Search results for "mapping"
showing 10 items of 1508 documents
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
Measuring the agreement between brain connectivity networks.
2016
Investigating the level of similarity between two brain networks, resulting from measures of effective connectivity in the brain, can be of interest from many respects. In this study, we propose and test the idea to borrow measures of association used in machine learning to provide a measure of similarity between the structure of (un-weighted) brain connectivity networks. The measures here explored are the accuracy, Cohen's Kappa (K) and Area Under Curve (AUC). We implemented two simulation studies, reproducing two contexts of application that can be particularly interesting for practical applications, namely: i) in methodological studies, performed on surrogate data, aiming at comparing th…
Dynamic 3D Scene Reconstruction and Enhancement
2017
International audience; In this paper, we present a 3D reconstruction and enhancement approach for high quality dynamic city scene reconstructions. We first detect and segment the moving objects using 3D Motion Segmenta-tion approach by exploiting the feature trajectories' behaviours. Getting the segmentations of both the dynamic scene parts and the static scene parts, we propose an efficient point cloud registration approach which takes the advantages of 3-point RANSAC and Iterative Closest Points algorithms to produce precise point cloud alignment. Furthermore, we proposed a point cloud smoothing and texture mapping framework to enhance the results of reconstructions for both the static a…
Reliability of Virtual Screening Methods in Prediction of PDE4Binhibitor Activity
2015
Identification of active ligands using computational methods is a challenging task. For example, molecular docking, pharmacophore modeling, and three dimensional quantitative structure-activity relationship models (3D-QSAR) are widely used methods to identify novel small molecules. However, all these methods have, in addition to advantages, also significant pitfalls. The aim of this study was to compare some commonly used computational methods to estimate their ability to separate highly active PDE4B-inhibitors from less active and inactive ones. Here, 152 molecules with pIC 50 -range of 3.4-10.5, originating from six original studies were used. High correlation coefficients by using dockin…
Atrial activity extraction for atrial fibrillation analysis using blind source separation.
2004
This contribution addresses the extraction of atrial activity (AA) from real electrocardiogram (ECG) recordings of atrial fibrillation (AF). We show the appropriateness of independent component analysis (ICA) to tackle this biomedical challenge when regarded as a blind source separation (BSS) problem. ICA is a statistical tool able to reconstruct the unobservable independent sources of bioelectric activity which generate, through instantaneous linear mixing, a measurable set of signals. The three key hypothesis that make ICA applicable in the present scenario are discussed and validated: 1) AA and ventricular activity (VA) are generated by sources of independent bioelectric activity; 2) AA …
Automatic Image Annotation Using Random Projection in a Conceptual Space Induced from Data
2018
The main drawback of a detailed representation of visual content, whatever is its origin, is that significant features are very high dimensional. To keep the problem tractable while preserving the semantic content, a dimen- sionality reduction of the data is needed. We propose the Random Projection techniques to reduce the dimensionality. Even though this technique is sub-optimal with respect to Singular Value Decomposition its much lower computational cost make it more suitable for this problem and in par- ticular when computational resources are limited such as in mobile terminals. In this paper we present the use of a "conceptual" space, automatically induced from data, to perform automa…
An Unsupervised Method for Suspicious Regions Detection in Mammogram Images
2015
Over the past years many researchers proposed biomedical imaging methods for computer-aided detection and classification of suspicious regions in mammograms. Mammogram interpretation is performed by radiologists by visual inspection. The large volume of mammograms to be analyzed makes such readings labour intensive and often inaccurate. For this purpose, in this paper we propose a new unsupervised method to automatically detect suspicious regions in mammogram images. The method consists mainly of two steps: preprocessing; feature extraction and selection. Preprocessing steps allow to separate background region from the breast profile region. In greater detail, gray levels mapping transform …
Indexing a sequence for mapping reads with a single mismatch
2014
Mapping reads against a genome sequence is an interesting and useful problem in computational molecular biology and bioinformatics. In this paper, we focus on the problem of indexing a sequence for mapping reads with a single mismatch. We first focus on a simpler problem where the length of the pattern is given beforehand during the data structure construction. This version of the problem is interesting in its own right in the context of the next generation sequencing. In the sequel, we show how to solve the more general problem. In both cases, our algorithm can construct an efficient data structure in time and space and can answer subsequent queries in time. Here, n is the length of the s…
MIPPIE: the mouse integrated protein–protein interaction reference
2020
Abstract Cells operate and react to environmental signals thanks to a complex network of protein–protein interactions (PPIs), the malfunction of which can severely disrupt cellular homeostasis. As a result, mapping and analyzing protein networks are key to advancing our understanding of biological processes and diseases. An invaluable part of these endeavors has been the house mouse (Mus musculus), the mammalian model organism par excellence, which has provided insights into human biology and disorders. The importance of investigating PPI networks in the context of mouse prompted us to develop the Mouse Integrated Protein–Protein Interaction rEference (MIPPIE). MIPPIE inherits a robust infr…
Direct 3D mapping of the Fermi surface and Fermi velocity.
2017
Time-of-flight momentum microscopy is developed. It enables direct three-dimensional mapping of the topology of the Fermi surface, identification of electron and hole pockets, and quantification of Fermi velocity as a function of wavevector.