In this paper we present an extension of Direct Sparse Odometry (DSO) [1] to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient intensity gradient, which makes it robust even in featureless areas. LDSO retains this robustness, while at the same time ensuring repeatability of some of these points by favoring corner features in the tracking frontend. This repeatability allows to reliably detect loop closure candidates with a conventional feature-based bag-of-words (BoW) approach. Loop closure candidates are verified geometrically and Sim (3) relative pose constraints are estimated by jointly minimizing 2D and 3D geometric error terms. These constraints are fused with a co-visibility graph of relative poses extracted from DSO's sliding window optimization. Our evaluation on publicly available datasets demonstrates that the modified point selection strategy retains the tracking accuracy and robustness, and the integrated pose-graph optimization significantly reduces the accumulated rotation-, translation-and scale-drift, resulting in an overall performance comparable to state-of-the-art featurebased systems, even without global bundle adjustment.

Point samples with different spectral noise properties (often defined using color names such as white, blue, green, and red) are important for many science and engineering disciplines including computer graphics. While existing techniques can easily produce white and blue noise samples, relatively little is known for generating other noise patterns. In particular, no single algorithm is available to generate different noise patterns according to user-defined spectra.In this paper, we describe an algorithm for generating point samples that match a user-defined Fourier spectrum function. Such a spectrum function can be either obtained from a known sampling method, or completely constructed by the user. Our key idea is to convert the Fourier spectrum function into a differential distribution function that describes the samples' local spatial statistics; we then use a gradient descent solver to iteratively compute a sample set that matches the target differential distribution function. Our algorithm can be easily modified to achieve adaptive sampling, and we provide a GPU-based implementation. Finally, we present a variety of different sample patterns obtained using our algorithm, and demonstrate suitable applications.

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Named entity recognition (NER) is an essential part of natural language processing tasks. Chinese NER task is different from the many European languages due to the lack of natural delimiters. Therefore, Chinese Word Segmentation (CWS) is usually regarded as the first step of processing Chinese NER. However, the word-based NER models relying on CWS are more vulnerable to incorrectly segmented entity boundaries and the presence of out-of-vocabulary (OOV) words. In this paper, we propose a novel character-based Gated Convolutional Recurrent neural network with Attention called GCRA for Chinese NER task. In particular, we introduce a hybrid convolutional neural network with gating filter mechanism to capture local context information and a highway neural network after LSTM to select characters of interest. The additional gated self-attention mechanism is used to capture the global dependencies from different multiple subspaces and arbitrary adjacent characters. We evaluate the performance of our proposed model on three datasets, including SIGHAN bakeoff 2006 MSRA, Chinese Resume, and Literature NER dataset. The experiment results show that our model outperforms other state-of-the-art models without relying on any external resources like lexicons and multi-task joint training. INDEX TERMS Chinese NER, gating mechanism, highway neural network, self-attention.

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