James R. McBride

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This paper describes a data set collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck. The vehicle is outfitted with a professional (Applanix POS-LV) and consumer (Xsens MTi-G) inertial measurement unit (IMU), a Velodyne 3D-lidar scanner, two push-broom forward looking Riegl lidars, and a Point Grey Ladybug3(More)
This paper reports on a mutual information (MI) based algorithm for automatic extrinsic calibration of a 3D laser scanner and optical camera system. By using MI as the registration criterion, our method is able to work in situ without the need for any specific calibration targets, which makes it practical for in-field calibration. The calibration parameters(More)
We propose an approach for external calibration of a 3D laser scanner with an omnidirectional camera system. The utility of an accurate calibration is that it allows for precise co-registration between the camera imagery and the 3D point cloud. This association can be used to enhance various state of the art algorithms in computer vision and robotics. The(More)
We have developed and optimized a 96-well microtiter plate assay, based on the reduction of alamarBlue, to assess the efficacies of much needed new antimicrobials against Acanthamoeba species. This assay has been optimized for determination of drug efficacy against two potentially pathogenic species, Acanthamoeba castellanii and Acanthamoeba polyphaga, and(More)
This paper reports a novel algorithm for bootstrapping the automatic registration of unstructured 3D point clouds collected using co-registered 3D lidar and omnidirectional camera imagery. Here, we exploit the co-registration of the 3D point cloud with the available camera imagery to associate high dimensional feature descriptors such as scale invariant(More)
This paper reports on an algorithm for automatic, targetless, extrinsic calibration of a lidar and optical camera system based upon the maximization of mutual information between the sensor measured surface intensities. The proposed method is completely data driven and does not require any fiducial calibration targets—making in situ calibration easy. We(More)
Alternative oxidase (AOX) is a mitochondrial protein that acts as an alternative terminal oxidase to the conventional cytochrome oxidases. It is present in certain prokaryotes, plants, fungi and some protozoa but absent in mammals. AOX activity has previously been described in Acanthamoeba, although no genetic evidence has been reported. Herein, two AOX(More)
This paper reports on various aspects of the Intelligent Vehicle Systems (IVS) team’s involvement in the recent 2007 DARPA Urban Challenge, wherein our platform, the autonomous “XAV-250,” competed as one of the 11 finalists qualifying for the event. We provide a candid discussion of the hardware and software design process that led to our team’s entry,(More)
Nanostructures, with their very large surface to volume ratio and their non-planar geometry, present an important challenge to surface scientists. New issues arise as to surface characterization, quantification and interface formation. This review summarizes the current state of the art in the synthesis, composition, surface and interface control of CdSe(More)
To explore the potential for use of ligand-conjugated nanocrystals to target cell surface receptors, ion channels, and transporters, we explored the ability of serotonin-labeled CdSe nanocrystals (SNACs) to interact with antidepressant-sensitive, human and Drosophila serotonin transporters (hSERT, dSERT) expressed in HeLa and HEK-293 cells. Unlike(More)