ABSTRACT
Most UAVs rely on GPS for localization in an outdoor environment. However, in GPS-denied environment, other sources of localization are required for UAVs to conduct feedback control and navigation. LiDAR has been used for indoor localization, but the sampling rate is usually too low for feedback control of UAVs. To compensate this drawback, IMU sensors are usually fused to generate high-frequency odometry, with only few extra computation resources. To achieve this goal, a real-time LiDAR inertial odometer system (RTLIO) is developed in this work to generate high-precision and high-frequency odometry for the feedback control of UAVs in an indoor environment, and this is achieved by solving cost functions that consist of the LiDAR and IMU residuals. Compared to the traditional LIO approach, the initialization process of the developed RTLIO can be achieved, even when the device is stationary. To further reduce the accumulated pose errors, loop closure and pose-graph optimization are also developed in RTLIO. To demonstrate the efficacy of the developed RTLIO, experiments with long-range trajectory are conducted, and the results indicate that the RTLIO can outperform LIO with a smaller drift. Experiments with odometry benchmark dataset (i.e., KITTI) are also conducted to compare the performance with other methods, and the results show that the RTLIO can outperform ALOAM and LOAM in terms of exhibiting a smaller time delay and greater position accuracy.
ABSTRACT
The Chinese mitten crab Eriocheir sinensis is the most economically important cultivated crab species in China, and its genome has a high number of chromosomes (2n = 146). To obtain sufficient markers for construction of a dense genetic map for this species, we employed the recently developed specific-locus amplified fragment sequencing (SLAF-seq) method for large-scale SNPs screening and genotyping in a F1 full-sib family of 149 individuals. SLAF-seq generated 127,677 polymorphic SNP markers, of which 20,803 valid markers were assigned into five segregation types and were used together with previous SSR markers for linkage map construction. The final integrated genetic map included 17,680 SNP and 629 SSR markers on the 73 linkage groups (LG), and spanned 14,894.9 cM with an average marker interval of 0.81 cM. QTL mapping localized three significant growth-related QTL to a 1.2 cM region in LG53 as well as 146 sex-linked markers in LG48. Genome-wide QTL-association analysis further identified four growth-related QTL genes named LNX2, PAK2, FMRFamide and octopamine receptors. These genes are involved in a variety of different signaling pathways including cell proliferation and growth. The map and SNP markers described here will be a valuable resource for the E. sinensis genome project and selective breeding programs.
