Object recognition for autonomous objects: comparison of two approaches

Report for the scientific sojourn at the Swiss Federal Institute of Technology Zurich, Switzerland, between September and December 2007. In order to make robots useful assistants for our everyday life, the ability to learn and recognize objects is of essential importance. However, object recognition in real scenes is one of the most challenging problems in computer vision, as it is necessary to deal with difficulties. Furthermore, in mobile robotics a new challenge is added to the list: computational complexity. In a dynamic world, information about the objects in the scene can become obsolete before it is ready to be used if the detection algorithm is not fast enough. Two recent object recognition techniques have achieved notable results: the constellation approach proposed by Lowe and the bag of words approach proposed by Nistér and Stewénius. The Lowe constellation approach is the one currently being used in the robot localization project of the COGNIRON project. This report is divided in two main sections. The first section is devoted to briefly review the currently used object recognition system, the Lowe approach, and bring to light the drawbacks found for object recognition in the context of indoor mobile robot navigation. Additionally the proposed improvements for the algorithm are described. In the second section the alternative bag of words method is reviewed, as well as several experiments conducted to evaluate its performance with our own object databases. Furthermore, some modifications to the original algorithm to make it suitable for object detection in unsegmented images are proposed.

IX ASMOSIA International Conference Interdisciplinary Studies on Ancient Stone: Tarragona, 8-13th June 2009 (Book of abstracts)

Aquesta obra recull els resums de les comunicacions orals i pòsters que es van presentar durant el IX Congrés Internacional de l’Association for the Study of Marbles and Other Stones in Antiquity (ASMOSIA), organitzat per l’ICAC en el marc del programa de recerca HAR2008-04600/HIST, amb el suport del programa d’Ajuts ARCS 2008 (referència expedient IR036826) de la Generalitat de Catalunya i del Ministeri de Ciència i Innovació (Accions Complementàries HAR2008-03181-E/HIST), i celebrat a Tarragona entre el 8 i el 13 de juny del 2009.

Scene Classification Using a Hybrid Generative/Discriminative Approach

We investigate whether dimensionality reduction using a latent generative model is beneficial for the task of weakly supervised scene classification. In detail, we are given a set of labeled images of scenes (for example, coast, forest, city, river, etc.), and our objective is to classify a new image into one of these categories. Our approach consists of first discovering latent ";topics"; using probabilistic Latent Semantic Analysis (pLSA), a generative model from the statistical text literature here applied to a bag of visual words representation for each image, and subsequently, training a multiway classifier on the topic distribution vector for each image. We compare this approach to that of representing each image by a bag of visual words vector directly and training a multiway classifier on these vectors. To this end, we introduce a novel vocabulary using dense color SIFT descriptors and then investigate the classification performance under changes in the size of the visual vocabulary, the number of latent topics learned, and the type of discriminative classifier used (k-nearest neighbor or SVM). We achieve superior classification performance to recent publications that have used a bag of visual word representation, in all cases, using the authors' own data sets and testing protocols. We also investigate the gain in adding spatial information. We show applications to image retrieval with relevance feedback and to scene classification in videos

Intersecciones entre visión artificial y mirada artística. Semantic Intersections between Artificial and Artistic Vision.

En el presente artículo se ha desarrollado un sistema capaz de categorizar de forma automática la base de datos de imágenes que sirven de punto de partida para la ideación y diseño en la producción artística del escultor M. Planas. La metodología utilizada está basada en características locales. Para la construcción de un vocabulario visual se sigue un procedimiento análogo al que se utiliza en el análisis automático de textos (modelo 'Bag-of-Words'-BOW) y en el ámbito de las imágenes nos referiremos a representaciones 'Bag-of-Visual Terms' (BOV). En este enfoque se analizan las imágenes como un conjunto de regiones, describiendo solamente su apariencia e ignorando su estructura espacial. Para superar los inconvenientes de polisemia y sinonimia que lleva asociados esta metodología, se utiliza el análisis probabilístico de aspectos latentes (PLSA) que detecta aspectos subyacentes en las imágenes, patrones formales. Los resultados obtenidos son prometedores y, además de la utilidad intrínseca de la categorización automática de imágenes, este método puede proporcionar al artista un punto de vista auxiliar muy interesante.

Marbles and stones of Hispania : exhibition catalogue = Marbres i pedres d'Hispania : catàleg de l'exposició = Mármoles y piedras de Hispania : catálogo de la exposición

Primera guia de materials lapidis hispànics explotats en època romana a la península Ibèrica. El treball recull 16 varietats, i té especial interès en la descripció de la geologia dels entorns de les explotacions. Entre els materials lapidis figuren, per exemple, marbres de la zona d’Estremoz (Portugal), broccatello (també anomanat jaspi de la Cinta, procedent de Tortosa), marbres de la zona de Macael (Andalusia) i la pedra de Buixcarró (València). També s'hi estudien amb detall els punts d’explotació (pedreres) i les diverses aplicacions donades a cada tipus de pedra. El llibre és trilingüe (anglès, català i castellà), està molt ben il·lustrat (en color) i s'ha publicat com a catàleg ampliat d'una exposició amb el mateix títol muntada en el marc de la IX Asmosia Internacional Conference (Tarragona, juny del 2009).

Intraovarian sperm storage in Helicolenus dactylopterus dactylopterus fertilitzation, crypt formation and maintenance of stored sperm

The females of the bluemouth rockfish, Helicolenus dactylopterus dactylopterus (DelaRoche, 1809), store sperm within their ovaries for periods of up to 10 months. Twenty six females with standard lengths between 152 and 257 mm and six males with standard lengths between 253 and 209 mm were caught storage crypts with stored spermatozoa and to describe their evolution over the year. After internal fertilization and once sperm reaches the ovary, a crypt forms probably by an epithelial inclusion at the base of the lamellae of one or several spermatozoa groups that are floating freely in the interlamellar space of the ovarian lumen. Stored spermatozoa have a large cytoplasm bag surrounding their heads. This bag could serve as a nutritive reservoir during the long storage period. Many desmosonal and tight junctions between the crypt cells ensure tha male sex cells are protected against the female immune system

Psychometric characteristics of the Spanish version of instruments to measure neck pain disability

Background: The NDI, COM and NPQ are evaluation instruments for disability due to NP. There was no Spanish version of NDI or COM for which psychometric characteristics were known. The objectives of this study were to translate and culturally adapt the Spanish version of the Neck Disability Index Questionnaire (NDI), and the Core Outcome Measure (COM), to validate its use in Spanish speaking patients with non-specific neck pain (NP), and to compare their psychometric characteristics with those of the Spanish version of the Northwick Pain Questionnaire (NPQ).Methods: Translation/re-translation of the English versions of the NDI and the COM was done blindly and independently by a multidisciplinary team. The study was done in 9 primary care Centers and 12 specialty services from 9 regions in Spain, with 221 acute, subacute and chronic patients who visited their physician for NP: 54 in the pilot phase and 167 in the validation phase. Neck pain (VAS), referred pain (VAS), disability (NDI, COM and NPQ), catastrophizing (CSQ) and quality of life (SF-12) were measured on their first visit and 14 days later. Patients' self-assessment was used as the external criterion for pain and disability. In the pilot phase, patients' understanding of each item in the NDI and COM was assessed, and on day 1 test-retest reliability was estimated by giving a second NDI and COM in which the name of the questionnaires and the order of the items had been changed.Results: Comprehensibility of NDI and COM were good. Minutes needed to fill out the questionnaires [median, (P25, P75)]: NDI. 4 (2.2, 10.0), COM: 2.1 (1.0, 4.9). Reliability: [ICC, (95%CI)]: NDI: 0.88 (0.80, 0.93). COM: 0.85 (0.75,0.91). Sensitivity to change: Effect size for patients having worsened, not changed and improved between days 1 and 15, according to the external criterion for disability: NDI: -0.24, 0.15, 0.66; NPQ: -0.14, 0.06, 0.67; COM: 0.05, 0.19, 0.92. Validity: Results of NDI, NPQ and COM were consistent with the external criterion for disability, whereas only those from NDI were consistent with the one for pain. Correlations with VAS, CSQ and SF-12 were similar for NDI and NPQ (absolute values between 0.36 and 0.50 on day 1, between 0.38 and 0.70 on day 15), and slightly lower for COM (between 0.36 and 0.48 on day 1, and between 0.33 and 0.61 on day 15). Correlation between NDI and NPQ: r = 0.84 on day 1, r = 0.91 on day 15. Correlation between COM and NPQ: r = 0.63 on day 1, r = 0.71 on day 15.Conclusion: Although most psychometric characteristics of NDI, NPQ and COM are similar, those from the latter one are worse and its use may lead to patients' evolution seeming more positive than it actually is. NDI seems to be the best instrument for measuring NP-related disability, since its results are the most consistent with patient's assessment of their own clinical status and evolution. It takes two more minutes to answer the NDI than to answer the COM, but it can be reliably filled out by the patient without assistance.

Decomposition of Ruppia cirrhosa (Petagna) Grande in the sediment of a coastal lagoon

The decomposition process of Ruppia cirrhosa was studied in a Mediterranean coastal lagoon in the Delta of the River Ebro (NE Spain). Leaves and shoots of Ruppia were enclosed in 1 mm-mesh and 100 pm-mesh litter bags to ascertain the effect of detritivores, macroinvertebrates, and bacteria and fungi, respectively. Changes in biomass and carbon, and, nitrogen and phosphorus concentrations in the detritus were studied at the sediment-water interface and in the sediment. Significant differences in biomass decay were observed between the two bag types. Significant differences in decomposition were observed between the two experimental conditions studied using 100 pm-mesh bags. These differences were not significant when using the 1 mm-mesh bags. The carbon content in the detritus remained constant during the decomposition process. The percentage of nitrogen increased progressively from an initial 2.4 % to 3 %. The percentage of phosphorus decreased rapidly during the first two days of decomposition from an initial 0.26 % to 0.17 %. This loss is greater in the sediment than in the water column or at the sediment-water interface. From these results we deduce that the activity of microorganisms seems to be more important in the sediment than in the water-sediment interface, and that grazing by macroinvertebrates has less importance in the sediment than in the water column.

Paleozoic stratigraphy of the Central and Northern part of the Catalonian Coastal Ranges (NE Spain)

The Paleozoic stratigraphic succession in the Catalonian Coastal Ranges spans the interval from Cambrian(?) to Carboniferous, with only one break, separating the pre-Carboniferous part of the sequence from the Carboniferous. The oldest rocks exposed form a sequence of schists, fine grained sandstones, gneisses (laminar pre-Hercynian intrusions), marbles, orto- and para-amphibolites and calcsilicate rocks. comparison with other localities iuggests an Early Cambrian age (or perhaps in part older). Upwards the sequence becomes more monotonous andconsists only of schists (or slates where themetamorphic grade is lower) and thin fine-grained sandstone layers (Cambrian-Ordovician). Still higher in the sequence, an altemation of greywackes and slates is found, with interlayered mud-supported conglomerates at its lower part and acid volcanic rocks which occur throughout the whole sequence. This part of the sequence has provided the oldest faunas known in the Catalonian Coastal Ranges, which indicate the Caradoc. Finally, in its uppermost part, the Ordovician sequence contains some thin limestone layers that contain Ashgill faunas. The Silurian, from Llandovery to Lower Ludlow, consists of black graptolitic shales with dolerite sills, whilst the upper Ludlow, Pridolian and Devonian consist of nodular limestones and marls withpelagic and hemipelagic faunas. The youngest Devonian faunas found correspond in general to the Emsian. The existence of a gap at this point of the sequence suggests the possibility that part of the Devonian could have been eroded. The Carboniferous is characterized by a thick culm sequence (Visean to Westphalian?), resting on thin chert and limestone layers (Tournaisian and Visean). A comparison with neighbouring areas shows a similarity regarding succession and facies with other Paleozoic massifs around the Western Mediterranean.

Coregulator Control of Androgen Receptor Action by a Novel Nuclear Receptor-Binding Motif

The androgen receptor (AR) is a ligand-activated transcription factor that is essential for prostate cancer development. It is activated by androgens through its ligand-binding domain (LBD), which consists predominantly of 11 α-helices. Upon ligand binding, the last helix is reorganized to an agonist conformation termed activator function-2 (AF-2) for coactivator binding. Several coactivators bind to the AF-2 pocket through conserved LXXLL or FXXLF sequences to enhance the activity of the receptor. Recently, a small compound-binding surface adjacent to AF-2 has been identified as an allosteric modulator of the AF-2 activity and is termed binding function-3 (BF-3). However, the role of BF-3 in vivo is currently unknown, and little is understood about what proteins can bind to it. Here we demonstrate that a duplicated GARRPR motif at the N terminus of the cochaperone Bag-1L functions through the BF-3 pocket. These findings are supported by the fact that a selective BF-3 inhibitor or mutations within the BF-3 pocket abolish the interaction between the GARRPR motif(s) and the BF-3. Conversely, amino acid exchanges in the two GARRPR motifs of Bag-1L can impair the interaction between Bag-1L and AR without altering the ability of Bag-1L to bind to chromatin. Furthermore, the mutant Bag-1L increases androgen-dependent activation of a subset of AR targets in a genome-wide transcriptome analysis, demonstrating a repressive function of the GARRPR/BF-3 interaction. We have therefore identified GARRPR as a novel BF-3 regulatory sequence important for fine-tuning the activity of the AR.

Decomposition of Ruppia cirrhosa (Petagna) Grande in the sediment of a coastal lagoon

The decomposition process of Ruppia cirrhosa was studied in a Mediterranean coastal lagoon in the Delta of the River Ebro (NE Spain). Leaves and shoots of Ruppia were enclosed in 1 mm-mesh and 100 pm-mesh litter bags to ascertain the effect of detritivores, macroinvertebrates, and bacteria and fungi, respectively. Changes in biomass and carbon, and, nitrogen and phosphorus concentrations in the detritus were studied at the sediment-water interface and in the sediment. Significant differences in biomass decay were observed between the two bag types. Significant differences in decomposition were observed between the two experimental conditions studied using 100 pm-mesh bags. These differences were not significant when using the 1 mm-mesh bags. The carbon content in the detritus remained constant during the decomposition process. The percentage of nitrogen increased progressively from an initial 2.4 % to 3 %. The percentage of phosphorus decreased rapidly during the first two days of decomposition from an initial 0.26 % to 0.17 %. This loss is greater in the sediment than in the water column or at the sediment-water interface. From these results we deduce that the activity of microorganisms seems to be more important in the sediment than in the water-sediment interface, and that grazing by macroinvertebrates has less importance in the sediment than in the water column.