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We present a minimal solver for a special kind of homography arising in applications with planar camera motion (e.g. mobile robotics applications). Since the camera motion we consider only has five degrees of freedom, an explicit parametrisation allows us to reduce the required number of point correspondences to 2.5. Using fewer point correspondences is beneficial when used together with RANSAC, b
Due to advances in technology the amount of images from portable cameras has increased tremendously in recent years. Nowadays, most new mobile phones and cars have multiple cameras. Drones and other robots are often equipped with cameras as well. To be able to capture an image is not the same as to understand the content of it. Computer vision deals with the task of giving machines the ability to
We will in this paper present methods and algorithms for estimating two-view geometry based on an orthographic camera model. We use a previously neglected nonlinear criterion on rigidity to estimate the calibrated essential matrix. We give efficient algorithms for estimating it minimally (using only three point correspondences), in a least squares sense (using four or more point correspondences),
We investigated the risk of developing anastomotic stenosis after radical prostatectomy and found it to be twice as high after open surgery as after robot-assisted prostatectomy. The risk seems to be associated with the number of sutures/takes in the anastomosis.
Population ageing is making it increasingly diffcult for countries to sustain their current levels social welfare transfers from the economically active population to the dependent elderly. To meet this challenge, the Swedish government has implemented various reforms since the 1990s aimed at reducing incentives to take early retirement. However, a critical question has emerged in response to thes
The problem of monotone smoothing splines with bounds is formulated as a constrained minimization problem of the calculus of variations. Existence and uniqueness of solutions of this problem is proved, as well as the equivalence of it to a finite dimensional but nonlinear optimization problem. A new algorithm for computing the solution which is a spline curve, using a branch and bound technique, i
Purpose: In addition to incisional hernia, inguinal hernia is a recognized complication to radical retropubic prostatectomy. To compare the risk of developing inguinal and incisional hernias after open radical prostatectomy compared to robot-assisted laparoscopic prostatectomy. Method: Patients planned for prostatectomy were enrolled in the prospective, controlled LAPPRO trial between September 20
Mathematical modeling of nystagmus oscillations is a technique with applications in diagnostics, treatment evaluation, and acuity testing. Modeling is a powerful tool for the analysis of nystagmus oscillations but quality assessment of the input data is needed in order to avoid misinterpretation of the modeling results. In this work, we propose a signal quality metric for nystagmus waveforms, the
Magnesium transporter A (MgtA) is an active transporter responsible for importing magnesium ions into the cytoplasm of prokaryotic cells. This study focuses on the peptide corresponding to the intrinsically disordered N-terminal region of MgtA, referred to as KEIF. Primary-structure and bioinformatic analyses were performed, followed by studies of the undisturbed single chain using a combination o
Background: A crucial step in image fusion for intraoperative guidance during endovascular procedures is the registration of preoperative computed tomography angiography (CTA) with intraoperative Cone Beam CT (CBCT). Automatic tools for image registration facilitate the 3D image guidance workflow. However their performance is not always satisfactory. The aim of this study is to assess the accuracy
Many studies suggest that increased exposure to urban greenness is associated with better population health. Accessing nature can in some circumstances, however, be difficult, especially for individuals with mobility constraints. Therefore, a growing body of work is investigating the ways to replace the in vivo experience with forms of “virtual” contact, in order to provide these individuals with
In this paper we address the problem of registering and merging two maps in two dimensions, given covariance estimates of the two maps. We show that if two maps are given in the same coordinate system, then the problem of merging them in a statistically optimal way can be formulated as a linear least squares problem, but if they are given in different coordinate systems as well the problem becomes
Pairwise comparison of sound and radio signals can be used to estimate the distance between two units that send and receive signals. In a similar way it is possible to estimate differences of distances by correlating two received signals. There are essentially two groups of such methods, namely methods that are robust to noise and reverberation, but give limited precision and sub-sample refinement
Understanding the driving forces underlying molecular recognition is of fundamental importance in chemistry and biology. The challenge is to unravel the binding thermodynamics into separate contributions and to interpret these in molecular terms. Entropic contributions to the free energy of binding are particularly difficult to assess in this regard. Here we pinpoint the molecular determinants und
Aims: To investigate to what extent socioeconomic differences in swimming abilities persist among children in the city of Malmö, Sweden, after a community-level swimming intervention programme in public primary schools. Methods: A compulsory swimming education programme was launched in 2014 in second grade (at age 8) in all public primary schools in Malmö, Sweden. Data for the present study on soc
In the β-d-galactopyranoside-binding protein galectin-3, synthetic inhibitors substituted at the 3-position of a thiodigalactoside core cause the formation of an aglycone binding pocket through the displacement of an arginine residue (Arg144) from its position in the apoprotein. To examine in detail the role of different molecular interactions in this pocket, we have synthesized a series of nine 3
Lead halide perovskites (LHPs) nanocrystals (NCs), owing to their outstanding photophysical properties, have recently emerged as a promising material not only for solar cells but also for lighting and display applications. The photophysical properties of these materials can be further improved by chemical engineering such as cation exchange
As sales of e-bikes increase, so does the need for reliable evaluations of which means of transport the e-bike replaces, what we call the substitution effect. A randomised controlled trial with GPS data from 98 frequent drivers in Sweden was conducted to investigate the effect of the e-bike on modal choice, the number of trips, distance, as well as perceptions of the e-bike as a substitute for the
We apply two sparse reconstruction techniques, the least absolute shrinkage and selection operator (LASSO) and the sparse exponential mode analysis (SEMA), to two-dimensional (2D) spectroscopy. The algorithms are first tested on model data, showing that both are able to reconstruct the spectra using only a fraction of the data required by the traditional Fourier-based estimator. Through the analys
Iron centeredN-heterocyclic carbene (Fe-NHC) complexes have shown long-lived excited states with charge transfer character useful for light harvesting applications. Understanding the nature of the metal-ligand bond is of fundamental importance to rationally tailor the properties of transition metal complexes. The high-energy-resolution fluorescence detected X-ray absorption near edge structure (HE
