Contextual visual localization: cascaded submap classification, optimized saliency detection, and fast view matching

In this paper, we present a novel coarse-to-fine visual localization approach: contextual visual localization. This approach relies on three elements: (i) a minimal-complexity classifier for performing fast coarse localization (submap classification); (ii) an optimized saliency detector which exploits the visual statistics of the submap; and (iii) a fast view-matching algorithm which filters initial matchings with a structural criterion. The latter algorithm yields fine localization. Our experiments show that these elements have been successfully integrated for solving the global localization problem. Context, that is, the awareness of being in a particular submap, is defined by a supervised classifier tuned for a minimal set of features. Visual context is exploited both for tuning (optimizing) the saliency detection process, and to select potential matching views in the visual database, close enough to the query view.

μ-MAR: Multiplane 3D Marker based Registration for depth-sensing cameras

Many applications including object reconstruction, robot guidance, and. scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations between views are unknown and it is necessary to apply expert inference to estimate them. In the last few years, the emergence of low-cost depth-sensing cameras has strengthened the research on this topic, motivating a plethora of new applications. Although they have enough resolution and accuracy for many applications, some situations may not be solved with general state-of-the-art registration methods due to the signal-to-noise ratio (SNR) and the resolution of the data provided. The problem of working with low SNR data, in general terms, may appear in any 3D system, then it is necessary to propose novel solutions in this aspect. In this paper, we propose a method, μ-MAR, able to both coarse and fine register sets of 3D points provided by low-cost depth-sensing cameras, despite it is not restricted to these sensors, into a common coordinate system. The method is able to overcome the noisy data problem by means of using a model-based solution of multiplane registration. Specifically, it iteratively registers 3D markers composed by multiple planes extracted from points of multiple views of the scene. As the markers and the object of interest are static in the scenario, the transformations obtained for the markers are applied to the object in order to reconstruct it. Experiments have been performed using synthetic and real data. The synthetic data allows a qualitative and quantitative evaluation by means of visual inspection and Hausdorff distance respectively. The real data experiments show the performance of the proposal using data acquired by a Primesense Carmine RGB-D sensor. The method has been compared to several state-of-the-art methods. The results show the good performance of the μ-MAR to register objects with high accuracy in presence of noisy data outperforming the existing methods.

Caracterización de los depósitos miocenos de la isla de Nueva Tabarca (Alicante) y su empleo como material de construcción en el patrimonio local

El presente trabajo muestra la caracterización en detalle de la secuencia estratigráfica de los depósitos miocenos de la isla de Nueva Tabarca, el empleo de estos materiales en el patrimonio arquitectónico de la isla y su comportamiento frente la degradación. En la serie miocena, a grandes rasgos, se definen tres tramos. El tramo inferior, rico en clastos dolomíticos, muestra una alternancia de arenitas y calcarenitas. El tramo intermedio corresponde a una sucesión de niveles de calcirruditas con laminación cruzada cuya parte superior está representada por un nivel de grandes bioclastos, rodolitos y arenitas de grano fino. El comienzo del último tramo está marcado por la presencia de varias superficies arenosas más litificadas sobre las que se sitúa un banco de arenitas de grano fino y laminación paralela. Si bien las canteras extraían sillares de todas estas litofacies, existe una mayor extracción de los últimos niveles de la serie. Estas rocas presentan una durabilidad moderada-baja, degradándose fácilmente mediante arenización, escamación y/o alveolización.

Gasification and Pyrolysis of Posidonia oceanica in the Presence of Dolomite

Resumen del póster presentado en Symposium on Renewable Energy and Products from Biomass and Waste, CIUDEN (Cubillos de Sil, León, Spain), 12-13 May 2015

Compositional signatures of the Cenozoic sedimentary succesions of the Malaguide Complex (Betic Cordillera, Spain)

The studied Cenozoic sedimentary successions consist of deposits from continental/shallow-water to deep-marine environments of the Malaguide Complex (Betic Cordillera) outcropping in the Sierra Espuña area (SE Spain). The aim of this study is to characterize the composition, source area(s) provenance and weathering processes of these sedimentary successions from the pre-orogenic (Paleocene-Early Oligocene) to the syn-orogenic (Late Oligocene-Early Miocene) stage using petrological and geochemical methodologies. The studied sandstones are mainly quartzolithic with abundant metamorphic and sedimentary lithic fragments. In particular, the composition of samples from the pre-orogenic cycle is mainly carbonate with important siliciclastic components that occur within the medium to fine grained arenites. The composition of samples from the syn-orogenic cycle is characterized by a sharp change from carbonate to siliciclastic terms. Thus, the composition of the overall sandstone samples is very heterogeneous and suggests a source area mainly characterized by the Malaguide basement and lower units of the Internal Betic Zone, that partially compose the Mesomediterranean Microplate. The geochemical proxies suggest a provenance mainly from felsic source area with a minor supply from mafic rocks in some samples of the syn-orogenic stage. Furthermore, palaeoweathering indices indicate low to moderate weathering conditions for the sources. The Cenozoic sedimentary successions of the Malaguide Complex played an important role in the geodynamic evolution of the Betic Cordillera that represents the key tectonic element of the western domains of the Mesomediterranean Microplate.