GitHub topics: sensor-fusion

Repositories

AntoBrandi/Self-Driving-and-ROS-Learn-by-Doing-Odometry-Control

Autonomous Mobile Robot developed and programmed in the online course named "Self-Driving and ROS - Learn By Doing! Odometry & Control"

Language: C++ - Size: 10.5 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 15 - Forks: 13

cavadibrahimli1/Udacity-Sensor-Fusion-Nanodegree-Javad-Ibrahimli Fork of fanweng/Udacity-Sensor-Fusion-Nanodegree

Notes I took/used for passing Sensor Fusion Nanodegree

Language: C++ - Size: 1.11 GB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 0 - Forks: 0

synsin0/StreamingFlow

StreamingFlow: Streaming Occupancy Forecasting with Asynchronous Multi-modal Data Streams via Neural Ordinary Differential Equation

Language: Python - Size: 6.96 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 14 - Forks: 0

isc-zhaw/Resolution-Upscaling-of-3D-Time-of-Flight-Sensor

Language: Python - Size: 18.6 KB - Last synced at: 3 months ago - Pushed at: about 1 year ago - Stars: 0 - Forks: 0

alemelis/autonomous-car 📦

Udacity autonomous driving car nanodegree projects

Language: C++ - Size: 288 MB - Last synced at: about 16 hours ago - Pushed at: over 7 years ago - Stars: 18 - Forks: 13

NikolasEnt/Extended-Kalman-Filter

Udacity Self-Driving Car Engineer Nanodegree. Project: Extended Kalman Filters

Language: C++ - Size: 1.17 MB - Last synced at: 3 days ago - Pushed at: about 8 years ago - Stars: 29 - Forks: 27

SLAM-crew/cart_robot

Wheeled mobile robot

Language: Python - Size: 81.7 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 3 - Forks: 0

dependable-cps/FDIA-PdM

False Data Injection Attacks in Internet of Things and Deep Learning enabled Predictive Analytics

Language: Python - Size: 10.9 MB - Last synced at: about 1 year ago - Pushed at: almost 5 years ago - Stars: 40 - Forks: 22

aqibsaeed/On-device-activity-recognition

Personalized machine learning on the smartphone

Language: Java - Size: 107 MB - Last synced at: about 2 months ago - Pushed at: over 2 years ago - Stars: 59 - Forks: 18

oskarnatan/RGBDVS-fusion

Implementation code for: Semantic Segmentation and Depth Estimation with RGB and DVS Sensor Fusion for Multi-view Driving Perception, Proc. Asian Conf. Pattern Recognition (ACPR), 2021.

Language: Python - Size: 32.2 KB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 8 - Forks: 1

oskarnatan/compact-perception

Implementation code for: Towards Compact Autonomous Driving Perception with Balanced Learning and Multi-sensor Fusion, IEEE Trans. Intelligent Transportation Systems, 2022.

Language: Python - Size: 32.2 KB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 8 - Forks: 2

nesl/locomote

LocoMote: AI-driven Sensor Tags for Fine-Grained Undersea Localization and Sensing

Language: C++ - Size: 19 MB - Last synced at: 6 months ago - Pushed at: about 1 year ago - Stars: 6 - Forks: 0

VaradhKaushik/Autonomous-Kinect-Robot

An advanced robotics initiative harnessing Kinect's computer vision capabilities for precise object detection and manipulation, coupled with robust autonomous navigation and path planning technologies. Powered by an Arduino for seamless hardware control and real-time responsiveness.

Language: Jupyter Notebook - Size: 85.4 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 0

ziliHarvey/LiDAR-Guided-Boundary-Bleeding-Refinement-for-Depth-Map

LiDAR Guided Boundary Bleeding Refinement for Depth Map

Language: Python - Size: 455 MB - Last synced at: about 1 year ago - Pushed at: over 5 years ago - Stars: 7 - Forks: 4

phiyodr/CarND-Extended-Kalman-Filter-Project

Sensor Fusion - Udacity's Self Driving Car Nanodegree

Language: C++ - Size: 2.51 MB - Last synced at: about 1 year ago - Pushed at: almost 6 years ago - Stars: 0 - Forks: 0

yrlu/orientation_tracking-unscented_kalman_filter

Implemented Unscented Kalman Filter (UKF) for orientation tracking. Sensors fusion of accelerometer, and gyroscope

Language: Matlab - Size: 4.86 MB - Last synced at: about 1 year ago - Pushed at: over 7 years ago - Stars: 55 - Forks: 18

polarbeargo/FCND-Estimation-CPP Fork of udacity/FCND-Estimation-CPP

C++ project for the FCND estimation.

Language: C++ - Size: 212 MB - Last synced at: about 1 year ago - Pushed at: almost 7 years ago - Stars: 1 - Forks: 0

polarbeargo/CarND-Unscented-Kalman-Filters

Udacity Self-Driving Car Engineer Nano degree Unscented-Kalman-Filters

Language: C++ - Size: 1.11 MB - Last synced at: about 1 year ago - Pushed at: over 7 years ago - Stars: 1 - Forks: 0

polarbeargo/CarND-Extended-Kalman-Filter-Project

Implemented Udacity Self-Driving Car Engineer Nanodegree Extended Kalman Filter project.

Language: C++ - Size: 3.83 MB - Last synced at: about 1 year ago - Pushed at: over 7 years ago - Stars: 1 - Forks: 0

marcomarasca/SDCND-Unscented-Kalman-Filter

Unscented Kalman Filter Implementation in C++

Language: Jupyter Notebook - Size: 3.71 MB - Last synced at: about 1 year ago - Pushed at: almost 6 years ago - Stars: 0 - Forks: 0

marcomarasca/SDCND-Extended-Kalman-Filter

Extended Kalman Filter implementation in C++

Language: C++ - Size: 4.4 MB - Last synced at: about 1 year ago - Pushed at: almost 6 years ago - Stars: 0 - Forks: 0

cattaneod/CMRNet

Code for "CMRNet: Camera to LiDAR-Map Registration" (ITSC 2019) - WIP

Language: Python - Size: 1.14 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 130 - Forks: 18

daohu527/seahorse

a pure python autonomous driving framework

Language: Python - Size: 2.94 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 1

EmanuelBender/HEX_POD

Multi-sensor intelligent environmental Monitor

Language: C - Size: 67.9 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 12 - Forks: 0

radar-lab/ti_mmwave_rospkg

TI mmWave radar ROS driver (with sensor fusion and hybrid)

Language: C++ - Size: 2.96 MB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 238 - Forks: 99

RobuRishabh/Navigation-stack-using-two-different-sensors-Sensor-Fusion-of-GPS-and-IMU

Built a navigation stack using two different sensors - GPS & IMU, understand their relative strengths + drawbacks, and get an introduction to sensor fusion.

Language: Python - Size: 13.9 MB - Last synced at: about 1 year ago - Pushed at: over 2 years ago - Stars: 0 - Forks: 0

LahiruJayasinghe/RUL-Net

Deep learning approach for estimation of Remaining Useful Life (RUL) of an engine

Language: Python - Size: 29.5 MB - Last synced at: about 1 year ago - Pushed at: over 4 years ago - Stars: 210 - Forks: 70

lemariva/SensorTag-CC2650

BLE SensorTag Android application working on Android Studio 3.1.2 and Android SDK 27

Language: Java - Size: 4.11 MB - Last synced at: 3 months ago - Pushed at: about 7 years ago - Stars: 18 - Forks: 13

prahs/Open-Source-AHRS-With-x-IMU Fork of xioTechnologies/Open-Source-AHRS-With-x-IMU

Language: C# - Size: 777 KB - Last synced at: about 1 year ago - Pushed at: over 8 years ago - Stars: 0 - Forks: 0

snandasena/path-planning Fork of udacity/CarND-Path-Planning-Project

Udacity Self-Driving Car Engineer

Language: C++ - Size: 9.41 MB - Last synced at: about 1 year ago - Pushed at: over 4 years ago - Stars: 0 - Forks: 0

cggos/kidnapped_vehicle_particle_filter Fork of dkarunakaran/carnd-kidnapped-vehicle-term2-p3

Udacity's Self-Driving Car Engineer Nanodegree Project 3: Kidnapped Vehicle based on Particle Filter

Language: C++ - Size: 628 KB - Last synced at: about 1 year ago - Pushed at: over 3 years ago - Stars: 0 - Forks: 1

zillur-av/localization-stack

This repository describes how to fuse two sensors data using Extended Kalman Filter in ROS

Language: CMake - Size: 3.29 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 1

overtane/udacity-carnd-p7

Sensor Fusion: Unscented Kalman Filter, LiDAR&RADAR

Language: C++ - Size: 1.99 MB - Last synced at: about 1 year ago - Pushed at: about 8 years ago - Stars: 3 - Forks: 1

overtane/udacity-carnd-p6

Extended Kalman Filter / Sensor Fusion Project

Language: C++ - Size: 1.04 MB - Last synced at: about 1 year ago - Pushed at: over 8 years ago - Stars: 0 - Forks: 0

EFeru/hoverboard-sideboard-hack-GD

Hoverboard sideboard hack for GD32 boards

Language: C - Size: 107 MB - Last synced at: about 1 year ago - Pushed at: over 1 year ago - Stars: 101 - Forks: 80

ShubhamAbhayDeshpande/RobustSemanticSegmentationWithSensorFusion

This is my master thesis. This repo contains all the important documents, code base, etc.

Language: Python - Size: 1.55 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

mithi/fusion-ekf 📦

An extended Kalman Filter implementation in C++ for fusing lidar and radar sensor measurements.

Language: C++ - Size: 9.27 MB - Last synced at: about 1 year ago - Pushed at: almost 7 years ago - Stars: 133 - Forks: 64

santosh051997/ROS2_MB

Mobile Robot Development

Language: Python - Size: 4.26 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 0 - Forks: 0

enginBozkurt/Error-State-Extended-Kalman-Filter

Vehicle State Estimation using Error-State Extended Kalman Filter

Language: Python - Size: 2.64 MB - Last synced at: about 1 year ago - Pushed at: almost 2 years ago - Stars: 219 - Forks: 51

ASIG-X/LiLi-OM

This is the official repository of LiLi-OM, a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

Language: C++ - Size: 86.1 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 2 - Forks: 0

haithamkhedr/Kalman-Filter

Language: C++ - Size: 729 KB - Last synced at: about 1 year ago - Pushed at: over 8 years ago - Stars: 0 - Forks: 0

sinaenjuni/Sensor_fusion_of_LiDAR_and_Camera_from_KITTI_dataset

Sensor fusion of LiDAR and Camera from KITTI dataset

Language: Python - Size: 38.1 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 1 - Forks: 0

EFeru/hoverboard-sideboard-hack-STM

Hoverboard sideboard hack for STM32 boards

Language: C - Size: 71.4 MB - Last synced at: about 1 year ago - Pushed at: about 3 years ago - Stars: 41 - Forks: 36

bjohnsonfl/Inertial_Measurment_Unit

MPU-9250 IMU sampled from an Xmega and displayed on an UART device

Language: C - Size: 390 KB - Last synced at: about 1 year ago - Pushed at: over 2 years ago - Stars: 3 - Forks: 0

bjohnsonfl/Madgwick_Filter

A quaternion based sensor fusion algorithm that fuses accelerometers and gyroscopes and optionally magnetometers

Language: C - Size: 21.5 KB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 101 - Forks: 14

pierluigiferrari/extended_kalman_filter

An 2D Extended Kalman Filter

Language: C++ - Size: 2.64 MB - Last synced at: about 16 hours ago - Pushed at: about 8 years ago - Stars: 5 - Forks: 3

jonasbrondum/cyber-resilient-marine-navigation

Selected code from my M.Sc. thesis: Cyber-resilient multi-modal sensor fusion for autonomous ship navigation

Language: Python - Size: 474 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

qherau/MOISST

Site for the paper "MOISST: Multimodal Optimization of Implicit Scene for SpatioTemporal calibration"

Language: HTML - Size: 1.75 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 2 - Forks: 0

sylvainf/AHRS

A collection of codes and designs for head-tracking.

Language: C++ - Size: 1.33 MB - Last synced at: over 1 year ago - Pushed at: about 6 years ago - Stars: 8 - Forks: 0

H2020-InFuse/cdff_dev

CDFF-Dev provides tools to develop, test, visualize, and perform analysis on data fusion products. Forked from https://gitlab.com/h2020src/og3/cdff_dev, where issues and pull requests are processed.

Language: Python - Size: 28.6 MB - Last synced at: over 1 year ago - Pushed at: over 6 years ago - Stars: 3 - Forks: 0

zhujun98/sensor-fusion

Kalman filter, sensor fusion

Language: C++ - Size: 13.2 MB - Last synced at: about 1 year ago - Pushed at: over 4 years ago - Stars: 257 - Forks: 78

ushichka/dmcp

DMCP performs extrinsic camera-to-mesh calibration by annotating a depth map from a virtual camera. It was developed for the Ushichka Dataset and its thermal cameras. The transformation gets estimated using 4 annotated correspondences which makes DMCP applicable for difficult environments.

Language: Jupyter Notebook - Size: 94.4 MB - Last synced at: about 1 year ago - Pushed at: about 1 year ago - Stars: 2 - Forks: 0

AbhinandanVellanki/LiDAR_plot

A script to accept an input data file of lidar sensor reading and plot all ends points in the world frame

Language: Python - Size: 2.93 KB - Last synced at: over 1 year ago - Pushed at: about 4 years ago - Stars: 2 - Forks: 0

nesl/Robust-Deep-Learning-Pipeline

Deep Convolutional Bidirectional LSTM for Complex Activity Recognition with Missing Data. Human Activity Recognition Challenge. Springer SIST (2020)

Language: Jupyter Notebook - Size: 876 MB - Last synced at: over 1 year ago - Pushed at: about 4 years ago - Stars: 22 - Forks: 3

oskarnatan/end-to-end-driving

Implementation code for: End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent, IEEE Trans. Intelligent Vehicles, 2022.

Language: Python - Size: 9.18 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 17 - Forks: 4

sharathsrini/Transformation-and-Rotations

A playground for Coordinate transformations.

Language: Jupyter Notebook - Size: 1.95 KB - Last synced at: over 1 year ago - Pushed at: over 6 years ago - Stars: 0 - Forks: 0

sharathsrini/Kalman-Filter-for-Sensor-Fusion

A Sensor Fusion Algorithm that can predict a State Estimate and Update if it is uncertain

Language: Jupyter Notebook - Size: 2.95 MB - Last synced at: over 1 year ago - Pushed at: about 3 years ago - Stars: 133 - Forks: 36

sharathsrini/Extended-Kalman-Filter-for-Sensor-Fusion

Extended Kalman Filters Are useful when there is an Non Linearity in the su=ystem and the estimation/prediction and measurement step requires a Jacobian matrix( first Derivative in the Taylor Series) is required to transform and work optimally.

Language: Jupyter Notebook - Size: 4.11 MB - Last synced at: over 1 year ago - Pushed at: almost 7 years ago - Stars: 3 - Forks: 4

chrisbetze/Microprocessors-Laboratory

Hands-on Laboratory exercises on 8085 and AVR boards for "Microprocessors Laboratory" course in NTUA

Language: Assembly - Size: 2.05 MB - Last synced at: over 1 year ago - Pushed at: over 4 years ago - Stars: 0 - Forks: 0

tswanepoel/pilotgadgetry

C# .NET Quadcopter

Language: C# - Size: 123 KB - Last synced at: 8 days ago - Pushed at: about 9 years ago - Stars: 21 - Forks: 6

alexklwong/learning-topology-synthetic-data

Tensorflow implementation of Learning Topology from Synthetic Data for Unsupervised Depth Completion (RAL 2021 & ICRA 2021)

Language: Python - Size: 9.04 MB - Last synced at: about 1 year ago - Pushed at: almost 2 years ago - Stars: 37 - Forks: 6

ozangerger/IMUFusion

Different IMU fusion algorithms will be implemented and tested.

Language: Python - Size: 3.3 MB - Last synced at: over 1 year ago - Pushed at: over 5 years ago - Stars: 3 - Forks: 0

HannahHaensen/pyfu

Deep Sensor Fusion with Pyramid Fusion Networks for 3D Semantic Segmentation

Language: Python - Size: 190 KB - Last synced at: about 1 year ago - Pushed at: about 2 years ago - Stars: 11 - Forks: 1

KG-Drone-Project/LSM6DSOX-Kalman-Filter

Sensor fusion of accelerometer & gyrscope using Kalman Filter

Language: Rust - Size: 59.6 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

Guy-Ben-Yosef/GyroTwins-AlignmentSolution

A user-friendly toolkit for engineers and researchers to address the problem of aligning measurements from gyroscopes mounted on the same rigid body.

Language: MATLAB - Size: 892 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

bharathsudharsan/COVID-away

Code for paper 'Avoid touching your face: A hand-to-face 3d motion dataset (covid-away) and trained models for smartwatches'

Language: Python - Size: 102 MB - Last synced at: 13 days ago - Pushed at: almost 3 years ago - Stars: 18 - Forks: 4

azinke/MPU60x0

Inertial Measurement Unit Sensor

Language: C++ - Size: 467 KB - Last synced at: about 1 year ago - Pushed at: over 5 years ago - Stars: 1 - Forks: 0

timbroed/HRFuser

[ITSC-2023] HRFuser: A Multi-resolution Sensor Fusion Architecture for 2D Object Detection

Language: Python - Size: 47.4 MB - Last synced at: about 1 year ago - Pushed at: almost 2 years ago - Stars: 29 - Forks: 2

mescaline116/Sensor-fusion-of-GPS-and-IMU

Executed sensor fusion by implementing a Complementary Filter to get an enhanced estimation of the vehicle’s overall trajectory, especially in GPS-deprived environments.

Language: MATLAB - Size: 98.8 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

simutisernestas/UAVTR

Localization of a GNSS denied UAV relative to a Moving Local Reference Frame in an Offshore Environment

Language: C++ - Size: 9.6 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 3 - Forks: 1

Ohara124c41/Udacity_Projects_Master_Repo

Contains my solutions for various Nanodegree Programs (Robotics, Artificial Intelligence, Machine Learning, Deep Reinforcement Learning, Computer Vision, Sensor Fusion, Flying Cars).

Size: 9.77 KB - Last synced at: about 1 year ago - Pushed at: over 4 years ago - Stars: 17 - Forks: 2

SandeepAswathnarayana/Udacity-SDCND-Programming-a-Real-Self-Driving-Car Fork of asagar60/Udacity-SCND-Programming-a-Real-Self-Driving-Car

Capstone Project : In this project, we implement a Real Self Driving Car in python to maneuver the vehicle around the track while following the traffic rules.

Language: Python - Size: 457 MB - Last synced at: 29 days ago - Pushed at: over 4 years ago - Stars: 1 - Forks: 1

GuitarmonYz/MadgwickFusion

Implemented both the improved Madgwick algorithm proposed in https://doi.org/10.1016/j.ymssp.2019.04.064 and the algorithm in the original paper

Language: C - Size: 25.4 KB - Last synced at: about 1 year ago - Pushed at: over 5 years ago - Stars: 7 - Forks: 0

UditBhaskar19/EGO_MOTION_ESTIMATION

A collection of ego-motion estimation projects for AD/ADAS functions

Language: Python - Size: 250 MB - Last synced at: over 1 year ago - Pushed at: about 2 years ago - Stars: 11 - Forks: 3

willdphan/kitti-sf

KITTI Sensor Fusion and Object Detection.

Language: Jupyter Notebook - Size: 56.5 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

Flugpaul/F1E-V2.0

F1E electronic magnetic steering device / direction control by magnetic sensor BNO055

Language: C++ - Size: 108 KB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

xiaohong-huang/RTK-Visual-Inertial-Navigation-JetsonTX2

A fast method used sliding window filter frame work for RTK-Visual-Inertial-Navigation

Language: C++ - Size: 5.63 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 14 - Forks: 7

DanYoung321/self-driving-robot

A Self-Driving Robot developed in ROS

Language: CMake - Size: 3.87 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

otakot/sensor-fusion-engineer-nd

Implementations of the projects of Sensor Fusion Engineer Nano Degree course

Language: C++ - Size: 259 MB - Last synced at: over 1 year ago - Pushed at: over 3 years ago - Stars: 0 - Forks: 0

knaaga/extended-kalman-filter-tracking

Lidar and radar sensor fusion using extended Kalman filters for object tracking

Language: C++ - Size: 2.42 MB - Last synced at: over 1 year ago - Pushed at: about 3 years ago - Stars: 0 - Forks: 0

yuvalofek/HSHT-Satellite-Imagery-Synthesis

Code used for the completion of my thesis - Improving Flood Maps by Increasing the Temporal Resolution of Satellites Using Hybrid Sensor Fusion - Video Interpolation Networks

Language: Python - Size: 303 KB - Last synced at: about 1 year ago - Pushed at: almost 3 years ago - Stars: 5 - Forks: 0

magnusoy/Sparkie

Sparkie, Autonomous inspections for process industry by a quadruped robot with use of neural networks

Language: C++ - Size: 158 MB - Last synced at: about 1 year ago - Pushed at: almost 5 years ago - Stars: 18 - Forks: 9

namratadutt/LiDAR-and-Hyperspectral-Fusion-classification

Landcover classification using the fusion of HSI and LiDAR data.

Language: Python - Size: 110 KB - Last synced at: over 1 year ago - Pushed at: about 3 years ago - Stars: 13 - Forks: 5

NekSfyris/ESEKF_IMU_GNSS_Lidar

Sensor fusion between IMU, GNSS and Lidar data using an Error State Extended Kalman Filter.

Language: Python - Size: 3.71 MB - Last synced at: over 1 year ago - Pushed at: over 4 years ago - Stars: 57 - Forks: 15

SenanS/Sensor-Fusion_Vehicle-Localisation-and-Tracking

Sensor fusion in vehicle localisation and tracking is a powerful technique that combines multiple data sources for enhanced accuracy. This project applies and compares two TDOA sensor networks and WLS and Kalman Filter based localisation and tracking techniques.

Language: MATLAB - Size: 4.61 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0