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.

Diseño e implementación de un receptor GNSS multifrecuencia y multiconstelación

Este proyecto presenta el diseño, test y validación de una cabecera de recepción multiconstelación y multifrecuencia para Sistemas de Navegación Global por Satélite (GNSS). El receptor presentado ha sido diseñado para adquirir las bandas E5/L5 y E1/L1 de los sistemas Galileo y NAVSTAR-GPS. Para trasladar en frecuencia las dos bandas a la vez, se implementa un receptor con arquitectura superheterodina basado en un mezclador de rechazo a frecuencia imagen (IRM). Medidas de ambos sistemas han sido realizadas validando el correcto funcionamiento del receptor en la banda E1/L1. Para ello no sólo se han adquirido los satélites de la constelación GPS, sino que además se han adquirido con éxito los satélites GIOVE-A/B utilizados en la fase de validación en órbita del sistema europeo Galileo.

The Gaussian assumption in second-order estimation problems in digital communications

This paper deals with the goodness of the Gaussian assumption when designing second-order blind estimationmethods in the context of digital communications. The low- andhigh-signal-to-noise ratio (SNR) asymptotic performance of the maximum likelihood estimator—derived assuming Gaussiantransmitted symbols—is compared with the performance of the optimal second-order estimator, which exploits the actualdistribution of the discrete constellation. The asymptotic study concludes that the Gaussian assumption leads to the optimalsecond-order solution if the SNR is very low or if the symbols belong to a multilevel constellation such as quadrature-amplitudemodulation (QAM) or amplitude-phase-shift keying (APSK). On the other hand, the Gaussian assumption can yield importantlosses at high SNR if the transmitted symbols are drawn from a constant modulus constellation such as phase-shift keying (PSK)or continuous-phase modulations (CPM). These conclusions are illustrated for the problem of direction-of-arrival (DOA) estimation of multiple digitally-modulated signals.

Lectores de Saavedra Fajardo en la Alemania ilustrada: Leipzig y la traducción alemana de 'Locuras de Europa'

Se analiza la recepción de Diego de Saavedra Fajardo en la Alemania ilustrada del siglo XVIII, donde se imprimieron y tradujeron algunas obras de este autor. A través del análisis del prólogo que precede la edición alemana de Locuras de Europa, conoceremos el universo editorial que impulsó su aparición en Leipzig y la conyuntura histórico-política que lo propició