6D Visual Odometry with Dense Probabilistic Egomotion Estimation

Proceedings of the International Conference on Computer Vision Theory and Applications, 361-365, 2013, Barcelona, Spain

Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.

Probabilistic Stereo Egomotion Transform

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

Development of a SPE–UHPLC–MS/MS methodology for thedetermination of non-steroidal anti-inflammatory and analgesicpharmaceuticals in seawaterPaula

An analytical methodology for the simultaneous determination of seven pharmaceuticals and two metabolites belonging to the non-steroidal anti-inflammatory drugs (NSAIDs) and analgesics therapeutic groups was developed based on off-line solid-phase extraction and ultra-high performance liquid chromatography coupled to tandem mass spectrometry (SPE–UHPLC–MS/MS). Extraction conditions were optimized taking into account parameters like sorbent material, sample volume and sample pH. Method detection limits (MDLs) ranging from 0.02 to 8.18 ng/L were obtained. This methodology was successfully applied to the determination of the selected pharmaceuticals in seawater samples of Atlantic Ocean in the Northern Portuguese coast. All the pharmaceuticals have been detected in the seawater samples, with pharmaceuticals like ibuprofen, acetaminophen, ketoprofen and the metabolite hydroxyibuprofen being the most frequently detected at concentrations that can reach some hundreds of ng/L.

A Methodology for Creating an Adapted Command Language for Driving an Intelligent Wheelchair

Intelligent wheelchairs (IW) are technologies that can increase the autonomy and independence of elderly people and patients suffering from some kind of disability. Nowadays the intelligent wheelchairs and the human-machine studies are very active research areas. This paper presents a methodology and a Data Analysis System (DAS) that provides an adapted command language to an user of the IW. This command language is a set of input sequences that can be created using inputs from an input device or a combination of the inputs available in a multimodal interface. The results show that there are statistical evidences to affirm that the mean of the evaluation of the DAS generated command language is higher than the mean of the evaluation of the command language recommended by the health specialist (p value = 0.002) with a sample of 11 cerebral palsy users. This work demonstrates that it is possible to adapt an intelligent wheelchair interface to the user even when the users present heterogeneous and severe physical constraints.

Homograph ambiguity resolution in front-end design for portuguese TTS systems

In this paper, a module for homograph disambiguation in Portuguese Text-to-Speech (TTS) is proposed. This module works with a part-of-speech (POS) parser, used to disambiguate homographs that belong to different parts-of-speech, and a semantic analyzer, used to disambiguate homographs which belong to the same part-of-speech. The proposed algorithms are meant to solve a significant part of homograph ambiguity in European Portuguese (EP) (106 homograph pairs so far). This system is ready to be integrated in a Letter-to-Sound (LTS) converter. The algorithms were trained and tested with different corpora. The obtained experimental results gave rise to 97.8% of accuracy rate. This methodology is also valid for Brazilian Portuguese (BP), since 95 homographs pairs are exactly the same as in EP. A comparison with a probabilistic approach was also done and results were discussed.

Ontology methodology building criteria for crowdsourcing innovation intermediaries

Crowdsourcing innovation intermediaries are organizations that mediate the communication and relationship between companies that aspire to solve some problem or to take advantage of any business opportunity with a crowd that is prone to give ideas based on their knowledge, experience and wisdom. A significant part of the activity of these intermediaries is carried out by using a web platform that takes advantage of web 2.0 tools to implement its capabilities. Thus, ontologies are presented as an appropriate strategy to represent the knowledge inherent to this activity and therefore the accomplishment of interoperability between machines and systems. In this paper we present an ontology roadmap for developing crowdsourcing innovation ontology of the intermediation process. We start making a literature review on ontology building, analyze and compare ontologies that propose the development from scratch with the ones that propose reusing other ontologies, and present the criteria for selecting the methodology. We also review enterprise and innovation ontologies known in literature. Finally, are taken some conclusions and presented the roadmap for building crowdsourcing innovation intermediary ontology.