John McDonald

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In this paper we present an extension to the KinectFusion algorithm that permits dense mesh-based mapping of extended scale environments in real-time. This is achieved through (i) altering the original algorithm such that the region of space being mapped by the KinectFusion algorithm can vary dynamically, (ii) extracting a dense point cloud from the regions(More)
We introduce the Imperial College London and National University of Ireland Maynooth (ICL-NUIM) dataset for the evaluation of visual odometry, 3D reconstruction and SLAM algorithms that typically use RGB-D data. We present a collection of handheld RGB-D camera sequences within synthetically generated environments. RGB-D sequences with perfect ground truth(More)
This paper describes extensions to the Kintinuous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused realtime(More)
We present a new SLAM system capable of producing high quality globally consistent surface reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface reconstruction we achieve a much higher quality map over what would be achieved using raw RGB-D point clouds. In this paper we(More)
The paper examines second stage DEA efficiency analyses, within the context of a censoring data generating process (DGP) and a fractional data DGP, when efficiency scores are treated as descriptive measures of the relative performance of units in the sample. It is argued that the efficiency scores are not generated by a censoring process but are fractional(More)
The emergence of the Internet as a trusted medium for commerce and communication has made cryptography an essential component of modern information systems. Cryptography provides the mechanisms necessary to implement accountability, accuracy, and confidentiality in communication. As demands for secure communication bandwidth grow, efficient cryptographic(More)
Recent evidence has identified the peroxisome proliferator-activated receptor gamma coactivator-1alpha (PGC-1alpha) as a regulator of cardiac energy metabolism and mitochondrial biogenesis. We describe the development of a transgenic system that permits inducible, cardiac-specific overexpression of PGC-1alpha. Expression of the PGC-1alpha transgene in this(More)
This paper describes extensions to the Kintinuous [1] algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused realtime(More)