Odometry and Low-Cost Sensor Fusion in Tmm Dataset

The aim of this study is to identify the most powerful motion model and filtering technique to represent an urban terrestrial mobile mapping (TMM) survey and ultimately to obtain the best representation of the car trajectory. The authors want to test how far a motion model and a more or less refined filtering technique could bring benefits in the determination of the car trajectory. To achieve the necessary data for the application of the motion models and the filtering techniques described in the article, the authors realized a TMM survey in the urban centre of Turin by equipping a vehicle with various instruments: a low-cost action-cam also able to record the GPS trace of the vehicle even in the presence of obstructions, an inertial measurement system and an odometer. The results of analysis show in the article indicate that the Unscented Kalman Filter (UKF) technique provides good results in the determination of the vehicle trajectory, especially if the motion model considers more states (such as the positions, the tangential velocity, the angular velocity, the heading, the acceleration). The authors also compared the results obtained with a motion model characterized by four, five and six states. A natural corollary to this work would be the introduction to the UKF of the photogrammetric information obtained by the same camera placed on board the vehicle. These data would permit to establish how photogrammetric measurements can improve the quality of TMM solutions, especially in the absence of GPS signals (like urban canyons)

Azathioprine in Myeloproliferative and Autoimmune Disorders

SummaryThe report presents the clinical results of treatment with Azathioprine 6 [(methyl-4-nitro-5-imidazolyl) thio] purine, in patients with acute leukaemia, the acute relapsing phase of chronic myelocytic leukaemia and in a group of patients affected by illness which have probably an autoimmune pathogenesis.Favorable results were obtained in the group of patients suffering from acute leukaemia with a percentage of clinical and/or haematological remission of 57%.A comparative analysis of the length of survival in these patients compared to that of a similar group of patients treated with 6-mercaptopurine is also reported.A fair response was also obtained in the group of patients in the acute relapsing phase of C.M.L.In the group of patients affected by diseases probably due to an immune pathogenesis, a favorable response was obtained in 2 cases of systemic lupus erithematosus with haemolytic anaemia and 1 case of acquired autoimmune haemolytic anaemia.</jats:p

ODOMETRY AND LOW-COST SENSOR FUSION IN TMM DATASET

The aim of this study is to identify the most powerful motion model and filtering technique to represent an urban terrestrial mobile mapping (TMM) survey and ultimately to obtain the best representation of the car trajectory. The authors want to test how far a motion model and a more or less refined filtering technique could bring benefits in the determination of the car trajectory. &amp;lt;br&amp;gt;&amp;lt;br&amp;gt; To achieve the necessary data for the application of the motion models and the filtering techniques described in the article, the authors realized a TMM survey in the urban centre of Turin by equipping a vehicle with various instruments: a low-cost action-cam also able to record the GPS trace of the vehicle even in the presence of obstructions, an inertial measurement system and an odometer. &amp;lt;br&amp;gt;&amp;lt;br&amp;gt; The results of analysis show in the article indicate that the Unscented Kalman Filter (UKF) technique provides good results in the determination of the vehicle trajectory, especially if the motion model considers more states (such as the positions, the tangential velocity, the angular velocity, the heading, the acceleration). The authors also compared the results obtained with a motion model characterized by four, five and six states. &amp;lt;br&amp;gt;&amp;lt;br&amp;gt; A natural corollary to this work would be the introduction to the UKF of the photogrammetric information obtained by the same camera placed on board the vehicle. These data would permit to establish how photogrammetric measurements can improve the quality of TMM solutions, especially in the absence of GPS signals (like urban canyons).</jats:p

ODOMETRY AND LOW-COST SENSOR FUSION IN TMM DATASET

The aim of this study is to identify the most powerful motion model and filtering technique to represent an urban terrestrial mobile mapping (TMM) survey and ultimately to obtain the best representation of the car trajectory. The authors want to test how far a motion model and a more or less refined filtering technique could bring benefits in the determination of the car trajectory. To achieve the necessary data for the application of the motion models and the filtering techniques described in the article, the authors realized a TMM survey in the urban centre of Turin by equipping a vehicle with various instruments: a low-cost action-cam also able to record the GPS trace of the vehicle even in the presence of obstructions, an inertial measurement system and an odometer. The results of analysis show in the article indicate that the Unscented Kalman Filter (UKF) technique provides good results in the determination of the vehicle trajectory, especially if the motion model considers more states (such as the positions, the tangential velocity, the angular velocity, the heading, the acceleration). The authors also compared the results obtained with a motion model characterized by four, five and six states. A natural corollary to this work would be the introduction to the UKF of the photogrammetric information obtained by the same camera placed on board the vehicle. These data would permit to establish how photogrammetric measurements can improve the quality of TMM solutions, especially in the absence of GPS signals (like urban canyons)

ON OUTLIER DETECTION IN A PHOTOGRAMMETRIC MOBILE MAPPING DATASET

Various types of technology are used for Terrestrial Mobile Mapping (TMM) such as IMU, cameras, odometers, laser scanner etc., which are integrated in order to determine the attitude and the position of the vehicle in use, especially in the absence of GNSS signal i.e. in an urban canyon. The aim of this study is to use only photogrammetric measurements obtained with a low cost camera (with a reduced focal length and small frames) located on the vehicle, in order to improve the quality of TMM solution in the absence of a GNSS signal. It is essential to have good quality frames in order to solve this problem. In fact it is generally quite easy to extract a large number of common points between the frames (the so-called ‘tie points’), but this does not necessarily imply the goodness of the matching quality, which might be uncorrected due to the presence of obstacles that may occlude the camera sight. The Authors used two different methods for solving the problem of the presence of outliers: RANSAC and the Forward Search. In this article the Authors show the results obtainable with good quality frames (frames without occlusions) and under difficult conditions that simulate better reality

Il posizionamento NRTK in alta quota: applicazioni e risultati nell'ambito del progetto Helidem

Il presente lavoro si colloca nel progetto INTERREG Italia-Svizzera 2007-2013 HELIDEM. In tale ambito era prevista ed è stata istituita una rete di stazioni permanenti a copertura delle aree alpine di Piemonte, Lombardia e parte della Svizzera. Tale rete costituisce un prototipo, seppur limitato a una piccola area, di servizio di posizionamento transnazionale ottenuto mediante unificazione di reti regionali già installate: inoltre, nell'ambito del progetto, fornirà il sistema di riferimento per rilievi (in tempo reale e post-elaborati) finalizzati all'unificazione dei Modelli Digitali dei Terreno e del modello delle altezze (geoide) per le aree di progetto. Nel presente lavoro viene descritta la rete e le modalità con cui è stata inquadrata nel sistema di riferimento ETRF2000. Vengono inoltre discussi i primi test di posizionamento cinematico, sia in tempo reale sia post-elaborato, appoggiato alla rete. Particolarmente interessanti sono i confronti fra risultati in bassa e alta quota, che permettono considerazioni non intuitiv