Results 71 to 80 of about 162,677 (314)

Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection [PDF]

IEEE International Conference on Robotics and Automation, 2020
Loop closure detection is an essential and challenging problem in simultaneous localization and mapping (SLAM). It is often tackled with light detection and ranging (LiDAR) sensor due to its view-point and illumination invariant properties.
Han Wang, Chen Wang, Lihua Xie
semanticscholar   +1 more source

Structural biology of ferritin nanocages

FEBS Letters, EarlyView.
Ferritin is a conserved iron‐storage protein that sequesters iron as a ferric mineral core within a nanocage, protecting cells from oxidative damage and maintaining iron homeostasis. This review discusses ferritin biology, structure, and function, and highlights recent cryo‐EM studies revealing mechanisms of ferritinophagy, cellular iron uptake, and ...
Eloise Mastrangelo, Flavio Di Pisa
wiley   +1 more source

A Novel Loop Closure Detection Method Using Line Features

IEEE Access, 2019
Loop closure detection is a significant requirement for simultaneous localization and mapping (SLAM) to recognize revisited place. This paper presents a novel line-based loop closure detection method for vision-based SLAM that allows reliable loop ...
Ruifang Dong, Zhan-guo Wei, Changan Liu, Jiangming Kan   +3 more
doaj   +1 more source

An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor

, 2019
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain.
Li, Alberto Quattrini, Rahman, Sharmin, Rekleitis, Ioannis   +2 more
core   +1 more source

The planar cell polarity protein Vangl2 interacts with the PDZ‐domains of Scribble but not with a unique PDZ‐like domain in Inturned

FEBS Letters, EarlyView.
Structural and biochemical characterisations show that the planar cell polarity (PCP) protein Inturned harbours a unique PDZ‐like domain that does not bind canonical PDZ‐binding motifs (PBMs) like that of another PCP protein Vangl2. In contrast, the apical‐basal polarity protein Scribble contains four PDZ domains that bind Vangl2, but one PDZ domain ...
Stephan Wilmes, Jan Brysch, Carmen Gelze, Lilli Meier, Daniel Kümmel   +4 more
wiley   +1 more source

Globally consistent dense 3D reconstruction with loop closure under fast camera motion

Geo-spatial Information Science
This paper introduces a novel globally consistent dense RGB-D SLAM system designed to address the challenges of online dense reconstruction under fast camera motion.
Haigang Sui, Xuanhao Wang, Guohua Gou, Yang Ye, Han Li, Hao Zhang, Weicheng Jiang, Mingting Zhou   +7 more
doaj   +1 more source

Underwater Loop-Closure Detection for Mechanical Scanning Imaging Sonar by Filtering the Similarity Matrix With Probability Hypothesis Density Filter

IEEE Access, 2019
Robust and accurate estimation of position and attitude of a UUV (Unmanned Underwater Vehicle) from sonar scans is essential for simultaneous localization and mapping (SLAM).
Min Jiang, Sanming Song, J. Michael Herrmann, Ji-Hong Li, Yiping Li, Zhiqiang Hu, Zhigang Li, Jian Liu, Shuo Li, Xisheng Feng   +9 more
doaj   +1 more source

Loop Closure Detection in RGB-D SLAM by Utilizing Siamese ConvNet Features

Applied Sciences, 2021
Loop closure detection is a key challenge in visual simultaneous localization and mapping (SLAM) systems, which has attracted significant research interest in recent years. It entails correctly determining whether a scene has previously been visited by a
Gang Xu, Xiang Li, Xingyu Zhang, Guangxin Xing, Feng Pan   +4 more
doaj   +1 more source

Attacking the Loop: Adversarial Attacks on Graph-Based Loop Closure Detection

Proceedings of the 19th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Comment: Accepted at VISIGRAPP 2024, 8 ...
Kim, Jonathan J. Y., Urschler, Martin, Riddle, Patricia J., Wicker, Jorg S.   +3 more
openaire   +2 more sources

A methionine‐lined active site governs carbocation stabilization and product specificity in a bacterial terpene synthase

FEBS Letters, EarlyView.
This study reveals a unique active site enriched in methionine residues and demonstrates that these residues play a critical role by stabilizing carbocation intermediates through novel sulfur–cation interactions. Structure‐guided mutagenesis further revealed variants with significantly altered product profiles, enhancing pseudopterosin formation. These
Marion Ringel, Carl P. O. Helmer, Shani Zev, Ronja Driller, Emily Buhr, Markus Reinbold, Renana Schwartz, Gabriel Foley, Mikael Boden, Daniel Garbe, Gerhard Schenk, Dan Thomas Major, Bernhard Loll, Thomas Brück   +13 more
wiley   +1 more source