Model-based objects recognition in industrial environments for autonomous vehicles control

Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system

Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

Side scan sonar image and geologic interpretation of the Ria de Pontevedra seafloor (Galicia, NW Spain).

High-resolution side scan sonar has been used for mapping the seafloor of the Ría de Pontevedra. Four backscatter patterns have been mapped within the Ría: (1) Pattern with isolated reflections, correlated with granite and metamorphic outcrops and located close to the coastal prominence and Ons and Onza Islands. (2) Pattern of strong reflectivity usually located around the basement outcrops and near the coastline and produced by coarse-grained sediment. (3) Pattern of weak backscatter is correlated with fine sand to mud and comprising large areas in the central and deep part of the Ría, where the bottom currents are weak. It is generally featureless, except where pockmarks and anthropogenic features are present. (4) Patches of strong and weak backscatter are located in the boundary between coarse and fine-grained sediments and they are due to the effect of strong bottom currents. The presence of megaripples associated to both patterns of strong reflectivity and sedimentary patches indicate bedload transport of sediment during high energy conditions (storms). Side scan sonar records and supplementary bathymetry, bottom samples and hydrodynamic data reveal that the distribution of seafloor sediment is strongly related to oceanographic processes and the particular morphology and topography of the Ría.

Image registration techniques with multiresolution analysis in satellite oceanography

En aquest article es fa una descripció dels procediments realitzats per enregistrar dues imatges geomètricament, de forma automàtica, si es pren la primera com a imatge de referència. Es comparen els resultats obtinguts mitjançant tres mètodes. El primer mètode és el d’enregistrament clàssic en domini espacial maximitzant la correlació creuada (MCC)[1]. El segon mètode es basa en aplicar l’enregistrament MCC conjuntament amb un anàlisi multiescala a partir de transformades wavelet [2]. El tercer mètode és una variant de l’anterior que es situa a mig camí dels dos. Per cada un dels mètodes s’obté una estimació dels coeficients de la transformació que relaciona les dues imatges. A continuació es transforma per cada cas la segona imatge i es georeferencia respecte la primera. I per acabar es proposen unes mesures quantitatives que permeten discutir i comparar els resultats obtinguts amb cada mètode.

Detector de contorns basat en el domini transformat

RESUM En aquest document es presenta un detector de contorns d’imatges basat en el domini transformat. A partir de la interpretació de la transformada de Fourier de la imatge i la seva formulació matricial en termes dels diferents modes, es realitza una selecció de les components passa baixes a partir de les quals es reconstrueix la component de baixa freqüència que es resta de la imatge original per tal d’obtenir el detector. Aquest detector de contorns no és esbiaixat. L’algorisme pot ser aplicat utilitzant diferents mides del bloc de processament, que pot anar de la imatge sencera a blocs de reduïdes dimensions: 36X36, 16x16 o 8x8, per fer un seguiment de les propietats locals de la imatge quan aquesta és presenta característiques espacials poc uniformes.

Some variational problems from image processing

"Vegeu el resum a l'inici del document del fitxer adjunt."

La poética del desig: amor i bogeria a l'Orlando furioso

Aquesta tesina, amb el títol "La poètica del desig. amor i bogeria a l'Orlando furioso", proposa una nova lectura del poema de Ludovico Ariosto, prenent com a objectiu l'anàlisi de la bogeria del seu protagonista, el Comte Orlando, "che per amor venne in furore e matto / d'uom che sì saggio era stimato prima". Així doncs, pretenem esbrinar per què davant de la constatació de Matteo Maria Boiardo d'un "Orlando innmorato", Ariosto va respondre amb un "Orlando furioso", narrant així "cosa non detta in prosa mai né in rima". Per arribar fins al fons de la qüestió, ens hem preguntat quins són l'origen, la manifestació textual, la dimensió i el significat del concepte de "furor" en el text; interrogants que ens han conduït cap a una bogeria amorosa que és manifestació externa d'un desig insatisfet. Un concepte que, a més a més d'evocar l"Hercules furens" d'Eurípides i Sèneca, ens remet a la teoria dels humors de Galè, al concepte de 'melancholia' d'Aristòtil i a l'eròtica platònica, al mateix temps que reprodueix els models del que Cesare Segre anomena la 'follie littéraire' característica de l'època medieval. A partir d'aquesta anàlisi s'ha interpretat el text com una apologia de les passions en la que es destrona al savi com a paradigma i model ètic, acabant així amb la imatge de l'home com a "animal rationale", situant per contra la seva "humanitas" ja no en la racionalitat (tampoc en la irracionalitat), sinó en la passionalitat, oferint així un retrat de l'ésser humà com a "animal passionalis" , una criatura intermitja en la que haurien de confluir idealment raó i passió.

Quantitative analysis of image factors in a cultural heritage tourist destination

The tourism consumer’s purchase decision process is, to a great extent, conditioned by the image the tourist has of the different destinations that make up his or her choice set. In a highly competitive international tourist market, those responsible for destinations’ promotion and development policies seek differentiation strategies so that they may position the destinations in the most suitable market segments for their product in order to improve their attractiveness to visitors and increase or consolidate the economic benefits that tourism activity generates in their territory. To this end, the main objective we set ourselves in this paper is the empirical analysis of the factors that determine the image formation of Tarragona city as a cultural heritage destination. Without a doubt, UNESCO’s declaration of Tarragona’s artistic and monumental legacies as World Heritage site in the year 2000 meant important international recognition of the quality of the cultural and patrimonial elements offered by the city to the visitors who choose it as a tourist destination. It also represents a strategic opportunity to boost the city’s promotion of tourism and its consolidation as a unique destination given its cultural and patrimonial characteristics. Our work is based on the use of structured and unstructured techniques to identify the factors that determine Tarragona’s tourist destination image and that have a decisive influence on visitors’ process of choice of destination. In addition to being able to ascertain Tarragona’s global tourist image, we consider that the heterogeneity of its visitors requires a more detailed study that enables us to segment visitor typology. We consider that the information provided by these results may prove of great interest to those responsible for local tourism policy, both when designing products and when promoting the destination.

Metodologia qualitativa d'anàlisi d'imatges

L'anàlisi de la significació tant del contingut com del discurs generat per les imatges s'aborda amb mètodes qualitatius. La interpretació de les dades manifestes i latents de la imatge és el resultat de la interacció de l'observador amb la imatge i està afectada pel coneixement del context, la interpretació simbòlica que se'n fa i l'entorn social, històric i cultural en què estan immersos tant l'observador com la mateixa imatge.

Colour image processing

In the context of the round table the following topics related to image colour processing will be discussed: historical point of view. Studies of Aguilonius, Gerritsen, Newton and Maxwell. CIE standard (Commission International de lpsilaEclaraige). Colour models. RGB, HIS, etc. Colour segmentation based on HSI model. Industrial applications. Summary and discussion. At the end, video images showing the robustness of colour in front of B/W images will be presented

A method to obtain the integrated contour image in colour scenes

This paper describes a method to achieve the most relevant contours of an image. The presented method proposes to integrate the information of the local contours from chromatic components such as H, S and I, taking into account the criteria of coherence of the local contour orientation values obtained from each of these components. The process is based on parametrizing pixel by pixel the local contours (magnitude and orientation values) from the H, S and I images. This process is carried out individually for each chromatic component. If the criterion of dispersion of the obtained orientation values is high, this chromatic component will lose relevance. A final processing integrates the extracted contours of the three chromatic components, generating the so-called integrated contours image

Towards Detecting Changes in Underwater Image Sequences

Detecting changes between images of the same scene taken at different times is of great interest for monitoring and understanding the environment. It is widely used for on-land application but suffers from different constraints. Unfortunately, Change detection algorithms require highly accurate geometric and photometric registration. This requirement has precluded their use in underwater imagery in the past. In this paper, the change detection techniques available nowadays for on-land application were analyzed and a method to automatically detect the changes in sequences of underwater images is proposed. Target application scenarios are habitat restoration sites, or area monitoring after sudden impacts from hurricanes or ship groundings. The method is based on the creation of a 3D terrain model from one image sequence over an area of interest. This model allows for synthesizing textured views that correspond to the same viewpoints of a second image sequence. The generated views are photometrically matched and corrected against the corresponding frames from the second sequence. Standard change detection techniques are then applied to find areas of difference. Additionally, the paper shows that it is possible to detect false positives, resulting from non-rigid objects, by applying the same change detection method to the first sequence exclusively. The developed method was able to correctly find the changes between two challenging sequences of images from a coral reef taken one year apart and acquired with two different cameras

Interpretation of wind components as compositional variables

The classical statistical study of the wind speed in the atmospheric surface layer is madegenerally from the analysis of the three habitual components that perform the wind data,that is, the component W-E, the component S-N and the vertical component,considering these components independent.When the goal of the study of these data is the Aeolian energy, so is when wind isstudied from an energetic point of view and the squares of wind components can beconsidered as compositional variables. To do so, each component has to be divided bythe module of the corresponding vector.In this work the theoretical analysis of the components of the wind as compositionaldata is presented and also the conclusions that can be obtained from the point of view ofthe practical applications as well as those that can be derived from the application ofthis technique in different conditions of weather

Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

Surface registration from range image fusion

The registration of full 3-D models is an important task in computer vision. Range finders only reconstruct a partial view of the object. Many authors have proposed several techniques to register 3D surfaces from multiple views in which there are basically two aspects to consider. First, poor registration in which some sort of correspondences are established. Second, accurate registration in order to obtain a better solution. A survey of the most common techniques is presented and includes experimental results of some of them