Abstract-We present a method for Simultaneous Localization and Mapping (SLAM) using a monocular camera that is capable of reconstructing dense 3D geometry online without the aid of a graphics processing unit (GPU).Our key contribution is a multi-resolution depth estimation and spatial smoothing process that exploits the correlation between low-texture image regions and simple planar structure to adaptively scale the complexity of the generated keyframe depthmaps to the texture of the input imagery. High-texture image regions are represented at higher resolutions to capture fine detail, while low-texture regions are represented at coarser resolutions for smooth surfaces. The computational savings enabled by this approach allow for significantly increased reconstruction density and quality when compared to the state-ofthe-art. The increased depthmap density also improves tracking performance as more constraints can contribute to the pose estimation. A video of experimental results is available at http:// groups.csail.mit.edu/rrg/multi_level_mapping.

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This paper describes development and performance analysis of an active failure management system for the commuter and business aircraft control recovery. System failures are detected and isolated using a hierarchy of techniques that is chosen to ensure minimal disruption of operations and to minimize the number of false alarms. Successive layers in the diagnostics hierarchy are increasingly invasive. Higher layers will be invoked only when lower layers indicate a potential problem. Once a failure has been detected and identi ed, the failure can be accommodated in several ways, from passive pilot cueing to active autopilot recon guration. This paper also describes some preliminary pilot cueing strategies and displays to alert pilots to true failures, provide guidance on recommended responses, and inform the pilot of any recon gurations. 1