Point based visual SLAM suffers from a trade off between map density and computational efficiency. With too few mapped points, tracking range is restricted and resistance to occlusion is reduced, whilst expanding the map to give dense representation significantly increases computation. We address this by introducing higher order structure into the map using planar features. The parameterisation...

this paper is dedicated to propose an algorithm in order to generate the certain isomers of some well-known fullerene bases. furthermore, we enlist the bipartite edge frustration correlated with some of symmetrically distinct innite families of fullerenes generated by the oered process.

The present contribution is concern with an exact framebased expansion of planar initial time-harmonic electromagnetic fields. The propagating field is described as a discrete superposition of tilted and shifted electromagnetic beam waveobjects over the frame spatial-spectral lattice. Explicit asymptotic expressions for the electromagnetic Gaussian beam propagators are obtained for the commonly...

This paper investigates estimating exact imaging transformations accurately, reliably and efficiently. It is shown that in certain common computer vision situations the transformation required can be defined by a small number of parameters. Search is only required over these parameters, and consequently the search algorithms to estimate the transformation can be run at frame rate, without sacri...

In this report, we present research toward a vision-based landing system for unmanned rotorcraft in unknown terrain that is centered around our Recursive Multi-Frame Planar Parallax algorithm [1] for high-accuracy terrain mapping. We give an in-depth description of the vision system, an overview of our experimental platforms, and both synthetic and experimental terrain mapping results.

Hip–Hop solutions of the 2N–body problem with equal masses are shown to exist using an analytic continuation argument. These solutions are close to planar regular 2N–gon relative equilibria with small vertical oscillations. For fixed N , an infinity of these solutions are three–dimensional choreographies, with all the bodies moving along the same closed curve in the inertial frame.

Relative dispersion of a passive scalar plume was investigated in uniformly sheared, nearly homogeneous, turbulent flow with Reλ≈150 using planar laser-induced fluorescence. Mean concentration maps were determined both in the laboratory frame and in a frame attached to the instantaneous center of mass of the plume cross section. The distance-neighbor function had a shape that was compatible wit...

We present the construction of a planar drift chamber with wires stretched between two arms of a c-shaped aluminium frame. The special shape of the frame allows to extend the momentum acceptance of the COSY-11 detection system towards lower momenta without suppressing the high momentum particles. The proposed design allows for construction of tracking detectors covering small angles with respec...

The visual simultaneous localisation and mapping (SLAM) systems now in widespread use are based on localised point features [2, 4, 5]. Although effective in many respects, the approach has limitations when considering the density and efficiency of map representation. With a dense population of features, camera tracking can be robust, able to withstand significant occlusion and large changes in ...