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The recent synthesis of the chromium selenide compound LiCrSe$_2$ constitutes a valuable addition to the ensemble of two-dimensional triangular lattice antiferromagnets (2D-TLA). In this work we present the very first comprehensive study of the combined low temperature nuclear and magnetic structure established in this material. Details on the connection between Li-ion dynamics and structural changes are also presented along with a direct link between atomic structure and spin order via a strong magnetoelastic coupling. LiCrSe$_2$ was found to undergo a first order structural transition from a trigonal crystal system with space group $P\bar{3}m1$ to a monoclinic one with space group $C2/m$ at $T_{\rm s}=30$~K. Such restructuring of the lattice is accompanied by a magnetic transition at $T_{\rm N}=30$~K, with the formation of a complex spin arrangement for the Cr$^{3+}$ moments. Refinement of the magnetic structure with neutron diffraction data and complementary muon spin rotation analysis reveal the presence of two incommensurate magnetic domains with a up-up-down-down arrangement of the spins with ferromagnetic (FM) double chains coupled antiferromagnetically (AFM). In addition to this unusual arrangement, the spin axial vector is modulated both in direction and modulus, resulting in a spin density wave-like order with periodic suppression of the Cr moment along the chains. This behavior is believed to appear as a result of strong competition between direct exchange AFM and superexchange FM couplings established between both nearest neighbor and next nearest neighbor Cr$^{3+}$ ions. We finally conjecture that the resulting magnetic order is stabilized via subtle vacancy/charge order within the Li layers, potentially causing a mix of two different magnetic phases within the sample.

Two$-$dimensional (2D) triangular lattices antiferromagnets (2D$-$TLA) often manifest intriguing physical and technological properties, due to the strong interplay between lattice geometry and electronic properties. The recently synthesized 2$-$dimensional transition metal dichalcogenide LiCrTe$_2$, being a 2D$-$TLA, enriched the range of materials which can present such properties. In this work, muon spin rotation ($\mu^+$SR) and neutron powder diffraction (NPD) have been utilized to reveal the true magnetic nature and ground state of LiCrTe$_2$. From high$-$resolution NPD the magnetic spin order at base$-$temperature is not, as previously suggested, helical, but rather collinear antiferromagnetic (AFM) with ferromagnetic (FM) spin coupling within the $ab-$plane and AFM coupling along the $c-$axis. The ordered magnetic Cr moment is established as $\mu_{\rm Cr}=$ 2.36 $\mu_{\rm B}$. From detailed $\mu^+$SR measurements we observe an AFM ordering temperature $T_{\rm N}\approx$ 125 K. This value is remarkably higher than the one previously reported by magnetic bulk measurements. From $\mu^+$SR we are able to extract the magnetic order parameter, whose critical exponent allows us to categorize LiCrTe$_2$ in the 3D Heisenberg AFM universality class. Finally, by combining our magnetic studies with high$-$resolution synchrotron X$-$ray diffraction (XRD), we find a clear coupling between the nuclear and magnetic spin lattices. This suggests the possibility for a strong magnon$-$phonon coupling, similar to what has been previously observed in the closely related compound LiCrO$_2$.

Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely operated vehicles (ROVs) are still considered irreplaceable, and tools for real-time visualization of the mapped scene are essential to support and maximize the navigation and surveying efforts. For underwater exploration, image mosaicing has proved to be a valid and effective approach to visualize large mapped areas, often employed in conjunction with autonomous underwater vehicles (AUVs) and ROVs. In this work, we propose the use of a modified image mosaicing algorithm that coupled with image-based real-time navigation and mapping algorithms provides two visual navigation aids. The first is a classic image mosaic, where the recorded and processed images are incrementally added, named 2D sequential image mosaicing (2DSIM). The second one geometrically transform the images so that they are projected as planar point clouds in the 3D space providing an incremental point cloud mosaicing, named 3D sequential image plane projection (3DSIP). In the paper, the implemented procedure is detailed, and experiments in different underwater scenarios presented and discussed. Technical considerations about computational efforts, frame rate capabilities and scalability to different and more compact architectures (i.e. embedded systems) is also provided.