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RGB-D terrain perception and dense mapping for legged robots

Dominik Belter, Przemysław Łabecki, Péter Fankhauser, Roland Siegwart (2016)

International Journal of Applied Mathematics and Computer Science

This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used...

Robust optimality of Gaussian noise stability

Elchanan Mossel, Joe Neeman (2015)

Journal of the European Mathematical Society

We prove that under the Gaussian measure, half-spaces are uniquely the most noise stable sets. We also prove a quantitative version of uniqueness, showing that a set which is almost optimally noise stable must be close to a half-space. This extends a theorem of Borell, who proved the same result but without uniqueness, and it also answers a question of Ledoux, who asked whether it was possible to prove Borell’s theorem using a direct semigroup argument. Our quantitative uniqueness result has various...

Scalable PP-1 block cipher

Krzysztof Bucholc, Krzysztof Chmiel, Anna Grocholewska-Czuryło, Ewa Idzikowska, Izabela Janicka-Lipska, Janusz Stokłosa (2010)

International Journal of Applied Mathematics and Computer Science

A totally involutional, highly scalable PP-1 cipher is proposed, evaluated and discussed. Having very low memory requirements and using only simple and fast arithmetic operations, the cipher is aimed at platforms with limited resources, e.g., smartcards. At the core of the cipher's processing is a carefully designed S-box. The paper discusses in detail all aspects of PP-1 cipher design including S-box construction, permutation and round key scheduling. The quality of the PP-1 cipher is also evaluated...

Secret sharing schemes for ports of matroids of rank 3

Oriol Farràs (2020)

Kybernetika

A secret sharing scheme is ideal if the size of each share is equal to the size of the secret. Brickell and Davenport showed that the access structure of an ideal secret sharing scheme is determined by a matroid. Namely, the minimal authorized subsets of an ideal secret sharing scheme are in correspondence with the circuits of a matroid containing a fixed point. In this case, we say that the access structure is a matroid port. It is known that, for an access structure, being a matroid port is not...

Segmentation of MRI data by means of nonlinear diffusion

Radomír Chabiniok, Radek Máca, Michal Beneš, Jaroslav Tintěra (2013)

Kybernetika

The article focuses on the application of the segmentation algorithm based on the numerical solution of the Allen-Cahn non-linear diffusion partial differential equation. This equation is related to the motion of curves by mean curvature. It exhibits several suitable mathematical properties including stable solution profile. This allows the user to follow accurately the position of the segmentation curve by bringing it quickly to the vicinity of the segmented object and by approaching the details...

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