We present a novel approach to real-time dense visual SLAM. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera in an incremental online fashion, without pose graph optimisation or any postprocessing steps. This is accomplished by using dense frame-tomodel camera tracking and windowed surfel-based...

An efficient and accurate LiDAR place recognition methodology is proposed for vehicle localization. First, the Iris-LOAM to overcome disadvantages of low accuracy loop-closure detection efficiency map construction in existing LOAM-series methods. The method integrates LiDAR-Iris global descriptor Normal Distribution Transform (NDT) registration into module Odometry Mapping (LOAM), thereby impro...

BACKGROUND Wound infections after abdominal surgery are still frequent types of nosocomial infections. Suture materials might serve as a vehicle for mechanical transport of bacteria into the surgical wound. To prevent the contamination of suture material in surgical wounds, triclosan-coated suture materials with antibacterial activity was developed. We here report a prospective randomized pathw...

Loop leaping is the colloquial name given to a form of program analysis in which summaries are derived for nested loops starting from the innermost loop and proceeding in a bottom-up fashion considering one more loop at a time. Loop leaping contrasts with classical approaches to finding loop invariants that are iterative; loop leaping is compositional requiring each stratum in the nest of loops...

OBJECTIVE To evaluate the morbidity and mortality of operations for closure of loop colostomies and ileostomies. METHODS We analyzed epidemiological data, postoperative complications, morbidity and mortality of patients who underwent operations for closure of loop colostomies and ileostomies. We excluded patients whose data could not be obtained from the files and operations that required lap...

Repeat surgery has usually been considered the first choice to solve paravalvular leaks of prosthetic valves, but it carries a high operative risk, a high mortality rate and an increased risk for re-leaks. Percutaneous closure of such defects is possible, and different approaches and devices are used for this purpose. For mitral paravalvular leaks, constructing an arterio-venous wire loop for d...

In the monocular visual-inertia mode of ORB-SLAM3, insufficient excitation obtained by inertial measurement unit (IMU) will lead to a long system initialization time. Hence, trajectory can be easily lost and map creation not completed. To solve this problem, fast restoration method is proposed in paper, which adresses problem IMU. Firstly, frames before are quickly tracked using bag-of-words ma...

In the highly active research field of dense 3D reconstruction and modelling, loop closure is still a largely unsolved problem. While a number of previous works show how to accumulate keyframes, globally optimize their pose on closure, and compute a dense 3D model as a post-processing step, in this paper we propose an online framework which delivers a consistent 3D model to the user in real tim...

Real-time perception based on the simultaneous localization and mapping (SLAM) technology is of immense application potential in industry filed. In this work, we provide an extended Kalman filter (EKF) visual SLAM framework named Fusion VIO, which contains HDR imaging system, hardware synchronization, object detection, sensor fusion, semantic fusion. Notably, VIO well fuses loop closure informa...