University of Oxford

About: University of Oxford is a education organization based out in Oxford, Oxfordshire, United Kingdom. It is known for research contribution in the topics: Population & Context (language use). The organization has 99713 authors who have published 258108 publications receiving 12972806 citations. The organization is also known as: Oxford University & Oxon..

Real-time simultaneous localisation and mapping with a single camera

Abstract: Ego-motion estimation for an agile single camera moving through general, unknown scenes becomes a much more challenging problem when real-time performance is required rather than under the off-line processing conditions under which most successful structure from motion work has been achieved. This task of estimating camera motion from measurements of a continuously expanding set of self-mapped visual features is one of a class of problems known as Simultaneous Localisation and Mapping (SLAM) in the robotics community, and we argue that such real-time mapping research, despite rarely being camera-based, is more relevant here than off-line structure from motion methods due to the more fundamental emphasis placed on propagation of uncertainty. We present a top-down Bayesian framework for single-camera localisation via mapping of a sparse set of natural features using motion modelling and an information-guided active measurement strategy, in particular addressing the difficult issue of real-time feature initialisation via a factored sampling approach. Real-time handling of uncertainty permits robust localisation via the creating and active measurement of a sparse map of landmarks such that regions can be re-visited after periods of neglect and localisation can continue through periods when few features are visible. Results are presented of real-time localisation for a hand-waved camera with very sparse prior scene knowledge and all processing carried out on a desktop PC.

Genome sequence of the Brown Norway rat yields insights into mammalian evolution

Abstract: The laboratory rat (Rattus norvegicus) is an indispensable tool in experimental medicine and drug development, having made inestimable contributions to human health. We report here the genome sequence of the Brown Norway (BN) rat strain. The sequence represents a high-quality 'draft' covering over 90% of the genome. The BN rat sequence is the third complete mammalian genome to be deciphered, and three-way comparisons with the human and mouse genomes resolve details of mammalian evolution. This first comprehensive analysis includes genes and proteins and their relation to human disease, repeated sequences, comparative genome-wide studies of mammalian orthologous chromosomal regions and rearrangement breakpoints, reconstruction of ancestral karyotypes and the events leading to existing species, rates of variation, and lineage-specific and lineage-independent evolutionary events such as expansion of gene families, orthology relations and protein evolution.

Cultures in chimpanzees

Abstract: As an increasing number of field studies of chimpanzees (Pan troglodytes) have achieved long-term status across Africa, differences in the behavioural repertoires described have become apparent that suggest there is significant cultural variation1,2,3,4,5,6,7. Here we present a systematic synthesis of this information from the seven most long-term studies, which together have accumulated 151 years of chimpanzee observation. This comprehensive analysis reveals patterns of variation that are far more extensive than have previously been documented for any animal species except humans8,9,10,11. We find that 39 different behaviour patterns, including tool usage, grooming and courtship behaviours, are customary or habitual in some communities but are absent in others where ecological explanations have been discounted. Among mammalian and avian species, cultural variation has previously been identified only for single behaviour patterns, such as the local dialects of song-birds12,13. The extensive, multiple variations now documented for chimpanzees are thus without parallel. Moreover, the combined repertoire of these behaviour patterns in each chimpanzee community is itself highly distinctive, a phenomenon characteristic of human cultures14 but previously unrecognised in non-human species.

Error‐correction Mechanism Tests for Cointegration in a Single‐equation Framework

Abstract: A new test is proposed for cointegration in a single-equation framework where the regressors are weakly exogenous for the parameters of interest. The test is denoted as an error-correction mechanism (ECM) test and is based upon the ordinary least squares coefficient of the lagged dependent variable in an autoregressive distributed lag model augmented with leads of the regressors. The limit distributions of the standardized coeffi cient and t-ratio versions of the ECM tests are obtained and critical values are provided. These limit distributions do not depend upon nuisance parameters but they depend on the number of regressors. Finally, we compare their power properties with those of other cointegration tests available in the literature and find the circumstances under which the ECM tests have a better performance.

A manifesto for reproducible science

Abstract: Improving the reliability and efficiency of scientific research will increase the credibility of the published scientific literature and accelerate discovery. Here we argue for the adoption of measures to optimize key elements of the scientific process: methods, reporting and dissemination, reproducibility, evaluation and incentives. There is some evidence from both simulations and empirical studies supporting the likely effectiveness of these measures, but their broad adoption by researchers, institutions, funders and journals will require iterative evaluation and improvement. We discuss the goals of these measures, and how they can be implemented, in the hope that this will facilitate action toward improving the transparency, reproducibility and efficiency of scientific research.