Monocular visual localization and mapping algorithms are able to estimate the environment only up to scale, a degree of freedom which leads to scale drift, difficulty closing loops, and eventual failure. This paper describes an imagedriven approach for scale-drift correction which uses a convolutional neural network to infer the speed of the camera from successive monocular video frames. We obt...

Development of methods that will allow exogenous imposition of inheritable gene-specific methylation patterns has potential application in both therapeutics and in basic research. An ongoing approach is the use of targeted DNA methyltransferases, which consist of a fusion between gene-targeted zinc-finger proteins and prokaryotic DNA cytosine methyltransferases. These enzymes however have so fa...

N a previous issue of this Review, we pn-ovided some evidence that the policy conclusions of the St. Louis equation an-c robust with respect to both the specification of its lag structure and the imposition of polynomial restn-ictions: monetary policy has a significant long-run effect on aggn-egate income, while fscal policy does not.’ This result is imnportant because it provides evidence that...

'Poetry' and 'prose' are categories which are normally used to distinguish the two main types of discourse in language. But there is some debate whether this division is helpful and valid when applied to the discourse of the Hebrew Bible. Whereas most scholars accept the validity of the two categories, Kugel (1981) has argued forcefully that the category of poetry is a misleading imposition of ...

We study the provision of an excludable public good to discuss whether the imposition of participation constraints is desirable. It is shown that this question may equivalently be cast as follows: should a firm that produces a public good receive tax revenues, or face a self-financing requirement. The main result is that the desirability of participation constraints is shaped by an equity-effic...

It is well known that high-order finite-difference methods may become unstable due to the presence of boundaries and the imposition of boundary conditions. For uniform grids, Gustafsson, Kreiss, and Sundstrom theory and the summation-by-parts method provide sufficient conditions for stability. For non-uniform grids, clustering of nodes close to the boundaries improves the stability of the resul...