Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy

Overview of coded light projection techniques for automatic 3D profiling

Obtaining automatic 3D profile of objects is one of the most important issues in computer vision. With this information, a large number of applications become feasible: from visual inspection of industrial parts to 3D reconstruction of the environment for mobile robots. In order to achieve 3D data, range finders can be used. Coded structured light approach is one of the most widely used techniques to retrieve 3D information of an unknown surface. An overview of the existing techniques as well as a new classification of patterns for structured light sensors is presented. This kind of systems belong to the group of active triangulation method, which are based on projecting a light pattern and imaging the illuminated scene from one or more points of view. Since the patterns are coded, correspondences between points of the image(s) and points of the projected pattern can be easily found. Once correspondences are found, a classical triangulation strategy between camera(s) and projector device leads to the reconstruction of the surface. Advantages and constraints of the different patterns are discussed

Implementation of a robust coded structured light technique for dynamic 3D measurements

This paper presents the implementation details of a coded structured light system for rapid shape acquisition of unknown surfaces. Such techniques are based on the projection of patterns onto a measuring surface and grabbing images of every projection with a camera. Analyzing the pattern deformations that appear in the images, 3D information of the surface can be calculated. The implemented technique projects a unique pattern so that it can be used to measure moving surfaces. The structure of the pattern is a grid where the color of the slits are selected using a De Bruijn sequence. Moreover, since both axis of the pattern are coded, the cross points of the grid have two codewords (which permits to reconstruct them very precisely), while pixels belonging to horizontal and vertical slits have also a codeword. Different sets of colors are used for horizontal and vertical slits, so the resulting pattern is invariant to rotation. Therefore, the alignment constraint between camera and projector considered by a lot of authors is not necessary

QRP: An improved secure authentication method using QR codes

This paper presents the design and implementation of QRP, an open source proof-of-concept authentication system that uses a two-factorauthentication by combining a password and a camera-equipped mobile phone, acting as an authentication token. QRP is extremely secure asall the sensitive information stored and transmitted is encrypted, but it isalso an easy to use and cost-efficient solution. QRP is portable and can be used securely in untrusted computers. Finally, QRP is able to successfully authenticate even when the phone is offline.

Gravació amb transcodificació al vol des de càmera IP

Desenvolupament d'una aplicació pensada per ser accedida en forma d'aplicatiu web que permeti gestionar gravacions de llarga durada d'imatges i so provinents d'una càmera, fent servir el còdec h.264 per al vídeo i emmagatzemant-lo en un contenidor mp4.

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

A Monte Carlo method for accelerating the computation of animated radiosity sequences

Realistic rendering animation is known to be an expensive processing task when physically-based global illumination methods are used in order to improve illumination details. This paper presents an acceleration technique to compute animations in radiosity environments. The technique is based on an interpolated approach that exploits temporal coherence in radiosity. A fast global Monte Carlo pre-processing step is introduced to the whole computation of the animated sequence to select important frames. These are fully computed and used as a base for the interpolation of all the sequence. The approach is completely view-independent. Once the illumination is computed, it can be visualized by any animated camera. Results present significant high speed-ups showing that the technique could be an interesting alternative to deterministic methods for computing non-interactive radiosity animations for moderately complex scenarios

Motion capture amb Microsoft Kinect

El proyecto trata de convertirse en una herramienta para animadores 3D, tanto para los que hacen películas como para los que modelan videojuegos, que necesiten de un software para simplificar el trabajo que conlleva animar un modelo 3D. Todo sin necesidad de usar trajes especializados. El proyecto, usando Kinect, convertirá los movimientos captados por la cámara y los agregará al modelo, creando una animación basándose en los movimientos reales de una persona.

QDIUS2 (Query Device Information Using Specific Sensors)

QDius2 és una aplicació pensada per a persones amb discapacitat visual. Consisteix en realitzar una descripció verbalitzada de l’estat d’un electrodomèstic utilitzant un dispositiu mòbil amb sistema operatiu Android. L’aplicació guiarà verbalment l’usuari perquè pugui enfocar el panell de control de l’electrodomèstic amb la càmera. Es processarà la imatge obtinguda per extreure la seva informació, ja sigui en el mateix mòbil o al núvol, segons les preferències de l’usuari, i es llegirà la informació resultant. Aquest projecte està dividit en vuit memòries, una per a cada integrant del grup.

Excuse me, but your accent is very unusual. The complexity of establishing third languages in Inglourious Basterds. Applying a model of translation analysis to dubbing

The growing multilingual trend in movie production comes with a challenge for dubbing translators since they are increasingly confronted with more than one source language. The main purpose of this master’s thesis is to provide a case study on how these third languages (see CORRIUS and ZABALBEASCOA 2011) are rendered. Another aim is to put a particular focus on their textual and narrative functions and detect possible shifts that might occur in translations. By applying a theoretical model for translation analysis (CORRIUS and ZABALBEASCOA 2011), this study describes how third languages are rendered in the German, Spanish, and Italian dubbed versions of the 2009 Tarantino movie Inglourious Basterds. A broad range of solution-types are thereby revealed and prevalent restrictions of the translation process identified. The target texts are brought in context with some sociohistorical aspects of dubbing in order to detect prevalent norms of the respective cultures andto discuss the acceptability of translations (TOURY 1995). The translatability potential of even highly complex multilingual audiovisual texts is demonstrated in this study. Moreover, proposals for further studies in multilingual audiovisual translation are outlined and the potential for future investigations in this field thereby emphasised.

Dynamic graphics of parametrically linked multivariate methods used in compositional data analysis

Many multivariate methods that are apparently distinct can be linked by introducing oneor more parameters in their definition. Methods that can be linked in this way arecorrespondence analysis, unweighted or weighted logratio analysis (the latter alsoknown as "spectral mapping"), nonsymmetric correspondence analysis, principalcomponent analysis (with and without logarithmic transformation of the data) andmultidimensional scaling. In this presentation I will show how several of thesemethods, which are frequently used in compositional data analysis, may be linkedthrough parametrizations such as power transformations, linear transformations andconvex linear combinations. Since the methods of interest here all lead to visual mapsof data, a "movie" can be made where where the linking parameter is allowed to vary insmall steps: the results are recalculated "frame by frame" and one can see the smoothchange from one method to another. Several of these "movies" will be shown, giving adeeper insight into the similarities and differences between these methods.

Feature Extraction from Whole-Sky Ground-Based Images for Cloud-Type Recognition

Several features that can be extracted from digital images of the sky and that can be useful for cloud-type classification of such images are presented. Some features are statistical measurements of image texture, some are based on the Fourier transform of the image and, finally, others are computed from the image where cloudy pixels are distinguished from clear-sky pixels. The use of the most suitable features in an automatic classification algorithm is also shown and discussed. Both the features and the classifier are developed over images taken by two different camera devices, namely, a total sky imager (TSI) and a whole sky imager (WSC), which are placed in two different areas of the world (Toowoomba, Australia; and Girona, Spain, respectively). The performance of the classifier is assessed by comparing its image classification with an a priori classification carried out by visual inspection of more than 200 images from each camera. The index of agreement is 76% when five different sky conditions are considered: clear, low cumuliform clouds, stratiform clouds (overcast), cirriform clouds, and mottled clouds (altocumulus, cirrocumulus). Discussion on the future directions of this research is also presented, regarding both the use of other features and the use of other classification techniques

Visualitzador de molècules d'ADN per laboratori virtual

RESUM Com a continuació del treball de final de carrera “Desenvolupament d’un laboratori virtual per a les pràctiques de Biologia Molecular” de Jordi Romero, s’ha realitzat una eina complementaria per a la visualització de molècules integrada en el propi laboratori virtual. Es tracta d’una eina per a la visualització gràfica de gens, ORF, marques i seqüències de restricció de molècules reals o fictícies. El fet de poder treballar amb molècules fictícies és la gran avantatge respecte a les solucions com GENBANK que només permet treballar amb molècules pròpies. Treballar amb molècules fictícies fa que sigui una solució ideal per a l’ensenyament, ja que dóna la possibilitat als professors de realitzar exercicis o demostracions amb molècules reals o dissenyades expressament per a l’exercici a demostrar. A més, permet mostrar de forma visual les diferents parts simultàniament o per separat, de manera que ofereix una primera aproximació interpretació dels resultats. Per altra banda, permet marcar gens, crear marques, localitzar seqüències de restricció i generar els ORF de la molècula que nosaltres creem o modificar una ja existent. Per l’implementació, s’ha continuat amb l’idea de separar la part de codi i la part de disseny en les aplicacions Flash. Per fer-ho, s’ha utilitzat la plataforma de codi lliure Ariware ARPv2.02 que proposa un marc de desenvolupament d’aplicacions Flash orientades a objectes amb el codi (classes ActionScript 2.0) separats del movieclip. Per al processament de dades s’ha fet servir Perl per ser altament utilitzat en Bioinformàtica i per velocitat de càlcul. Les dades generades es guarden en una Base de Dades en MYSQL (de lliure distribució), de la que s’extreuen les dades per generar fitxers XML, fent servir tant PHP com la plataforma AMFPHP com a enllaç entre Flash i la resta de parts.

Sistema d'adquisició de temperatures de 2 canals via R.F.

Poder mesurar i enregistrar diferents tipus de magnituds com pressió, força, temperatura etc. s’ha convertit en una necessitat per moltes aplicacions actuals. Aquestes magnituds poden tenir procedències molt diverses, tals com l’entorn, o poden ser generades per sistemes mecànics, elèctrics, etc. Per tal de poder adquirir aquestes magnituds, s’utilitzen els sistemes d’adquisició de dades. Aquests sistemes, prenen mostres analògiques del món real, i les transformen en dades digitals que poden ser manipulades per un sistema electrònic. Pràcticament qualsevol magnitud es pot mesurar utilitzant el sensor adient. Una magnitud molt utilitzada en sistemes d’adquisició de dades, és la temperatura. Els sistemes d’adquisició de temperatures estan molt generalitzats, i podem trobar-los com a sistemes, on l’objectiu és mostrar les dades adquirides, o podem trobar-los formant part de sistemes de control, aportant uns inputs necessaris per el seu correcte funcionament, garantir-ne l’estabilitat, seguretat etc. Aquest projecte, promogut per l’empresa Elausa, s’encarregarà d’adquirir, el senyal d’entrada de 2 Termoparells. Aquests mesuraran temperatures de circuits electrònics, que es trobaran dintre la càmera climàtica de Elausa, sotmesos a diferents condicions de temperatura, per tal de rebre l’homologació del circuit. El sistema haurà de poder mostrar les dades adquirides en temps real, i emmagatzemar-les en un PC que estarà ubicat en una oficina, situada a uns 30 m de distància de la sala on es farà el test. El sistema constarà d’un circuit electrònic que adquirirà, i condicionarà el senyal de sortida dels termoparells, per adaptar-lo a la tensió d’entrada d’un convertidor analògic digital, del microcontrolador integrat en aquesta placa. Seguidament aquesta informació, s’enviarà a través d’un mòdul transmissor de radiofreqüència, cap al PC on es visualitzaran les dades adquirides. Els objectius plantejats són els següents: - Dissenyar el circuit electrònic d’adquisició i condicionament del senyal. - Dissenyar, fabricar i muntar el circuit imprès de la placa d’adquisició. - Realitzar el programa de control del microcontrolador. - Realitzar el programa per presentar i desar les dades en un PC. - El sistema ha d’adquirir 2 temperatures, a través de Termoparells amb un rang d’entrada de -40ºC a +240ºC - S’ha de transmetre les dades via R.F. Els resultats del projecte han estat satisfactoris i s’han complert els objectius plantejats.