This paper presents a novel technique for performing SLAM along a continuous trajectory of appearance. Derived from components of FastSLAM and FAB-MAP, the new system dubbed Continuous Appearance-based Trajectory SLAM (CAT-SLAM) augments appearancebased place recognition with particle-filter based ‘pose filtering’ within a probabilistic framework, without calculating global feature geometry or ...

The literature of American legal history is primarily a history of federal and state governments, creating the false impression that these governments have produced and enforced all relevant law. Indeed, there seems to be a widely held belief that law and order could not exist in a society without the organized authoritarian institutions of the state. But while law can be imposed from above by ...

Young, low-income, African American fathers have been at the center of research, practice, and policy on families over the past decade. This article uses a "voicing" analytic technique to examine identities among young, low-income, African American fathers living in an urban setting; the intersections of these identities; and the fathers' perceptions of the influences of familial, peer, and leg...

This paper examines the impact of bifurcated colonial institutions—i.e. the use of distinctive legal codes for “native” vs. “settler” populations—for long-term development in 67 former British, French, and Portuguese colonies. Building on theoretical arguments by Mahmood Mamdani (1996) and Matthew Lange’s empirical research on the distinctive developmental legacies of direct vs. indirect Britis...

Perceptual effects of orthogonal variations in temporal and spectral information differentiating French /0/ and /;)/ were examined. Although both parameters contribute to acoustic differentiation of /0/ and /;)/, the phonetic and phonological structure of French suggests that duration might be a less important perceptual property in French than in languages like American English. Three lO-step ...