A Camera-Projector System for Robot Positioning by Visual Servoing

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of nontextured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance

An approach to visual servoing based on coded light

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objects or objects for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

Correlations between Vocal Input and Visual Response Apparently Enhance Presence in a Virtual Environment

This work investigates novel alternative means of interaction in a virtual environment (VE).We analyze whether humans can remap established body functions to learn to interact with digital information in an environment that is cross-sensory by nature and uses vocal utterances in order to influence (abstract) virtual objects. We thus establish a correlation among learning, control of the interface, and the perceived sense of presence in the VE. The application enables intuitive interaction by mapping actions (the prosodic aspects of the human voice) to a certain response (i.e., visualization). A series of single-user and multiuser studies shows that users can gain control of the intuitive interface and learn to adapt to new and previously unseen tasks in VEs. Despite the abstract nature of the presented environment, presence scores were generally very high.

Correlations between vocal input and visual response apparently enhance presence in a virtual environment

This work investigates novel alternative means of interaction in a virtual environment (VE).We analyze whether humans can remap established body functions to learn to interact with digital information in an environment that is cross-sensory by nature and uses vocal utterances in order to influence (abstract) virtual objects. We thus establish a correlation among learning, control of the interface, and the perceived sense of presence in the VE. The application enables intuitive interaction by mapping actions (the prosodic aspects of the human voice) to a certain response (i.e., visualization). A series of single-user and multiuser studies shows that users can gain control of the intuitive interface and learn to adapt to new and previously unseen tasks in VEs. Despite the abstract nature of the presented environment, presence scores were generally very high.

Touching the void: exploring virtual objects through a vibrotactile glove

This paper describes a simple low-cost approach toadding an element of haptic interaction within a virtualenvironment. Using off-the-shelf hardware and software wedescribe a simple setup that can be used to explore physically virtual objects in space. This setup comprises of a prototype glove with a number of vibrating actuators to provide the haptic feedback, a Kinect camera for the tracking of the user's hand and a virtual reality development environment. As proof of concept and to test the efficiency of the system as well as its potential applications, we developed a simple application where we created 4 different shapes within a virtual environment in order to try toexplore them and guess their shape through touch alone.

A cooperative appproach to queue allocation of indivisible objects

We consider the allocation of a finite number of indivisible objects to the same number of agents according to an exogenously given queue. We assume that the agents collaborate in order to achieve an efficient outcome for society. We allow for side-payments and provide a method for obtaining stable outcomes.

Implementació amb Visual Basic d'un algorisme per a encriptar i desencriptar

Treball de recerca realitzat per un alumne d’ensenyament secundari i guardonat amb un Premi CIRIT per fomentar l'esperit científic del Jovent l’any 2005. La criptografia és l’art d’escriure un llenguatge convingut, amb l’ús d’unes claus i de la seva operació inversa se’n diu criptoanalitzar. Els sistemes criptogràfics han estat emprats al llarg de la història. Actualment existeixen multituds de software i de hardware destinats a analitzar el tràfic de dades en xarxes de computadores. Encara que aquestes eines constitueixen un avenç en tècniques de seguretat i protecció, el seu ús indegut es al mateix temps un greu problema i una enorme font d’atacs a la intimitat dels seus usuaris i a la integritat dels seus propis sistemes. Des d’aquest punt de vista, s’explica com s’ha dissenyat dos aplicacions informàtiques per encriptar i desencriptar.

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.

Impacte visual aeri a Argentona

Treball de recerca realitzat per un alumne d'ensenyament secundari i guardonat amb un Premi CIRIT per fomentar l'esperit cientí­fic del Jovent l'any 2009. Aquest treball té com a finalitat millorar l'entorn aeri d'Argentona, un poble situat a la comarca del Maresme. Els elements que creen més impacte visual aeri són les antenes en desús i el cablejat no soterrat. S'han buscat propostes per canviar aquesta situació: la retirada de les antenes, aprofitant l'arribada de la TDT, i el soterrament del cablejat aeri. Donat que ambdues accions afectarien al municipi i a la seva població, s'ha considerat necessari incloure una enquesta, per a conèixer l'opinió dels argentonins, i dues entrevistes, a l'alcalde i a l'enginyer municipal, per conèixer la postura oficial.

Imaginarios visuales. Espacios de representación en la comunicación visual: el cartelismo en sus orígenes

El present treball de recerca estudia l'evolució del cartell com a mitjà de comunicació des de finals del segle XIX fins a mitjans del XX. En el transcurs d'aquest anàlisi es posa de manifest la importància que va tenir aquest mitjà per a la transmissió ideològica en els nivells artístic, publicitari i de propaganda política. Considerarem els múltiples moviments artístics apareguts en aquest període històric, que van constituir innovadores fonts d'inspiració, una influència que s'estén fins als nostres dies. El cartell treu a l'art dels museus i el converteix en un producte de consum quotidià al voltant del món, gràcies a múltiples artistes, tant coneguts com desconeguts, i la seva creativitat impregna tots els objectes que ens envolten. És a través del recorregut històric que proposem, quan ens descobrim com a espectadors i protagonistes de la major revolució artística que ha existit en els dos últims segles.

Estudio de la agudeza visual final en correlación con variables anatómicas y funcionales objetivas en pacientes con desprendimiento de retina primario

Estudi de cohort de pacients amb despreniment de retina primaris, intervinguts per vitrectomia posterior i agudesa visual final superior a 0,1. Es recullen 23 pacients i es practica un tall de mesura longitudinal a la cohort, recollint paràmetres demogràfics, agudesa visual final, tomografia de coherència òptica i electrorretinograma multifocal. S'estudien associacions entre l'agudesa visual final i les proves objectives anatòmiques i funcionals.

Repercusión visual posterior al explante de lente intraocular opacificada

INTRODUCCIÓ: Valorar els resultats funcionals i quirúrgics posteriors a l’explant de la lent intraocular H60M opacificada. MATERIAL I MÈTODES: Estudi retrospectiu de vint-i-cinc ulls sotmesos a intercanvi de H60M opacificada. Anàlisi dels resultats visuals i complicacions, abans, durant i després de l’explante. RESULTATS: Trobarem millors resultats visuals i una menor taxa de complicacions quan no associem vitrectomia anterior a la cirurgia, així como amb la col•locació de la lent secundaria a sulcus. CONCLUSIÓ: L’intercanvi de la LIO Hidroview opacificada suposa un risc quirúrgic addicional, que podem minimitzar durant el període intraoperatori intentant preservar les estructures oculars el més anatòmicament possible.

Imatges i paraules : poesia visual catalana a la primera avantguarda

Es pregunta pels trets característics de la poesia visual de la primera avantguarda, els que resten fidels a la inspiració europea i els que sorgeixen com a resposta particular mediatitzada per unes determinades condicions socioculturals, i de quina manera aquests trets prenen cos en la producció poètica.

Librería visual adaptativa para integrar servicios de un touroperador en plataformas web

La innovación abierta (Open innovation) se presenta como una oportunidad para combinar los conocimientos internos de la venta de servicios vacacionales combinado con los conocimientos de tecnologías innovadoras. El desarrollo de una librería visual adaptativa pretende ser una solución a la tendencia de cambio actual y a las dificultades de integración de los servicios vacacionales. En el transcurso del proyecto se desarrolla un marco de trabajo que permita cumplir los objetivos marcados para la librería.