A Monocular Visual Odometry Method Based on Virtual-Real Hybrid Map in Low-Texture Outdoor Environment

With the extensive application of robots, such as unmanned aerial vehicle (UAV) in exploring unknown environments, visual odometry (VO) algorithms have played an increasingly important role. The environments are diverse, not always textured, or low-textured with insufficient features, making them challenging for mainstream VO. However, for low-texture environment, due to the structural characteristics of man-made scene, the lines are usually abundant. In this paper, we propose a virtual-real hybrid map based monocular visual odometry algorithm. The core idea is that we reprocess line segment features to generate the virtual intersection matching points, which can be used to build the virtual map. Introducing virtual map can improve the stability of the visual odometry algorithm in low-texture environment. Specifically, we first combine unparallel matched line segments to generate virtual intersection matching points, then, based on the virtual intersection matching points, we triangulate to get a virtual map, combined with the real map built upon the ordinary point features to form a virtual-real hybrid 3D map. Finally, using the hybrid map, the continuous camera pose estimation can be solved. Extensive experimental results have demonstrated the robustness and effectiveness of the proposed method in various low-texture scenes.

Belong and Nonbelong Relations on Double-Framed Soft Sets and Their Applications

We aim through this paper to achieve two goals: first, we define some types of belong and nonbelong relations between ordinary points and double-framed soft sets. These relations are one of the distinguishing characteristics of double-framed soft sets and are somewhat expression of the degrees of membership and nonmembership. We explore their main properties and determine the conditions under which some of them are equivalent. Also, we introduce the concept of soft mappings between two classes of double-framed soft sets and investigate the relationship between an ordinary point and its image and preimage with respect to the different types of belong and nonbelong relations. By the notions presented herein, many concepts can be studied on double-framed soft topology such as soft separation axioms and cover properties. Second, we give an educational application of optimal choices using the idea of double-framed soft sets. We provide an algorithm of this application with an example to show how this algorithm is carried out.

Field theories with higher-group symmetry from composite currents

Higher-form symmetries are associated with transformations that only act on extended objects, not on point particles. Typically, higher-form symmetries live alongside ordinary, point-particle (0-form), symmetries and they can be jointly described in terms of a direct product symmetry group. However, when the actions of 0-form and higher-form symmetries become entangled, a more general mathematical structure is required, related to higher categorical groups. Systems with continuous higher-group symmetry were previously constructed in a top-down manner, descending from quantum field theories with a specific mixed ’t Hooft anomaly. I show that higher-group symmetry also naturally emerges from a bottom-up, low-energy perspective, when the physical system at hand contains at least two different given, spontaneously broken symmetries. This leads generically to a hierarchy of emergent higher-form symmetries, corresponding to the Grassmann algebra of topological currents of the theory, with an underlying higher-group structure. Examples of physical systems featuring such higher-group symmetry include superfluid mixtures and variants of axion electrodynamics.

Bipolar Soft Sets: Relations between Them and Ordinary Points and Their Applications

Bipolar soft set is formulated by two soft sets; one of them provides us the positive information and the other provides us the negative information. The philosophy of bipolarity is that human judgment is based on two sides, positive and negative, and we choose the one which is stronger. In this paper, we introduce novel belong and nonbelong relations between a bipolar soft set and an ordinary point. These relations are considered as one of the unique characteristics of bipolar soft sets which are somewhat expression of the degrees of membership and nonmembership of an element. We discuss essential properties and derive the sufficient conditions of some equivalence of these relations. We also define the concept of soft mappings between two classes of bipolar soft sets and study the behaviors of an ordinary point under these soft mappings with respect to all relations introduced herein. Then, we apply bipolar soft sets to build an optimal choice application. We give an algorithm of this application and show the method for implementing this algorithm by an illustrative example. In conclusion, it can be noted that the relations defined herein give another viewpoint to explore the concepts of bipolar soft topology, in particular, soft separation axioms and soft covers.

The class of simple dynamics systems

<div class="page" title="Page 1"><div class="layoutArea"><div class="column"><div class="page" title="Page 1"><div class="layoutArea"><div class="column"><p>In this paper, we study the class of simple dynamical systems on R induced by continuous maps having finitely many non-ordinary points. We characterize this class using labeled digraphs and dynamically independent sets. In fact, we classify dynamical systems up to their number of non-ordinary points. In particular, we discuss about the class of continuous maps having unique non-ordinary point, and the class of continuous maps having exactly two non-ordinary points.</p></div></div></div><pre><!--EndFragment--></pre><pre><!--EndFragment--></pre></div></div></div>

PREDIKSI NILAI FIXED CARBON SEBAGAI VARIABEL DALAM KUALITAS BATUBARA DENGAN METODA ORDINARY POINT KRIGING MENGGUNAKAN APLIKASI R

Data spasial adalah data yang diperoleh dari hasil pengukuran yang berisi informasi tentang lokasi, umumnya berdasarkan peta yang berisikan interpretasi dan proyeksi seluruh fenomena yang berada di bumi. Metoda Ordinary Point Kriging adalah salah satu metoda yang dapat digunakan untuk analisis data spasial dalam Geostatistika yang digunakan untuk mengestimasi nilai dari sebuah titik di lokasi tidak tersampel sebagai kombinasi linear dari nilai contoh yang terdapat di sekitar titik yang akan diestimasi. Bobot kriging diperoleh dari hasil variansi estimasi minimum menggunakan semivariogram sebagai input. Untuk studi kasus penerapan Metoda Ordinary Point Kriging, digunakan data karbon tertambat (fixed carbon) sebagai variabel kualitas batubara dari hasil uji laboratorium di PT Bumi Merapi yang menunjukkan bahwa kualitas batubara berada dalam peringkat Lignite. Fixed carbon menyatakan banyaknya karbon yang terdapat dalam material sisa setelah zat terbang (volatile matter) dihilangkan. Nilai fixed carbon sangat mempengaruhi kualitas suatu batubara, karena semakin tinggi nilai fixed carbon maka kualitas batubara semakin meningkat. Proses perhitungan estimasi fixed carbon di lokasi yang tidak tersampel menggunakan Metoda Ordinary Point Kriging dapat diselesaikan dengan package gstat pada Aplikasi R, dan memberikan nilai hasil estimasi mendekati nilai data sampel. Oleh karena itu, perhitungan Metoda Ordinary Point Kriging menggunakan aplikasi R memberikan perhitungan yang lebih mudah, cepat, dan akurat.

METODE ORDINARY POINT KRIGING UNTUK MEMPREDIKSI INFLASI DI KABUPATEN/KOTA YANG TIDAK TERSAMPEL

Inflasi sebagai indikator makro ekonomi memiliki peran penting bagi pemerintah dalam perencanaan dan evaluasi pembangunan. Penghitungan inflasi yang dilakukan oleh BPS masih terbatas di beberapa kabupaten/kota sampel SHK. Penelitian ini mengusulkan metode Ordinary Point Kriging untuk memprediksi nilai inflasi di beberapa kabupaten/kota tidak tersampel di pulau Jawa berdasarkan nilai inflasi di kabupaten/kota sampel yang ada di sekitarnya. Hasil penelitian ini menunjukkan bahwa dengan metode Ordinary Point Kriging dan model semivariogram Gaussian diperoleh prediksi nilai inflasi di beberapa kabupaten/kota kontrol dengan nilai MAPE sebesar 12,56 persen. Sementara itu, hasil penerapan metode kriging pada kabupaten/kota yang tidak tersampel cenderung menunjukkan kemiripan nilai inflasi dengan lokasi sampel yang berdekatan.