ORB-SLAM: a Versatile and Accurate Monocular SLAM System

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public.Comment: 17 pages. 13 figures. IEEE Transactions on Robotics, 2015. Project webpage (videos, code): http://webdiis.unizar.es/~raulmur/orbslam

Real-time Monocular Object SLAM

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live detections with a database of 500 3D objects. The two components work together and benefit each other: the SLAM algorithm accumulates information from the observations of the objects, anchors object features to especial map landmarks and sets constrains on the optimization. At the same time, objects partially or fully located within the map are used as a prior to guide the recognition algorithm, achieving higher recall. We evaluate our proposal on five real environments showing improvements on the accuracy of the map and efficiency with respect to other state-of-the-art techniques

Proximity effect in atomic-scaled hybrid superconductor/ferromagnet structures: crucial role of electron spectra

We study the influence of the configuration of the majority and minority spin subbands of electron spectra on the properties of atomic-scaled superconductor-ferromagnet S-F-S and F-S-F hybrid structures. At low temperatures, the S/F/S junction is either a 0 or junction depending on the energy shift between S and F materials and the anisotropy of the Fermi surfaces. We found that the spin switch effect in F/S/F system can be reversed if the minority spin electron spectra in F metal is of the hole-like type

Broadband acoustic measurement of an agar-based tissue mimicking material - a longitudinal study

Commercially available ultrasound quality assurance test phantoms rely upon the long-term acoustic stability of tissue-mimicking-materials (TMMs). The measurement of the acoustic properties can be technically challenging and it is important to ensure its stability. The standard technique is to film-wrap samples of TMM and to measure the acoustic properties in a water bath. In this study, a modified technique is proposed whereby the samples of TMM are measured in a preserving fluid that is intended to maintain their characteristics. The acoustic properties were evaluated using a broadband pulse-echo substitution technique over the frequency range of 4.5 – 50 MHz at 0, 6 and 12 months using both techniques. For both techniques, the measured mean values for the speed of sound and the attenuation were very similar and within the IEC recommended value. However, the results obtained using the proposed modified technique demonstrated greater stability over the 1-year period when compared with the results acquired using the standard technique

Axially symmetric membranes with polar tethers

Axially symmetric equilibrium configurations of the conformally invariant Willmore energy are shown to satisfy an equation that is two orders lower in derivatives of the embedding functions than the equilibrium shape equation, not one as would be expected on the basis of axial symmetry. Modulo a translation along the axis, this equation involves a single free parameter c.If c\ne 0, a geometry with spherical topology will possess curvature singularities at its poles. The physical origin of the singularity is identified by examining the Noether charge associated with the translational invariance of the energy; it is consistent with an external axial force acting at the poles. A one-parameter family of exact solutions displaying a discocyte to stomatocyte transition is described.Comment: 13 pages, extended and revised version of Non-local sine-Gordon equation for the shape of axi-symmetric membrane

RR Lyrae mode switching in globular cluster M 68 (NGC 4590)

D.M.B. acknowledges NPRP grant # X-019-1-006 from the Qatar National Research Fund (a member of Qatar Foundation). A.A.F. acknowledges the support of DGAPA-UNAM through project IN106615-17.We build on our detailed analysis of time-series observations of the globular cluster M 68 to investigate the irregular pulsational behaviour of four of the RR Lyrae stars in this cluster. M 68 is one of only two globular clusters in which mode switching of RR Lyrae stars has previously been reported. We discuss one additional case, as well as a case of irregular behaviour, and we briefly revisit the two previously reported cases with a homogeneous analysis. We find that in 2013, V45 was pulsating in the first-overtone mode alone, despite being previously reported as a double-mode (fundamental and first overtone) pulsator in 1994, and that the amplitude of the fundamental mode in V7 is increasing with time. We also suggest that V21 might not have switched pulsation modes as previously reported, although the first overtone seems to be becoming less dominant. Finally, our analysis of available archival data confirms that V33 lost a pulsation mode between 1950 and 1986.Publisher PDFPeer reviewe

Herschel Far-Infrared and Sub-millimeter Photometry for the KINGFISH Sample of Nearby Galaxies

New far-infrared and sub-millimeter photometry from the Herschel Space Observatory is presented for 61 nearby galaxies from the Key Insights on Nearby Galaxies: A Far-Infrared Survey with Herschel (KINGFISH) sample. The spatially-integrated fluxes are largely consistent with expectations based on Spitzer far-infrared photometry and extrapolations to longer wavelengths using popular dust emission models. Dwarf irregular galaxies are notable exceptions, as already noted by other authors, as their 500um emission shows evidence for a sub-millimeter excess. In addition, the fraction of dust heating attributed to intense radiation fields associated with photo-dissociation regions is found to be (21+/-4)% larger when Herschel data are included in the analysis. Dust masses obtained from the dust emission models of Draine & Li are found to be on average nearly a factor of two higher than those based on single-temperature modified blackbodies, as single blackbody curves do not capture the full range of dust temperatures inherent to any galaxy. The discrepancy is largest for galaxies exhibiting the coolest far-infrared colors.Comment: Accepted for publication in Ap

A Detailed Study of the Radio--FIR Correlation in NGC6946 with Herschel-PACS/SPIRE from KINGFISH

We derive the distribution of the synchrotron spectral index across NGC6946 and investigate the correlation between the radio continuum (synchrotron) and far-infrared (FIR) emission using the KINGFISH Herschel PACS and SPIRE data. The radio--FIR correlation is studied as a function of star formation rate, magnetic field strength, radiation field strength, and the total gas surface brightness. The synchrotron emission follows both star-forming regions and the so-called magnetic arms present in the inter-arm regions. The synchrotron spectral index is steepest along the magnetic arms ($\alpha_n \sim 1$), while it is flat in places of giant H{\sc ii} regions and in the center of the galaxy ($\alpha_n \sim 0.6-0.7$). The map of $\alpha_n$ provides an observational evidence for aging and energy loss of cosmic ray electrons propagating in the disk of the galaxy. Variations in the synchrotron--FIR correlation across the galaxy are shown to be a function of both star formation and magnetic fields. We find that the synchrotron emission correlates better with cold rather than with warm dust emission, when the interstellar radiation field is the main heating source of dust. The synchrotron--FIR correlation suggests a coupling between the magnetic field and the gas density. NGC6946 shows a power-law behavior between the total (turbulent) magnetic field strength B and the star formation rate surface density $\Sigma_{\rm SFR}$ with an index of 0.14\,(0.16)$\pm$0.01. This indicates an efficient production of the turbulent magnetic field with the increasing gas turbulence expected in actively star forming regions. The scale-by-scale analysis of the synchrotron--FIR correlation indicates that the ISM affects the propagation of old/diffused cosmic ray electrons, resulting in a diffusion coefficient of $D_0=4.6\times 10^{28}$\,cm$^2$\,s$^{-1}$ for 2.2\,GeV CREs.Comment: 23 pages, 13 figures, accepted for publication in Astronomy & Astrophysics Journa

Search for CP Violation in the decays D+ -> K_S pi+ and D+ -> K_S K+

A high statistics sample of photo-produced charm from the FOCUS(E831) experiment at Fermilab has been used to search for direct CP violation in the decays D+->K_S pi+ and D+ -> K_S K+. We have measured the following asymmetry parameters relative to D+->K-pi+pi+: A_CP(K_S pi+) = (-1.6 +/- 1.5 +/- 0.9)%, A_CP(K_S K+) = (+6.9 +/- 6.0 +/- 1.5)% and A_CP(K_S K+) = (+7.1 +/- 6.1 +/- 1.2)% relative to D+->K_S pi+. The first errors quoted are statistical and the second are systematic. We also measure the relative branching ratios: \Gamma(D+->\bar{K0}pi+)/\Gamma(D+->K-pi+pi+) = (30.60 +/- 0.46 +/- 0.32)%, \Gamma(D+->\bar{K0}K+)/\Gamma(D+->K-pi+pi+) = (6.04 +/- 0.35 +/- 0.30)% and \Gamma(D+->\bar{K0}K+)/\Gamma(D+->\bar{K0}pi+) = (19.96 +/- 1.19 +/- 0.96)%.Comment: 4 pages, 3 figure

New FOCUS results on charm mixing and CP violation

We present a summary of recent results on CP violation and mixing in the charm quark sector based on a high statistics sample collected by photoproduction experiment FOCUS (E831 at Fermilab). We have measured the difference in lifetimes for the $D^0$ decays: $D^0 \to K^-\pi^+$ and $D^0 \to K^-K^+$. This translates into a measurement of the $y_{CP}$ mixing parameter in the \d0d0 system, under the assumptions that $K^-K^+$ is an equal mixture of CP odd and CP even eigenstates, and CP violation is negligible in the neutral charm meson system. We verified the latter assumption by searching for a CP violating asymmetry in the Cabibbo suppressed decay modes $D^+ \to K^-K^+\pi^+$, $D^0 \to K^-K^+$ and $D^0 \to \pi^-\pi^+$. We show preliminary results on a measurement of the branching ratio $\Gamma(D^{*+}\to \pi^+ (K^+\pi^-))/\Gamma(D^{*+}\to \pi^+ (K^-\pi^+))$.Comment: 9 pages, 6 figures, requires espcrc2.sty. Presented by S.Bianco at CPConf2000, September 2000, Ferrara (Italy). In this revision, fixed several stylistic flaws, add two significant references, fixed a typo in Tab.