Ricerc@Sapienza

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple different cues. We provide examples for registering RGBD as well as 3D LIDAR data. In contrast to popular point cloud registration approaches such as ICP our method does not rely on explicit data association and exploits multiple modalities such as raw range and image data streams.

This paper deals with the intrasystem electromagnetic interference (EMI) in a pacemaker equipped with a wireless power transfer (WPT) charging system. The WPT application to pacemakers is very new, and no results are yet published on possible EMI effects produced by the WPT coil currents in the pacemaker pacing leads. To this aim, an efficient and original co-simulation circuit/field method is proposed to predict the induced voltages on a pacing lead. In the numerical calculation, the pacemaker with WPT secondary coil and a pacing lead is implanted in a sophisticated human body model.