A robust solution to the stereo-vision-based simultaneous localization and mapping problem with steady and moving landmarks

The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using recently developed ideas and algorithms from modern robust control and estimation theory. A nonlinear model for a stereo-vision-based sensor is derived that leads to nonlinear measurements of the landmark coordinates along with optical flow-based measurements of the relative robot-landmark velocity. Using a novel analytical measurement transformation, the nonlinear SLAM problem is converted into the linear domain and solved using a robust linear filter. Actually, the linear filter is guaranteed stable and the SLAM state estimation error is bounded within an ellipsoidal set. A mathematically rigorous stability proof is given that holds true even when the landmarks move in accordance with an unknown control input. No similar results are available for the commonly employed extended Kalman filter, which is known to exhibit divergence and inconsistency characteristics in practice. A number of illustrative examples are given using both simulated and real vision data that further validate the proposed method.

Mapping landscape features and values in coastal Australia

Places encompass the physical setting, as well as human experience and interpretation. Although sense of place definition nominally includes the physical environment, most research has emphasized the social construction of sense of place and neglect the important contribution of the physical environment to place meanings and attachment. On the other side, theoretical and technological developments during the past decades resulted in significant sophistication and power of analysis, display, and interpretation of spatial information applied in landscape analysis. This development, however, remains disconnected from the socio-political realities of the communities and regions which are the subject of these studies. There is a research need to integrate public perceptions and attitudes with the type of information typically found in a landscape assessment. A challenge of GIS is whether or not Cartesian space can be adapted to incorporate a more humanistic sense and understanding of distance, direction, and position.

Physical prototypes in cross-functional team collaboration : a study of the Model-T2 concept car project

Virtual and physical prototypes play a significant role in the design of artifacts. This is particularly true in cross-functional team collaboration, where diverse disciplines come together to contribute to the concept, design and development of an artifact. While the role of prototyping in design and cross-functional collaboration has been widely studied independently, little is known of the role that physical prototypes play during cross-functional team collaboration. This paper reports on a study of virtual and physical prototyping strategies used by a cross-functional team comprising engineers and designers working on a concept car project. The paper provides a background of the collaborative design process and details the role of physical prototyping methods during the design of the concept car.

Better access to mental health : mapping the evidence supporting participation in meaningful occupations

Introduction: The purpose of this scoping and mapping project is to assess evidence for the use of focused psychological strategies (FPS) under the Better Access to Mental Health (BAMH) scheme to enable people with mental health problems to increase their functional performance and to participate in meaningful occupations. In particular, it aims to provide an accessible summary of evidence for practitioners who use FPS with their clients.

Methods: Evidence scoping and mapping is a relatively new technique, used to provide an overview of key findings in an area of practice. A five stage process of scoping and mapping was used in this project.

Results: A total of 81 studies which addressed the use of focused psychological strategies to promote functional performance and participation in meaningful occupations were found. Surprisingly, only three were published in occupational therapy journals with one further article being authored by occupational therapists. Three maps are provided showing this evidence by diagnosis, intervention and level of evidence.

Conclusion: Clinicians can say with some confidence that cognitive behavioural therapies are effective functional tools, particularly when working with people with depression or schizophrenia. They can also be confident that good quality evidence exists across a range of diagnoses, although there are many gaps where little to no research has been conducted. Suggestions for further research are provided which take into account the findings of these maps.

Seafloor mapping data, Victoria

The collection includes three major data types

- Seafloor structure information: Collation of seafloor structure information (bathymetry and softness hardness) collected using multibeam sonar systems as part of the Victorian Marine Habitat Mapping Project and bathymetric light detection and ranging data (LiDAR) collected as part of the future coats program. The geographic is Victorian State waters (~1400km2 multibeam sonar & ~4000 km2 for LiDAR as of 2012

- Video information: ~800 linear kilometres of precisely georeferenced towed video data from depths of 10-100m in Victorian coastal waters. 300 baited stereo video drops in Hopkins and Discovery Bay site locations. All video has been classified to the lowest taxonomic resolution possible with the video systems employed and converted to spatial data layers in the GIS environment.

- Habitat maps: Predicted habitat models integrating seafloor structure and video information developed using classification algorithms and remote sensing technologies.

Using causal mapping to find new avenue for organizational fit research

Although organizational fit is strongly linked to important psychological outcomes such as motivation, satisfaction, turnover and performance, there is still a lot of confusion about definitions and conceptualizations of the construct. One reason for this is that fit researchers have almost exclusively conducted theory-driven nomothetic studies that have utilized varying approaches to the term. In this paper, we call for exploratory research that listens to how workers construct their own sense of fit and suggest that researchers should adopt idiographic data gathering techniques, coupled with nomothetic analysis tools, to do so. To enable this, we explain how fit researchers might use causal maps and thereby develop a stronger understanding of organizational fit that is grounded in how people conceive it.

Defining stress as a prelude to mapping its neurocircuitry : no help from allostasis

The way in which researchers conceptualise and thus define stress shapes the way in which they approach the task of mapping the brain's stress control pathways. Unfortunately, much of the research currently being done on stress neurocircuitry is occurring within a poorly developed conceptual framework, a framework that limits the depth of the questions that our studies ask, and even our ability to fully appreciate and make use of the data that they yield. Consequently, any attempt to improve our conceptual framework merits close attention. In that regard it is notable that in recent years it has been argued that the concept of homeostasis should be supplemented by the concepts of allostasis (literally ‘stability through change’) and allostatic load (in effect, the cost of allostasis). One of the purported benefits of this change has been that it will clarify the concept of stress. A close review of the arguments leads us to conclude that the introduction of the concept of allostasis has largely occurred as a result of misunderstandings and misapprehensions concerning the concept of homeostasis. In terms of understanding how the organism operates, it is not clear that the concepts of ‘allostasis’ or ‘allostatic load’ offer us anything that was not already apparent, or at least readily derivable, from an accurate reading of the original concept of homeostasis. Not surprisingly then, these more recently proposed concepts also offer little help in clarifying our understanding of stress. Indeed, rather than clarifying the concept of stress, the primary effort appears to be directed at subsuming the concept of stress within the concept of allostasis, which has the inadvertent effect of collapsing the study of homeostatic responses and stress responses together. This seems to be out of step with the fact that there is now considerable evidence that the brain does indeed possess certain pathways that merit the title of ‘stress neurocircuitry’. The attempt to subsume the concept of stress within the concept of allostasis is also counter-productive in that it distracts stress researchers from the important task of developing conceptual frameworks that allow us to tackle fundamental issues such as how the organism differentiates stressful from non-stressful challenges.

Corner inlet and Nooramunga habitat mapping project

Deakin University and the University of Tasmania were commissioned by Parks Victoria (PV) to create two updated habitat maps for areas within the Corner Inlet and Nooramunga Marine and Coastal Park and Ramsar area. The team obtained a ground-truth data set using in situ video and still photographs. This dataset was used to develop and assess predictive models of benthic marine habitat distributions incorporating data from both ALOS (Advanced Land Observation Satellite) imagery atmospherically corrected by CSIRO and LiDAR (Light Detection and Ranging) bathymetry. This report describes the results of the mapping effort as well as the methodology used to produce these habitat maps.

Overall accuracies of habitat classifications were good, returning overall accuracies >73 % and kappa values > 0.62 for both study localities. Habitats predicted with highest accuracies included Zosteraceae in Nooramunga (91 %), reef in Corner Inlet (80 %), and bare sediment (no-visible macrobiota/no-visible seagrass classes; both > 76 %). The majority of classification errors were due to the misclassification of areas of sparse seagrass as bare sediment. For the Corner Inlet study locality the no-visible macrobiota (10,698 ha), Posidonia (4,608 ha) and Zosteraceae (4,229 ha) habitat classes covered the most area. In Nooramunga no-visible seagrass (5,538 ha), Zosteraceae (4,060 ha) and wet saltmarsh (1,562 ha) habitat classes were most dominant.

In addition to the commissioned work preliminary change detection analyses were undertaken as part of this project. These analyses indicated shifts in habitat extents in both study localities since the late 1990s/2000. In particular, a post-classification analysis highlighted that there were considerable increases in seagrass habitat (primarily Zosteraceae) throughout the littoral zones and river/creek mouths of both study localities. Further, the numerous channel systems remained stable and were free of seagrass at both times. A substantial net loss of Posidonia in the Corner Inlet locality is likely but requires further investigation due to potential misclassifications between habitats in both the 1998 map (Roob et al. 1998) and the current mapping. While the unsupervised Independent Components Analysis (ICA) change detection technique indicated some changes in habitat extent and distribution, considerable areas of habitat change observed in the post-classification approach are questionable, and may reflect misclassifications rather than real change. A particular example of this is an apparent large decrease in Zosteraceae and increase in Posidonia being related to the classification of Posidonia beds as Zosteraceae in the 1998 mapping. Despite this, we believe that changes indicated by both the ICA and post-classification approaches have a high likelihood of being ‘actual’ change. A pattern of gains and losses of Zosteraceae in the region north of Stockyard channel is an example of this. Further analyses and refinements of approaches in change detection analyses such as would improve confidence in the location and extent of habitat changes over this time period.

This work has been successful in providing new baseline maps using a repeatable method meaning that any future changes in intertidal and shallow water marine habitats may be assessed in a consistent way with quantitative error assessments. In wider use, these maps should also allow improved conservation planning, advance fisheries and catchment management, and progress infrastructure planning to limit impacts on the Inlet environment.