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  • 1
    Online Resource
    Online Resource
    Real-time large-scale dense RGB-D SLAM with volumetric fusion
    SAGE Publications ; 2015
    In:  The International Journal of Robotics Research Vol. 34, No. 4-5 ( 2015-04), p. 598-626
    Details
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 34, No. 4-5 ( 2015-04), p. 598-626
    Abstract: We present a new simultaneous localization and mapping (SLAM) system capable of producing high-quality globally consistent surface reconstructions over hundreds of meters in real time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface reconstruction we achieve a much higher quality map over what would be achieved using raw RGB-D point clouds. In this paper we highlight three key techniques associated with applying a volumetric fusion-based mapping system to the SLAM problem in real time. First, the use of a GPU-based 3D cyclical buffer trick to efficiently extend dense every-frame volumetric fusion of depth maps to function over an unbounded spatial region. Second, overcoming camera pose estimation limitations in a wide variety of environments by combining both dense geometric and photometric camera pose constraints. Third, efficiently updating the dense map according to place recognition and subsequent loop closure constraints by the use of an ‘as-rigid-as-possible’ space deformation. We present results on a wide variety of aspects of the system and show through evaluation on de facto standard RGB-D benchmarks that our system performs strongly in terms of trajectory estimation, map quality and computational performance in comparison to other state-of-the-art systems.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364914551008
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2015
    detail.hit.zdb_id: 2015221-8
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  • 2
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    Online Resource
    Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing
    SAGE Publications ; 2014
    In:  The International Journal of Robotics Research Vol. 33, No. 12 ( 2014-10), p. 1544-1568
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    In: The International Journal of Robotics Research, SAGE Publications, Vol. 33, No. 12 ( 2014-10), p. 1544-1568
    Abstract: We present a parallelized navigation architecture that is capable of running in real-time and incorporating long-term loop closure constraints while producing the optimal Bayesian solution. This architecture splits the inference problem into a low-latency update that incorporates new measurements using just the most recent states (filter), and a high-latency update that is capable of closing long loops and smooths using all past states (smoother). This architecture employs the probabilistic graphical models of factor graphs, which allows the low-latency inference and high-latency inference to be viewed as sub-operations of a single optimization performed within a single graphical model. A specific factorization of the full joint density is employed that allows the different inference operations to be performed asynchronously while still recovering the optimal solution produced by a full batch optimization. Due to the real-time, asynchronous nature of this algorithm, updates to the state estimates from the high-latency smoother will naturally be delayed until the smoother calculations have completed. This architecture has been tested within a simulated aerial environment and on real data collected from an autonomous ground vehicle. In all cases, the concurrent architecture is shown to recover the full batch solution, even while updated state estimates are produced in real-time.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364914531056
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2014
    detail.hit.zdb_id: 2015221-8
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  • 3
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    Online Resource
    Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
    SAGE Publications ; 2006
    In:  The International Journal of Robotics Research Vol. 25, No. 12 ( 2006-12), p. 1181-1203
    Details
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 25, No. 12 ( 2006-12), p. 1181-1203
    Abstract: Solving the SLAM (simultaneous localization and mapping) problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. Smoothing approaches have been investigated as a viable alternative to extended Kalman filter (EKF)-based solutions to the problem. In particular, approaches have been looked at that factorize either the associated information matrix or the measurement Jacobian into square root form. Such techniques have several significant advantages over the EKF: they are faster yet exact; they can be used in either batch or incremental mode; are better equipped to deal with non-linear process and measurement models; and yield the entire robot trajectory, at lower cost for a large class of SLAM problems. In addition, in an indirect but dramatic way, column ordering heuristics automatically exploit the locality inherent in the geographic nature of the SLAM problem. This paper presents the theory underlying these methods, along with an interpretation of factorization in terms of the graphical model associated with the SLAM problem. Both simulation results and actual SLAM experiments in large-scale environments are presented that underscore the potential of these methods as an alternative to EKF-based approaches.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364906072768
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2006
    detail.hit.zdb_id: 2015221-8
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  • 4
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    Online Resource
    Impact of the COVID-19 pandemic on students at elevated risk of self-injury: The importance of virtual and online resources
    SAGE Publications ; 2021
    In:  School Psychology International Vol. 42, No. 1 ( 2021-02), p. 57-78
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    In: School Psychology International, SAGE Publications, Vol. 42, No. 1 ( 2021-02), p. 57-78
    Abstract: Non-suicidal self-injury (NSSI), which involves deliberate damage to body tissue without suicidal intent, has long been a concern for schools and school staff. Secondary schools are an ideal setting in which to identify, and appropriately refer, students who self-injure as well as implement evidence-based prevention and early intervention programs. However, in the context of the global COVID-19 pandemic, schools have been closed and students sent home to learn online. This may result in the exacerbation of existing anxieties and pose several new stressors that cumulatively may increase risk of NSSI. In this article, we draw on recent research and our collective experience working with schools, as well as digital mental health, to outline some of these potential stressors and offer resources for school staff to help students who are engaging in or at risk of NSSI.
    Type of Medium: Online Resource
    ISSN: 0143-0343 , 1461-7374
    URL: Article
    DOI: 10.1177/0143034320974414
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2021
    detail.hit.zdb_id: 2060753-2
    SSG: 5,2
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  • 5
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    Online Resource
    Position paper for guiding response to non-suicidal self-injury in schools
    SAGE Publications ; 2016
    In:  School Psychology International Vol. 37, No. 6 ( 2016-12), p. 644-663
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    In: School Psychology International, SAGE Publications, Vol. 37, No. 6 ( 2016-12), p. 644-663
    Abstract: Around the world, school staff are increasingly expressing concern about nonsuicidal self-injury (NSSI) and how best to address this behavior in the school setting. However, there is a notable lack of informed guidance for schools, and clear inconsistencies in the practices school staff adopt. In this position paper we draw on our collective research and clinical expertise to provide best-practice guidelines for addressing NSSI in school settings. We outline the importance of a school protocol, and the key features all school protocols should contain. We also focus on how schools can minimize contagion of NSSI within their school environment. We believe these guidelines will be an important starting point for schools interested in developing an evidence-based approach to addressing NSSI.
    Type of Medium: Online Resource
    ISSN: 0143-0343 , 1461-7374
    URL: Article
    DOI: 10.1177/0143034316678656
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2016
    detail.hit.zdb_id: 2060753-2
    SSG: 5,2
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  • 6
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    Evaluation of a Novel Parent-Rated Scale for Selective Mutism
    SAGE Publications ; 2020
    In:  Assessment Vol. 27, No. 5 ( 2020-07), p. 1007-1015
    Details
    In: Assessment, SAGE Publications, Vol. 27, No. 5 ( 2020-07), p. 1007-1015
    Abstract: Assessment of selective mutism (SM) is hampered by the lack of diagnostic measures. The Frankfurt Scale of Selective Mutism was developed for kindergarteners, schoolchildren, and adolescents, including the diagnostic scale (DS) and the severity scale (SS). The objective of this study was to evaluate this novel, parent-rated questionnaire among individuals aged 3 to 18 years ( n = 334) with SM, social phobia, internalizing disorders, and a control group. Item analysis resulted in high item-total correlations, and internal consistency in both scales was excellent with Cronbach’s α = .90-.98. Exploratory factor analysis of the SS consistently yielded a one-factor solution. Mean sum scores of the DS differed significantly between the diagnostic groups, and the receiver operating characteristic analysis resulted in optimal cutoffs for distinguishing SM from all other groups with the area under the curves of 0.94-1.00. The SS sum scores correlated significantly with SM’s clinician-rated symptom severity.
    Type of Medium: Online Resource
    ISSN: 1073-1911 , 1552-3489
    URL: Article
    DOI: 10.1177/1073191118787328
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2020
    detail.hit.zdb_id: 2083220-5
    SSG: 5,2
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  • 7
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    Online Resource
    The MIT Stata Center dataset
    SAGE Publications ; 2013
    In:  The International Journal of Robotics Research Vol. 32, No. 14 ( 2013-12), p. 1695-1699
    Details
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 32, No. 14 ( 2013-12), p. 1695-1699
    Abstract: This paper presents a large scale dataset of vision (stereo and RGB-D), laser and proprioceptive data collected over an extended duration by a Willow Garage PR2 robot in the 10 story MIT Stata Center. As of September 2012 the dataset comprises over 2.3 TB, 38 h and 42 km (the length of a marathon). The dataset is of particular interest to robotics and computer vision researchers interested in long-term autonomy. It is expected to be useful in a variety of research areas—robotic mapping (long-term, visual, RGB-D or laser), change detection in indoor environments, human pattern analysis, long-term path planning. For ease of use the original ROS ‘bag’ log files are provided and also a derivative version combining human readable data and imagery in standard formats. Of particular importance, this dataset also includes ground-truth position estimates of the robot at every instance (to typical accuracy of 2 cm) using as-built floor-plans—which were carefully extracted using our software tools. The provision of ground-truth for such a large dataset enables more meaningful comparison between algorithms than has previously been possible.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364913509035
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2013
    detail.hit.zdb_id: 2015221-8
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  • 8
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    Online Resource
    iSAM2: Incremental smoothing and mapping using the Bayes tree
    SAGE Publications ; 2012
    In:  The International Journal of Robotics Research Vol. 31, No. 2 ( 2012-02), p. 216-235
    Details
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 31, No. 2 ( 2012-02), p. 216-235
    Abstract: We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model inference algorithms and their connection to sparse matrix factorization methods. Similar to a clique tree, a Bayes tree encodes a factored probability density, but unlike the clique tree it is directed and maps more naturally to the square root information matrix of the simultaneous localization and mapping (SLAM) problem. In this paper, we highlight three insights provided by our new data structure. First, the Bayes tree provides a better understanding of the matrix factorization in terms of probability densities. Second, we show how the fairly abstract updates to a matrix factorization translate to a simple editing of the Bayes tree and its conditional densities. Third, we apply the Bayes tree to obtain a completely novel algorithm for sparse nonlinear incremental optimization, named iSAM2, which achieves improvements in efficiency through incremental variable re-ordering and fluid relinearization, eliminating the need for periodic batch steps. We analyze various properties of iSAM2 in detail, and show on a range of real and simulated datasets that our algorithm compares favorably with other recent mapping algorithms in both quality and efficiency.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364911430419
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2012
    detail.hit.zdb_id: 2015221-8
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  • 9
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    Online Resource
    Advanced perception, navigation and planning for autonomous in-water ship hull inspection
    SAGE Publications ; 2012
    In:  The International Journal of Robotics Research Vol. 31, No. 12 ( 2012-10), p. 1445-1464
    Details
    In: The International Journal of Robotics Research, SAGE Publications, Vol. 31, No. 12 ( 2012-10), p. 1445-1464
    Abstract: Inspection of ship hulls and marine structures using autonomous underwater vehicles has emerged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. In this paper, we develop and apply algorithms for the central navigation and planning problems on ship hulls. These divide into two classes, suitable for the open, forward parts of a typical monohull, and for the complex areas around the shafting, propellers and rudders. On the open hull, we have integrated acoustic and visual mapping processes to achieve closed-loop control relative to features such as weld-lines and biofouling. In the complex area, we implemented new large-scale planning routines so as to achieve full imaging coverage of all the structures, at a high resolution. We demonstrate our approaches in recent operations on naval ships.
    Type of Medium: Online Resource
    ISSN: 0278-3649 , 1741-3176
    URL: Article
    DOI: 10.1177/0278364912461059
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2012
    detail.hit.zdb_id: 2015221-8
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  • 10
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    Online Resource
    Psychosocial Impact of Congenital Heart Diseases on Patients and Their Families: A Parent's Perspective
    SAGE Publications ; 2022
    In:  World Journal for Pediatric and Congenital Heart Surgery Vol. 13, No. 1 ( 2022-01), p. 9-15
    Details
    In: World Journal for Pediatric and Congenital Heart Surgery, SAGE Publications, Vol. 13, No. 1 ( 2022-01), p. 9-15
    Abstract: Currently, over 90% of children with congenital heart disease (CHD) survive into adulthood. As a consequence the psychosocial impact on children and their families has become an important outcome measure. Therefore, the goal of this study was to assess the psychosocial impact from a parent's perspective and to identify possible predictors. Methods We included all parents of children who underwent open-heart surgery in the years 2010 and 2011 at the Department of Cardiothoracic Surgery at University Hospital Heidelberg and invited them to complete standardized questionnaires. Psychosocial outcome was measured via parent self- and proxy reporting of family burden (Family Burden Questionnaire, FaBel), health-related quality of life (KidScreen-10), developmental problems (Five-to-Fifteen, FTF), and mental health problems (Strength and Difficulties Questionnaire, SDQ). Results In total, 113 families returned the questionnaires completely (71.5%). The Aristotle Basic Complexity score and the STAT 2020 Score overall did not predict the psychosocial impact, whereas the number of surgical operations did significantly predict psychosocial impact across all domains in this study cohort. Conclusions These data suggest that the number of surgical operations might be a relevant predictor for the long-term psychosocial impact on families suffering from CHD and a potential connecting factor for specialized psychological support. When setting up screening instruments or support programs the entire family must be considered.
    Type of Medium: Online Resource
    ISSN: 2150-1351 , 2150-136X
    URL: Article
    DOI: 10.1177/21501351211044127
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2022
    detail.hit.zdb_id: 2550261-X
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