In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry which performs fusion of the data at an intermediate feature-representation level. Our method has numerous advantages over traditional approaches. Specifically, it eliminates the need for tedious manual synchronization of the camera and IMU as well as eliminating the need for manual calibration between the IMU and camera. A further advantage is that our model naturally and elegantly incorporates domain specific information which significantly mitigates drift. We show that our approach is competitive with state-of-the-art traditional methods when accurate calibration data is available and can be trained to outperform them in the presence of calibration and synchronization errors.

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The world's forests have all the characteristics of "wicked problems" that are complex, tricky and thorny. Decades of sweeping changes that have taken place worldwide at various levels have resulted in the emergence of "metaforestry" which transcends the field of conventional forestry in response to the need to deal with ulterior and more fundamental problems concerning the forest. Being an overarching objective of metaforestry, sustainable forest management calls for a new line of thinking to promote collaboration in international forums concerning global forest policy.Key words: adaptive management, criteria and indicators, ecosystem, global forest policy, sustainable forest management Les forêts du monde ont toutes les caractéristiques des « affreux problèmes » qui sont complexes, délicats et épineux. Des décennies de changements rapides qui ont eu lieu partout dans le monde et à différents niveaux ont entraîné l'émergence d'une « méta foresterie » qui transcende le domaine de la foresterie conventionnelle en réponse au besoin de traiter les problèmes à venir et plus fondamentaux reliés aux forêts. Étant un objectif absolu de la méta foresterie, l'aménagement forestier durable fait appel à un nouveau mode de pensée pour promouvoir la collaboration au niveau des forums internationaux reliés aux politiques forestières globales.

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Background Globally, progress in Maternal and Child Health (MCH) has been inconsistent, with several evidence showing both between and within country disparities in several RMNCH outcome measures. In this study, we aim to meta-analyse existing literature on association between three major equity stratifiers and a selection of RMNCH indicators. Methods We searched PubMed, Embase, Scopus databases and grey literatures from the WHO, UNICEF and World Bank publications. Using the PRISMA guidelines, we identified and reviewed studies from low and middle-income countries, that explored the effects of inequalities on RMNCH, with focus on studies that utilised data from a nationally representative survey. The review protocol was registered at the PROSPERO international prospective register of systematic reviews. Results A total of 28 studies were included in the meta-analysis. Results revealed the existence of marked inequality based on income levels, education and place of residence. The most significant level of disparity was with regards to unmet need for contraception and antenatal coverage. For both respective indicators, those with secondary or higher education were 6 times more likely to have better coverage, than those with lesser level of education; (odds ratio (OR) = 6.25 (95% confidence interval (CI) = 1.68-23.23; I 2 = 98%, P = 0.006) and (OR = 6.17 (95% CI = 3.03-12.56; I 2 = 97%, P < 0.00001) respectively. In contrast, the lowest inequality was in the completion of 3 doses of diphtheria, pertussis and tetanus vaccines (DPT3), those with primary or no education, were equally as likely as those with secondary or higher education to have received DPT3; (OR = 1.21, 95% CI = 0.34-4.27; I 2 = 96%, P = 0.77). Conclusions In developing countries, maternal and child health coverage remains highly inequitable and assess to maternal and child health services are governed by factors such as income, level of education, and place of residence.

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