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In earlier work closed-form trajectory bending was shown to provide an efficient and accurate out-of-core solution for loop-closing exactly sparse trajectories. Here we extend it to fuse exactly sparse trajectories, obtained from relative pose estimates, with absolute orientation data. This allows us to close-the-loop using absolute orientation data only.(More)
Regular inspection for corrosion of the pipes used in Liquified Natural Gas (LNG) processing facilities is critical for safety. We argue that a visual perception system equipped on a pipe crawling robot can improve on existing techniques (Magnetic Flux Leakage, radiography, ultrasound) by producing high resolution registered appearance maps of the internal(More)
The statements made herein are solely the responsibility of the authors. Abstract Liquid Natural Gas (LNG) processing facilities contain large complex networks of pipes of varying diameter and orientation intermixed with control valves, processes and sensors. Regular inspection of these pipes for corrosion, caused by impurities in the gas processing chain,(More)
The human c-ab1 oncogene maps within the region (q34-qter) of chromosome 9 which is translocated to chromosome 22, the Philadelphia (Ph') chromosome, in chronic myelocytic leukaemia (CML). The position of the Ph' chromosomal break point is shown to be variable and, in one CML patient, has been localized immediately 5' of, or within, the c-ab1 oncogene. A(More)
Aromatic and heteroaromatic amines (ArNH(2)) represent a class of potential mutagens that after being metabolically activated covalently modify DNA. Activation of ArNH(2) in many cases starts with N-hydroxylation by P450 enzymes, primarily CYP1A2. Poor understanding of structure-mutagenicity relationships of ArNH(2) limits their use in drug discovery(More)
The metabolism of aromatic and heteroaromatic amines (ArNH₂) results in nitrenium ions (ArNH⁺) that modify nucleobases of DNA, primarily deoxyguanosine (dG), by forming dG-C8 adducts. The activated amine nitrogen in ArNH⁺ reacts with the C8 of dG, which gives rise to mutations in DNA. For the most mutagenic ArNH₂, including the majority of known genotoxic(More)
Visual place recognition and loop closure is critical for the global accuracy of visual Simultaneous Localization and Mapping (SLAM) systems. We present a place recognition algorithm which operates by matching local query image sequences to a database of image sequences. To match sequences, we calculate a matrix of low-resolution, contrast-enhanced image(More)
Oral health and dental treatment needs were investigated in 50 randomly selected long-term medicine patients admitted to The Glostrup Hospital, University of Copenhagen, Glostrup, Denmark. All the patients were clinically and radiologically examined. Oral health generally was poor. Two-thirds (66%) of the patients were totally edentulous, 24% partially(More)
Stereo visual odometry and dense scene reconstruction depend critically on accurate calibration of the extrinsic (relative) stereo camera poses. We present an algorithm for continuous, online stereo extrinsic re-calibration operating only on sparse stereo correspondences on a per-frame basis. We obtain the 5 degree of freedom extrinsic pose for each frame,(More)