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RGB-D cameras are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used in the context of robotics, specifically for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation , semantic mapping, and telepresence. We(More)
The value of a firm's securities measures the value of the firm's productive assets. If the assets include only capital goods and not a permanent monopoly franchise, the value of the securities measures the value of the capital. Finally, if the price of the capital can be measured or inferred, the quantity of capital is the value divided by the price. A(More)
  • Geert Bekaert, Campbell R Harvey, Christian Lundblad, Wayne Ferson, Peter Henry, Ross Levine +10 others
  • 2001
We show that equity market liberalizations, on average, lead to a one percent increase in annual real economic growth over a five-year period. The effect is robust to alternative definitions of liberalization and does not reflect variation in the world business cycle. The effect also remains intact when an exogenous measure of growth opportunities is(More)
RGB-D cameras provide both a color image and per-pixel depth estimates. The richness of their data and the recent development of low-cost sensors have combined to present an attractive opportunity for mobile robotics research. In this paper, we describe a system for visual odometry and mapping using an RGB-D camera, and its application to autonomous flight.(More)
Financial markets appear to improve the allocation of capital – across 65 countries, those with developed financial markets increase investment more in growing industries, and decrease investment more in declining industries, than financially undeveloped countries. The efficiency of capital allocation is also negatively correlated with the extent of state(More)
  • Pierre-Olivier Gourinchas, Olivier Jeanne, Philippe Bacchetta, Chris Carroll, Francesco Caselli, Kerstin Gerling +7 others
  • 2006
The textbook neoclassical growth model predicts that countries with faster productivity growth should invest more and attract more foreign capital. We show that the allocation of capital flows across developing countries is the opposite of this prediction: capital does not flow more to countries that invest and grow more. We call this puzzle the "(More)
RGB-D cameras (such as the Microsoft Kinect) are novel sensing systems that capture RGB images along with per-pixel depth information. In this paper we investigate how such cameras can be used for building dense 3D maps of indoor environments. Such maps have applications in robot navigation, manipulation, semantic mapping, and telepresence. We present RGB-D(More)
  • Van Stijn, Nieuwerburgh, Laura Veldkamp, Tom Sargent, Tim Cogley, Paul Romer +9 others
  • 2003
When a boom ends, the downturn is generally sharp and short. When growth resumes, the boom is more gradual. Our explanation rests on learning about productivity. When agents believe productivity is high, they work, invest, and produce more. More production generates higher precision information. When the boom ends, precise estimates of the slowdown prompt(More)
— The performance of indoor robots that stay in a single environment can be enhanced by gathering detailed knowledge of objects that frequently occur in that environment. We use an inexpensive sensor providing dense color and depth, and fuse information from multiple sensing modalities to detect changes between two 3-D maps. We adapt a recent SLAM technique(More)
Recent advances have allowed for the creation of dense, accurate 3D maps of indoor environments using RGB-D cameras. Some techniques are able to create large-scale maps, while others focus on accurate details using GPU-accelerated volumetric representations. In this work we describe patch volumes, a novel multiple-volume representation which enables the(More)