3D plane-based egomotion for SLAM on semi-structured environment

Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is not a trivial task. It needs some adaptation from the original ICP. Some promising results are shown for outdoor environment.

Exploring automatic feature selection for transition-based dependency parsing

En este artículo se investigan técnicas automáticas para encontrar un modelo óptimo de características en el caso de un analizador de dependencias basado en transiciones. Mostramos un estudio comparativo entre algoritmos de búsqueda, sistemas de validación y reglas de decisión demostrando al mismo tiempo que usando nuestros métodos es posible conseguir modelos complejos que proporcionan mejores resultados que los modelos que siguen configuraciones por defecto.

Real-time 3D semi-local surface patch extraction using GPGPU

Feature vectors can be anything from simple surface normals to more complex feature descriptors. Feature extraction is important to solve various computer vision problems: e.g. registration, object recognition and scene understanding. Most of these techniques cannot be computed online due to their complexity and the context where they are applied. Therefore, computing these features in real-time for many points in the scene is impossible. In this work, a hardware-based implementation of 3D feature extraction and 3D object recognition is proposed to accelerate these methods and therefore the entire pipeline of RGBD based computer vision systems where such features are typically used. The use of a GPU as a general purpose processor can achieve considerable speed-ups compared with a CPU implementation. In this work, advantageous results are obtained using the GPU to accelerate the computation of a 3D descriptor based on the calculation of 3D semi-local surface patches of partial views. This allows descriptor computation at several points of a scene in real-time. Benefits of the accelerated descriptor have been demonstrated in object recognition tasks. Source code will be made publicly available as contribution to the Open Source Point Cloud Library.

Discussing the physical meaning of the absorption feature at 2.1 keV in 4U 1538–52

High resolution X-ray spectroscopy is a powerful tool for studying the nature of the matter surrounding the neutron star in X-ray binaries and its interaction between the stellar wind and the compact object. In particular, absorption features in their spectra could reveal the presence of atmospheres of the neutron star or their magnetic field strength. Here we present an investigation of the absorption feature at 2.1 keV in the X-ray spectrum of the high mass X-ray binary 4U 1538–52 based on our previous analysis of the XMM-Newton data. We study various possible origins and discuss the different physical scenarios in order to explain this feature. A likely interpretation is that the feature is associated with atomic transitions in an O/Ne neutron star atmosphere or of hydrogen and helium like Fe or Si ions formed in the stellar wind of the donor.

Football Video Annotation Based on Player Motion Recognition Using Enhanced Entropy

This paper presents a semi-parametric Algorithm for parsing football video structures. The approach works on a two interleaved based process that closely collaborate towards a common goal. The core part of the proposed method focus perform a fast automatic football video annotation by looking at the enhance entropy variance within a series of shot frames. The entropy is extracted on the Hue parameter from the HSV color system, not as a global feature but in spatial domain to identify regions within a shot that will characterize a certain activity within the shot period. The second part of the algorithm works towards the identification of dominant color regions that could represent players and playfield for further activity recognition. Experimental Results shows that the proposed football video segmentation algorithm performs with high accuracy.

Topological SLAM using a graph-matching based method on omnidirectional images

Comunicación presentada en el XI Workshop of Physical Agents, Valencia, 9-10 septiembre 2010.

A novel information theory method for filter feature selection

In this paper, we propose a novel filter for feature selection. Such filter relies on the estimation of the mutual information between features and classes. We bypass the estimation of the probability density function with the aid of the entropic-graphs approximation of Rényi entropy, and the subsequent approximation of the Shannon one. The complexity of such bypassing process does not depend on the number of dimensions but on the number of patterns/samples, and thus the curse of dimensionality is circumvented. We show that it is then possible to outperform a greedy algorithm based on the maximal relevance and minimal redundancy criterion. We successfully test our method both in the contexts of image classification and microarray data classification.

An algorithm to hide information in binary images

The objective of this paper is to develop a method to hide information inside a binary image. An algorithm to embed data in scanned text or figures is proposed, based on the detection of suitable pixels, which verify some conditions in order to be not detected. In broad terms, the algorithm locates those pixels placed at the contours of the figures or in those areas where some scattering of the two colors can be found. The hidden information is independent from the values of the pixels where this information is embedded. Notice that, depending on the sequence of bits to be hidden, around half of the used pixels to keep bits of data will not be modified. The other basic characteristic of the proposed scheme is that it is necessary to take into consideration the bits that are modified, in order to perform the recovering process of the information, which consists on recovering the sequence of bits placed in the proper positions. An application to banking sector is proposed for hidding some information in signatures.

Fast pseudorandom generator based on packed matrices

Pseudorandom generators are a basic foundation of many cryptographic services and information security protocols. We propose a modification of a previously published matricial pseudorandom generator that significantly improves performance and security. The resulting generator is successfully compared to world class standards.

Event-based visual servoing

Traditional visual servoing systems have been widely studied in the last years. These systems control the position of the camera attached to the robot end-effector guiding it from any position to the desired one. These controllers can be improved by using the event-based control paradigm. The system proposed in this paper is based on the idea of activating the visual controller only when something significant has occurred in the system (e.g. when any visual feature can be loosen because it is going outside the frame). Different event triggers have been defined in the image space in order to activate or deactivate the visual controller. The tests implemented to validate the proposal have proved that this new scheme avoids visual features to go out of the image whereas the system complexity is reduced considerably. Events can be used in the future to change different parameters of the visual servoing systems.

Infrared identification of 2XMM J191043.4+091629.4

Context. We report the infrared identification of the X-ray source 2XMM J191043.4+091629.4, which was detected by XMM-Newton/EPIC in the vicinity of the Galactic supernova remnant W49B. Aims. The aim of this work is to establish the nature of the X-ray source 2XMM J191043.4+091629.4 studying both the infrared photometry and spectroscopy of the companion. Methods. We analysed UKIDSS images around the best position of the X-ray source and obtained spectra of the best candidate using NICS in the Telescopio Nazionale Galileo (TNG) 3.5-m telescope. We present photometric and spectroscopic TNG analyses of the infrared counterpart of the X-ray source, identifying emission lines in the K-band. The H-band spectra does not present any significant feature. Results. We have shown that the Brackett γ H i at 2.165 μm, and He i at 2.184 μm and at 2.058 μm are significantly present in the infrared spectrum. The CO bands are also absent from our spectrum. Based on these results and the X-ray characteristics of the source, we conclude that the infrared counterpart is an early B-type supergiant star with an E(B − V) = 7.6 ± 0.3 at a distance of 16.0 ± 0.5 kpc. This would be, therefore, the first high-mass X-ray binary in the Outer Arm at galactic longitudes of between 30° and 60°.

A VLT/FLAMES survey for massive binaries in Westerlund 1. III. The WC9d binary W239 and implications for massive stellar evolution

Context. There is growing evidence that a treatment of binarity amongst OB stars is essential for a full theory of stellar evolution. However the binary properties of massive stars – frequency, mass ratio & orbital separation – are still poorly constrained. Aims. In order to address this shortcoming we have undertaken a multiepoch spectroscopic study of the stellar population of the young massive cluster Westerlund 1. In this paper we present an investigation into the nature of the dusty Wolf-Rayet star and candidate binary W239. Methods. To accomplish this we have utilised our spectroscopic data in conjunction with multi-year optical and near-IR photometric observations in order to search for binary signatures. Comparison of these data to synthetic non-LTE model atmosphere spectra were used to derive the fundamental properties of the WC9 primary. Results. We found W239 to have an orbital period of only ~5.05 days, making it one of the most compact WC binaries yet identified. Analysis of the long term near-IR lightcurve reveals a significant flare between 2004-6. We interpret this as evidence for a third massive stellar component in the system in a long period (>6 yr), eccentric orbit, with dust production occuring at periastron leading to the flare. The presence of a near-IR excess characteristic of hot (~1300 K) dust at every epoch is consistent with the expectation that the subset of persistent dust forming WC stars are short (<1 yr) period binaries, although confirmation will require further observations. Non-LTE model atmosphere analysis of the spectrum reveals the physical properties of the WC9 component to be fully consistent with other Galactic examples. Conclusions. The simultaneous presence of both short period Wolf-Rayet binaries and cool hypergiants within Wd 1 provides compelling evidence for a bifurcation in the post-Main Sequence evolution of massive stars due to binarity. Short period O+OB binaries will evolve directly to the Wolf-Rayet phase, either due to an episode of binary mediated mass loss – likely via case A mass transfer or a contact configuration – or via chemically homogenous evolution. Conversely, long period binaries and single stars will instead undergo a red loop across the HR diagram via a cool hypergiant phase. Future analysis of the full spectroscopic dataset for Wd 1 will constrain the proportion of massive stars experiencing each pathway; hence quantifying the importance of binarity in massive stellar evolution up to and beyond supernova and the resultant production of relativistic remnants.

The masses of the neutron and donor star in the high-mass X-ray binary IGR J18027-2016

Aims. We report near-infrared observations of the supergiant donor to the eclipsing high mass X-ray binary pulsar IGR J18027-2016. We aim to determine its spectral type and measure its radial velocity curve and hence determine the stellar masses of the components. Methods. ESO/VLT observations of the donor utilising the NIR spectrograph ISAAC were obtained in the H and K bands. The multi-epoch H band spectra were cross-correlated with RV templates in order to determine a radial solution for the system. Results. The spectral type of the donor was confirmed as B0-1 I. The radial velocity curve constructed has a semi-amplitude of 23.8 ± 3.1 km s-1. Combined with other measured system parameters, a dynamically determined neutron star mass of 1.4  ±  0.2–1.6  ±  0.3 M⊙ is found. The mass range of the B0-B1 I donor was 18.6  ±  0.8–21.8  ±  2.4 M⊙. These lower and upper limits were obtained under the assumption that the system is viewed edge-on (i = 90° with β = 0.89) for the lower limit and the donor fills its Roche lobe (β = 1 with i = 73.1°) for the upper limit respectively.

GRO J1008−57: an (almost) predictable transient X-ray binary

A study of archival RXTE, Swift, and Suzaku pointed observations of the transient high-mass X-ray binary GRO J1008−57 is presented. A new orbital ephemeris based on pulse arrival-timing shows the times of maximum luminosities during outbursts of GRO J1008−57 to be close to periastron at orbital phase − 0.03. This makes the source one of a few for which outburst dates can be predicted with very high precision. Spectra of the source in 2005, 2007, and 2011 can be well described by a simple power law with high-energy cutoff and an additional black body at lower energies. The photon index of the power law and the black-body flux only depend on the 15–50 keV source flux. No apparent hysteresis effects are seen. These correlations allow us to predict the evolution of the pulsar’s X-ray spectral shape over all outbursts as a function of just one parameter, the source’s flux. If modified by an additional soft component, this prediction even holds during GRO J1008−57’s 2012 type II outburst.

The evolution and masses of the neutron star and donor star in the high mass X-ray binary OAO 1657−415

We report near-infrared radial velocity (RV) measurements of the recently identified donor star in the high mass X-ray binary (HMXB) system OAO 1657−415 obtained in the H band using ISAAC on the Very Large Telescope. Cross-correlation methods were employed to construct a RV curve with a semi-amplitude of 22.1 ± 3.5 km s−1. Combined with other measured parameters of this system it provides a dynamically determined neutron star (NS) mass of 1.42 ± 0.26 M⊙ and a mass of 14.3 ± 0.8 M⊙ for the Ofpe/WN9 highly evolved donor star. OAO 1657−415 is an eclipsing HMXB pulsar with the largest eccentricity and orbital period of any within its class. Of the 10 known eclipsing X-ray binary pulsars OAO 1657−415 becomes the ninth with a dynamically determined NS mass solution and only the second in an eccentric system. Furthermore, the donor star in OAO 1657−415 is much more highly evolved than the majority of the supergiant donors in other HMXBs, joining a small but growing list of HMXBs donors with extensive hydrogen depleted atmospheres. Considering the evolutionary development of OAO 1657−415, we have estimated the binding energy of the envelope of the mass donor and find that there is insufficient energy for the removal of the donor’s envelope via spiral-in, ruling out a common envelope evolutionary scenario. With its non-zero eccentricity and relatively large orbital period the identification of a definitive evolutionary pathway for OAO 1657−415 remains problematic, we conclude by proposing two scenarios which may account for OAO 1657−415 current orbital configuration.