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

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Solving heterogeneous-agent models by projection and perturbation

The paper proposes a numerical solution method for general equilibrium models with a continuum of heterogeneous agents, which combines elements of projection and of perturbation methods. The basic idea is to solve first for the stationary solutionof the model, without aggregate shocks but with fully specified idiosyncratic shocks. Afterwards one computes a first-order perturbation of the solution in the aggregate shocks. This approach allows to include a high-dimensional representation of the cross-sectional distribution in the state vector. The method is applied to a model of household saving with uninsurable income risk and liquidity constraints. The model includes not only productivity shocks, but also shocks to redistributive taxation, which cause substantial short-run variation in the cross-sectional distribution of wealth. If those shocks are operative, it is shown that a solution method based on very few statistics of the distribution is not suitable, while the proposed method can solve the model with high accuracy, at least for the case of small aggregate shocks. Techniques are discussed to reduce the dimension of the state space such that higher order perturbations are feasible.Matlab programs to solve the model can be downloaded.

Preface: Forecast and projection in climate scenario of Mediterranean intense events: uncertainties and propagation on environment (the MEDUP project)

The Mediterranean basin is a particularly vulnerable region to climate change, partly due to its quite unique character that results both from physiographic conditions and societal development. The region features indeed a near-closed sea surrounded by very urbanised littorals and mountains from which numerous rivers originate. This results in a lot of interactions and feedbacks between oceanic-atmospheric-hydrological processes that play a predominant role on climate and extreme events that frequently cause heavy dam- ages and human losses in the Mediterranean ...

Blind Inversion of Wiener System using a minimization-projection (MP) approach

In this paper, a new algorithm for blind inversion of Wiener systems is presented. The algorithm is based on minimization of mutual information of the output samples. This minimization is done through a Minimization-Projection (MP) approach, using a nonparametric “gradient” of mutual information.

Catalunya al món a través de l’esport: què s’ha de fer per projectar la imatge del nostre país a l’estranger i com ho ha recollit la premsa internacional

Aquest treball es va presentar a l’Assignatura Campus "Esport, Olimpisme i Cultura Contemporània", el curs 1998-1999. L'autor pretén fer un repàs històric de la projecció al món de Catalunya través de l'esport i analitzar-ne el tractament que n'ha fet la premsa internacional.

Olympic Games as showcase

In the 1992 Barcelona Olympic Games, besides the country-versus-country typical showdown in the backdrop of Olympics, and the economic and political impulses for the host city, there was a third factor complicating the celebration: rivalry between the Catalan hosts and the Spanish state. By guiding the development of and eventual Olympic projection of national identity, Catalan and Spanish politicians hoped to create a resounding rallying point around which they could unite disparate individuals. The text is made up of: an introduction, five paragraphs on the different political perspective, conclusions, a commentary on the tallying of score and a note section with bibliographical references.

Estimation of lean meat content in pig carcasses using X-ray Computed Tomography and PLS regression

Lean meat percentage (LMP) is an important carcass quality parameter. The aim of this work is to obtain a calibration equation for the Computed Tomography (CT) scans with the Partial Least Square Regression (PLS) technique in order to predict the LMP of the carcass and the different cuts and to study and compare two different methodologies of the selection of the variables (Variable Importance for Projection — VIP- and Stepwise) to be included in the prediction equation. The error of prediction with cross-validation (RMSEPCV) of the LMP obtained with PLS and selection based on VIP value was 0.82% and for stepwise selection it was 0.83%. The prediction of the LMP scanning only the ham had a RMSEPCV of 0.97% and if the ham and the loin were scanned the RMSEPCV was 0.90%. Results indicate that for CT data both VIP and stepwise selection are good methods. Moreover the scanning of only the ham allowed us to obtain a good prediction of the LMP of the whole carcass.

La redimensió de la llibertat civil en l'àmbit de les relacions familiars

La virtualitat de la formulació de la llibertat civil com a principi de l'ordenament civil català és, precisament, que permet projectar-la sobre qualsevol àmbit en el qual el poder de decisió resti en poder dels particulars. Així doncs, el legislador parteix del respecte per a l'autonomia privada com a eina d'autoregulació d'interessos. A Catalunya, el principi de llibertat civil en la regulació de les relacions familiars és més extens que en el Codi Civil, d'acord amb la pròpia tradició jurídica, palesada en tots els textos legals. La llibertat civil té una àmplia projecció en l'organització de les institucions de protecció de la persona. El legislador ha optat per un sistema de familiar, amb la justa intervenció judicial de control (p.ex., la designació voluntària d'òrgans de protecció té caràcter vinculant pel jutge). El principi de llibertat civil es veu enormement enfortit en la futura legislació representada avui per l'encara Avantprojecte de Llei del Llibre segon Codi Civil de Catalunya. L'Avantprojecte també vindrà a reforçar la llibertat dels contraents o cònjuges pel que fa a l'autorregulació de les seves relacions patrimonials intensificant la possibilitat de pactes abdicatius o limitatius dels drets derivats d'una futura ruptura i introduint una regulació al respecte amb atenció als límits que la doctrina i la jurisprudència ha vingut imposant a les experiències pràctiques en aquest àmbit. Les unions estables no es poden sostreure a l'aplicació dels mínims legals: la llibertat de ser només “de fet” pràcticament no existeix. Ens trobem davant una qüestió d'ordre públic perquè és una nova modalitat de família a la que s'ha de dispensar la protecció constitucional (art. 39 CE). La llibertat es limita a escollir entre que el vincle o unió sigui matrimonial o no. L'Avantprojecte incrementa la intervenció de l'Estat: la llibertat es redueix al contingut dels pactes reguladors de la convivència i de la seva crisi.

La Docencia Universitaria : su saber pedagógico desde distintas áreas del conocimiento : un estudio de casos con docentes de la Universidad de Barcelona

La formación investigadora en las distintas áreas del conocimiento es una desafío, una responsabilidad y una proyección para aquellas sociedades que busquen el desarrollo equilibrado y sostenible para el conjunto de sus ciudadanos. La investigación y la construcción del conociminento en los distintos campos del saber es el motor de cualquier región, o país. La memoria que aquí se expone refleja por un lado el proceso de formación de una investigadora novel en el área educativa, en el marco del programa de doctorado "“Diversidad y Cambio en Educació: Políticas y Prácticas" del Departamento de Didáctica y Organización Educativa, de la Universidad de Barcelona. Específicamente el área de investigación es la docencia universitaria y la consturcción de su conocimiento. A través de ella se revelan los distintos engranajes que van conformando el proceso formación. Además, por otro lado se presentan los puntos más relevantes del proyecto y del proceso de investigación, denominado "La Docencia Universitaria: su saber pedagógico desde distintas áreas del conocimiento. Un estudio de casos con docentes de la Universidad de Barcelona.

Detecció i localització d'impactes a estructures aeroespacials

Projecte de recerca elaborat a partir d’una estada a la Universidad Politécnica de Madrid, Espanya, entre setembre i o desembre del 2007. Actualment la indústria aeroespacial i aeronàutica té com prioritat millorar la fiabilitat de las seves estructures a través del desenvolupament de nous sistemes per a la monitorització i detecció d’impactes. Hi ha diverses tècniques potencialment útils, i la seva aplicabilitat en una situació particular depèn críticament de la mida del defecte que permet l’estructura. Qualsevol defecte canviarà la resposta vibratòria de l’element estructural, així com el transitori de l’ona que es propaga per l’estructura elàstica. Correlacionar aquests canvis, que poden ser detectats experimentalment amb l’ocurrència del defecte, la seva localització i quantificació, és un problema molt complex. Aquest treball explora l’ús de l'Anàlisis de Components Principals (Principal Component Analysis - PCA-) basat en la formulació dels estadístics T2 i Q per tal de detectar i distingir els defectes a l'estructura, tot correlacionant els seus canvis a la resposta vibratòria. L’estructura utilitzada per l’estudi és l’ala d’una turbina d’un avió comercial. Aquesta ala s’excita en un extrem utilitzant un vibrador, i a la qual s'han adherit set sensors PZT a la superfície. S'aplica un senyal conegut i s'analitzen les respostes. Es construeix un model PCA utilitzant dades de l’estructura sense defecte. Per tal de provar el model, s'adhereix un tros d’alumini en quatre posicions diferents. Les dades dels assajos de l'estructura amb defecte es projecten sobre el model. Les components principals i les distàncies de Q-residual i T2-Hotelling s'utilitzaran per a l'anàlisi de les incidències. Q-residual indica com de bé s'adiu cadascuna de les mostres al model PCA, ja que és una mesura de la diferència, o residu, entre la mostra i la seva projecció sobre les components principals retingudes en el model. La distància T2-Hotelling és una mesura de la variació de cada mostra dins del model PCA, o el que vindria a ser el mateix, la distància al centre del model PCA.

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

News from compositions, the R package

The R-package “compositions”is a tool for advanced compositional analysis. Its basicfunctionality has seen some conceptual improvement, containing now some facilitiesto work with and represent ilr bases built from balances, and an elaborated subsys-tem for dealing with several kinds of irregular data: (rounded or structural) zeroes,incomplete observations and outliers. The general approach to these irregularities isbased on subcompositions: for an irregular datum, one can distinguish a “regular” sub-composition (where all parts are actually observed and the datum behaves typically)and a “problematic” subcomposition (with those unobserved, zero or rounded parts, orelse where the datum shows an erratic or atypical behaviour). Systematic classificationschemes are proposed for both outliers and missing values (including zeros) focusing onthe nature of irregularities in the datum subcomposition(s).To compute statistics with values missing at random and structural zeros, a projectionapproach is implemented: a given datum contributes to the estimation of the desiredparameters only on the subcompositon where it was observed. For data sets withvalues below the detection limit, two different approaches are provided: the well-knownimputation technique, and also the projection approach.To compute statistics in the presence of outliers, robust statistics are adapted to thecharacteristics of compositional data, based on the minimum covariance determinantapproach. The outlier classification is based on four different models of outlier occur-rence and Monte-Carlo-based tests for their characterization. Furthermore the packageprovides special plots helping to understand the nature of outliers in the dataset.Keywords: coda-dendrogram, lost values, MAR, missing data, MCD estimator,robustness, rounded zeros

Compositional data and Simpson's paradox

Simpson's paradox, also known as amalgamation or aggregation paradox, appears whendealing with proportions. Proportions are by construction parts of a whole, which canbe interpreted as compositions assuming they only carry relative information. TheAitchison inner product space structure of the simplex, the sample space of compositions, explains the appearance of the paradox, given that amalgamation is a nonlinearoperation within that structure. Here we propose to use balances, which are specificelements of this structure, to analyse situations where the paradox might appear. Withthe proposed approach we obtain that the centre of the tables analysed is a naturalway to compare them, which avoids by construction the possibility of a paradox.Key words: Aitchison geometry, geometric mean, orthogonal projection