Accuracy estimation of a new omnidirectional 3D vision sensor

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc

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

Mòdul de visualització 3D d’ ajuda al diagnòstic de les neoplàsies rectals

El diagnòstic mitjançant la imatge mèdica s’ha convertit en una eina fonamental en la pràctica clínica, permet entre altres coses, reconstruir a partir d’un conjunt d’imatges 2D, obtingudes a partir d’aparells de captació, qualsevol part de l’organisme d’un pacient i representar-lo en un model 3D. Sobre aquest model 3D poden realitzar-se diferents operacions que faciliten el diagnòstic i la presa de decisions als especialistes. El projecte que es presenta forma part del desenvolupament de la plataforma informàtica de visualització i tractament de dades mèdiques, anomenada Starviewer, que desenvolupen conjuntament el laboratori de Gràfics i Imatge (GiLab) de la Universitat de Girona i l’ Institut de Diagnòstic per la Imatge (IDI) de l’Hospital Josep Trueta de Girona. En particular, en aquest projecte es centra en el diagnòstic del càncer colorectal i el desenvolupament de mètodes i tècniques de suport al seu diagnòstic. Els dos punts claus en el tractament d’aqueta patologia són: la detecció de les lesions I l’estudi de l’evolució d’aquestes lesions, una vegada s’ha iniciat el tractament tumoral. L’objectiu principal d’aquest projecte és implementar i integrar en la plataforma Starviewer les tècniques de visualització i processament de dades necessàries per donar suport als especialistes en el diagnòstic de les lesions del colon. Donada la dificultat en el processament de les dades reals del budell ens proposem: dissenyar i implementar un sistema per crear models sintètics del budell; estudiar, implementar i avaluar les tècniques de processament d’imatge que calen per segmentar lesions de budell; dissenyar i implementar un sistema d’exploració del budell iintegrar de tots els mòduls implementats en la plataforma starviewer

Segmentació de punts 3D rígids i no rígids obtinguts a partir d’un sistema estèreo

L’estudi consta de dues grans parts que serien la part de dissenyar, desenvolupar i implementar els mètodes de segmentació que ens serviran per separar els punts rígids dels punts no rígids/deformables. I l’altra part seria la d’obtenir reconstruccions 3D a partir d’un sistema estèreo, passant per la calibració de les càmeres del sistema, la realització de captures d’experiments reals, la generació de reconstruccions 3D per finalment posar a prova els mètodes desenvolupats en la part anterior

Disseny i construcció d'un motor 3D en temps real per la Gameboy Advance

El projecte desenvolupat ha tractat l’estudi i disseny d’un motor 3D interactiu a la consolaGame Boy Advance (GBA). La GBA disposa d’un processador ARM7TDMI a 16’78Mhz i no disposa de operacions 3D per-hardware, és una consola lenta en comparació lesque podem trobar al mercat d’avui en dia. Aquest treball, va partir de la construcció d’un prototipus ray-casting per-columna. Després,vàrem adaptar-lo a una estructura de portals i sectors. Més tard,es va introduir el mapeig de sostre/terra i de paisatges. Per últim,vàrem introduir efectes a la renderització per donar més realismeal recorregut del món, com il·luminació, objectes, etc.Tot i que es va estudiar l’arquitectura d’un motor eficient, no estenia prou per arribar a tenir un motor interactiu. Una de lestasques més difícils va ser la part de optimització. Peraconseguir-ho s’ha hagut de substituir operacions a temps realcostoses a temps de execució, replantejar parts de l’algorisme per fer-lo més eficient, entre altres

Mutigrid preconditioner for nonconforming discretization of elliptic problems with jump coefficients

In this paper, we present a multigrid preconditioner for solving the linear system arising from the piecewise linear nonconforming Crouzeix-Raviart discretization of second order elliptic problems with jump coe fficients. The preconditioner uses the standard conforming subspaces as coarse spaces. Numerical tests show both robustness with respect to the jump in the coe fficient and near-optimality with respect to the number of degrees of freedom.

Schwarz methods for a preconditioned WOPSIP method for elliptic problems

We construct and analyze non-overlapping Schwarz methods for a preconditioned weakly over-penalized symmetric interior penalty (WOPSIP) method for elliptic problems.

A note on discrete claims problems

In this note, we consider claims problems with indivisible goods. Specifically, by applying recursively the P-rights lower bound (Jiménez-Gómez and Marco-Gil (2008)), we ensure the fulfillment of Weak Order Preservation, considered by many authors as a minimal requirement of fairness. Moreover, we retrieve the Discrete Constrained Equal Losses and the Discrete Constrained Equal Awards rules (Herrero and Martíınez (2008)). Finally, by the recursive double imposition of a lower and an upper bound, we obtain the average between them. Keywords: Claims problems, Indivisibilities, Order Preservation, Constrained Egalitarian rules, Midpoint. JEL classification: C71, D63, D71.

Temperamental Dimension and Anxiety Problems in a Clinical Sample of Three- to Six-year old Children: A Study of Variables

In the last few years, many researchers have studied the presence of common dimensions of temperament in subjects with symptoms of anxiety. The aim of this study is to examine the association between temperamental dimensions (high negative affect and activity level) and anxiety problems in clinicalpreschool children. A total of 38 children, ages 3 to 6 years, from the Infant and Adolescent Mental Health Center of Girona and the Center of Diagnosis and Early Attention of Sabadell and Olot were evaluated by parents and psychologists. Their parents completed several screening scales and, subsequently, clinical child psychopathology professionals carried out diagnostic interviews with children from the sample who presented signs of anxiety. Findings showed that children with high levels of negative affect and low activity level have pronounced symptoms of anxiety. However, children with anxiety disorders do not present different temperament styles from their peers without these pathologies

Decentralization in Croatia: problems and possible solutions

El 2001 Croàcia va posar en marxa la iniciativa destinada a afluixar un alt grau de centralització mitjançant l'ampliació dels mandats de les unitats locals i el canvi de les fonts de finançament de les funcions públiques. No obstant això, els passos inicials en el procés de descentralització no ha estat seguida per altres mesures de descentralització fiscal, i en conseqüència, el seu nivell s'ha mantingut pràcticament sense canvis. El treball es proposa elaborar els principals problemes i obstacles en relació amb l'aplicació efectiva del procés de descentralització i donar tres grups de propostes per a la descentralització: (i) la divisió dels poders obligatoris entre les diferents unitats locals, (ii) el canvi en el finançament i (Iii) modificar la divisió territorial del país.

The Decision on Turkish EU accession in December 2002: The logic of anarchy, collective action problems and rhetorical action

Studies of the EU accession of the East and Central European Countries have stressed the importance of neo-liberal institutionalism as an explanation for Member State preferences. In this paper it is argued that Member States’ preferences over Turkish EU accession are better explained by power politics and neo-realism. It seems therefore that Turkey’s way to the EU follows another path than the East and Central Countries. Turkish accession raises the question of the EU’s role in a uni-polar world order – whether the EU should develop into an independent actor on the world stage or not. However, when it comes to the interaction among the Member States in order to decide on when to open accession negotiations with Turkey the constitutive values of the EU seriously modify the outcome that pure power politics would have let to.

The New EU’s External Action: A significant step forward towards the EU’s single voice?ction problems and rhetorical action

The aim of this paper is to analyse the main agreements on the EU’s External Action agreed within the European Convention and the IGC taking into account why, how and who reached the consensus on them. In other words, this paper will explore the principles followed in order to improve the instruments of the EU’s External Action such as authority, coherence, visibility, efficiency and credibility.

Possible solution of some essential zero problems in compositional data analysis

One of the tantalising remaining problems in compositional data analysis lies in how to deal with data sets in which there are components which are essential zeros. By anessential zero we mean a component which is truly zero, not something recorded as zero simply because the experimental design or the measuring instrument has not been sufficiently sensitive to detect a trace of the part. Such essential zeros occur inmany compositional situations, such as household budget patterns, time budgets,palaeontological zonation studies, ecological abundance studies. Devices such as nonzero replacement and amalgamation are almost invariably ad hoc and unsuccessful insuch situations. From consideration of such examples it seems sensible to build up amodel in two stages, the first determining where the zeros will occur and the secondhow the unit available is distributed among the non-zero parts. In this paper we suggest two such models, an independent binomial conditional logistic normal model and a hierarchical dependent binomial conditional logistic normal model. The compositional data in such modelling consist of an incidence matrix and a conditional compositional matrix. Interesting statistical problems arise, such as the question of estimability of parameters, the nature of the computational process for the estimation of both the incidence and compositional parameters caused by the complexity of the subcompositional structure, the formation of meaningful hypotheses, and the devising of suitable testing methodology within a lattice of such essential zero-compositional hypotheses. The methodology is illustrated by application to both simulated and real compositional data

Solving Large Location-Allocation problems by Clustering and Simulated Annealing

Globalization involves several facility location problems that need to be handled at large scale. Location Allocation (LA) is a combinatorial problem in which the distance among points in the data space matter. Precisely, taking advantage of the distance property of the domain we exploit the capability of clustering techniques to partition the data space in order to convert an initial large LA problem into several simpler LA problems. Particularly, our motivation problem involves a huge geographical area that can be partitioned under overall conditions. We present different types of clustering techniques and then we perform a cluster analysis over our dataset in order to partition it. After that, we solve the LA problem applying simulated annealing algorithm to the clustered and non-clustered data in order to work out how profitable is the clustering and which of the presented methods is the most suitable