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Weak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based keypoints exhibit higher repetition but entail considerable computational costs. This paper proposes an innovative algorithm for keypoint extraction, aiming to strike an equilibrium between precision and efficiency. This paper aims to attain accurate, robust and versatile visual localization in scenes of formidable complexity.

SiLK-SLAM initially refines the cutting-edge learning-based extractor, SiLK, and introduces an innovative postprocessing algorithm for keypoint homogenization and operational efficiency. Furthermore, SiLK-SLAM devises a reliable relocalization strategy called PCPnP, leveraging progressive and consistent sampling, thereby bolstering its robustness.

Empirical evaluations conducted on TUM, KITTI and EuRoC data sets substantiate SiLK-SLAM’s superior localization accuracy compared to ORB-SLAM3 and other methods. Compared to ORB-SLAM3, SiLK-SLAM demonstrates an enhancement in localization accuracy even by 70.99%, 87.20% and 85.27% across the three data sets. The relocalization experiments demonstrate SiLK-SLAM’s capability in producing precise and repeatable keypoints, showcasing its robustness in challenging environments.

The SiLK-SLAM achieves exceedingly elevated localization accuracy and resilience in formidable scenarios, holding paramount importance in enhancing the autonomy of robots navigating intricate environments. Code is available at https://github.com/Pepper-FlavoredChewingGum/SiLK-SLAM.

Given epidemiological data highlighting poor health outcomes for prison staff and correctional workers, this systematic review aims to understand what health promotion interventions, delivered in prison settings, are effective for prison staff health.

A systematic review was undertaken, with search parameters encompassing papers published over a ten-year period (2013–2023). Health promotion programmes; well-being programmes; and occupational health interventions to support prison staff health as part of a targeted approach or as part of a whole-prison approach were included in the review.

The review identified 354 studies, of which 157 were duplicates and 187 did not meet the inclusion criteria. This left ten studies in the review from five countries. Reducing the impact of tobacco smoke was the commonly cited intervention, with four studies focusing on smoke-free prison legislation, but other studies focused on stress reduction for staff and supporting holistic health. The papers were of poor methodological quality, with the exception of three included studies that had robust designs. Most studies showed limited or no impact of interventions to support prison staff health, the exception being policy interventions to reduce second-hand smoke exposure.

Prison staff have poor health outcomes and yet limited attention has been paid to interventions to support their health. This review suggests a number of considerations for future policy and practice and direction for further research to improve prison staff health.

This study aims to investigate why and how shared service centres (SSCs) are implemented as well as how they affect audit firm practice and audit quality.

In this qualitative study guided by the theoretical framework of institutional theory, the authors conducted 25 semi-structured interviews in seven European countries, including 16 interviews with audit partners from Big 4 firms, 6 with audit team members, 2 with interviewees from second-tier audit firms and 1 with a member of an oversight body.

The authors show that the central rationale for audit firms to implement SSCs is economic rather than external legitimacy. The authors find that SSC implementation has substantial effects on audit practices, particularly those related to standardisation, coordination and monitoring activities. The authors also highlight the potential impacts on audit quality.

By exploring the motivation for and effects of SSC implementation amongst audit firms, the authors offer insights into the best practices related to subsequent change processes and audit quality.