Abstract-Here, we present a general framework for combining visual odometry and lidar odometry in a fundamental and first principle method. The method shows improvements in performance over the state of the art, particularly in robustness to aggressive motion and temporary lack of visual features. The proposed on-line method starts with visual odometry to estimate the ego-motion and to register point clouds from a scanning lidar at a high frequency but low fidelity. Then, scan matching based lidar odometry refines the motion estimation and point cloud registration simultaneously. We show results with datasets collected in our own experiments as well as using the KITTI odometry benchmark. Our proposed method is ranked #1 on the benchmark in terms of average translation and rotation errors, with a 0.75% of relative position drift. In addition to comparison of the motion estimation accuracy, we evaluate robustness of the method when the sensor suite moves at a high speed and is subject to significant ambient lighting changes.
Since the publication of the International Conference on Harmonization E5 guideline, new drug approvals in Japan based on the bridging strategy have been increasing. To further streamline and expedite new drug development in Japan, the Ministry of Health, Labour and Welfare, the Japanese regulatory authority, recently issued the 'Basic Principles on Global Clinical Trials' guidance to promote Japan's participation in multi-regional trials. The guidance, in a Q&A format, provides two methods as examples for recommending the number of Japanese patients in a multi-regional trial. Method 1 in the guidance is the focus of this paper. We derive formulas for the sample size calculations for normal, binary and survival endpoints. Computations and simulation results are provided to compare different approaches. Trial examples are used to illustrate the applications of the approaches.
Three pyrene fused PDI derivatives have been obtained, in which totally different properties were observed when adopting different fusing types. For bilaterally benzannulated PDIs, through spin-coating, bottom-contact OFET devices exhibited a p-type mobility up to 1.13 cm(2) V(-1) s(-1), with an on/off ratio of 10(8) in air.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.