In this work, we present a real-time robust edgebased visual odometry framework for RGBD sensors (REVO). Even though our method is independent of the edge detection algorithm, we show that the use of state-of-the-art machinelearned edges gives significant improvements in terms of robustness and accuracy compared to standard edge detection methods. In contrast to approaches that heavily rely on the photo-consistency assumption, edges are less influenced by lighting changes and the sparse edge representation offers a larger convergence basin while the pose estimates are also very fast to compute. Further, we introduce a measure for tracking quality, which we use to determine when to insert a new key frame. We show the feasibility of our system on realworld datasets and extensively evaluate on standard benchmark sequences to demonstrate the performance in a wide variety of scenes and camera motions. Our framework runs in real-time on the CPU of a laptop computer and is available online.

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In this work, we propose a robust visual odometry system for RGBD sensors. The core of our method is a combination of edge images and depth maps for joint camera pose estimation. Edges are more stable under varying lighting conditions than raw intensity values and depth maps further add stability in poorly textured environments. This leads to higher accuracy and robustness in scenes, where feature-or photoconsistency-based approaches often fail. We demonstrate the robustness of our method under challenging conditions on various real-world scenarios recorded with our own RGBD sensor. Further, we evaluate on several sequences from standard benchmark datasets covering a wide variety of scenes and camera motions. The results show that our method performs best in terms of trajectory accuracy for most of the sequences indicating that the chosen combination of edge and depth terms in the cost function is suitable for a multitude of scenes.

<p><strong>Abstract.</strong> In open pit mining it is essential for processing and production scheduling to receive fast and accurate information about the fragmentation of a muck pile after a blast. In this work, we propose a novel machine-learning method that characterizes the muck pile directly from UAV images. In contrast to state-of-the-art approaches, that require heavy user interaction, expert knowledge and careful threshold settings, our method works fully automatically. We compute segmentation masks, bounding boxes and confidence values for each individual fragment in the muck pile on multiple scales to generate a globally consistent segmentation. Additionally, we recorded lab and real-world images to generate our own dataset for training the network. Our method shows very promising quantitative and qualitative results in all our experiments. Further, the results clearly indicate that our method generalizes to previously unseen data.</p>

The just-in-sequence inventory strategy, as an important part of the supply chain solutions in the automotive industry, is based on feedback information from the manufacturer. The performance, reliability, availability and cost efficiency are based on the parameters of the members of the supply chain process. To increase the return on assets (ROA) of the manufacturer, the optimization of the supply process is unavoidable. Within the frame of this paper, the authors describe a flower pollination algorithm-based heuristic optimization model of just-in-sequence supply focusing on sustainability aspects, including fuel consumption and emission. After a systematic literature review, this paper introduces a mathematical model of just-in-sequence supply, including assignment and scheduling problems. The objective of the model is to determine the optimal assignment and schedule for each sequence to minimize the total purchasing cost, which allows improving cost efficiency while sustainability aspects are taken into consideration. Next, a flower pollination algorithm-based heuristic is described, whose performance is validated with different benchmark functions. The scenario analysis validates the model and evaluates its performance to increase cost-efficiency in just-in-sequence solutions.