Evidential SLAM Fusing 2D Laser Scanner and Stereo Camera

2019 ◽  
Vol 07 (03) ◽  
pp. 149-159
Author(s):  
Michelle Valente ◽  
Cyril Joly ◽  
Arnaud de La Fortelle
Keyword(s):  
Laser Scanner ◽  
Relevant Information ◽  
Mapping Data ◽  
Matching Algorithm ◽  
Localization Method ◽  
Stereo Camera ◽  
Accurate Localization ◽  
Localization And Mapping ◽  
The World ◽  
High Level

This work introduces a new complete Simultaneous Localization and Mapping (SLAM) framework that uses an enriched representation of the world based on sensor fusion and is able to simultaneously provide an accurate localization of the vehicle. A method to create an Evidential grid representation from two very different sensors, laser scanner and stereo camera, allows a better handling of the dynamic aspects of the urban environment and a proper management of errors to create a more reliable map, thus having a more precise localization. A life-long layer with high level states is presented, it maintains a global map of the entire vehicle’s trajectory and distinguishes between static and dynamic obstacles. Finally, we propose a method that at each current map creation estimates the vehicle’s position by a grid matching algorithm based on image registration techniques. Results on a real road dataset show that the environment mapping data can be improved by adding relevant information that could be missed without the proposed approach. Moreover, the proposed localization method is able to reduce the drift and improve the localization compared to other methods using similar configurations.

scholarly journals Psychological Factors of Youth Emigration Intentions: A Review of International Studies

2021 ◽  
Vol 18 (1) ◽  
pp. 25-41
Author(s):  
Nadezhda V. Murashcenkova
Keyword(s):  
Young People ◽  
Psychological Factors ◽  
Driving Forces ◽  
Relevant Information ◽  
International Studies ◽  
International Mobility ◽  
Positive Attitudes ◽  
The World ◽  
The One ◽  
High Level

The psychological factors of the emigration intentions of young people, the growth of which is observed today in various countries of the world, are analysed based on the data of numerous international studies. The scientific significance of this analysis, on the one hand, is due to the lack of Russian psychological works that systematize and popularize the relevant information, on the other hand, it is associated with the need to subsequently correlate the results of international and Russian studies in order to identify common supra-cultural and specific psychological factors that affect the emigration intentions of young people. The psychological driving forces of the emigration intentions of young people considered in international studies are diverse and correspond to different levels of personality activity (individual, interpersonal and macrosocial). They correlate with general groups of factors contributing to emigration. The factors reflecting the emerging opportunities for emigration are related to positive attitudes towards emigration in general, the consideration of emigration as a way to achieve significant goals, a low degree of attachment to the country of origin, dissatisfaction with the existing living conditions, and positive attitudes towards the country where young people intend to move to. The psychological factors associated with the availability of social support include the support they receive from their families as well as relevant interpersonal contacts they have abroad. The group of factors related to personal resources for overcoming emerging obstacles correlates with expressed career aspirations, high motivation for power and achievements, insignificant motivation for affiliation, extraversion, openness to new experience, desire for risk, change and new impressions, openness to the world and cultural differences, readiness to interaction with others, faith in other religions and nationalities, self-efficacy, ability to cope with the ambivalence of emerging emotions and feelings, a high level of education, proficiency in foreign languages, and experience of international mobility. The obtained data can be used to conduct empirical psychological studies on the driving forces of the emigration activity of young people in Russia and other countries.

NAVIGATION OF AN AUTONOMOUS SEWER INSPECTION ROBOT BASED ON STEREO CAMERA IMAGES AND LASER SCANNER DATA

2007 ◽  
Vol 16 (04) ◽  
pp. 611-625 ◽  
Author(s):  
ALIREZA AHRARY ◽  
LI TIAN ◽  
SEI-ICHIRO KAMATA ◽  
MASUMI ISHIKAWA
Keyword(s):  
Laser Scanner ◽  
Distance Estimation ◽  
Test Field ◽  
Scanner Data ◽  
Sewer Pipe ◽  
Stereo Camera ◽  
Pipe System ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Sewer Inspection

Sewer environment is composed of cylindrical pipes, in which only a few landmarks such as manholes, inlets and pipe joints are available for localization. This paper presents a method for navigation of an autonomous sewer inspection robot in a sewer pipe system based on detection of landmarks. In this method, location of an autonomous sewer inspection robot in the sewer pipe system is estimated from stereo camera images. The laser scanner data are also used to ensure accurate localization of the landmarks and reduce the error in distance estimation by image processing. The method is implemented and evaluated in a sewer pipe test field using a prototype robot, demonstrating its effectiveness.

Feature Based Mapping Procedure with Application on Simultaneous Localization and Mapping (SLAM)

2010 ◽  
Vol 166-167 ◽  
pp. 265-270
Author(s):  
Razvan Luca ◽  
Fritz Tröster ◽  
Robert Gall ◽  
Carmen Simion
Keyword(s):  
Autonomous Navigation ◽  
Autonomous Vehicle ◽  
Laser Scanner ◽  
Relevant Information ◽  
Process Data ◽  
Mapping Procedure ◽  
Localization And Mapping ◽  
Laser Scanners ◽  
Map Generation ◽  
Feature Based

We are presenting a feature based mapping procedure applied on data reduction to the relevant information used for autonomous navigation. The proceeding is based on the evaluation of the environment using a SICK LD laser scanner. We assume that laser scanners have the advantage of producing reliable data with well understood characteristics for map generation. By implementing evolutive algorithms we process data into lines representing edges of the surrounding objects and create a simplified representation of the environment (feature based). Because of the dynamic generation and evolution of the map, during the movement of the autonomous vehicle we are considering of merging and fitting the data by applying a shape correlation. The goal of our project defines the capability of a fully autonomous vehicle to safely drive through the environment until reaching the standard parking lots and complete autonomous parking procedures.

Her Majesty Queen Rania Al Abdullah

2019 ◽  
Author(s):  
Adib Rifqi Setiawan
Keyword(s):  
Education System ◽  
Ministry Of Education ◽  
Childhood Experiences ◽  
The Sustainable Development ◽  
American University ◽  
The North ◽  
The World ◽  
Development Goals ◽  
High Level ◽  
Education And Development

“The real treasure is in the minds of our children, and all we have to do is extract it.” Her Majesty Queen Rania Al Abdullah writes in website Queen Rania Foundation For Education And Development www.qrf.org/en. Rania Al Yassin was born on August 31, 1970. She obtained her Bachelor’s degree in Business Administration from the American University of Cairo in 1991. She applied this, first, to a banking career in Jordan and, later, to the information technology sector. After marrying Prince Abdullah bin Al Hussein on June 10, 1993, they went on to have four children: Prince Hussein, Princess Iman, Princess Salma, and Prince Hashem. In addition to being a wife and mother, Queen Rania works hard to lift the lives of Jordanians by supporting their endeavours and helping to create new opportunities for them. Locally, she is committed to breathe new life into the public education system; empower communities and women especially through microfinance initiatives; protect children and families; and drive innovation, technology and entrepreneurship, especially amongst young people. Internationally, Queen Rania is an advocate for tolerance, compassion and bridge building between people of all cultures and backgrounds. Her efforts to simultaneously challenge stereotypes of Arabs and Muslims, and promote greater understanding and acceptance between people of all faiths and cultures, have won her global recognition. Her Majesty’s passion is education. She believes that every Jordanian girl and boy, and all children, should have access not only to stimulating classrooms and modern curricula, but inspiring teachers and technology that can connect Jordan’s children to the world and the world to Jordan’s children. Her efforts in the education sector complement the work of the Ministry of Education through initiatives such as the Jordan Education Initiative, the Queen Rania Teachers Academy, Madrasati, Edraak and others. To realize these and so much more, Queen Rania has encouraged private sector partners to drive improvements and strengthen the foundations of Jordan’s education system. Queen Rania is also a global voice for access to quality education for children around the world. In 2009, Her Majesty championed the 1 Goal campaign for education; she is Honorary Chair of the UN Girl’s Education Initiatives and has advocated access to education in forums and gatherings around the world. Her work and her efforts to improve the learning opportunities for children have been recognized at the highest levels, nationally, regionally and internationally. Additionally, through her position on their boards, Her Majesty contributes to the work of the United Nations Fund and the World Economic Forum. She is the Eminent Advocate for UNICEF; and she was part of the UN appointed High Level Panel who advised on the shape and content of the Sustainable Development Goals which aim to improve the lives of millions of people before 2030. In recognition of her work, Her Majesty has humbly accepted many awards, locally, regionally and globally. These include the Walther Rathenau Award from the Walther RathenauInstitut in Germany for her efforts to greater peace and understanding; the James C. Morgan Global Humanitarian Award from Tech Awards, USA; the Arab Knight of Giving Award from Arab Giving Forum, UAE; the North South Prize by the North South Prize, Portugal; as well as the YouTube Visionary Award. Her Majesty authored several books primarily for children including the Sandwich Swap, which was inspired by her own childhood experiences.

Global warming influences dynamics of plague’s epidemic manifestations in XX-XXI centuries

2017 ◽  
pp. 38-40
Author(s):  
E.S. Zenkevich ◽  
N.V. Popov
Keyword(s):  
Global Warming ◽  
20Th Century ◽  
Modern Trend ◽  
Climate Fluctuations ◽  
The World ◽  
Low Incidence ◽  
High Level

During the second half of 20th century, a high level of plague incidence in the world was in 1960–1979 and 1990–2009. The significant decrease of infection cases was in 1950–1959, 1980–1989, 2010–2015. It is noticed, that the observed cyclical nature of the alternation of high and low incidence plague’s periods, in many respects related to modern trend of climate fluctuations.

SYNONYMY OF STABLE PHRASES IN THE DICTIONARY OF SMOLENSK DIALECTS: THE ANALYSIS EXPERIENCE

2019 ◽  
pp. 122-132
Author(s):  
Nina Maksimchuk
Keyword(s):  
Native Speakers ◽  
National Language ◽  
Cultural Value ◽  
Semantic Structure ◽  
Spiritual World ◽  
Key Word ◽  
The World ◽  
Volumetric Representation ◽  
High Level ◽  
Linguistic Units

The attention of modern linguistics to the study of verbal representatives of the mental essence (both individual and collective one) of the native speakers involves an appeal to all subsystems of the national language where territorial dialects take a significant part. The analysis of dialect linguistic units possessing linguistic and cultural value is considered as a necessary way for the study of people’s worldview and perception of the world, national mentality as a whole. The ability of stable phrases (phraseological units) to preserve and express a native speaker’s attitude to the world around them is the basis for the use of the analysis of folk phraseology as a way of penetration into a speaker’s spiritual world. Volumetric representation of the external and internal peculiarities of stable phrases allows the author to get their systematization in the form of phraseosemantic field consisting of different kinds singled out in phraseosemantic groups. The article deals with stable phrases of synonymic value recorded in the Dictionary of Smolensk dialects and stable phrases forming a phraseosemantic group. These phrases are analyzed taking into account the semantic structure of the key word, the characteristics of the dependent word, and the method of forming phraseological semantics. On the example of the analysis of phrases with the key word «bit’» and a synonymic series with the semantic dominant «bezdel’nichat’», the article discusses the peculiarities of phraseological nomination in Smolensk dialects and confirms a high level of connotativity and evaluation in the folk phraseology.

Sulphonamide: Distribution, Toxicology, Environmental Characteristics, and Analysis - A Review

2020 ◽  
Vol 16 ◽  
Author(s):  
Kirubanandam Grace Pavithra ◽  
Vasudevan Jaikumar ◽  
Ponnusamy Senthil Kumar ◽  
PanneerSelvam SundarRajan
Keyword(s):  
Aqueous Solution ◽  
High Performance Liquid Chromatography ◽  
Capillary Electrophoresis ◽  
Liquid Chromatography ◽  
High Performance ◽  
Uv Spectroscopy ◽  
Relevant Information ◽  
Fluorometric Determination ◽  
Distinctive Features ◽  
The World

Background: Many antibiotics were widely used as medication based on their distinctive features. Among them, sulphonamides were commonly used, however their recalcitrant nature makes them difficult to dispose. Hence, their interaction with environment and analytic technique requires considerable attention globally. Objective: Therefore, this review aimed to provide detailed discussion about environmental as well as human health behaviour and analytic techniques corresponding to sulphonamides. Methods: Various results and discussion were extracted from technical journals and books published by different researchers from all over the world. The cited bibliographic references were intentionally investigated in order to extract relevant information related to proposed work. Results: In this review, the determination techniques such as UV-spectroscopy, Enthalpimetry, Immunosensor, Chromatography, Chemiluminescence, Photoinduced fluorometric determination, Capillary electrophoresis for sulphonamide determination were discussed in detail. Among them, High performance liquid chromatography (HPLC) and UV-spectroscopy was effective and extensively used for screening sulphonamide. Conclusion: Knowing the quantification and behaviour of sulphonamide in aqueous solution is mandatory to opt the suitable wastewater treatment required. Hence, choosing appropriate high precision and feasible screening techniques is necessary, which can be attained with this review.

scholarly journals A survey: which features are required for dynamic visual simultaneous localization and mapping?

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Zewen Xu ◽  
Zheng Rong ◽  
Yihong Wu
Keyword(s):  
Simultaneous Localization And Mapping ◽  
Dynamic Environments ◽  
Visual Features ◽  
Advantages And Disadvantages ◽  
Intelligent Robots ◽  
Localization And Mapping ◽  
High Level ◽  
Static World ◽  
Robotic Applications ◽  
Significant Attention

AbstractIn recent years, simultaneous localization and mapping in dynamic environments (dynamic SLAM) has attracted significant attention from both academia and industry. Some pioneering work on this technique has expanded the potential of robotic applications. Compared to standard SLAM under the static world assumption, dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly. Therefore, dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments. Additionally, to meet the demands of some high-level tasks, dynamic SLAM can be integrated with multiple object tracking. This article presents a survey on dynamic SLAM from the perspective of feature choices. A discussion of the advantages and disadvantages of different visual features is provided in this article.

scholarly journals Emotional Impact of Dishes versus Wines on Restaurant Diners: From Haute Cuisine Open Innovation

2021 ◽  
Vol 7 (1) ◽  
pp. 96
Author(s):  
Ana Mengual-Recuerda ◽  
Victoria Tur-Viñes ◽  
David Juárez-Varón ◽  
Faustino Alarcón-Valero
Keyword(s):  
Qualitative Research ◽  
Empirical Study ◽  
Open Innovation ◽  
Social Life ◽  
Fundamental Importance ◽  
Emotional Impact ◽  
The World ◽  
Unique Experience ◽  
General Experience ◽  
High Level

Haute cuisine is emblematic in the world of tourism and is of fundamental importance in the economic and social life in most countries worldwide. Haute cuisine gastronomic experiences play with the senses, involving the diner, thus generating a unique experience for the customer. This empirical study aims to analyze the influence on the consumer of the characteristic stimuli of a high-level gastronomic experience in a restaurant with two Michelin stars. Using neuromarketing biometrics, combined with a qualitative research technique, the objective of this research was to determine the emotional impact of the presentation and tasting of dishes compared to wines and to draw conclusions about each variable in the general experience. The results indicate that the dishes have a greater influence on the level of interest than the wines, and both have a different emotional impact at different moments of the experience due to its duration.

scholarly journals Beyond Religiosity: A Model to Explain Spirituality Among Middle-Aged and Older Adults

2020 ◽  
Vol 4 (Supplement_1) ◽  
pp. 413-414
Author(s):  
Carlyn Vogel ◽  
Debra Dobbs ◽  
Brent Small
Keyword(s):  
United States ◽  
Older Adults ◽  
Good Life ◽  
Multinomial Logistic Regression ◽  
College Experience ◽  
The United States ◽  
Strong Connection ◽  
Deep Appreciation ◽  
The World ◽  
High Level

Abstract Spirituality is difficult to define as researchers assign it different meanings and individuals’ perceptions can vary. For example, spirituality may connect to religiosity, while others consider religiosity a less significant part of spirituality. This study investigates factors outside of religiosity that are significantly associated with spirituality to inform the characteristics of the concept. Webster’s (2004) existential framework of spirituality was used to guide variable selection. The National Survey of Midlife in the United States wave three (MIDUS 3; 2013-2014; n = 2,594; Mage = 63.5, SD = 11, range = 39–92) was used to examine individuals’ reported levels of spirituality. Multinomial logistic regression was conducted to examine factors related to low and high levels of spirituality compared to a moderate level. Participants with low spirituality were more likely to be male, less likely to be mindful, mediate/chant, feel a strong connection to all life, to indicate that they cannot make sense of the world, and to be religious. Participants with high spirituality were more likely to be female, have at least some college experience, be mindful, meditate/chant, feel deep inner peace, have a sense of deep appreciation, think that a sense of purpose is important for a good life, and have a high level of religiosity. Framed by Webster’s conceptual model, the current study observed that religiosity is significantly associated with spirituality and that other mindfulness-based aspects are also present within this concept. Incorporating mindfulness with religious efforts will more accurately and holistically address spirituality.

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