Real-Time Vehicle Positioning and Mapping Using Graph Optimization.

In this work, we propose and evaluate a pose-graph optimization-based real-time multi-sensor fusion framework for vehicle positioning using low-cost automotive-grade sensors. Pose-graphs can model multiple absolute and relative vehicle positioning sensor measurements and can be optimized using nonlinear techniques. We model pose-graphs using measurements from a precise stereo camera-based visual odometry system, a robust odometry system using the in-vehicle velocity and yaw-rate sensor, and an automotive-grade GNSS receiver.

Effects of meal size reduction on postprandial variables in male volunteers.

To investigate the effects of meal size reduction on postprandial variables, adult male volunteers consumed at noon hot lunches composed of cooked white rice, fried chicken fillet, raisins, bigarreaus and curry sauce with carbohydrate/fat ratios of either 0.77 or 2.04 (37-57 en% carbohydrate, respectively).

Minor difference in postprandial responses of men between starch and sugar when replacing fat in a normal meal.

Healthy male volunteers consumed hot lunches consisting of cooked white rice, fried chicken fillet, raisins, bigarreaus (sweet cherries) and curry sauce with carbohydrate: fat ratios of either 0.77 or 2.04, and polysaccharide: (mono + di)saccharide ratios (P:MD) varying between 5.