Semantics Aware Dynamic SLAM Based on 3D MODT

The idea of SLAM (Simultaneous Localization and Mapping) being a solved problem revolves around the static world assumption, even though autonomous systems are gaining environmental perception capabilities by exploiting the advances in computer vision and data-driven approaches. The computational demands and time complexities remain the main impediment in the effective fusion of the paradigms. In this paper, a framework to solve the dynamic SLAM problem is proposed. The dynamic regions of the scene are handled by making use of Visual-LiDAR based MODT (Multiple Object Detection and Tracking). Furthermore, minimal computational demands and real-time performance are ensured. The framework is tested on the KITTI Datasets and evaluated against the publicly available evaluation tools for a fair comparison with state-of-the-art SLAM algorithms. The results suggest that the proposed dynamic SLAM framework can perform in real-time with budgeted computational resources. In addition, the fused MODT provides rich semantic information that can be readily integrated into SLAM.

Разновидности Текстовой Динамики В Свете Феномена Признаковости В Повести Ф. М. Достоевского «Двойник» (Статья Первая)

В настоящей статье изучаются поэтические принципы и функции двух типов структурно-семантической логики, влияющей на возникновение текстовой динамики в «Двойнике». Парадоксально, что главная линия развития сводится к структуре высокой повторяемости рекуррентных / рекурсивных фигурирований стабильных нарративных единиц, мотивов, лексических элементов текста. Их постоянное возвращение (см. события, характерные черты персонажа, семантические признаки, компоненты устойчивых фразеологических выражений) создает впечатление модели неизменного мира, в котором не происходит никаких смен. Такой феномен можно условно назвать динамикой рекуррентности под знаком статичности. Транспозиционная динамика, с другой стороны, определяется в качестве второго направления текстового развертывания, формирующего механизм порождения смысла. Транспозиция в данной работе понимается в широком смысле, со специальным сосредоточением на 1) трансфигурации и проек\xD1\x86ии смысла путем сдвига от однородности семантических признаков к наделению означающих или означаемых новыми признаками (проблема референтности); 2) процессах семантической интеграции, касающейся включения мелких смысловых единиц в более крупные формации (семантический признак → мотив → литературный персонаж). Цель статьи состоит в выяснении взаимоотношения (своеобразной интеракции) двух типов динамики. Рассматриваемое смысловое образование, воплощаемое в минимальной единице моторной (моторно-словесной) «экспрессии» Голядкина, обладает двойной ориентацией, основанной на корреляции движения и остановки, которую В. B. Виноградов интерпретировал в своей знаменитой работе. С точки зрения объекта изучения в настоящей статье указанная нарративная и лингвистическая единица подвергается толкованию в качестве рекурсивной пары мотивов, обладающей особенной способностью перевоплощаться путем транспозиции. Применением метода «close reading» в пятой главе повести, где появляется двойник господина Голядкина, подробно продемонстрировано, как транспозиция действует в рамках процесса смысловых интеграций. Значение мотива врага претерпевает сдвиг от смысла человеческого врага к смыслу петербургской погоды и человеческой судьбы как новых субъектов. Они ассоциируются с мифологией и литературной культурой (интертексты), подводящими к толкованию личности Голядкина. Образ главного героя проецируется на его двойника многими семантическими признаками. «Тоскливая побежка» в смысле столкновения Голядкина с самим собой представляет его в качестве прозревающего героя, который как л\xD0\xB8тературный персонаж развивается постепенно, включением в этот процесс и образ двойника как транспозицию фигуры, также представляющей собой динамическое смысловое образование. Соотношение Голядкина и его двойника в аспекте проблемы первичности и вторичности поставлено также в контекст семиотики Пирса. The paper examines the poetic principles and functions of two sorts of structural-semantic logic influencing the emergence of textual dynamics in The Double. Paradoxically, the main developmental line consists in a highly repetitive structure of permanent reiteration of fixed narrative units, motifs, and lexical items in the text. Their constant recurrence (cf. events, character traits, semantic attributes, and elements of stable idiomatic phrases) creates the impression of a static world model in which no changes occur. This may be called recursive dynamics under the sign of a static state. Transpositional dynamics, on the other hand, can be regarded as the second direction of the textual developmental movement, producing the mechanism for meaning-generation. Transposition is interpreted broadly, in the paper, with a special accent on 1) meaning transfigurations and projections through the shift from the uniformity of semantic attributes to the acquiring of new attributes by the signifier or the signified (the problem of reference); 2) processes of semantic integration concerning the inclusion of smaller semantic units into larger ones (semantic attribute → motif → character figure). The purpose of the paper is to clarify the reciprocity (the special interaction) of the two types of dynamics. The semantic formation under scrutiny embodied by the smallest unit of Golyadkin’s motoric-verbal expression has a double orientation based on the correlation of motion and stop interpreted by V. Vinogradov in his famous study. From the perspective of the paper’s research object, this narrative and linguistic unit is examined as a recursive motif pair with a special capacity of transformation through transposition. It is demonstrated in detail, within the close reading of the fift h chapter, where Golyadkin’s double appears, how transposition works through a process of semantic integrations. The meaning of enemy is shift ed from human rivals to Petersburg weather and human fate as new subjects, associated with mythology and literary culture (intertexts), leading up to the interpretation of Golyadkin’s personality. The protagonist’s figure is projected upon his double through many semantic attributes. The “melancholy flight” as his encounter with himself presents him as an awakening hero, who as a character is developed gradually, including his double as his figure-transposition which also embodies a dynamic semantic pattern. The correlation of Golyadkin and his double in the context of firstness and secondness is also put into the context of Peircean semiotics.

Global and local gravitational redshifts in cosmology and their consequences for theory and observations

A consistent theory of gravitational redshift in cosmology (GRC) is formulated. The global GRC arises due to weakening of gravitational time dilation due to decreasing of matter density during the propagation time of photons. In the expanding world the local GRC arises due to the weakening of gravity of the sphere between observer and source, since photons emitted at a smaller radius arrive at a larger one. In static world there is no GRC at the exchange of photons at the periphery of this sphere. In any case photons from observer to source have the same GRC as photons from source to observer, which is in agreement with the cosmological principle. Consequences of the local and global GRC for cosmological models and their parameters, as well as corrections to data on distant objects and CMB, are considered. In Appendix the inconsistency of two former treatments of the gravitational frequency shift in cosmology is shown. They: a) did not take into account the global GRC; b) derived the local GRC not from the field of the sphere between the source and observer, but from the field of spheres around one of them; c) contradicted each other (the signs of shifts are opposite); d) violated cosmological principle (changing the propagation direction changes the sign of shift) and e) were based on the delusion that the Friedmann model supposedly contains the gravitational shift.

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

In 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.

Genetics of Lactose Intolerance: An Updated Review and Online Interactive World Maps of Phenotype and Genotype Frequencies

In humans the ability to digest milk lactose is conferred by a β-galactosidase enzyme called lactase-phlorizin hydrolase (LPH). While in some humans (approximately two-thirds of humankind) the levels of this enzyme decline drastically after the weaning phase (a trait known as lactase non-persistence (LNP)), some other individuals are capable of maintaining high levels of LPH lifelong (lactase persistence (LP)), thus being able to digest milk during adulthood. Both lactase phenotypes in humans present a complex genetic basis and have been widely investigated during the last decades. The distribution of lactase phenotypes and their associated single nucleotide polymorphisms (SNPs) across human populations has also been extensively studied, though not recently reviewed. All available information has always been presented in the form of static world maps or large dimension tables, so that it would benefit from the newly available visualization tools, such as interactive world maps. Taking all this into consideration, the aims of the present review were: (1) to gather and summarize all available information on LNP and LP genetic mechanisms and evolutionary adaptation theories, and (2) to create online interactive world maps, including all LP phenotype and genotype frequency data reported to date. As a result, we have created two online interactive resources, which constitute an upgrade over previously published static world maps, and allow users a personalized data exploration, while at the same time accessing complete reports by population or ethnicity.

A Static World

The present article scrutinizes the text of Erythraean Sea ethnography in Book 3 of Diodorus Siculus’ Bibliotheca Historica, while comparing it with Diodorus’ original source—Agatharchides’ On the Erythraean Sea, which is preserved in Photius’ Bibliotheca. It will be argued that Diodorus, with careful modifications of his source as well as referring to, or rejecting, specific contemporary moral motifs, articulates various kinds of limitations of the Erythraean inhabitants, and therefore (re)constructs the Erythraean Sea as a static world. The different and remote world of Diodorus’ protagonists serves as a mirror to reflect on moral, geographical, social and economic forms, and thus allows Diodorus to communicate with his readers: the latter are reminded of their seemingly unlimited chances in the present, which are commonly presented in contemporary literature.

Budgetbereinigung zwischen Kollektiv- und Selektivvertrag: ökonomische Aspekte aus wettbewerblicher Sicht / Selective Contracting and Collectively Financed Fund: The Way of Appropriate Adjustment

SummaryThe extraction of a selective contract from a collectively financed fund needs an appropriate method of adjustment. This is necessary as long as the fund guarantees basic benefits, irrespective of the contractual form of service provision. In this context externalities arise which may not be internalized by the partner of a selective contract.We look at externalities in the context of a collectively financed fund where insurers and health care providers can contract forms of managed care that need an adjustment scheme.We show that in a first-best static world, unique reimbursement schemes between collective and selective contracts are appropriate. From a dynamic perspective problems of externalities between collective and selective contracts increase due to the requirement of an enduring commitment scheme between the health care providers and the cost-payers. But some simple form of cost-sharing ideas in which the patient is also involved can help to achieve a pareto-optimal equilibrium. This commitment strategy will be easier to organise if the selective contract is connected with a process innovation. Altogether, the dynamic commitment strategy may only work if health care providers as well as cost-payers compete actively.