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Camera motion estimation, such as relative pose estimation and absolute pose estimation, are fundamental problems in computer vision and robotics. To obtain the motion parameters, classical methods rely on studying the properties of the geometric matrices, e.g., rotation matrix, essential matrix, homography matrix. The well known five-point algorithm was successfully derived using the singular con
Autonomous vehicles and robots are typically equipped with Lidar and camera. Hence, calibrating the Lidar-camera system is of extreme importance for ego-motion estimation and scene understanding. In this paper, we propose a two-step approach (coarse + fine) for the external calibration between a camera and a multiple-line Lidar. First, a new closed-form solution is proposed to obtain the initial c
Camera systems used, e.g., in cars, UAVs, smartphones, and tablets, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector. Using the information from an IMU, the y-axes of cameras can be aligned with the gravity, reducing their relative orientation to a single DOF (degree of freedom). In this paper, we use the gravity information to derive extremely effi
In this paper, we propose a novel 3-DOF visual odometry method to estimate the location and pose (yaw) of a mobile robot when the robot is navigating indoors. Particularly, we mainly aim at dealing with the corridor-like scenarios where the RGB-D camera mounted on the robot can capture apparent planar structures such as floor or walls. The novelties of our method lie in two-folds. First, to fully
Kollektivtrafikplanering är en balansakt. Å ena sidan är det viktigt att satsa där det finns potential för många resor. Då krävs en koncentration av resurserna till stråk och noder med stort befolkningsunderlag. Å andra sidan är det också angeläget att skapa en rättvis fördelning av den offentliga service som utgörs av kollektivtrafiksystemet, så att även människor i mer glesbefolkade områden ges This thesis addresses the demand for more knowledge regarding regional public transport (between urban areas or to and from rural areas). More specifically, the aim is to develop a better understanding of the effects of different service planning decisions in terms of different trade-offs and their impacts on the overarching objectives of public transport provision. The studied trade-offs concern,
Youth labour remained important well into the twentieth century, although it is often elusive in traditional sources. In this article, we investigate messengers – a category of occupational titles, including errand and office boys, which is thought of as youth jobs. We sketch the long-term development of the occupation by making use of digitised Swedish daily newspapers and discuss demand-side, su
Radio for everyone? Passages in English and other languages in Swedish publicservice radioThis article focuses on Swedish public service radio (Sveriges Radio, SR) and howinterviews in languages other than Swedish are given in SR. In the article, the result of a close analysis of 42 hours of broadcasting from SR is presented. All in all, a dozen languages are identified; however, English clearly d
When selection differs between the sexes, genes expressed by both males and females can experience sexually antagonistic (SA) selection, where beneficial alleles for one sex are deleterious for the other. Classic population genetics theory has been fundamental to understanding how and when SA genetic variation can be maintained by balancing selection, but these models have rarely considered the de
A systemic perspective could support an enterprise to integrate multiple organizational aspects to facilitate the implementation of sustainability in work practices. The study explores sustainability in SMEs work-practices from multiple stakeholder’ perspectives following a systemic approach to developing a systemic sustainability model proposal. This model intends to investigate sustainability’ r
How should one understand comparisons in which neither of two alternatives is at least as good as the other? Much recent literature on comparability problems focuses on what the appropriate explanation of the phenomenon is. Is it due to vagueness or the possibility of non-conventional comparative relations such as parity? This paper argues that the discussions on how to best explain comparability
The chemical potential of water (//h2o) provides an essential thermodynamic characterization of the environment of living organisms, and it is of equal significance as the temperature. For cells, //H,0 is conventionally expressed in terms of the osmotic pressure. We have previously suggested that the main contribution to the intracellular osmotic pressure of the bacterium E. coli is from soluble n
Norms can be adopted without modifications or adapted to regional contexts for strategic or principled reasons. Norm adoption and adaptation can also happen by chance. When adoption takes place without consideration of the norm’s effectiveness or appropriateness, we speak about imitation. When adaptation takes place in such a manner, we lack conceptual tools to analyse it. We propose a novel conce
We model the spillover effect between competing firms’ daily idiosyncratic stock returns, using spatial econometric techniques. Contagion effect from rival firms dominates competitive effect, and the net effect is larger from negative return shocks of rival firms than from positive ones. The net effect is strong for firms in product markets with low concentration and high product market fluidity.
Non-bee pollinators (NBP) are a group of species with very diverse ecology. Indeed, they inhabitvarious habitats, using these as nesting sites, for shelter, as source of food and as huntingground for prey. Depending on the life stage of species, NBPs can inhabit different areas andtheir overall contribution to pollination can be diverse. For example, adult butterflies mainlyforage on nectar, where
Organizational anticipation involves the ability to foresee and analyze potential threats and disturbances as a means to minimize the likelihood of hazard occurrence and to reduce the potential impacts. Common methods include Risk and Vulnerability Assessments (RVAs) and contingency planning, where potentially harmful events are identified and analyzed, and where measures to prevent, respond to an
An evacuation experiment was carried out at the Äspö Hard Rock Laboratory in March 2018 to investigate human behaviour during evacuation in underground facilities via escape routes with long ascending tunnels. The objective of the experiment was to collect data that could be used as a basis for evacuation risk and safety assessments in underground tunnels and other large infrastructure projects re
In 2013, Mexico was the first developing country to adopt a carbon tax, confounding expectations that adoption of such taxes is mostly driven by international commitments and hindered by economic concerns: Mexico was not subject to international climate commitments and constituted an economy dependent on oil and exports to its NAFTA trading partners, which did not price carbon. To address this puz
Who are the guardians of separatism in Abkhazia and South Ossetia? These de facto states can be seen as self-determination movements or as outgrowths of Russian imperialism. We arbitrate between these competing scripts using a dataset that profiles officials in charge of high politics decision-making inside Georgia’s separatist entities from 1992 through 2020 (N=608). We find that most are sons of
The growth of Sweden’s urban population necessitates new approaches for increasing the sustainability and energy efficiency of multifamily buildings. The development of such approaches will require a holistic and integrated understanding of the factors driving the decision making of both professionals who design buildings and end-users who live in them. This paper, therefore, uses the goal framing
