Mapping and localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sensors present, mapping algorithms usually rely on loop closure detection techniques, which entail the correct identification of previously seen places to reduce the uncertainty of the resulting maps. This book deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques. Since the quality of a visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed. Then, these methods are used in three novel topological mapping algorithms. The results obtained indicate that the solutions proposed attain a better performance than several state-of-the-art approaches. To conclude, given that loop closure detection is also a key component in other research areas, a multi-threaded image mosaicing algorithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in order to find overlapping pairs between images and finally obtain seamless mosaics of different environments in a reasonable amount of time.

Mapping and localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sensors present, mapping algorithms usually rely on loop closure detection techniques, which entail the correct identification of previously seen places to reduce the uncertainty of the resulting maps. This book deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques. Since the quality of a visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed. Then, these methods are used in three novel topological mapping algorithms. The results obtained indicate that the solutions proposed attain a better performance than several state-of-the-art approaches. To conclude, given that loop closure detection is also a key component in other research areas, a multi-threaded image mosaicing algorithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in order to find overlapping pairs between images and finally obtain seamless mosaics of different environments in a reasonable amount of time.

An eye-opening look at how incarcerated people, health professionals, and others behind and beyond bars came together to problem-solve incarceration. Raising the Living Dead is a history of Puerto Rico's carceral rehabilitation system that brings to life the interactions of incarcerated people, their wider social networks, and health care professionals. Alberto Ortiz Diaz describes the ways that multiple communities of care came together both inside and outside of prisons to imagine and enact solution-oriented cultures of rehabilitation from the 1930s to the 1960s. Scientific and humanistic approaches to well-being were deliberately fused to raise the "living dead," an expression that reemerged in the modern Caribbean to refer to prisoners. These reform groups sought to raise incarcerated people physically, mentally, socially, spiritually, and civically. The book is based on deep, original archival research into the Oso Blanco (White Bear) penitentiary in Puerto Rico, yet it situates its study within Puerto Rico's broader carceral archipelago and other Caribbean prisons. The agents of this history include not only physical health professionals, but also psychologists and psychiatrists, social workers, spiritual and religious practitioners, and, of course, the prisoners and their families. By following all these groups and emphasizing the interpersonal exercise of power, Ortiz Diaz tells a story that goes beyond debates about structural and social control. The book addresses key issues in the history of prisons and the histories of medicine and belief, including how prisoners' different racial, class, and cultural identities shaped their incarceration and how professionals living in a colonial society dealt with the challenge of rehabilitating prisoners for citizenship. Raising the Living Dead is not just about convicts, their immediate interlocutors, and their contexts, however, but about how together these open a window into the history of social uplift projects within the (neo)colonial societies of the Caribbean. There is no book like this in Caribbean historiography; few examine these themes in the larger literature on the history of prisons.

An eye-opening look at how incarcerated people, health professionals, and others behind and beyond bars came together to problem-solve incarceration. Raising the Living Dead is a history of Puerto Rico's carceral rehabilitation system that brings to life the interactions of incarcerated people, their wider social networks, and health care professionals. Alberto Ortiz Diaz describes the ways that multiple communities of care came together both inside and outside of prisons to imagine and enact solution-oriented cultures of rehabilitation from the 1930s to the 1960s. Scientific and humanistic approaches to well-being were deliberately fused to raise the "living dead," an expression that reemerged in the modern Caribbean to refer to prisoners. These reform groups sought to raise incarcerated people physically, mentally, socially, spiritually, and civically. The book is based on deep, original archival research into the Oso Blanco (White Bear) penitentiary in Puerto Rico, yet it situates its study within Puerto Rico's broader carceral archipelago and other Caribbean prisons. The agents of this history include not only physical health professionals, but also psychologists and psychiatrists, social workers, spiritual and religious practitioners, and, of course, the prisoners and their families. By following all these groups and emphasizing the interpersonal exercise of power, Ortiz Diaz tells a story that goes beyond debates about structural and social control. The book addresses key issues in the history of prisons and the histories of medicine and belief, including how prisoners' different racial, class, and cultural identities shaped their incarceration and how professionals living in a colonial society dealt with the challenge of rehabilitating prisoners for citizenship. Raising the Living Dead is not just about convicts, their immediate interlocutors, and their contexts, however, but about how together these open a window into the history of social uplift projects within the (neo)colonial societies of the Caribbean. There is no book like this in Caribbean historiography; few examine these themes in the larger literature on the history of prisons.

Women, Witchcraft, and the Inquisition in Spain and the New World investigates the mystery and unease surrounding the issue of women called before the Inquisition in Spain and its colonial territories in the Americas, including Mexico and Cartagena de Indias. Edited by Maria Jesus Zamora Calvo, this collection gathers innovative scholarship that considers how the Holy Office of the Inquisition functioned as a closed, secret world defined by patriarchal hierarchy and grounded in misogynistic standards. Ten essays present portraits of women who, under accusations as diverse as witchcraft, bigamy, false beatitude, and heresy, faced the Spanish and New World Inquisitions to account for their lives. Each essay draws on the documentary record of trials, confessions, letters, diaries, and other primary materials. Focusing on individual cases of women brought before the Inquisition, the authors study their subjects' social status, particularize their motivations, determine the characteristics of their prosecution, and deduce the reasons used to justify violence against them. With their subjection of women to imprisonment, interrogation, and judgment, these cases display at their core a specter of contempt, humiliation, silencing, and denial of feminine selfhood. The contributors include specialists in the early modern period from multiple disciplines, encompassing literature, language, translation, literary theory, history, law, iconography, and anthropology. By considering both the women themselves and the Inquisition as an institution, this collection works to uncover stories, lives, and cultural practices that for centuries have dwelled in obscurity.