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.

Fear assessment in pigs exposed to a novel object test

The experiment aimed to study approach and locomotive behaviour as indicators of fear in a novel object test carried out in pigs. Thirty post-weaning (30 kg) and 30 finishing (90 kg) pigs were exposed to visual, auditory and olfactory novel stimuli during 2 different experiments. The facilities consisted of a test pen in which a trough was located. The trough contained chopped apples. Once the animals were trained to enter the test pen individually they were subjected to 3 different fear stimuli. These stimuli were applied in the test pen and next to the trough. The variables studied were feeding behaviour, approach behaviour (the distance and position of the animal with respect to the trough) and locomotive behaviour (general activity, reluctance to move, turning back and retreat attempts). Two groups were studied: saline and midazolam treated group. Twenty minutes before the start of the sessions, 15 post-weaning and finishing pigs received an intramuscular injection of 0.20 and 0.15 mg/kg, respectively, midazolam (Dormicum1). The saline pigs (15 animals per group) were injected with saline. The administration of midazolam increased the feeding behaviour and approaching behaviour, and reduced the locomotive behaviour. In front of the visual and olfactory stimuli post-weaning pigs showed a higher general activity than finishing pigs, but the contrary was found when the auditory stimulus was applied. The olfactory stimulus was more related to the turning back behaviour, whereas the visual stimulus was more related to retreat attempts. Although it could be concluded that reluctant to move was the most common response to the different fear stimuli applied in our study regardless of the age of animals, the combination of reluctant to move and turning back would be a good criterion to assess fear in domestic pigs. The use of midazolam as anxiolytic for studies of fear in commercial conditions in pigs is recommended.

La nación de "los otros": afrodescendientes porteños y la construcción de la nación argentina a fines del siglo XIX

Investigación producida a partir de una estancia en Buenos Aires entre los meses de septiembre y octubre del 2006. La construcción del estado nacional argentino en el siglo XIX implicó la definición –por parte de las elites dirigentes - de un pueblo que cumpliera con las expectativas que se esperaban de una joven nación que se encaminaba hacia la civilización y el progreso. El objeto de la investigación que se está llevando a cabo en el marco del doctorado en Historia de América de la Universitat de Barcelona, es el análisis de la población afroargentina de Buenos Aires en las últimas décadas del siglo XIX, un momento en que su presencia e historia estaban siendo negadas de los discursos y de las prácticas, promoviendo su “invisibilización”. Para llevar a cabo esta investigación, se hace fundamental recurrir a fuentes y documentos que deben ser buscados y hallados en los Archivos Generales y Locales, y en Bibliotecas Nacionales y Municipales, sitos en la ciudad de Buenos Aires.

Generic object classification for autonomous robots

Un dels principals problemes de la interacció dels robots autònoms és el coneixement de l'escena. El reconeixement és fonamental per a solucionar aquest problema i permetre als robots interactuar en un escenari no controlat. En aquest document presentem una aplicació pràctica de la captura d'objectes, de la normalització i de la classificació de senyals triangulars i circulars. El sistema s'introdueix en el robot Aibo de Sony per a millorar-ne la interacció. La metodologia presentada s'ha comprobat en simulacions i problemes de categorització reals, com ara la classificació de senyals de trànsit, amb resultats molt prometedors.

Interoperability issues between learning object repositories and metadata harvesters

In this paper we describe an open learning object repository on Statistics based on DSpace which contains true learning objects, that is, exercises, equations, data sets, etc. This repository is part of a large project intended to promote the use of learning object repositories as part of the learning process in virtual learning environments. This involves the creation of a new user interface that provides users with additional services such as resource rating, commenting and so. Both aspects make traditional metadata schemes such as Dublin Core to be inadequate, as there are resources with no title or author, for instance, as those fields are not used by learners to browse and search for learning resources in the repository. Therefore, exporting OAI-PMH compliant records using OAI-DC is not possible, thus limiting the visibility of the learning objects in the repository outside the institution. We propose an architecture based on ontologies and the use of extended metadata records for both storing and refactoring such descriptions.

Emissió ràdio a baixa freqüència en fenòmens eruptius i en fonts esteses de raigs gamma d'alta i molt alta energia

La tasca investigadora presentada en aquesta memòria s'ha centrat en les fonts galàctiques de raigs gamma de molt alta energia LS I +61 303, HESS J1708-410 i HESS J1858+020. La primera és una binària de raigs gamma molt estudiada, formada per una estrella massiva i un objecte compacte. S'ha proposat un escenari on l'objecte compacte seria un púlsar jove, i la interacció del seu vent amb el vent de l'estrella generaria els raigs gamma. De totes formes, no s'ha detectat polsos procedents d'aquest putatiu púlsar. L'investigador va realitzar observacions en fase a 1280 MHz amb el radiotelescopi GMRT, sense trobar-hi polsos, cosa que implica un estricte límit superior de 0,38 mJy a la densitat mitjana de flux polsat en un putatiu púlsar amb un període major que 2 mil•lisegons en el sistema binari LS I +61 303. Per altra banda, HESS J1708-410 i HESS J1858+020 són dues fonts esteses de raigs gamma de molt alta energia de les quals no es coneix cap contrapart a d'altres longituds d'ona. L'investigador les va observar amb el GMRT, quatre vegades HESS J1708-410 (dues a 610 MHz i dues a 1400 MHz) i dues vegades HESS J1858+020 (una a cada freqüència). En les imatges realitzades amb aquestes dades no hi ha emissió estesa coincident amb les regions d'emissió de raigs gamma. HESS J1858+020 se solapa parcialment amb una font estesa que podria ser un SNR. De confirmar-se la falta de contrapartida ràdio de HESS J1708-410, estaríem parlant d'un accelerador hadrònic extraordinàriament eficient, d'una classe desconeguda fins ara.

Avaluació de l'estàndard SQL : 1999 respecte les característiques orientades a l'objecte que suporta i la seva implementació als SGBD object-relacional

En aquest treball s'intenta fer una síntesi de les especificacions aportades per l'estàndard definit com a SQL: 1999, tot analitzant les ampliacions que fan referència a la nova orientació a l'objecte i a la incorporació de l'herència com a principal element diferenciador.

Frameworks de persistència : un estudi comparatiu

El projecte és un estudi dels distints productes que es poden trobar per aconseguir la persistència dels objectes entre diferents sessions. Aquest projecte s'engloba dins la tecnologia Java 2 Enterprise Edition (J2EE).

Avaluació de l'estàndard SQL : 1999 respecte les característiques orientades a l'objecte que suporta i la seva implementació als SGBD object-relational

L'objectiu és estudiar les característiques orientades a l'objecte de l'estàndard SQL: 1999 i posar-les a prova amb un producte comercial que les suporti.

Object and Scene Classification: what does a Supervised Approach Provide us?

Given a set of images of scenes containing different object categories (e.g. grass, roads) our objective is to discover these objects in each image, and to use this object occurrences to perform a scene classification (e.g. beach scene, mountain scene). We achieve this by using a supervised learning algorithm able to learn with few images to facilitate the user task. We use a probabilistic model to recognise the objects and further we classify the scene based on their object occurrences. Experimental results are shown and evaluated to prove the validity of our proposal. Object recognition performance is compared to the approaches of He et al. (2004) and Marti et al. (2001) using their own datasets. Furthermore an unsupervised method is implemented in order to evaluate the advantages and disadvantages of our supervised classification approach versus an unsupervised one

Multi-scale label interaction to improve object detection and segmentation

The project aims at advancing the state of the art in the use of context information for classification of image and video data. The use of context in the classification of images has been showed of great importance to improve the performance of actual object recognition systems. In our project we proposed the concept of Multi-scale Feature Labels as a general and compact method to exploit the local and global context. The feature extraction from the discriminative probability or classification confidence label field is of great novelty. Moreover the use of a multi-scale representation of the feature labels lead to a compact and efficient description of the context. The goal of the project has been also to provide a general-purpose method and prove its suitability in different image/video analysis problem. The two-year project generated 5 journal publications (plus 2 under submission), 10 conference publications (plus 2 under submission) and one patent (plus 1 pending). Of these publications, a relevant number make use of the main result of this project to improve the results in detection and/or segmentation of objects.

Cine estructural de found footage: 133, de Eugènia Balcells y Eugeni Bonet

Esta investigación analiza la obra fílmica 133 (1978-79) de Eugènia Balcells y Eugeni Bonet, una de las piezas más relevantes del cine de found footage de raíz estructural. Considerando el contexto del cine experimental y el arte conceptual realizado en España durante la década de los años ’70, se estudia el insólito punto de vista de dos cineastas conocedores de las prácticasinternacionales. El texto indaga sobre el sentido de una pieza filmográfica que transgrede los códigos del lenguaje cinematográfico con humor, planteando, irónicamente, cuestiones relevantes acerca de las convenciones que rigen el audiovisual. La película queda vinculada alas manifestaciones artísticas de raíz conceptual de la artista plástica Eugènia Balcells, y al desarrollo teórico y práctico del cine experimental, divulgado y configurado por el escritor y realizador Eugeni Bonet. 133 se presenta como una creación cinematográfica que se sirve de latécnica del montaje de metraje encontrado para desvelar un carácter autorreflexivo, sutilmente lúdico, que remite a su propio soporte matérico en particular, y al arte del cine en general

Implementing interactive computing in an object-oriented environment

Statistical computing when input/output is driven by a Graphical User Interface is considered. A proposal is made for automatic control ofcomputational flow to ensure that only strictly required computationsare actually carried on. The computational flow is modeled by a directed graph for implementation in any object-oriented programming language with symbolic manipulation capabilities. A complete implementation example is presented to compute and display frequency based piecewise linear density estimators such as histograms or frequency polygons.

Analysis of warm season thunderstorms using an object-oriented tracking method based on radar and total lightning data

Monitoring thunderstorms activity is an essential part of operational weather surveillance given their potential hazards, including lightning, hail, heavy rainfall, strong winds or even tornadoes. This study has two main objectives: firstly, the description of a methodology, based on radar and total lightning data to characterise thunderstorms in real-time; secondly, the application of this methodology to 66 thunderstorms that affected Catalonia (NE Spain) in the summer of 2006. An object-oriented tracking procedure is employed, where different observation data types generate four different types of objects (radar 1-km CAPPI reflectivity composites, radar reflectivity volumetric data, cloud-to-ground lightning data and intra-cloud lightning data). In the framework proposed, these objects are the building blocks of a higher level object, the thunderstorm. The methodology is demonstrated with a dataset of thunderstorms whose main characteristics, along the complete life cycle of the convective structures (development, maturity and dissipation), are described statistically. The development and dissipation stages present similar durations in most cases examined. On the contrary, the duration of the maturity phase is much more variable and related to the thunderstorm intensity, defined here in terms of lightning flash rate. Most of the activity of IC and CG flashes is registered in the maturity stage. In the development stage little CG flashes are observed (2% to 5%), while for the dissipation phase is possible to observe a few more CG flashes (10% to 15%). Additionally, a selection of thunderstorms is used to examine general life cycle patterns, obtained from the analysis of normalized (with respect to thunderstorm total duration and maximum value of variables considered) thunderstorm parameters. Among other findings, the study indicates that the normalized duration of the three stages of thunderstorm life cycle is similar in most thunderstorms, with the longest duration corresponding to the maturity stage (approximately 80% of the total time).

Exploring the connection between the stellar wind and the non-thermal emission in LS 5039

Context.LS 5039 has been observed with several X-ray instruments so far showing quite steady emission in the long term and no signatures of accretion disk. The source also presents X-ray variability at orbital timescales in flux and photon index. The system harbors an O-type main sequence star with moderate mass-loss. At present, the link between the X-rays and the stellar wind is unclear. Aims.We study the X-ray fluxes, spectra, and absorption properties of LS 5039 at apastron and periastron passages during an epoch of enhanced stellar mass-loss, and the long term evolution of the latter in connection with the X-ray fluxes. Methods.New XMM-Newton observations were performed around periastron and apastron passages in September 2005, when the stellar wind activity was apparently higher. April 2005 Chandra observations on LS 5039 were revisited. Moreover, a compilation of H EW data obtained since 1992, from which the stellar mass-loss evolution can be approximately inferred, was carried out. Results.XMM-Newton observations show higher and harder emission around apastron than around periastron. No signatures of thermal emission or a reflection iron line indicating the presence of an accretion disk are found in the spectrum, and the hydrogen column density () is compatible with being the same in both observations and consistent with the interstellar value. 2005 Chandra observations show a hard X-ray spectrum, and possibly high fluxes, although pileup effects preclude conclusive results from being obtained. The H EW shows yearly variations of 10%, and does not seem to be correlated with X-ray fluxes obtained at similar phases, unlike what is expected in the wind accretion scenario. Conclusions.2005 XMM-Newton and Chandra observations are consistent with 2003 RXTE/PCA results, namely moderate flux and spectral variability at different orbital phases. The constancy of the seems to imply that either the X-ray emitter is located at 1012 cm from the compact object, or the density in the system is 3 to 27 times smaller than that predicted by a spherical symmetric wind model. We suggest that the multiwavelength non-thermal emission of LS 5039 is related to the observed extended radio jets and is unlikely to be produced inside the binary system.