Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

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.

Representació no-lineal de les imatges per a codificació perceptiva

JPEG2000 és un estàndard de compressió d’imatges que utilitza la transformada wavelet i, posteriorment, una quantificació uniforme dels coeficients amb dead-zone. Els coeficients wavelet presenten certes dependències tant estadístiques com visuals. Les dependències estadístiques es tenen en compte a l'esquema JPEG2000, no obstant, no passa el mateix amb les dependències visuals. En aquest treball, es pretén trobar una representació més adaptada al sistema visual que la que proporciona JPEG2000 directament. Per trobar-la utilitzarem la normalització divisiva dels coeficients, tècnica que ja ha demostrat resultats tant en decorrelació estadística de coeficients com perceptiva. Idealment, el que es voldria fer és reconvertir els coeficients a un espai de valors en els quals un valor més elevat dels coeficients impliqui un valor més elevat d'aportació visual, i utilitzar aquest espai de valors per a codificar. A la pràctica, però, volem que el nostre sistema de codificació estigui integrat a un estàndard. És per això que utilitzarem JPEG2000, estàndard de la ITU que permet una elecció de les distorsions en la codificació, i utilitzarem la distorsió en el domini de coeficients normalitzats com a mesura de distorsió per a escollir quines dades s'envien abans.

Some variational problems from image processing

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

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.

Aplicación para la transformación y estudio de archivos log

La aplicación Log2XML tiene como objeto principal la transformación de archivos log en formato texto con separador de campos a un formato XML estandarizado. Para permitir que la aplicación pueda trabajar con logs de diferentes sistemas o aplicaciones, dispone de un sistema de plantillas (indicación de orden de campos y carácter separador) que permite definir la estructura mínima para poder extraer la información de cualquier tipo de log que se base en separadores de campo. Por último, la aplicación permite el procesamiento de la información extraída para la generación de informes y estadísticas.Por otro lado, en el proyecto se profundiza en la tecnología Grails.

Disseny d'un sistema de log genèric per a la implementació de sistemes operacionals.

Aquest projecte permetrà aprofundir en el coneixement de l'estructura de funcionament del PL/SQL d'Oracle (crides a procediments i, especialment, tractament d'excepcions), en la utilització de JDBC com a mecanisme de comunicació entre JAVA i Oracle, i en l'ús de les classes de generació d'interfícies gràfiques d'usuari (swing) i, a més, permetrà posar en pràctica funcionalitats d'Oracle que no havia tingut oportunitat d'emprar, com ara tipus genèrics de dades, objectes persistents o transaccions autònomes.

Comparing correspondence analysis and the log-ratio alternative for representing categorical data

We compare correspondance análisis to the logratio approach based on compositional data. We also compare correspondance análisis and an alternative approach using Hellinger distance, for representing categorical data in a contingency table. We propose a coefficient which globally measures the similarity between these approaches. This coefficient can be decomposed into several components, one component for each principal dimension, indicating the contribution of the dimensions to the difference between the two representations. These three methods of representation can produce quite similar results. One illustrative example is given

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

Compositional analysis of archaeological glasses

At CoDaWork'03 we presented work on the analysis of archaeological glass composi-tional data. Such data typically consist of geochemical compositions involving 10-12variables and approximates completely compositional data if the main component, sil-ica, is included. We suggested that what has been termed `crude' principal componentanalysis (PCA) of standardized data often identi ed interpretable pattern in the datamore readily than analyses based on log-ratio transformed data (LRA). The funda-mental problem is that, in LRA, minor oxides with high relative variation, that maynot be structure carrying, can dominate an analysis and obscure pattern associatedwith variables present at higher absolute levels. We investigate this further using sub-compositional data relating to archaeological glasses found on Israeli sites. A simplemodel for glass-making is that it is based on a `recipe' consisting of two `ingredients',sand and a source of soda. Our analysis focuses on the sub-composition of componentsassociated with the sand source. A `crude' PCA of standardized data shows two clearcompositional groups that can be interpreted in terms of di erent recipes being used atdi erent periods, reected in absolute di erences in the composition. LRA analysis canbe undertaken either by normalizing the data or de ning a `residual'. In either case,after some `tuning', these groups are recovered. The results from the normalized LRAare di erently interpreted as showing that the source of sand used to make the glassdi ered. These results are complementary. One relates to the recipe used. The otherrelates to the composition (and presumed sources) of one of the ingredients. It seemsto be axiomatic in some expositions of LRA that statistical analysis of compositionaldata should focus on relative variation via the use of ratios. Our analysis suggests thatabsolute di erences can also be informative

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

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

Improving Clustering Algorithms for Image Segmentation using Contour and Region Information

In image segmentation, clustering algorithms are very popular because they are intuitive and, some of them, easy to implement. For instance, the k-means is one of the most used in the literature, and many authors successfully compare their new proposal with the results achieved by the k-means. However, it is well known that clustering image segmentation has many problems. For instance, the number of regions of the image has to be known a priori, as well as different initial seed placement (initial clusters) could produce different segmentation results. Most of these algorithms could be slightly improved by considering the coordinates of the image as features in the clustering process (to take spatial region information into account). In this paper we propose a significant improvement of clustering algorithms for image segmentation. The method is qualitatively and quantitative evaluated over a set of synthetic and real images, and compared with classical clustering approaches. Results demonstrate the validity of this new approach