Unknown Radial Distortion Centers in Multiple View Geometry Problems

The radial undistortion model proposed by Fitzgibbon and the radial fundamental matrix were early steps to extend classical epipolar geometry to distorted cameras. Later minimal solvers have been proposed to find relative pose and radial distortion, given point correspondences between images. However, a big drawback of all these approaches is that they require the distortion center to be exactly known. In this paper we show how the distortion center can be absorbed into a new radial fundamental matrix. This new formulation is much more practical in reality as it allows also digital zoom, cropped images and camera-lens systems where the distortion center does not exactly coincide with the image center. In particular we start from the setting where only one of the two images contains radial distortion, analyze the structure of the particular radial fundamental matrix and show that the technique also generalizes to other linear multi-view relationships like trifocal tensor and homography. For the new radial fundamental matrix we propose different estimation algorithms from 9,10 and 11 points. We show how to extract the epipoles and prove the practical applicability on several epipolar geometry image pairs with strong distortion that - to the best of our knowledge - no other existing algorithm can handle properly.

Automation & control remote laboratory: evaluating a cooperative methodology

This paper presents a study carried out in order to evaluate the students' perception in the development and use of remote Control and Automation education kits developed by two Universities. Three projects, based on real world environments, were implemented, being local and remotely operated. Students implemented the kits using the theoretical and practical knowledge, being the teachers a catalyst in the learning process. When kits were operational, end-user students got acquainted to the kits in the course curricula units. It is the author's believe that successful results were achieved not only in the learning progress on the Automation and Control fields (hard skills) but also on the development of the students soft skills, leading to encouraging and rewarding goals, motivating their future decisions and promoting synergies in their work. The design of learning experimental kits by students, under teacher supervision, for future use in course curricula by enduser students is an advantageous and rewarding experience.

Residents’ perspectives on tourism impacts of portuguese world heritage historic centers: Angra do Heroísmo and Évora

The aim of this study is twofold. First, the study analyzes local community perspectives of the importance of the World Heritage Site (WHS) classification of the historic centers of Angra do Heroísmo and Évora. Second, the study analyzes local residents’ perceived tourism impacts on the municipalities of Angra do Heroísmo and Évora. The methodology comprises quantitative research based on a self-administered survey applied to convenience samples of local residents of the two Portuguese municipalities in 2014. The main results reveal that local residents have a strongly positive perception of the WHS designation in both municipalities. With regard to the perceived tourism impacts, residents from Angra do Heroísmo have a stronger agreement about the impacts of tourism on their city than the residents of Évora, except for the negative social and cultural impacts. The comparison of the mean scores of these impacts across residents that live near and far from the historic centers reveals that the most valued and least valued impacts in the three categories of impacts (economic, social and cultural, and environmental) are common to all groups of residents. Nevertheless, residents living in or near the historic center of Angra do Heroísmo have higher means in the majority of tourism impacts (in all categories), with only one negative impact to concern the majority of respondents. Among the residents from Évora, residents living in or near the historic center have higher means in the majority of economic impacts but lower means in almost social and cultural impacts. With regard to the environmental impacts, residents living in or near the historic center have higher means scores in the positive impacts and lower means scores in the negative environmental impacts.