James Bowman

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Robotic systems that can create and use visual maps in real-time have obvious advantages in many applications, from automatic driving to mobile manipulation in the home. In this paper we describe a mapping system based on retaining stereo views of the environment that are collected as the robot moves. Connections among the views are formed by consistent(More)
The typical SLAM mapping system assumes a static environment and constructs a map that is then used without regard for ongoing changes. Most SLAM systems, such as FastSLAM, also require a single connected run to create a map. In this paper we present a system of visual mapping, using only input from a stereo camera, that continually updates an optimized(More)
The prevalence of glucose-6-phosphate dehydrogenase (G6PD) deficiency and sickle cell trait was determined in 371 Cameroonian males and 668 male blood donors in Chicago. The number of males with both sickle cell trait and G6PD deficiency was significantly greater than expected (p less than 0.05) in Cameroon. The number of males with both sickle cell trait(More)
Interspecific analyses of infant growth and the time to maternal reconception (or weaning) demonstrate a consistent threshold for weaning weight at close to four times neonate weight, irrespective of the duration of lactation (Lee et al., [1991] J. Zool. Lond. 225:99-114). Intraspecific variation in the attainment of a threshold weaning weight was(More)
Prominent feature point descriptors such as SIFT and SURF allow reliable real-time matching but at a computational cost that limits the number of points that can be handled on PCs, and even more on less powerful mobile devices. A recently proposed technique that relies on statistical classification to compute signatures has the potential to be much faster(More)