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We present a closed-form solution to estimate the covariance of the resultant transformation provided by the Iterative Closest Point (ICP) algorithm for 3D point cloud registration. We extend an existing work [1] that estimates ICP's covariance in 2D with point to plane error metric to 3D with point to point and point to plane error metrics. Moreover, we do not make any assumption on the noise present...
This paper presents Sparse Depth Odometry (SDO) to incrementally estimate the 3D pose of a depth camera in indoor environments. SDO relies on 3D keypoints extracted on dense depth data and hence can be used to augment the RGB-D camera based visual odometry methods that fail in places where there is no proper illumination. In SDO, our main contribution is the design of the keypoint detection module,...
We propose DAvinCi, a software framework that provides the scalability and parallelism advantages of cloud computing for service robots in large environments. We have implemented such a system around the Hadoop cluster with ROS (Robotic Operating system) as the messaging framework for our robotic ecosystem. We explore the possibilities of parallelizing some of the robotics algorithms as Map/Reduce...
We present a new concept (named DA vinCi) of distributed agents, sensor networks and an intelligent server catered to the home environment. Instead of a single multi-tasking human-like robot, we propose a team of networked task-specific robotic agents that interface with each other and the environment through a spatial map built by the server. We also highlight how our server will be a proxy for all...
In order to obtain phase information for the X-ray diffraction of tabtoxin resistance protein (TTR) crystal using the MAD phasing method, a selenomethionine (Se-Met) derivative of TTR was overexpressed inE. coli strain M15, with pQE-30 plasmid, through IPTG induction in M9 medium containing Se-Met. The product was purified to an estimated homogeneity of greater than 95% according to SDS-PAGE, by a...
A high pressure and high temperature method was used to efficiently extract on a large scale metallofullerenes MΓ 2n (M=La,Ce) in a closed vessel under argon gas protection. With pyridine as the HPHT solvent, about 60-80% MΓ 2n and 30-55% MΓ 82 can be enriched, MΓ 82 is dissolved selectively; With toluene as the HPHT solvent, MΓ 2n ...
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