Robust visual odometry using uncertainty models

In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work

Screening of the transcriptional regulatory regions of vascular endothelial growth factor receptor 2 (VEGFR2) in amyotrophic lateral sclerosis

Background Vascular endothelial growth factor (VEGF) has neurotrophic activity which is mediated by its main agonist receptor, VEGFR2. Dysregulation of VEGF causes motor neurone degeneration in a mouse model of amyotrophic lateral sclerosis (ALS), and expression of VEGFR2 is reduced in motor neurones and spinal cord of patients with ALS. Methods We have screened the promoter region and 4 exonic regions of functional significance of the VEGFR2 gene in a UK population of patients with ALS, for mutations and polymorphisms that may affect expression or function of this VEGF receptor. Results No mutations were identified in the VEGFR2 gene. We found no association between polymorphisms in the regulatory regions of the VEGFR2 gene and ALS. Conclusion Mechanisms other than genetic variation may downregulate expression or function of the VEGFR2 receptor in patients with ALS

Deep space network support of the manned space flight network for Apollo, volume 2 Technical memorandum, 1969 - 1970

Deep Space Network support activities for Apollo 9 through 13 flights and associated equipmen

Support Vector Machine classification of strong gravitational lenses

The imminent advent of very large-scale optical sky surveys, such as Euclid and LSST, makes it important to find efficient ways of discovering rare objects such as strong gravitational lens systems, where a background object is multiply gravitationally imaged by a foreground mass. As well as finding the lens systems, it is important to reject false positives due to intrinsic structure in galaxies, and much work is in progress with machine learning algorithms such as neural networks in order to achieve both these aims. We present and discuss a Support Vector Machine (SVM) algorithm which makes use of a Gabor filterbank in order to provide learning criteria for separation of lenses and non-lenses, and demonstrate using blind challenges that under certain circumstances it is a particularly efficient algorithm for rejecting false positives. We compare the SVM engine with a large-scale human examination of 100000 simulated lenses in a challenge dataset, and also apply the SVM method to survey images from the Kilo-Degree Survey.Comment: Accepted by MNRA

Why Do Granular Materials Stiffen with Shear Rate? : Test of Novel Stress-Based Statistics

Peer reviewedPublisher PD

The effects of estimation of censoring, truncation, transformation and partial data vectors

The purpose of this research was to attack statistical problems concerning the estimation of distributions for purposes of predicting and measuring assembly performance as it appears in biological and physical situations. Various statistical procedures were proposed to attack problems of this sort, that is, to produce the statistical distributions of the outcomes of biological and physical situations which, employ characteristics measured on constituent parts. The techniques are described

Self-Calibration of Cameras with Euclidean Image Plane in Case of Two Views and Known Relative Rotation Angle

The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said to have Euclidean image plane. In this paper, we propose a non-iterative self-calibration algorithm for a camera with Euclidean image plane in case the remaining three internal parameters --- the focal length and the principal point coordinates --- are fixed but unknown. The algorithm requires a set of $N \geq 7$ point correspondences in two views and also the measured relative rotation angle between the views. We show that the problem generically has six solutions (including complex ones). The algorithm has been implemented and tested both on synthetic data and on publicly available real dataset. The experiments demonstrate that the method is correct, numerically stable and robust.Comment: 13 pages, 7 eps-figure