Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size the environment, checking computing transformation for all closure candidates becomes computationally infeasible. In this work, we describe module that is able prioritize which compute based on underlying pose graph, proximity known bea...

Loop-closure detection (LCD) in large non-stationary environments remains an important challenge robotic visual simultaneous localization and mapping (vSLAM). To reduce computational perceptual complexity, it is helpful if a vSLAM system has the ability to perform image change (ICD). Unlike previous applications of ICD, time-critical cannot assume offline background modeling stage, or rely on m...

INTRODUCTION diverting loop ileostomies are widely used in colorectal surgery to protect low rectal anastomoses. However, they may have various complications, among which are those associated with the subsequent stoma closure. The present study analyses our experience in a series of patients undergoing closure of loop ileostomies. METHOD retrospective study of all the patients undergoing ileo...

PURPOSE The use of barium enemas to confirm the anastomotic integrity prior to ileostomy closure is still controversial. The purpose of the study was to determine the utility of routine contrast enema prior to ileostomy closure and its impact on patient management in patients with a low pelvic anastomosis. METHODS One hundred forty-five patients had a temporary loop ileostomy constructed to p...

Place recognition has often been incorporated in SLAM and localization systems to support autonomous navigation of robots intelligent vehicles. With the increasing capacity DL approaches learning useful information from 3D LiDARs, place also benefited this modality, which led higher re-localization loop-closure detection performance, particularly, environments with significantly changing condit...