University of Lincoln

About: University of Lincoln is a education organization based out in Lincoln, Lincolnshire, United Kingdom. It is known for research contribution in the topics: Population & Higher education. The organization has 2341 authors who have published 7025 publications receiving 124797 citations.

A Minimalistic Approach to Appearance-Based Visual SLAM

Abstract: This paper presents a vision-based approach to simultaneous localization and mapping (SLAM) in indoor/outdoor environments with minimalistic sensing and computational requirements. The approach is based on a graph representation of robot poses, using a relaxation algorithm to obtain a globally consistent map. Each link corresponds to a relative measurement of the spatial relation between the two nodes it connects. The links describe the likelihood distribution of the relative pose as a Gaussian distribution. To estimate the covariance matrix for links obtained from an omnidirectional vision sensor, a novel method is introduced based on the relative similarity of neighboring images. This new method does not require the determination of distances to image features using multiple-view geometry, for example. Combined indoor and outdoor experiments demonstrate that the approach can handle different environments (without modification of the parameters), and it can cope with violations of the ldquoflat floor assumptionrdquo to some degree and scales well with increasing size of the environment, producing topologically correct and geometrically accurate maps at low computational cost. Further experiments demonstrate that the approach is also suitable for combining multiple overlapping maps, e.g., for solving the multirobot SLAM problem with unknown initial poses.

Determinants of Government Size: Evidence from China

Abstract: This paper investigates the determinants of government size at the provincial level in China. We employ the panel data model as a platform for empirical analysis and control for endogeneity in the study. Our study shows that openness to trade and foreign direct investment (FDI) may curtail government expansion, and that the provincial-level public sector is characterized by economies of scale. This study also documents that Wagner’s law does not hold true for China. Moreover, both expenditure decentralization and revenue decentralization contribute to the expansion of China’s government.