large amounts of freshwater were released but due to significant deep water formation within the Arctic Ocean, the effect on the formation of NADW was probably minor.

Study of the fronts of Johnsons and Hurd Glaciers (Livingston Island, Antarctica) from 1957 to 2013, with links to shapefiles

The study of glacier fronts combines different geomatics measurement techniques as the classic survey using total station or theodolite, technical GNSS (Global Navigation Satellite System), using laser-scanner or using photogrammetry (air or ground). The measure by direct methods (classical surveying and GNSS) is useful and fast when accessibility to the glaciers fronts is easy, while it is practically impossible to realize, in the case of glacier fronts that end up in the sea (tide water glaciers). In this paper, a methodology that combines photogrammetric methods and other techniques for lifting the front of the glacier Johnsons, inaccessible is studied. The images obtained from the front, come from a non-metric digital camera; its georeferencing to a global coordinate system is performed by measuring points GNSS support in accessible areas of the glacier front side and applying methods of direct intersection in inaccessible points of the front, taking measurements with theodolite. The result of observations obtained were applied to study the temporal evolution (1957-2014) of the position of the Johnsons glacier front and the position of the Argentina, Las Palmas and Sally Rocks lobes front (Hurd glacier).

Export Restrictions in relation to Extractive Industries

A new E15 Think Piece by Ilaria Espa produced under the E15Initiative (E15). Implemented jointly by the International Centre for Trade and Sustainable Development (ICTSD) and the World Economic Forum, the E15 convenes world-class experts and institutions to generate strategic analysis and recommendations for government, business and civil society geared towards strengthening the global trade system. This paper considers concrete policy options to better regulate the use of export restrictions in relation to extractive industries. It briefly describes recent trends in the use of export restrictions on mineral and energy resources. It gives an account of the main shortcomings in the WTO legal treatment of export restrictions. It accordingly discusses possible avenues for reforming existing WTO disciplines in the interest of secure access to supplies, while still taking into account the need to preserve some policy space for host countries to use such measures as legitimate development tools.

To fuse or not to fuse? Assessing the case for convergent disciplines on goods and services trade

Think piece by Pierre Sauvé for the E15 Initiative on Strengthening the Global Trade System In his latest essay for the ICTSD-World Economic Forum E15 initiative on Strengthening the Global Trade and Investment System for Sustainable Development, WTI Director of External Programmes and Academic Partnerships and faculty member Pierre Sauvé explores the case for fusing the law of goods with that of services in a world of global value chains. The paper does so by directing attention to the questions of whether the current architectures of multilateral and preferential trade governance are compatible with a world of trade in tasks; whether the existing rules offer globally active firms a coherent structure for doing business in a predictable environment; whether it is feasible to redesign the structure and content of existing trade rules to align them to the reality of production fragmentation; and what steps can be envisaged to better align policy and realities in the marketplace if the prospects for restructuring appear unfavourable. The paper argues that fusing trade disciplines for goods and services is neither needed nor feasible and may actually deflect attention from a number of worthwhile policy initiatives where more realistic (if never easily secured) prospects of generic rule-making may well exist.

Arquitectura cognitiva basada en el gradiente sensorial y su aplicación a la robótica móvil

El objetivo de esta tesis es el desarrollo de un sistema completo de navegación, aprendizaje y planificación para un robot móvil. Dentro de los innumerables problemas que este gran objetivo plantea, hemos dedicado especial atención al problema del conocimiento autónomo del mundo. Nuestra mayor preocupación ha sido la de establecer mecanismos que permitan, a partir de información sensorial cruda, el desarrollo incremental de un modelo topológico del entorno en el que se mueve el robot. Estos mecanismos se apoyan invariablemente en un nuevo concepto propuesto en esta tesis: el gradiente sensorial. El gradiente sensorial es un dispositivo matemático que funciona como un detector de sucesos interesantes para el sistema. Una vez detectado uno de estos sucesos, el robot puede identificar su situación en un mapa topológico y actuar en consecuencia. Hemos denominado a estas situaciones especiales lugares sensorialmente relevantes, ya que (a) captan la atención del sistema y (b) pueden ser identificadas utilizando la información sensorial. Para explotar convenientemente los modelos construidos, hemos desarrollado un algoritmo capaz de elaborar planes internalizados, estableciendo una red de sugerencias en los lugares sensorialmente relevantes, de modo que el robot encuentra en estos puntos una dirección recomendada de navegación. Finalmente, hemos implementado un sistema de navegación robusto con habilidades para interpretar y adecuar los planes internalizados a las circunstancias concretas del momento. Nuestro sistema de navegación está basado en la teoría de campos de potencial artificial, a la que hemos incorporado la posibilidad de añadir cargas ficticias como ayuda a la evitación de mínimos locales. Como aportación adicional de esta tesis al campo genérico de la ciencia cognitiva, todos estos elementos se integran en una arquitectura centrada en la memoria, lo que pretende resaltar la importancia de ésta en los procesos cognitivos de los seres vivos y aporta un giro conceptual al punto de vista tradicional, centrado en los procesos. The general objective of this thesis is the development of a global navigation system endowed with planning and learning features for a mobile robot. Within this general objective we have devoted a special effort to the autonomous learning problem. Our main concern has been to establish the necessary mechanisms for the incremental development of a topological model of the robot’s environment using the sensory information. These mechanisms are based on a new concept proposed in the thesis: the sensory gradient. The sensory gradient is a mathematical device which works like a detector of “interesting” environment’s events. Once a particular event has been detected the robot can identify its situation in the topological map and to react accordingly. We have called these special situations relevant sensory places because (a) they capture the system’s attention and (b) they can be identified using the sensory information. To conveniently exploit the built-in models we have developed an algorithm able to make internalized plans, establishing a suggestion network in the sensory relevant places in such way that the robot can find at those places a recommended navigation direction. It has been also developed a robust navigation system able to navigate by means of interpreting and adapting the internalized plans to the concrete circumstances at each instant, i.e. a reactive navigation system. This reactive system is based on the artificial potential field approach with the additional feature introduced in the thesis of what we call fictitious charges as an aid to avoid local minima. As a general contribution of the thesis to the cognitive science field all the above described elements are integrated in a memory-based architecture, emphasizing the important role played by the memory in the cognitive processes of living beings and giving a conceptual turn in the usual process-based approach.