Biologically Inspired Vision for Indoor Robot Navigation

Ultrasonic, infrared, laser and other sensors are being applied in robotics. Although combinations of these have allowed robots to navigate, they are only suited for specific scenarios, depending on their limitations. Recent advances in computer vision are turning cameras into useful low-cost sensors that can operate in most types of environments. Cameras enable robots to detect obstacles, recognize objects, obtain visual odometry, detect and recognize people and gestures, among other possibilities. In this paper we present a completely biologically inspired vision system for robot navigation. It comprises stereo vision for obstacle detection, and object recognition for landmark-based navigation. We employ a novel keypoint descriptor which codes responses of cortical complex cells. We also present a biologically inspired saliency component, based on disparity and colour.

Assessing land–ocean connectivity via submarine groundwater discharge (SGD) in the Ria Formosa Lagoon (Portugal): combining radon measurements and stable isotope hydrology

Natural radioactive tracer-based assessments of basin-scale submarine groundwater discharge (SGD) are well developed. However, SGD takes place in different modes and the flow and discharge mechanisms involved occur over a wide range of spatial and temporal scales. Quantifying SGD while discriminating its source functions therefore remains a major challenge. However, correctly identifying both the fluid source and composition is critical. When multiple sources of the tracer of interest are present, failure to adequately discriminate between them leads to inaccurate attribution and the resulting uncertainties will affect the reliability of SGD solute loading estimates. This lack of reliability then extends to the closure of local biogeochemical budgets, confusing measures aiming to mitigate pollution. Here, we report a multi-tracer study to identify the sources of SGD, distinguish its component parts and elucidate the mechanisms of their dispersion throughout the Ria Formosa – a seasonally hypersaline lagoon in Portugal. We combine radon budgets that determine the total SGD (meteoric + recirculated seawater) in the system with stable isotopes in water (δ2H, δ18O), to specifically identify SGD source functions and characterize active hydrological pathways in the catchment. Using this approach, SGD in the Ria Formosa could be separated into two modes, a net meteoric water input and another involving no net water transfer, i.e., originating in lagoon water re-circulated through permeable sediments. The former SGD mode is present occasionally on a multi-annual timescale, while the latter is a dominant feature of the system. In the absence of meteoric SGD inputs, seawater recirculation through beach sediments occurs at a rate of  ∼  1.4  ×  106 m3 day−1. This implies that the entire tidal-averaged volume of the lagoon is filtered through local sandy sediments within 100 days ( ∼  3.5 times a year), driving an estimated nitrogen (N) load of  ∼  350 Ton N yr−1 into the system as NO3−. Land-borne SGD could add a further  ∼  61 Ton N yr−1 to the lagoon. The former source is autochthonous, continuous and responsible for a large fraction (59 %) of the estimated total N inputs into the system via non-point sources, while the latter is an occasional allochthonous source capable of driving new production in the system.

The SmartVision navigation prototype for the blind

The goal of the project "SmartVision: active vision for the blind" is to develop a small and portable but intelligent and reliable system for assisting the blind and visually impaired while navigating autonomously, both outdoor and indoor. In this paper we present an overview of the prototype, design issues, and its different modules which integrate a GIS with GPS, Wi-Fi, RFID tags and computer vision. The prototype addresses global navigation by following known landmarks, local navigation with path tracking and obstacle avoidance, and object recognition. The system does not replace the white cane, but extends it beyond its reach. The user-friendly interface consists of a 4-button hand-held box, a vibration actuator in the handle of the cane, and speech synthesis. A future version may also employ active RFID tags for marking navigation landmarks, and speech recognition may complement speech synthesis.