Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features.

In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated.

Comparative Biological Toxicity of Four Kinds of Air Pollution Particles.

Accumulating epidemiological evidence indicates that exposure to fine air pollution particles (APPs) is associated with a variety of adverse health effects. However, the exact physiochemical properties and biological toxicities of fine APPs are still not well characterized. We collected four types of fine particle (FP) (diesel exhaust particles [DEPs], natural organic combustion [NOC] ash, synthetic organic combustion [SOC] ash, and yellow sand dust [YSD]) and investigated their physicochemical properties and biological toxicity.