Abstract: A method of localizing portable apparatus (200) obtains: a stored experience data set comprising a set of connected nodes; captured location representation data provided by at least one sensor associated with the portable apparatus, and a current pose estimate of the portable apparatus within the environment. The pose estimate is used to select a candidate set of the nodes that contain a potential match for the captured location representation data. The pose estimate is used to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions. The set of paths is used to refine the candidate set. The captured location representation data and the refined candidate set of nodes is compared in order to identify a current pose of the portable apparatus within the environment.

Abstract: A method of localising portable apparatus (200) obtains: a stored experience data set comprising a set of connected nodes; captured location representation data provided by at least one sensor associated with the portable apparatus, and a current pose estimate of the portable apparatus within the environment. The pose estimate is used to select a candidate set of the nodes that contain a potential match for the captured location representation data. The pose estimate is used to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions. The set of paths is used to refine the candidate set. The captured location representation data and the refined candidate set of nodes is compared in order to identify a current pose of the portable apparatus within the environment.

Abstract: Navigation data is generated by receiving (502) a new experience data set (321) relating to a new experience capture. At least one stored experience data set (320) relating to at least one previous experience capture is also received (504). An experience data set includes a set of nodes, with each node comprising a series of visual image frames taken over a series of time frames. A candidate set of said nodes is obtained (506) from the stored experience data set that potentially matches a said node in the new experience data set, and then a check (508) if performed to see if a node in the candidate set matches the node in the new experience data set. If the result of the checking is positive then data relating to the matched nodes is added (510) to a place data set useable for navigation, the place data set indicating that said nodes in different said experience data sets relate to a same place.

Abstract: Navigation data is generated by receiving (502) a new experience data set (321) relating to a new experience capture. At least one stored experience data set (320) relating to at least one previous experience capture is also received (504). An experience data set includes a set of nodes, with each node comprising a series of visual image frames taken over a series of time frames. A candidate set of said nodes is obtained (506) from the stored experience data set that potentially matches a said node in the new experience data set, and then a check (508) if performed to see if a node in the candidate set matches the node in the new experience data set. If the result of the checking is positive then data relating to the matched nodes is added (510) to a place data set useable for navigation, the place data set indicating that said nodes in different said experience data sets relate to a same place.

Abstract: A computer server for promotion of digital works is provided in one exemplary embodiment of the present invention. The computer server is configured to receive a digital work from a publisher over a first network connection. The computer server is configured to sell, over a second network connection to a premium buyer, a copy of the digital work to the premium buyer at a premium price. The computer server is configured to sell, over a third network connection to a subsequent buyer, a copy of the digital work to the subsequent buyer at the premium price or at a regular price. The computer server is configured to, in response to the sale to the subsequent buyer, provide a reward to the premium buyer.

Abstract: The collective health, feed efficiency, weight gain and fecal odors of stressed ruminant mammals can be improved by feeding them a diet of feed comprising a substituted 1,2-dihydroquinoline compound.

Abstract: The shelf life of a meat product derived from an animal selected from the group consisting of ruminant mammals, swine and fish is extended by feeding to the animal a diet of feed comprising a substituted 1,2-dihydroquinoline compound, the diet being continued for a period of time, and the feed comprising the substituted 1,2-dihydroquinoline compound in an amount, sufficient to increase the shelf life of the meat product.