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- Adolfsson, Daniel, 1992-, et al.
(författare)
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CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry
- 2021
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Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). - : IEEE. - 9781665417143 - 9781665417150 ; , s. 5462-5469
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Konferensbidrag (refereegranskat)abstract
- This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally filtering the radar data in Cartesian space, we are able to compute a sparse set of oriented surface points for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers is achieved using a Huber loss. We were able to additionally reduce drift by jointly registering the latest scan to a history of keyframes and found that our odometry method generalizes to different sensor models and datasets without changing a single parameter. We evaluate our method in three widely different environments and demonstrate an improvement over spatially cross-validated state-of-the-art with an overall translation error of 1.76% in a public urban radar odometry benchmark, running at 55Hz merely on a single laptop CPU thread.
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- Adolfsson, Daniel, 1992-, et al.
(författare)
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Oriented surface points for efficient and accurate radar odometry
- 2021
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Konferensbidrag (refereegranskat)abstract
- This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar data is used to incrementally estimate odometry by registering the current scan with a nearby keyframe. By modeling local surfaces, we were able to register scans by minimizing a point-to-line metric and accurately estimate odometry from sparse point sets, hence improving efficiency. Specifically, we found that a point-to-line metric yields significant improvements compared to a point-to-point metric when matching sparse sets of surface points. Preliminary results from an urban odometry benchmark show that our odometry pipeline is accurate and efficient compared to existing methods with an overall translation error of 2.05%, down from 2.78% from the previously best published method, running at 12.5ms per frame without need of environmental specific training.
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- Alhashimi, Anas, 1978-, et al.
(författare)
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BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation
- 2021
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Konferensbidrag (refereegranskat)abstract
- This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localisation and mapping in low visibility, but return a lot of noise compared to (more commonly used) lidar, which makes the detection task more challenging. Our Bounded False-Alarm Rate (BFAR) detector is different from the classical Constant False-Alarm Rate (CFAR) detector in that it applies an affine transformation on the estimated noise level after which the parameters that minimize the estimation error can be learned. BFAR is an optimized combination between CFAR and fixed-level thresholding. Only a single parameter needs to be learned from a training dataset. We apply BFAR tothe use case of radar odometry, and adapt a state-of-the-art odometry pipeline (CFEAR), replacing its original conservative filtering with BFAR. In this way we reduce the state-of-the-art translation/rotation odometry errors from 1.76%/0.5◦/100 m to 1.55%/0.46◦/100 m; an improvement of 12.5%.
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- Alhashimi, Anas, 1978-, et al.
(författare)
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Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions
- 2021
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Ingår i: Sensors. - : MDPI. - 1424-8220. ; 21:1
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Tidskriftsartikel (refereegranskat)abstract
- We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that "fixed features shall have fixed relative distances and angles". The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.
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- Ameur, Adam, et al.
(författare)
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SweGen : a whole-genome data resource of genetic variability in a cross-section of the Swedish population
- 2017
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Ingår i: European Journal of Human Genetics. - : NATURE PUBLISHING GROUP. - 1018-4813 .- 1476-5438. ; 25:11, s. 1253-1260
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Tidskriftsartikel (refereegranskat)abstract
- Here we describe the SweGen data set, a comprehensive map of genetic variation in the Swedish population. These data represent a basic resource for clinical genetics laboratories as well as for sequencing-based association studies by providing information on genetic variant frequencies in a cohort that is well matched to national patient cohorts. To select samples for this study, we first examined the genetic structure of the Swedish population using high-density SNP-array data from a nation-wide cohort of over 10 000 Swedish-born individuals included in the Swedish Twin Registry. A total of 1000 individuals, reflecting a cross-section of the population and capturing the main genetic structure, were selected for whole-genome sequencing. Analysis pipelines were developed for automated alignment, variant calling and quality control of the sequencing data. This resulted in a genome-wide collection of aggregated variant frequencies in the Swedish population that we have made available to the scientific community through the website https://swefreq.nbis.se. A total of 29.2 million single-nucleotide variants and 3.8 million indels were detected in the 1000 samples, with 9.9 million of these variants not present in current databases. Each sample contributed with an average of 7199 individual-specific variants. In addition, an average of 8645 larger structural variants (SVs) were detected per individual, and we demonstrate that the population frequencies of these SVs can be used for efficient filtering analyses. Finally, our results show that the genetic diversity within Sweden is substantial compared with the diversity among continental European populations, underscoring the relevance of establishing a local reference data set.
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- Doherty, Patrick, 1957-, et al.
(författare)
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Approximate Databases : A support tool for approximate reasoning
- 2006
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Ingår i: Journal of applied non-classical logics. - : Éditions Hermès-Lavoisier. - 1166-3081 .- 1958-5780. ; 16:1-2, s. 87-118
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Tidskriftsartikel (refereegranskat)abstract
- This paper describes an experimental platform for approximate knowledge databases called the Approximate Knowledge Database (AKDB), based on a semantics inspired by rough sets. The implementation is based upon the use of a standard SQL database to store logical facts, augmented with several query interface layers implemented in JAVA through which extensional, intensional and local closed world nonmonotonic queries in the form of crisp or approximate logical formulas can be evaluated tractably. A graphical database design user interface is also provided which simplifies the design of databases, the entering of data and the construction of queries. The theory and semantics for AKDBs is presented in addition to application examples and details concerning the database implementation.
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- Doherty, Patrick, 1957-, et al.
(författare)
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Towards a Logical Analysis of Biochemical Reactions (Extended abstract)
- 2004
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Ingår i: Proceedings of the 16th European Conference on Artificial Intelligence (ECAI). - Amsterdam : IOS Press. - 1586034529 ; , s. 997-998
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Konferensbidrag (refereegranskat)abstract
- We provide a logical model of biochemical reactions and show how hypothesis generation using weakest sufficient and strongest necessary conditions may be used to provide additional information in the context of an incomplete model of metabolic pathways.
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- Klaric, Lucija, et al.
(författare)
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Mendelian randomisation identifies alternative splicing of the FAS death receptor as a mediator of severe COVID-19.
- 2021
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Ingår i: medRxiv : the preprint server for health sciences. - : Cold Spring Harbor Laboratory. ; , s. 1-28
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Severe COVID-19 is characterised by immunopathology and epithelial injury. Proteomic studies have identified circulating proteins that are biomarkers of severe COVID-19, but cannot distinguish correlation from causation. To address this, we performed Mendelian randomisation (MR) to identify proteins that mediate severe COVID-19. Using protein quantitative trait loci (pQTL) data from the SCALLOP consortium, involving meta-analysis of up to 26,494 individuals, and COVID-19 genome-wide association data from the Host Genetics Initiative, we performed MR for 157 COVID-19 severity protein biomarkers. We identified significant MR results for five proteins: FAS, TNFRSF10A, CCL2, EPHB4 and LGALS9. Further evaluation of these candidates using sensitivity analyses and colocalization testing provided strong evidence to implicate the apoptosis-associated cytokine receptor FAS as a causal mediator of severe COVID-19. This effect was specific to severe disease. Using RNA-seq data from 4,778 individuals, we demonstrate that the pQTL at the FAS locus results from genetically influenced alternate splicing causing skipping of exon 6. We show that the risk allele for very severe COVID-19 increases the proportion of transcripts lacking exon 6, and thereby increases soluble FAS. Soluble FAS acts as a decoy receptor for FAS-ligand, inhibiting apoptosis induced through membrane-bound FAS. In summary, we demonstrate a novel genetic mechanism that contributes to risk of severe of COVID-19, highlighting a pathway that may be a promising therapeutic target.
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