GLO-SLAM: a slam system optimally combining GPS and LiDAR odometry

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ruihao Lin ◽  
Junzhe Xu ◽  
Jianhua Zhang
Keyword(s):  
Large Scale ◽  
Three Dimensional ◽  
Autonomous Driving ◽  
Urban Environments ◽  
Gps Data ◽  
Optimization Strategy ◽  
Data Set ◽  
Content Type ◽  
Localization And Mapping ◽  
Robot Positioning

Purpose Large-scale and precise three-dimensional (3D) map play an important role in autonomous driving and robot positioning. However, it is difficult to get accurate poses for mapping. On one hand, the global positioning system (GPS) data are not always reliable owing to multipath effect and poor satellite visibility in many urban environments. In another hand, the LiDAR-based odometry has accumulative errors. This paper aims to propose a novel simultaneous localization and mapping (SLAM) system to obtain large-scale and precise 3D map. Design/methodology/approach The proposed SLAM system optimally integrates the GPS data and a LiDAR odometry. In this system, two core algorithms are developed. To effectively verify reliability of the GPS data, VGL (the abbreviation of Verify GPS data with LiDAR data) algorithm is proposed and the points from LiDAR are used by the algorithm. To obtain accurate poses in GPS-denied areas, this paper proposes EG-LOAM algorithm, a LiDAR odometry with local optimization strategy to eliminate the accumulative errors by means of reliable GPS data. Findings On the KITTI data set and the customized outdoor data set, the system is able to generate high-precision 3D map in both GPS-denied areas and areas covered by GPS. Meanwhile, the VGL algorithm is proved to be able to verify reliability of the GPS data with confidence and the EG-LOAM outperform the state-of-the-art baselines. Originality/value A novel SLAM system is proposed to obtain large-scale and precise 3D map. To improve the robustness of the system, the VGL algorithm and the EG-LOAM are designed. The whole system as well as the two algorithms have a satisfactory performance in experiments.

Financial distress determinants among SMEs: empirical evidence from Sweden

2020 ◽  
Vol 47 (3) ◽  
pp. 547-560 ◽  
Author(s):  
Darush Yazdanfar ◽  
Peter Öhman
Keyword(s):  
Financial Crisis ◽  
Financial Distress ◽  
Large Scale ◽  
Global Financial Crisis ◽  
Binary Logistic Regression ◽  
Data Availability ◽  
Cross Sectional ◽  
Data Set ◽  
Content Type ◽  
The Global Financial Crisis

PurposeThe purpose of this study is to empirically investigate determinants of financial distress among small and medium-sized enterprises (SMEs) during the global financial crisis and post-crisis periods.Design/methodology/approachSeveral statistical methods, including multiple binary logistic regression, were used to analyse a longitudinal cross-sectional panel data set of 3,865 Swedish SMEs operating in five industries over the 2008–2015 period.FindingsThe results suggest that financial distress is influenced by macroeconomic conditions (i.e. the global financial crisis) and, in particular, by various firm-specific characteristics (i.e. performance, financial leverage and financial distress in previous year). However, firm size and industry affiliation have no significant relationship with financial distress.Research limitationsDue to data availability, this study is limited to a sample of Swedish SMEs in five industries covering eight years. Further research could examine the generalizability of these findings by investigating other firms operating in other industries and other countries.Originality/valueThis study is the first to examine determinants of financial distress among SMEs operating in Sweden using data from a large-scale longitudinal cross-sectional database.

Thermo-mechanical coupling particle simulation of three-dimensional large-scale non-isothermal problems

2017 ◽  
Vol 34 (5) ◽  
pp. 1551-1571 ◽  
Author(s):  
Ming Xia
Keyword(s):  
Large Scale ◽  
Three Dimensional ◽  
Simulation Method ◽  
Particle Simulation ◽  
Similarity Criteria ◽  
Particle Model ◽  
Length Scale ◽  
Content Type ◽  
Mechanical Coupling ◽  
Particle Simulation Method

Purpose The main purpose of this paper is to present a comprehensive upscale theory of the thermo-mechanical coupling particle simulation for three-dimensional (3D) large-scale non-isothermal problems, so that a small 3D length-scale particle model can exactly reproduce the same mechanical and thermal results with that of a large 3D length-scale one. Design/methodology/approach The objective is achieved by following the scaling methodology proposed by Feng and Owen (2014). Findings After four basic physical quantities and their similarity-ratios are chosen, the derived quantities and its similarity-ratios can be derived from its dimensions. As the proposed comprehensive 3D upscale theory contains five similarity criteria, it reveals the intrinsic relationship between the particle-simulation solution obtained from a small 3D length-scale (e.g. a laboratory length-scale) model and that obtained from a large 3D length-scale (e.g. a geological length-scale) one. The scale invariance of the 3D interaction law in the thermo-mechanical coupled particle model is examined. The proposed 3D upscale theory is tested through two typical examples. Finally, a practical application example of 3D transient heat flow in a solid with constant heat flux is given to illustrate the performance of the proposed 3D upscale theory in the thermo-mechanical coupling particle simulation of 3D large-scale non-isothermal problems. Both the benchmark tests and application example are provided to demonstrate the correctness and usefulness of the proposed 3D upscale theory for simulating 3D non-isothermal problems using the particle simulation method. Originality/value The paper provides some important theoretical guidance to modeling 3D large-scale non-isothermal problems at both the engineering length-scale (i.e. the meter-scale) and the geological length-scale (i.e. the kilometer-scale) using the particle simulation method directly.

Empirically validating five propositions regarding 3D visualizations for subsurface utility projects

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Mechiel van Manen ◽  
Léon olde Scholtenhuis ◽  
Hans Voordijk
Keyword(s):  
Construction Projects ◽  
3D Visualization ◽  
Three Dimensional ◽  
Urban Environments ◽  
Content Type ◽  
Complexity Level ◽  
Daily Work ◽  
Complex Projects ◽  
Project Complexity ◽  
Multiple Case

PurposeThis study aims to empirically validate five propositions about the benefits of three-dimensional (3D) visualizations for the management of subsurface utility projects. Specifically, the authors validate whether benefits from 3D in the literature of building construction project management also apply to subsurface utility projects and map them using a taxonomy of project complexity levels.Design/methodology/approachA multiple case study of three utility construction projects was carried out during which the first author was involved in the daily work practices at a utility contractor. 3D visualizations of existing project models were developed, and design and construction meetings were conducted. Practitioners' interactions with and reflections on these 3D visualizations were noted. Observational data from the three project types were matched with the five propositions to determine where benefits of 3D visualizations manifested themselves.FindingsPractitioners found that 3D visualizations had most merit in crowded urban environments when constructing rigid pipelines. All propositions were validated and evaluated as beneficial in subsurface utility projects of complexity level C3. It is shown that in urban projects with rigid pipelines (project with the highest complexity level), 3D visualization prevents misunderstanding or misinterpretations and increases efficiency of coordination. It is recommended to implement 3D visualization approaches in such complex projectsOriginality/valueThere is only limited evidence on the value 3D visualizations in managing utility projects. This study contributes rich empirical evidence on this value based on a six-month observation period at a subsurface contractor. Their merit was assessed by associating 3D approaches with project complexity levels, which may help utility contractors in strategically implementing 3D applications.

Different firm responses to the COVID-19 pandemic shocks: machine-learning evidence on the Vietnamese labor market

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Lam Hoang Viet Le ◽  
Toan Luu Duc Huynh ◽  
Bryan S. Weber ◽  
Bao Khac Quoc Nguyen
Keyword(s):  
Machine Learning ◽  
Labor Market ◽  
Large Scale ◽  
Government Support ◽  
Policy Implications ◽  
Machine Learning Techniques ◽  
Firm Characteristics ◽  
Data Set ◽  
Content Type ◽  
Firm Responses

PurposeThis paper aims to identify the disproportionate impacts of the COVID-19 pandemic on labor markets.Design/methodology/approachThe authors conduct a large-scale survey on 16,000 firms from 82 industries in Ho Chi Minh City, Vietnam, and analyze the data set by using different machine-learning methods.FindingsFirst, job loss and reduction in state-owned enterprises have been significantly larger than in other types of organizations. Second, employees of foreign direct investment enterprises suffer a significantly lower labor income than those of other groups. Third, the adverse effects of the COVID-19 pandemic on the labor market are heterogeneous across industries and geographies. Finally, firms with high revenue in 2019 are more likely to adopt preventive measures, including the reduction of labor forces. The authors also find a significant correlation between firms' revenue and labor reduction as traditional econometrics and machine-learning techniques suggest.Originality/valueThis study has two main policy implications. First, although government support through taxes has been provided, the authors highlight evidence that there may be some additional benefit from targeting firms that have characteristics associated with layoffs or other negative labor responses. Second, the authors provide information that shows which firm characteristics are associated with particular labor market responses such as layoffs, which may help target stimulus packages. Although the COVID-19 pandemic affects most industries and occupations, heterogeneous firm responses suggest that there could be several varieties of targeted policies-targeting firms that are likely to reduce labor forces or firms likely to face reduced revenue. In this paper, the authors outline several industries and firm characteristics which appear to more directly be reducing employee counts or having negative labor responses which may lead to more cost–effect stimulus.

Computational modeling of Weibo user influence based on information interactive network

2016 ◽  
Vol 40 (7) ◽  
pp. 867-881 ◽  
Author(s):  
Dingguo Yu ◽  
Nan Chen ◽  
Xu Ran
Keyword(s):  
Social Networks ◽  
Computational Model ◽  
Large Scale ◽  
Mobile Internet ◽  
Activity Level ◽  
Message Content ◽  
Data Set ◽  
Sina Weibo ◽  
Content Type ◽  
User Influence

Purpose With the development and application of mobile internet access, social media represented by Weibo, WeChat, etc. has become the main channel for information release and sharing. High-impact users in social networks are key factors stimulating the large-scale propagation of information within social networks. User influence is usually related to the user’s attention rate, activity level, and message content. The paper aims to discuss these issues. Design/methodology/approach In this paper, the authors focused on Sina Weibo users, centered on users’ behavior and interactive information, and formulated a weighted interactive information network model, then present a novel computational model for Weibo user influence, which combined multiple indexes such as the user’s attention rate, activity level, and message content influence, etc., the model incorporated the time dimension, through the calculation of users’ attribute influence and interactive influence, to comprehensively measure the user influence of Sina Weibo users. Findings Compared with other models, the model reflected the dynamics and timeliness of the user influence in a more accurate way. Extensive experiments are conducted on the real-world data set, and the results validate the performance of the approach, and demonstrate the effectiveness of the dynamics and timeliness. Due to the similarity in platform architecture and user behavior between Sina Weibo and Twitter, the calculation model is also applicable to Twitter. Originality/value This paper presents a novel computational model for Weibo user influence, which combined multiple indexes such as the user’s attention rate, activity level, and message content influence, etc.

Czech civil sector face-to-face with freelance activism

2016 ◽  
Vol 36 (11/12) ◽  
pp. 774-791
Author(s):  
Pavol Frič ◽  
Martin Vávra
Keyword(s):  
Large Scale ◽  
Civil Society Organizations ◽  
Political Consumerism ◽  
Data Set ◽  
Content Type ◽  
Individual Level ◽  
Face To Face ◽  
Online Activism ◽  
Civil Sector ◽  
Relationship Of

Purpose The purpose of this paper is to answer following question: what is the relationship between member activism performed through civil society organizations (CSOs) and individualized freelance activism (in form of online activism, everyday making, political consumerism or checkbook activism) independent of organizational framework? Is it a relationship of mutual competition or support? Design/methodology/approach Analysis is carried out on data from 2009 questionnaire-based survey on volunteering, representative for adult Czech population. The data set allowed the authors to relate member activism with freelance activism and in case of member activism distinguish the type of organization and the level of its professionalization. Findings Dominant pattern the authors identified in data is mutual support of both types of volunteering documented by significant overlap of these forms of public engagement. The most striking is the overlap for active members of new advocacy NGOs and the weakest for traditional clubs. Regression analysis shows that on an individual level “mixed activism” (compared with “pure freelance activism”) is linked with higher education and higher confidence in civic organizations. Originality/value The civil practice of individualized freelance activism was described and analysed by various authors as an activity of specific types of activist, but there has not yet been any research giving reflection on such a large scale of freelance activism types as in the analysis. The authors set them together in contrast to the member (collective, organized) form of civic activism and also took into account the influence of professionalization and type of CSOs.

Multi-Robot SLAM in Dynamic Environments with Parallel Maps

2021 ◽  
pp. 2150011
Author(s):  
Sajad Badalkhani ◽  
Ramazan Havangi ◽  
Mohsen Farshad
Keyword(s):  
Large Scale ◽  
Dynamic Environment ◽  
Dynamic Environments ◽  
Extensive Literature ◽  
Real World Data ◽  
Data Set ◽  
Cooperative Approach ◽  
Localization And Mapping ◽  
Multi Robot

There is an extensive literature regarding multi-robot simultaneous localization and mapping (MRSLAM). In most part of the research, the environment is assumed to be static, while the dynamic parts of the environment degrade the estimation quality of SLAM algorithms and lead to inherently fragile systems. To enhance the performance and robustness of the SLAM in dynamic environments (SLAMIDE), a novel cooperative approach named parallel-map (p-map) SLAM is introduced in this paper. The objective of the proposed method is to deal with the dynamics of the environment, by detecting dynamic parts and preventing the inclusion of them in SLAM estimations. In this approach, each robot builds a limited map in its own vicinity, while the global map is built through a hybrid centralized MRSLAM. The restricted size of the local maps, bounds computational complexity and resources needed to handle a large scale dynamic environment. Using a probabilistic index, the proposed method differentiates between stationary and moving landmarks, based on their relative positions with other parts of the environment. Stationary landmarks are then used to refine a consistent map. The proposed method is evaluated with different levels of dynamism and for each level, the performance is measured in terms of accuracy, robustness, and hardware resources needed to be implemented. The method is also evaluated with a publicly available real-world data-set. Experimental validation along with simulations indicate that the proposed method is able to perform consistent SLAM in a dynamic environment, suggesting its feasibility for MRSLAM applications.

scholarly journals A Robust Registration Method for Autonomous Driving Pose Estimation in Urban Dynamic Environment Using LiDAR

Electronics ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 43 ◽  
Author(s):  
Rendong Wang ◽  
Youchun Xu ◽  
Miguel Angel Sotelo ◽  
Yulin Ma ◽  
Thompson Sarkodie-Gyan ◽  
...  
Keyword(s):  
Dynamic Environment ◽  
Point Clouds ◽  
Autonomous Driving ◽  
Initial Position ◽  
Urban Environments ◽  
Data Set ◽  
Registration Method ◽  
Position Errors ◽  
Initial Errors ◽  
High Dynamic

The registration of point clouds in urban environments faces problems such as dynamic vehicles and pedestrians, changeable road environments, and GPS inaccuracies. The state-of-the-art methodologies have usually combined the dynamic object tracking and/or static feature extraction data into a point cloud towards the solution of these problems. However, there is the occurrence of minor initial position errors due to these methodologies. In this paper, the authors propose a fast and robust registration method that exhibits no need for the detection of any dynamic and/or static objects. This proposed methodology may be able to adapt to higher initial errors. The initial steps of this methodology involved the optimization of the object segmentation under the application of a series of constraints. Based on this algorithm, a novel multi-layer nested RANSAC algorithmic framework is proposed to iteratively update the registration results. The robustness and efficiency of this algorithm is demonstrated on several high dynamic scenes of both short and long time intervals with varying initial offsets. A LiDAR odometry experiment was performed on the KITTI data set and our extracted urban data-set with a high dynamic urban road, and the average of the horizontal position errors was compared to the distance traveled that resulted in 0.45% and 0.55% respectively.

scholarly journals A dynamic zone estimation method using cumulative voxels for autonomous driving

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668713 ◽  
Author(s):  
Seongjo Lee ◽  
Seoungjae Cho ◽  
Sungdae Sim ◽  
Kiho Kwak ◽  
Yong Woon Park ◽  
...  
Keyword(s):  
High Speed ◽  
Moving Objects ◽  
Three Dimensional ◽  
Estimation Method ◽  
Autonomous Driving ◽  
Significant Feature ◽  
Data Set ◽  
Ground Truth Data ◽  
Unmanned Vehicle ◽  
Space Data

Obstacle avoidance and available road identification technologies have been investigated for autonomous driving of an unmanned vehicle. In order to apply research results to autonomous driving in real environments, it is necessary to consider moving objects. This article proposes a preprocessing method to identify the dynamic zones where moving objects exist around an unmanned vehicle. This method accumulates three-dimensional points from a light detection and ranging sensor mounted on an unmanned vehicle in voxel space. Next, features are identified from the cumulative data at high speed, and zones with significant feature changes are estimated as zones where dynamic objects exist. The approach proposed in this article can identify dynamic zones even for a moving vehicle and processes data quickly using several features based on the geometry, height map and distribution of three-dimensional space data. The experiment for evaluating the performance of proposed approach was conducted using ground truth data on simulation and real environment data set.

Structure of the Séchilienne unstable slope from large-scale three-dimensional electrical tomography using a Resistivity Distributed Automated System (R-DAS)

2019 ◽  
Vol 219 (1) ◽  
pp. 129-147 ◽  
Author(s):  
M Lajaunie ◽  
J Gance ◽  
P Nevers ◽  
J-P Malet ◽  
C Bertrand ◽  
...  
Keyword(s):  
Large Scale ◽  
Electrical Potential ◽  
Three Dimensional ◽  
Automated System ◽  
Data Uncertainty ◽  
Complex Data ◽  
Electrical Tomography ◽  
Data Set ◽  
Resistivity Model ◽  
Unstable Slope

SUMMARY This work presents a 3-D resistivity model of the Séchilienne unstable slope acquired with a network of portable resistivimeters in summer 2017. The instrumentation consisted in distributed measuring systems (IRIS Instruments FullWaver) to measure the spatial variations of electrical potential. 23 V-FullWaver receivers with two 50 m dipoles have been deployed over an area of circa 2 km2; the current was injected between a fixed remote electrode and a mobile electrode grounded successively at 30 locations. The data uncertainty has been evaluated in relation to the accuracy of electrodes positioning. The software package BERT (Boundless Electrical Resistivity Tomography) is used to invert the apparent resistivity and model the complex data set providing the first 3-D resistivity model of the slope. Stability tests and synthetic tests are realized to assess the interpretability of the inverted models. The 3-D resistivity model is interpreted up to a depth of 500 m; it allows identifying resistive and conductive anomalies related to the main geological and hydrogeological structures shaping the slope. The high fracturation of the rock in the most active zone of the landslide appears as a resistive anomaly where the highest resistivity values are located close to the faults. A major drain formed by a fault in the unaltered micaschist is identified through the discharge of a perched aquifer along the conductive zone producing an important conductive anomaly contrasting with the unaltered micaschist.

Sign in / Sign up

Export Citation Format

Share Document