In this paper we propose a practical and efficient method for finding the globally optimal solution to the problem of pose estimation of a known object. We present a framework that allows us to use both point-to-point, point-to-line and point-to-plane correspondences in the optimization algorithm. Traditional methods such as the iterative closest point algorithm may get trapped in local minima due

Popular Abstract in Swedish Den här avhandlingen handlar om studenter som samtalar och samarbetar i små grupper i en nätbaserad kurs. Studien har ett intresse av att beskriva och förstå de dialogiska processer, som uppstår i ett autentiskt nätbaserat samtal, vilket pågår under lång tid. Det handlar bland annat om att studera, hur deltagarna använder sig av de meningserbjudande, i form av deltagarnThis thesis investigates students' dialogue and collaboration when working in small groups in a netbased course. The aim is to describe and shed light on student's dialogue and collaboration in a computer-mediated communication working with a problem oriented task. Thus, the interest lies in student's engagement in the learning situation rather than on the learning outcomes. The research was carr

This paper presents a VLIW co-processor template for smart imaging. The template is highly scalable and can easily be instantiated for a specific data level parallelism. The co-processor is built to operate on frame segments instead of full frames only. As a result, eight different instances of the co-processor have been generated, each with different amount of parallelism exploited. Each instance

Popular Abstract in Swedish Hjärnskador som uppstår till följd av otillräckligt blodflöde (ischemi) drabbar årligen ett stort antal människor i Sverige och leder antingen till död eller invaliditet och åsamkar stort lidande för den drabbade och dennes anhöriga. Den vanligaste orsaken till hjärnischemi är stroke (slaganfall), som beror på en propp i ett blodkärl eller en hjärnblödning, till en begrBrain ischemia is a major cause of death and morbidity in the industrialized countries. It is mainly caused by stroke, but may also be the consequence of successful cardiopulmonary resuscitation in victims of cardiac arrest, known as transient global ischemia. Although extensive effort in the field of brain research using experimental rodent models, no neuroprotective treatments are at present ava

The general focus of this paper is on the methodological limitations of the sociology of law in capturing the law’s ‘truth’ as its practitioners experience it. The paper starts with arguing that the law does not have a monolithic ‘truth’. Some aspects of its ‘truth’ are produced through its own recursively sealed operations, while its other aspects are generated with reference to empirically groun

Many applications in telecommunications will depend on distributed systems to provide enough capacity. In a distributed system a service is split up into a number of modules (often called objects) that can be placed at different nodes or processors in a network. A service can be seen as a number of invocations of the objects in a certain order. There are a number of performance problems which have

This chapter describes the use of student evaluations in the Swedish context in general, and in one university faculty in particular. The case study illustrates a systematic, well- organised way to collect and collate data from student evaluations on teaching. The case also includes a systematic process to interpret data, where lecturers, students and programme leaders join together. The crucial f

A multi-step route to unsymmetrically substituted benzophenones based on cationic hapto6-arene-hapto5-cyclopentadienyl iron complexes has been developed. The key features are nucleophilic aromatic substitution reactions performed on hapto6-2-chlorocarbomethoxybenzene-hapto5-cyclopentadienyl iron hexafluorophosphate with phenoxides, followed by intramolecular Friedel-Crafts ring-closure. The thus f

This thesis analyzes the politics of growth, the policies that in the Swedish context have enabled and complemented socio-political strategies of redistribution as well as the development of a well organized and rather peaceful labour market. The core of the analysis is a broad overview of Swedish policies of economic growth, from the emergence of the Swedish model in the 1930s up to entering the

This dissertation focuses primarily on the following aspects concerning music in theatre: 1) its experienced peculiarity – ontologically grounded, 2) its sounding scope, and 3) its various kinds of functions. I argue that the difference between spoken theatre and opera is a question of degree rather than essence, and consider such an assertion being especially valid for the music of these genres.

Abstract in UndeterminedPollutants in the air can be in gaseous and particle (solid and liquid) phases. Interactions between these phases occur. The components are emitted to the air by different source mechanisms such as evaporation, disintegration of bulk material and chemical reactions. The significance of different transport mechanisms is, for airborne particles, dependent on the aerodynamic p