On the use of likelihood fields to perform sonar scan matching localization

Scan matching algorithms have been extensively used in the last years to perform mobile robot localization. Although these algorithms require dense and accurate sets of readings with which to work, such as the ones provided by laser range finders, different studies have shown that scan matching localization is also possible with sonar sensors. Both sonar and laser scan matching algorithms are usually based on the ideas introduced in the ICP (Iterative Closest Point) approach. In this paper a different approach to scan matching, the Likelihood Field based approach, is presented. Three scan matching algorithms based on this concept, the non filtered sNDT (sonar Normal Distributions Transform), the filtered sNDT and the LF/SoG (Likelihood Field/Sum of Gaussians), are introduced and analyzed. These algorithms are experimentally evaluated and compared to previously existing ICP-based algorithms. The obtained results suggest that the Likelihood Field based approach compares favorably with algorithms from the ICP family in terms of robustness and accuracy. The convergence speed, as well as the time requirements, are also experimentally evaluated and discussed.

Virtual Graphics for Broadcast Production

The ability to mix and merge video images with interactive 3D graphics offers the possibility for TV content to evolve in line with the trend for entertainment media to become ever more computer-centric, making it more accessible to the "gaming generation."     

CASQUS: A new simulation tool for coupled 3D finite element modeling of tectonic and surface processes based on ABAQUS™ and CASCADE

CASQUS is a numerical simulation tool to model the feedback mechanism between surface and tectonic processes. It includes the surface processes model CASCADE into the finite element solver ABAQUS/Standard?. The finite element method allows for geomechanical simulations of the subsurface with geometrically complex structures in 3D. Additionally, in the commercial software ABAQUS? various types of rheological behavior are already implemented. CASCADE simulates erosion and sedimentation as the combination of fluvial transport and hillslope processes. For the integration of CASCADE into ABAQUS/Standard? an Arbitrary Lagrangian–Eulerian modeling technique is used, which makes a coupled and automated simulation possible. Two benchmark models that are easy to reproduce demonstrate the functionality of CASQUS. Our tool aims at a better understanding of the feedback between mass redistribution at the Earth's surface and processes within a heterogenous subsurface, and at a quantification of the involved processes.     

Locally Adapted Projections to Reduce Panorama Distortions

Displaying panoramic and wide angle views on a flat 2D display surface is necessarily prone to distortions. Perspective projections are limited to fairly narrow view angles. Cylindrical and spherical projections can show full 360° panoramas, but at the cost of curving straight lines, interfering with the perception of salient shapes in the scene.
In this paper, we introduce locally-adapted projections . Such projections are defined by a continuous projection surface consisting of both near-planar and curved parts. A simple and intuitive user interface allows the specification of regions of interest to be mapped to the near-planar parts, thereby reducing bending artifacts. We demonstrate the effectiveness of our approach on a variety of panoramic and wide angle images, including both indoor and outdoor scenes.     

Legal complicance by design: technical solutions for future distributed electronic markets

A novel challenge for Internet-based electronic market platforms constitutes trading of short-lived or non-material goods (e.g., electrical power, bandwidth-on- demand). In such a scenario, distributed market platforms are superior to centralized market platforms in many respects, e.g., because of lower transaction costs, more flexible options for contract negotiations, scalability, and robustness. However, they lack legal certainty since they are not operated by a trusted third party. This paper discuses how the SESAM framework for distributed electronic markets provides legal certainty conforming to European regulations based on three building blocks: First, it models juristic expertise as a formal workflow. Second, it includes a legal advisor consulting the users that are often legal laities. Third, it provides provableness and verifiability. Besides other mechanisms, the last building block comprises a novel solution for adducing the reception of electronic documents in a distributed setting. The real life example of trading energy on an electronic market platform is used to illustrate the interworking of all building blocks.     

Potential of low bandwidth active suspension control with continuously variable damper

In this paper, the performance potential of a new hardware combination for active suspension systems is presented. It consists of a low bandwidth actuator and a continuously variable damper, a setup that is shown to be competitive to high bandwidth active suspension systems especially if energy, cost and implementability aspects are taken into account. This is achieved by an iterative optimization procedure for the damping ratio and the weights of time-invariant LQR controllers for active quarter-car models. The results of the procedure are obtained by simulations employing a road disturbance model that is validated using measurements of a real highway profile. The achievable performance of the new hardware combination is compared to passive and high bandwidth active suspension systems by means of carpet plots. Based on the comparison results, it is shown that ride comfort can be significantly increased while satisfying given constraints for ride safety (maximum tire deflections) and suspension travel.     

Mapping megacity growth with multi-sensor data

In our increasingly urbanized world, monitoring and mapping of urban growth and thereby induced land-use and land-cover change (LULCC) is of emergent importance. Remote sensing can reveal spatio-temporal growth trajectories of cities, which again allow a thorough understanding of the impacts of urbanization on ecosystems and ecosystem services. However, the mapping of urban areas remains one of the most challenging tasks of remote sensing data analysis. This paper presents an approach to map urban growth from multi-sensoral data, exemplified for the Dhaka megacity region in Bangladesh between 1990 and 2006. The approach is globally applicable and can facilitate regional urban growth maps in arbitrary complex and dynamic environments.Dhaka's densified urban landscape, its deltaic locality and the highly dynamic monsoon-related phenology call for a sophisticated analysis approach that is able to separate intra-annual land-cover variations from actual urbanization. Imagery from the Landsat series of satellites is a great asset for such an analysis due to its synoptic coverage of large urban areas as well as its unique historical archives. In our approach, we solve problems of spectral ambiguities and seasonal phenological dynamics through incorporating multi-temporal imagery for each monitoring year (1990, 2000, and 2006) and by extending the spectral feature space with synthetic aperture radar (SAR) data. The resulting datasets are heterogeneous and comprise measurements of unequal scaling. Non-parametric classification algorithms are required to delineate multi-modal and non-Gaussian class distributions of heterogeneous as well as temporally and spectrally complex land-cover classes of interest in such an extended feature space. We therefore used a support vector machine (SVM) classifier and post classification comparison to reveal spatio-temporal patterns of urban land-use and land-cover changes. An SVM based forward feature selection procedure allowed deriving in-depth information about the individual contribution of different input bands.Our methodology delineated relevant land-cover classes and resulted in overall accuracies better than 83% for all years considered. Change analysis unveiled a profound expansion of urban areas at the expense of prime agricultural areas and wetlands. During the 1990s, change was primarily characterized by a densification of urban fabric, whereas more recent changes included vast in-filling of low lying land and an extensive industrial sprawl into Dhaka's peri-urban areas. Our multi-sensoral and multi-temporal mapping approach allowed for delineating temporally dynamic LULCC, which again allowed for an insightful characterization of land system changes in the megacity region of Dhaka.