Our algorithm outperforms the only existing method that also uses Doppler velocity measurements, and we study difficult conditions where including this extra information greatly improves performance. We evaluate our proposed algorithm on several real-world datasets, including publicly available ones and datasets we collected. We apply an existing continuous-time framework that efficiently estimates the vehicle trajectory using Gaussian process regression to compensate for motion distortion due to the scanning-while-moving nature of any mechanically actuated lidar (FMCW and non-FMCW). In this letter, we present the first continuous-time lidar-only odometry algorithm using these Doppler velocity measurements from an FMCW lidar to aid odometry in geometrically degenerate environments. ravaged a large swath of Rome, including the Sacred Area.Keywords: SLAM, Localization, Range SensingĪbstract: Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the Doppler effect. On display in a corridor near the temples is a black-and-white photograph showing Mussolini cutting the ribbon in 1929 after the excavated ruins were shown off.Īlso visible are the travertine paving stones that Emperor Domitian had laid down after a fire in 80 A.D. Taken together, the temples make for “one of the best-preserved remains of the Roman Republic,” Parisi Presicce said after the Mayor of Rome Roberto Gualtieri cut a ceremonial ribbon Monday afternoon. One of the temples, reached by an imposing staircase and featuring a circular form and with six surviving columns, is believed to have been erected in honor of Fortuna, a goddess of chance associated with fertility. The temples are designated A, B, C and D, and are believed to have been dedicated to female deities. A tower at one edge of Largo Argentina once topped a medieval palace. The temples emerged during the demolition of medieval-era buildings in the late 1920s, part of dictator Benito Mussolini’s campaign to remake the urban landscape. What leads archaeologists to pinpoint the ruins as Pompey’s Curia? “We know it with certainty because latrines were found on the sides” of Pompey’s Curia, and ancient texts mentioned the latrines, said Claudio Parisi Presicce, an archaeologist and Rome’s top official for cultural heritage. That’s because, over the centuries, the city had been built up, layer by layer, to levels several meters above the area where Caesar masterminded his political strategies and was later fatally stabbed in 44 B.C.īehind two of the temples is a foundation and part of a wall that archaeologists believe were part of Pompey’s Curia, a large rectangular-shaped hall that temporarily hosted the Roman Senate when Caesar was murdered. With the help of funding from Bulgari, the luxury jeweler, the grouping of temples can now be visited by the public.įor decades, the curious had to gaze down from the bustling sidewalks rimming Largo Argentina (Argentina Square) to admire the temples below. stand smack in the middle of one of the modern city’s busiest crossroads.īut until Monday, practically the only ones getting a close-up view of the temples were the cats that prowl the so-called “Sacred Area,” on the edge of the site where Julius Caesar was assassinated. ROME (AP) - Four temples from ancient Rome, dating back as far as the 3rd century B.C.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |