Air‐ground Matching: Appearance‐based GPS‐denied Urban Localization of Micro Aerial Vehicles

In this paper, we address the problem of globally localizing and tracking the pose of a camera‐equipped micro aerial vehicle (MAV) flying in urban streets at low altitudes without GPS. An image‐based global positioning system is introduced to localize the MAV with respect to the surrounding buildings. We propose a novel air‐ground image‐matching algorithm to search the airborne image of the MAV within a ground‐level, geotagged image database. Based on the detected matching image features, we infer the global position of the MAV by back‐projecting the corresponding image points onto a cadastral three‐dimensional city model. Furthermore, we describe an algorithm to track the position of the flying vehicle over several frames and to correct the accumulated drift of the visual odometry whenever a good match is detected between the airborne and the ground‐level images. The proposed approach is tested on a 2 km trajectory with a small quadrocopter flying in the streets of Zurich. Our vision‐based global localization can robustly handle extreme changes in viewpoint, illumination, perceptual aliasing, and over‐season variations, thus outperforming conventional visual place‐recognition approaches. The dataset is made publicly available to the research community. To the best of our knowledge, this is the first work that studies and demonstrates global localization and position tracking of a drone in urban streets with a single onboard camera.     

A simple approach to neutral atom microscopy

Scanning surfaces using a beam of noncharged atoms or molecules allows for especially nondestructive and low-energy surface imaging, with the potential to obtain new information about surfaces that cannot be easily obtained otherwise. We have developed a new approach, operating with the sample at a close working distance from an aperture, the need for optics to focus the beam is obviated. Compared to more complex approaches, the theoretical performance has no other disadvantage than the short working distance. Resolution of 1.5 μm has been achieved, and submicron resolution appears to be practical. Construction of the microscope and results are presented, including first images done in reflection mode, theory for optimization of the design and avenues for future improvement.     

Integrated electronic transport and thermometry at milliKelvin temperatures and in strong magnetic fields

We fabricated a He-3 immersion cell for transport measurements of semiconductor nanostructures at ultra low temperatures and in strong magnetic fields. We have a new scheme of field-independent thermometry based on quartz tuning fork Helium-3 viscometry which monitors the local temperature of the sample's environment in real time. The operation and measurement circuitry of the quartz viscometer is described in detail. We provide evidence that the temperature of two-dimensional electron gas confined to a GaAs quantum well follows the temperature of the quartz viscometer down to 4 mK.     

Note: The intermodulation lockin analyzer

Nonlinear systems can be probed by driving them with two or more pure tones while measuring the intermodulation products of the drive tones in the response. We describe a digital lockin analyzer which is designed explicitly for this purpose. The analyzer is implemented on a field-programmable gate array, providing speed in analysis, real-time feedback, and stability in operation. The use of the analyzer is demonstrated for intermodulation atomic force microscopy. A generalization of the intermodulation spectral technique to arbitrary drive waveforms is discussed.