Andrew J Lambert

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In this paper, we present a novel approach to localization for planetary rovers, in which sun sensor and inclinometer measurements are incorporated directly into a stereo visual odometry pipeline. Utilizing the absolute orientation information provided by the sun sensor significantly reduces the error growth of the visual odometry path estimate. The(More)
This paper describes the development of a novel vision-based modeling and grasping system for three-dimensional (3D) objects whose shape and location are unknown a priori. Our approach integrates online computer vision-based 3D object modeling with online 3D grasp planning and execution. A single wrist-mounted video camera is moved around the stationary(More)
A consultation was hosted in South Africa (March 2011) to assess the combination HIV prevention research priorities of academics, implementers and MSM community leaders. Sixty-nine participants, representing 17 African countries, participated. Interactive strategies were used to present current data on HIV interventions and discussions on research(More)
BACKGROUND Human immunodeficiency virus (HIV) prevention intervention programs and related research for men who have sex with men (MSM) in the southern African region remain limited, despite the emergence of a severe epidemic among this group. With a lack of understanding of their social and sexual lives and HIV risks, and with MSM being a hidden and(More)
OBJECTIVE To assess the association between human immunodeficiency virus (HIV) and pregnancy intentions and safer conception knowledge among female sex workers in Port Elizabeth, South Africa. METHODS This cross-sectional study recruited female sex workers in Port Elizabeth using respondent-driven sampling and completed an interviewer-administered(More)
In this paper we take a connectionist machine learning approach to the problem of metre perception and learning in musical signals. We present a hybrid network consisting of a nonlinear oscillator network and a recurrent neural network. The oscillator network acts as an entrained resonant filter to the musical signal. It ‘perceives’ metre by resonating to(More)
BACKGROUND Female sex workers (FSWs) are disproportionately affected by HIV, even in the context of broadly generalised HIV epidemics such as South Africa. This has been observed in spite of the individual and population-level benefits of HIV treatment. We characterise the HIV care cascade among FSWs and relationships with antiretroviral therapy (ART) use.(More)
Precise measurement of aberrations within an optical system is essential to mitigate combined effects of user-generated aberrations for the study of anisoplanatic imaging using optical test benches. The optical system point spread function (PSF) is first defined, and methods to minimize the effects of the optical system are discussed. User-derived(More)
Surveillance imagery acquired at long distances is frequently degraded by atmospheric turbulence, causing it to be blurry and distorted. We introduce an interactive method for atmospheric turbulence mitigation of video sequences. Our method allows the user to input crucial information about the imaging conditions, hence bypassing many of the complexities(More)