197 research outputs found
Visual Place Recognition using LiDAR Intensity Information
No full textRobots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM system, robots need to re-recognize places to find loop closure and reduce the odometry drift. Image-based place recognition received a lot of attention in computer vision, and in this work, we investigate how such approaches can be used for 3D LiDAR data. Recent LiDAR sensors produce high-resolution 3D scans in combination with comparably stable intensity measurements. Through a cylindrical projection, we can turn this information into a 360° panoramic range image. As a result, we can apply techniques from visual place recognition to LiDAR intensity data. The question of how well this approach works in practice has only partially been investigated. This paper provides an analysis of how such visual techniques can be with LiDAR data, and we provide an evaluation on different datasets. Our results suggest that this form of place recognition is possible and an effective means for determining loop closures
NO OCCUPATIONAL EXPOSURE TO NOISE
No full textABSTRACT. www.gimle.fsm.it
The aim of the research was to evaluate the risk for the health of
the disco-goers related to no-professional exposition to noise
produced by speakers of discos.
The noise has been measured in the middle of a disco using a
class 1 phonometer. The exposition level was calculated using
the formula quoted in the D.Lgs 277/91 (Italian legislative
decree) and the possible damage was calculated using the
Casini’s formula.
The calculated daily exposition level was 99,1 dBA and the
weekly exposition was 92.1 dBA.
The results indicate that the hypacusia damage due to these
expositions can be considered almost sure.
Key words: noise, hypacusia, disco-goers, amplified music
Problematiche connesse all'inquinamento da polvere e da rumore in un opificio per la lavorazione delle mandorle
No full textThe research concerns the risk assessment due to noise and dust in a farm traditionally oriented to the processing of almonds.
The different production phases were studied in order to identify the possible dust and noise sources, a box scheme of the technological cycle was developed, the specific duties of every production phases and the personnel permanence in the different working areas were identified.
The dustiness was sampled both in a fixed location for the characterisation of sources and with personal sampling devices for the assessment of the exposition of different professional categories. The sampling of the inspirable dust was conducted according to the ACGIH indications.
Regarding the noise risk, the procedure indicated in the D. Lgs 277/91 was followed and both sources and single professional Lep,d were analysed.
The results showed that the dust levels are different in the various working areas and that the overall exposition to dust, both inspirable and respirable, is within the reference values for professional exposition.
At the contrary, the noise exposition presented high risk levels, particularly for the contribution due to the automatic selector machine in the relevant working area
The data analysis eventually allowed to predispose some technical operations in order to enhance the working environment in terms of dust and noise
QUIT SMOKING FOR VALENTINE’S DAY! Awareness campaign targeting young people and focusing on smoking related risks, and benefits of quitting
No full text- …
