Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments

Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. In order to effectively combine both types of features, their associated errors are weighted according to their covariance matrices, computed from the propagation of Gaussian distribution errors in the sensor measurements. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.

Pontic Influence In The Territory Of Present-Day Poland As Illustrated By Leafshaped Points Without A Marked Tang

This publication constitutes the fruits of National Science Centre research projects (grant no 2011/01/M/HS3/02142 – 6 articles) and the National Programme for the Development of the Humanities (grant no 0108/NPH3/H12/82/2014 – 3 articles). We would like to acknowledge and at the same time express our sincere gratitude for the generosity shown by the following at the Adam Mickiewicz University in making this publication possible: the Dean of the Department of History, Institute of Pre-history and the Eastern Institute.

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The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

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The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

A Ride-Sharing System with High Capacity Vehicles and Flexible Meeting Points

In many major cities, fixed route transit systems such as bus and rail serve millions of trips per day. These systems have people collect at common locations (the station or stop), and board at common times (for example according to a predetermined schedule or headway). By using common service locations and times, these modes can consolidate many trips that have similar origins and destinations or overlapping routes. However, the routes are not sensitive to changing travel patterns, and have no way of identifying which trips are going unserved, or are poorly served, by the existing routes. On the opposite end of the spectrum, personal modes of transportation, such as a private vehicle or taxi, offer service to and from the exact origin and destination of a rider, at close to exactly the time they desire to travel. Despite the apparent increased convenience to users, the presence of a large number of small vehicles results in a disorganized, and potentially congested road network during high demand periods. The focus of the research presented in this paper is to develop a system that possesses both the on-demand nature of a personal mode, with the efficiency of shared modes. In this system, users submit their request for travel, but are asked to make small compromises in their origin and destination location by walking to a nearby meeting point, as well as slightly modifying their time of travel, in order to accommodate other passengers. Because the origin and destination location of the request can be adjusted, this is a more general case of the Dial-a-Ride problem with time windows. The solution methodology uses a graph clustering algorithm coupled with a greedy insertion technique. A case study is presented using actual requests for taxi trips in Washington DC, and shows a significant decrease in the number of vehicles required to serve the demand.

Thermal reference points as an index for monitoring body temperature in marine mammals

BACKGROUND Monitoring body temperature is essential in veterinary care as minor variations may indicate dysfunction. Rectal temperature is widely used as a proxy for body temperature, but measuring it requires special equipment, training or restraining, and it potentially stresses animals. Infrared thermography is an alternative that reduces handling stress, is safer for technicians and works well for untrained animals. This study analysed thermal reference points in five marine mammal species: bottlenose dolphin (Tursiops truncatus); beluga whale (Delphinapterus leucas); Patagonian sea lion (Otaria flavescens); harbour seal (Phoca vitulina); and Pacific walrus (Odobenus rosmarus divergens). RESULTS The thermogram analysis revealed that the internal blowhole mucosa temperature is the most reliable indicator of body temperature in cetaceans. The temperatures taken during voluntary breathing with a camera held perpendicularly were practically identical to the rectal temperature in bottlenose dolphins and were only 1 °C lower than the rectal temperature in beluga whales. In pinnipeds, eye temperature appears the best parameter for temperature control. In these animals, the average times required for temperatures to stabilise after hauling out, and the average steady-state temperature values, differed according to species: Patagonian sea lions, 10 min, 31.13 °C; harbour seals, 10 min, 32.27 °C; Pacific walruses, 5 min, 29.93 °C. CONCLUSIONS The best thermographic and most stable reference points for monitoring body temperature in marine mammals are open blowhole in cetaceans and eyes in pinnipeds.

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The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

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The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.

Selling points

The South Carolina Education Lottery publishes a monthly newsletter for lottery retailers with information about new and ending games, success stories, profiles of game winners, events, and calendars.