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.

Quantitative stability of linear infinite inequality systems under block perturbations with applications to convex systems

The original motivation for this paper was to provide an efficient quantitative analysis of convex infinite (or semi-infinite) inequality systems whose decision variables run over general infinite-dimensional (resp. finite-dimensional) Banach spaces and that are indexed by an arbitrary fixed set J. Parameter perturbations on the right-hand side of the inequalities are required to be merely bounded, and thus the natural parameter space is l ∞(J). Our basic strategy consists of linearizing the parameterized convex system via splitting convex inequalities into linear ones by using the Fenchel–Legendre conjugate. This approach yields that arbitrary bounded right-hand side perturbations of the convex system turn on constant-by-blocks perturbations in the linearized system. Based on advanced variational analysis, we derive a precise formula for computing the exact Lipschitzian bound of the feasible solution map of block-perturbed linear systems, which involves only the system’s data, and then show that this exact bound agrees with the coderivative norm of the aforementioned mapping. In this way we extend to the convex setting the results of Cánovas et al. (SIAM J. Optim. 20, 1504–1526, 2009) developed for arbitrary perturbations with no block structure in the linear framework under the boundedness assumption on the system’s coefficients. The latter boundedness assumption is removed in this paper when the decision space is reflexive. The last section provides the aimed application to the convex case.

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.

Robust linear semi-infinite programming duality under uncertainty

In this paper, we propose a duality theory for semi-infinite linear programming problems under uncertainty in the constraint functions, the objective function, or both, within the framework of robust optimization. We present robust duality by establishing strong duality between the robust counterpart of an uncertain semi-infinite linear program and the optimistic counterpart of its uncertain Lagrangian dual. We show that robust duality holds whenever a robust moment cone is closed and convex. We then establish that the closed-convex robust moment cone condition in the case of constraint-wise uncertainty is in fact necessary and sufficient for robust duality. In other words, the robust moment cone is closed and convex if and only if robust duality holds for every linear objective function of the program. In the case of uncertain problems with affinely parameterized data uncertainty, we establish that robust duality is easily satisfied under a Slater type constraint qualification. Consequently, we derive robust forms of the Farkas lemma for systems of uncertain semi-infinite linear inequalities.

A new approach for semi-automatic rock mass joints recognition from 3D point clouds

Rock mass characterization requires a deep geometric understanding of the discontinuity sets affecting rock exposures. Recent advances in Light Detection and Ranging (LiDAR) instrumentation currently allow quick and accurate 3D data acquisition, yielding on the development of new methodologies for the automatic characterization of rock mass discontinuities. This paper presents a methodology for the identification and analysis of flat surfaces outcropping in a rocky slope using the 3D data obtained with LiDAR. This method identifies and defines the algebraic equations of the different planes of the rock slope surface by applying an analysis based on a neighbouring points coplanarity test, finding principal orientations by Kernel Density Estimation and identifying clusters by the Density-Based Scan Algorithm with Noise. Different sources of information —synthetic and 3D scanned data— were employed, performing a complete sensitivity analysis of the parameters in order to identify the optimal value of the variables of the proposed method. In addition, raw source files and obtained results are freely provided in order to allow to a more straightforward method comparison aiming to a more reproducible research.

Coverage and invariability in fuzzy systems

This paper presents a new complex system systemic. Here, we are working in a fuzzy environment, so we have to adapt all the previous concepts and results that were obtained in a non-fuzzy environment, for this fuzzy case. The direct and indirect influences between variables will provide the basis for obtaining fuzzy and/or non-fuzzy relationships, so that the concepts of coverage and invariability between sets of variables will appear naturally. These two concepts and their interconnections will be analyzed from the viewpoint of algebraic properties of inclusion, union and intersection (fuzzy and non-fuzzy), and also for the loop concept, which, as we shall see, will be of special importance.

Calmness of the Feasible Set Mapping for Linear Inequality Systems

In this paper we deal with parameterized linear inequality systems in the n-dimensional Euclidean space, whose coefficients depend continuosly on an index ranging in a compact Hausdorff space. The paper is developed in two different parametric settings: the one of only right-hand-side perturbations of the linear system, and that in which both sides of the system can be perturbed. Appealing to the backgrounds on the calmness property, and exploiting the specifics of the current linear structure, we derive different characterizations of the calmness of the feasible set mapping, and provide an operative expresion for the calmness modulus when confined to finite systems. In the paper, the role played by the Abadie constraint qualification in relation to calmness is clarified, and illustrated by different examples. We point out that this approach has the virtue of tackling the calmness property exclusively in terms of the system’s data.

An authoring tool for decision support systems in context questions of ecological knowledge

Decision support systems (DSS) support business or organizational decision-making activities, which require the access to information that is internally stored in databases or data warehouses, and externally in the Web accessed by Information Retrieval (IR) or Question Answering (QA) systems. Graphical interfaces to query these sources of information ease to constrain dynamically query formulation based on user selections, but they present a lack of flexibility in query formulation, since the expressivity power is reduced to the user interface design. Natural language interfaces (NLI) are expected as the optimal solution. However, especially for non-expert users, a real natural communication is the most difficult to realize effectively. In this paper, we propose an NLI that improves the interaction between the user and the DSS by means of referencing previous questions or their answers (i.e. anaphora such as the pronoun reference in “What traits are affected by them?”), or by eliding parts of the question (i.e. ellipsis such as “And to glume colour?” after the question “Tell me the QTLs related to awn colour in wheat”). Moreover, in order to overcome one of the main problems of NLIs about the difficulty to adapt an NLI to a new domain, our proposal is based on ontologies that are obtained semi-automatically from a framework that allows the integration of internal and external, structured and unstructured information. Therefore, our proposal can interface with databases, data warehouses, QA and IR systems. Because of the high NL ambiguity of the resolution process, our proposal is presented as an authoring tool that helps the user to query efficiently in natural language. Finally, our proposal is tested on a DSS case scenario about Biotechnology and Agriculture, whose knowledge base is the CEREALAB database as internal structured data, and the Web (e.g. PubMed) as external unstructured information.

Irrigation canals in a semi-arid agricultural landscape surrounded by wetlands: Their role as a habitat for birds during the breeding season

Traditional water supply systems in semi-arid agrarian ecosystems, mainly irrigation canals, contribute to the diversity of the landscape and influence the composition of species. To evaluate their effect on bird communities in the breeding season, we selected a rural area in southeastern Spain, where an intricate and extensive network of irrigation canals and cultivated areas is located between two wetlands declared as Natural Parks. Birds were counted at representative points distributed throughout the canal network at which we recorded several variables related to the physical features, the vertical and horizontal structure of associated vegetation, reed development (Phragmites australis) and land use in the neighboring areas. We detected 37 bird species, most of which were also breeding in the wetlands nearby. We used Hierarchical Partitioning analyses to identify the variables most strongly related to the probability of the presence of selected species and species richness. Vegetation cover and height close to the canals, together with reed development, were the most important types of variables explaining species presence and richness. We found that current management practices for reeds in canals are not well-suited for biodiversity conservation. We therefore propose alternatives that could be implemented in the area in cooperation with stakeholders.