Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap.

Extrinsic calibration of a camera and a 2D laser range finder (lidar) sensors is crucial in sensor data fusion applications; for example SLAM algorithms used in mobile robot platforms. The fundamental challenge of extrinsic calibration is when the camera-lidar sensors do not overlap or share the same field of view. In this paper we propose a novel and flexible approach for the extrinsic calibration of a camera-lidar system without overlap, which can be used for robotic platform self-calibration. The approach is based on the robot-world hand-eye calibration (RWHE) problem; proven to have efficient and accurate solutions. First, the system was mapped to the RWHE calibration problem modeled as the linear relationship AX = ZB , where X and Z are unknown calibration matrices. Then, we computed the transformation matrix B , which was the main challenge in the above mapping. The computation is based on reasonable assumptions about geometric structure in the calibration environment. The reliability and accuracy of the proposed approach is compared to a state-of-the-art method in extrinsic 2D lidar to camera calibration. Experimental results from real datasets indicate that the proposed approach provides better results with an L2 norm translational and rotational deviations of 314 mm and 0 . 12 ∘ respectively.

Preparation of polyfunctional acyl azides.

A general synthesis of acyl azides from the corresponding N-acyl benzotriazoles is described. The procedure affords acyl azides in good yields and avoids the use of acid activators and NO+ equivalents typically employed to synthesize these compounds from acid chlorides and hydrazides, respectively.

Conventional and microwave-assisted conversion of substituted 3-amino-oxazolidin-2,4-diones into N',N'-disubstituted alpha-hydroxyhydrazides.

Substituted 3-amino-oxazolidin-2,4-diones have been prepared by reacting cyanohydrins or alpha-hydroxyesters subsequently with 1,1'-carbonyldiimidazole and 1,1-disubstituted hydrazines followed by acidic hydrolysis in case of the intermediate 3-amino-4-imino-oxazolidin-2-ones. Conventional and microwave-assisted syntheses of N',N'-disubstituted alpha-hydroxyhydrazides have been accomplished by reacting substituted 3-amino-oxazolidin-2,4-diones with catalytic amounts of sodium methoxide in methanol.

Efficient conversion of O-substituted 3-hydroxy-4-imino-oxazolidin-2-ones into O-substituted alpha-hydroxyamidoximes.

An efficient and convenient two-step synthesis of O-substituted alpha-hydroxyamidoximes has been developed. The first step involves a high-yielding one-pot synthesis of the so far unknown O-substituted 3-hydroxy-4-imino-oxazolidin-2-ones by reacting cyanohydrins stepwise with 1,1'-carbonyldiimidazole and O-substituted hydroxylamines. The second step represents a novel, sodium methoxide-mediated conversion of O-substituted 3-hydroxy-4-imino-oxazolidin-2-ones into the corresponding O-substituted alpha-hydroxyamidoximes. [reaction: see text]

O-Protected 3-hydroxy-oxazolidin-2,4-diones: novel precursors in the synthesis of alpha-hydroxyhydroxamic acids.

O-Protected 3-hydroxyoxazolidin-2,4-diones have been prepared in a novel one-pot reaction by subsequent treatment of cyanohydrins with 1,1'-carbonyldiimidazole and O-protected hydroxylamines followed by acidic hydrolysis of the intermediate 4-imino-oxazolidin-2-ones. Decarbonylation of O-protected 3-hydroxyoxazolidin-2,4-diones by catalytic amounts of sodium methoxide, lithium hydroxide, sodium carbonate and caesium carbonate in methanol afforded O-protected alpha-hydroxyhydroxamic acids in excellent yields. Their deprotection provided a series of novel alpha-hydroxyhydroxamic acids.