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.

Depth distribution of the velvet belly, Etmopterus spinax, in relation to growth and reproductive cycle: The case study of a deep-water lantern shark with a wide-ranging critical habitat

The velvet belly lantern shark, Etmopterus spinax (Squaliformes: Etmopteridae), is a small-sized squalid shark commonly found in deep waters off the Portuguese coast, mainly on soft bottoms. In this study, 67 research cruise bottom trawl tows (with 1-hour duration) were carried out at depths that ranged from 84 to 786 m. A total of 396 specimens (192 males and 204 females) were caught, with total lengths and ages ranging, respectively, from 10.2 to 32.9 cm and 0 to 7 years for males and from 9.8 to 41.1 cm and 0 to 10 years for females. Size, age, sex and maturity stages were found to be correlated with depth, with the larger, older and mostly mature specimens occurring predominantly at greater depths. There seems to be a depth-related migration, where the pregnant females migrate from deeper mating grounds to shallower nursery grounds. The sex ratios were relatively similar in the shallower strata, but females dominated at more than 600 m and were exclusive at more than 700 m. Fishing-related mortality may have complex and significant repercussions on this species, given that commercial fisheries are impacting different segments of this population differently.

Life history of a wide-ranging deepwater lantern shark in the north-east Atlantic, Etmopterus spinax (Chondrichthyes: Etmopteridae), with implications for conservation

In this paper, the population biology of the velvet belly lanternshark Etmopterus spinax was studied and life-history coefficients determined. Age was estimated from sections of the second dorsal spine and validated by marginal increment analysis. Males attained a maximum age of 8 years while 11 year-old females were found. Several growth models were fitted and compared for both size-at-age and mass-at-age data, showing that even though this is a small-sized species, it has a relatively slow growth rate. This species matures late, specifically at 49.6 and 42.5% of the maximum observed ages for males and females, respectively. It has a low fecundity, with a mean ovarian fecundity of 9.94 oocytes and a mean uterine fecundity of 7.59 embryos per reproductive cycle. This species seems to have a long reproductive cycle, and even though no conclusive data were obtained, a 2-3 year cycle is possible. The estimated coefficients indicate that this species has a vulnerable life cycle, typical of deepwater squalid sharks. Given the high fishing pressures that it is suffering in the north-east Atlantic, this fish may already be facing severe declines or in risk of facing them in the near future. (C) 2008 The Authors Journal compilation (C) 2008 The Fisheries Society of the British Isles