Shadow detection for mobile robots: Features,evaluation, and datasets

ABSTRACT

Shadows have long been a challenging topic for computer vision. This challenge is made even harder when we assume that the camera is moving, as many existing shadow detection techniques require the creation and maintenance of a background model. This article explores the problem of shadow modelling from a moving viewpoint (assumed to be a robotic platform) through comparing shadow-variant and shadow-invariant image features — primarily color, texture and edge-based features. These features are then embedded in a segmentation pipeline that provides predictions on shadow status, using minimal temporal context. We also release a public dataset of shadow-related image sequences, to help other researchers further develop shadow detection methods and to enable benchmarking of techniques.     

The Galaxy Cluster Mass Scale and Its Impact on Cosmological Constraints from the Cluster Population

Space Science Reviews - The QB50 mission is a satellite constellation designed to carry out measurements at between 200–380 km altitude in the ionosphere. The multi-needle Langmuir probe...     

A Quasi-Spherical Air Pressure Probe

This paper considers an air pressure probe, the head part of which is made in the form of a polyhedron inscribed into a sphere. Wind tunnel testing of the probe models is performed, a mathematical model and an algorithm are constructed to calculate all the altitude and airspeed parameters, and an error estimation is given.     

Influence of Body Waves,Instrumentation Resonances,and Prior Assumptions on Rayleigh Wave Ellipticity Inversion for Shallow Structure at the InSight Landing Site

Based on an updated model of the regolith’s elastic properties, we simulate the ambient vibrations background wavefield recorded by InSight’s Seismic Experiment for Interior Structure (SEIS) on Mars to characterise the influence of the regolith and invert SEIS data for shallow subsurface structure. By approximately scaling the synthetics based on seismic signals of a terrestrial dust devil, we find that the high-frequency atmospheric background wavefield should be above the self-noise of SEIS’s SP sensors, even if the signals are not produced within 100–200 m of the station. We compare horizontal-to-vertical spectral ratios and Rayleigh wave ellipticity curves for a surface-wave based simulation on the one hand with synthetics explicitly considering body waves on the other hand and do not find any striking differences. Inverting the data, we find that the results are insensitive to assumptions on density. By contrast, assumptions on the velocity range in the upper-most layer have a strong influence on the results also at larger depth. Wrong assumptions can lead to results far from the true model in this case. Additional information on the general shape of the curve, i.e. single or dual peak, could help to mitigate this effect, even if it cannot directly be included into the inversion. We find that the ellipticity curves can provide stronger constraints on the minimum thickness and velocity of the second layer of the model than on the maximum values. We also consider the effect of instrumentation resonances caused by the lander flexible modes, solar panels, and the SEIS levelling system. Both the levelling system resonances and the lander flexible modes occur at significantly higher frequencies than the expected structural response, i.e. above 35 Hz and 20 Hz, respectively. While the lander and solar panel resonances might be too weak in amplitude to be recorded by SEIS, the levelling system resonances will show up clearly in horizontal spectra, the H/V and ellipticity curves. They are not removed by trying to extract only Rayleigh-wave dominated parts of the data. However, they can be distinguished from any subsurface response by their exceptionally low damping ratios of 1% or less as determined by random decrement analysis. The same applies to lander-generated signals observed in actual data from a Moon analogue experiment, so we expect this analysis will be useful in identifying instrumentation resonances in SEIS data.     

Dynamics of Quasi-Biennal Variations of Cosmic Rays and Solar Activity

The quasi-biennial variations in the flux of galactic cosmic rays (GCRs) have been studied based on the data of stratospheric sensing and measurements by neutron monitors, as well as in various manifestations of solar activity and interplanetary medium parameters. It has been shown that quasi-biennial GCR variations are caused by variations with the same period in the mean magnetic field of the Sun that coincide with them over time and have been identified in the anti-phase, which respond to the sign of this field. The variations in the quasi-biennial cosmic ray are caused by quasi-biennial variations in the mean magnetic field of the Sun via the quasi-biennial variations in the interplanetary magnetic field.     

Influence Analysis of the Second Bypass Air Bleed Parameters on the Engine Performance

This paper considers double bypass aircraft engine with controlled air bleed to the second bypass duct. Its performance is evaluated by mathematical modeling techniques. The second bypass air bleed amount is determined to provide the best engine efficiency at various operating modes.     

The Dynamics of a Satellite-Gyrostat with a Single Nonzero Component of the Vector of Gyrostatic Moment

The dynamics of a satellite-gyrostat moving in the central Newtonian force field along a circular orbit is studied. In the particular case when the vector of gyrostatic moment is parallel to one of the satellite’s principal central axes of inertia, all the equilibrium states are determined. For each equilibrium orientation, sufficient conditions of stability are obtained as a result of the analysis of the generalized energy integral, and necessary conditions of stability are determined as a result of analysis of the linearized equations of motion. The evolution of regions of validity for the conditions of stability of equilibrium positions are studied in detail depending on the parameters of the problem. All the bifurcation values of the parameters at which qualitative changes of the regions of stability take place are determined.__________Translated from Kosmicheskie Issledovaniya, Vol. 43, No. 4, 2005, pp. 283–294.Original Russian Text Copyright © 2005 by Sarychev, Mirer, Degtyarev.     

The Evolving Revolutionary All-Electric Airplane

The "all-electric airplane" is described as it would apply to a military fighter. Emphasis is placed on implementation issues, on the mutual influence between all-electric and airframe design, and on the cost of ownership. It finishes with a projection of what an all-electric airplane might actually be like.