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.

Advanced technologies in astronomy at various wavelengths have provided us with high resolution and high quality data on the QSO population. This meeting was aimed at understanding the morphology and nature of the host galaxies and environments of QSOs. The invited lectures as well as the contributed and poster papers highlighted the main issues of current research: the stellar and gaseous content of the underlying galaxy; the characterization of the population of companions and the nature of their interaction with the host galaxy; the connection between radio-loud QSO and radio-galaxies, and QSOs and ULIRGs; the evolution with redshift of both the host galaxy and its environment, and the main implications in theories of galaxy formation and evolution. This volume provides a valuable overview and timely update of the exciting and rapidly developing field of QSO hosts and their environments - essential reading for graduate students and researchers.

This innovative book investigates the concept of collapse in terms of our built environment, exploring the future transition of modern cities towards scenarios very different from the current promises of progress and development. This is not a book about the end of the world and hopeless apocalyptic scenarios. It is about understanding change in how and where we live. Collapse is inevitable, but in the built environment collapse could imply a manageable situation, an opportunity for change or a devastating reality. Collapsing gracefully means that there might be better ways to coexist with collapse if we learn more about it and commit to rebuild our civilisations in ways that avoid its worst effects. This book uses a wide range of practical examples to study critical changes in the built environment, to contextualise and visualise what collapse looks like, to see if it is possible to buffer its effects in places already collapsing and to propose ways to develop greater resilience. The book challenges all agents and institutions in modern cities, their designers and planners as well as their residents and users to think differently about built environment so as to ease our coexistence with collapse and not contribute to its causes. .

El collar de la paloma (Tauq al-hamamah), traducido en 1967 al castellano por el estudioso del Islam Emilio Garcia Gomez, es un tratado sobre el amor y los amantes de raiz neoplatonica que contiene una reflexion poetica y autobiografica, sobre las formas del amor profano y divino en la cultura musulmana. Escrita en una prosa elegante en que se insertan versos, esta obra influyo en las literaturas oriental y europea del Medioevo.

Advanced technologies in astronomy at various wavelengths have provided us with high resolution and high quality data on the QSO population. This meeting was aimed at understanding the morphology and nature of the host galaxies and environments of QSOs. The invited lectures as well as the contributed and poster papers highlighted the main issues of current research: the stellar and gaseous content of the underlying galaxy; the characterization of the population of companions and the nature of their interaction with the host galaxy; the connection between radio-loud QSO and radio-galaxies, and QSOs and ULIRGs; the evolution with redshift of both the host galaxy and its environment, and the main implications in theories of galaxy formation and evolution. This volume provides a valuable overview and timely update of the exciting and rapidly developing field of QSO hosts and their environments - essential reading for graduate students and researchers.

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.

This innovative book investigates the concept of collapse in terms of our built environment, exploring the future transition of modern cities towards scenarios very different from the current promises of progress and development. This is not a book about the end of the world and hopeless apocalyptic scenarios. It is about understanding change in how and where we live. Collapse is inevitable, but in the built environment collapse could imply a manageable situation, an opportunity for change or a devastating reality. Collapsing gracefully means that there might be better ways to coexist with collapse if we learn more about it and commit to rebuild our civilisations in ways that avoid its worst effects. This book uses a wide range of practical examples to study critical changes in the built environment, to contextualise and visualise what collapse looks like, to see if it is possible to buffer its effects in places already collapsing and to propose ways to develop greater resilience. The book challenges all agents and institutions in modern cities, their designers and planners as well as their residents and users to think differently about built environment so as to ease our coexistence with collapse and not contribute to its causes. .