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Q:
Circumventing the limits of ORB / SLAM in 4D
I've taken a look at the methods proposed in the "4D Robotics" book, the visual simultaneous localization and mapping(SLAM).
The method that uses OpenRAV to create an "ellipsoid" has the limits of a 2D map in the parameter space of the 4th coordinate( which helps to map 3D space to 2D) but is not limited to a 2D map.
What I don't understand is how it draws the "ellipsoid" in 3D space, seemingly without the help of the ROS framework. 
The method outlined on page 22 of 4D robotics uses velodyne to create point clouds from the laser from a 3D pointcloud which are triangulated to an ellipsoid, and the points in the 4th dimension are recalculated to make a 3d representation of the 3D space using this ellipsoid.
If someone could explain how it does this I'd really appreciate it.
Thank you.
A:
There are two main parts of an SLAM process: first to reduce the size of the state space to a good approximation of reality, then a Kalman filter to make the model-based estimates of position and orientation more accurate.
OpenRAV is used here for the first part: it represents the shape of the environment as a regular grid of overlapping cubes (or octants for a non-Euclidean space), and when there are maps you can compute the shortest distance between them.
The grid
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To explore the method and curative effect of cemented hemiarthroplasty in treating avascular necrosis of the femoral head. From May 1998 to May 2003, 19 patients with avascular necrosis of the femoral head were treated with cemented hemiarthroplasty. There were 17 males and 2 females aged from 20 to 50 years with an average of (34.6 +/- 9.3) years. The course of disease ranged from 2 to 48 months with an average of (16.4 +/- 11.6) months. The arthroplasty was performed in 7 patients with unilateral and 12 patients with bilateral avascular necrosis of the femoral head. The stages of avascular necrosis was according to Steinberg and modified by Lequesne. There were 8 cases of stage III and 11 cases of stage IV (X (-2) = 20.67, P < 0.001). Fifteen cases were combined with osteoarthritis of the hip joint. The Harris rating scores of hip joint function before operation were from 47 to 89 with a mean of (67.2 +/- 11.2). The patients were followed up from 3 to 33 months with an average of (12.5 +/- 7.0) months. The patients were evaluated according to Harris grading system, X (-2) = 29.90, P < 0.001. The total effective rate was 90.5% at last

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