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

A system to reduce the effect of CCDs saturation

Colour image segmentation based on the hue component presents some problems due to the physical process of image formation. One of that problems is colour clipping, which appear when at least one of the sensor components is saturated. We have designed a system, that works for a trained set of colours, to recover the chromatic information of those pixels on which colour has been clipped. The chromatic correction method is based on the fact that hue and saturation are invariant to the uniform scaling of the three RGB components. The proposed method has been validated by means of a specific colour image processing board that has allowed its execution in real time. We show experimental results of the application of our method

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

A survey addressing the fundamental matrix estimation problem

Epipolar geometry is a key point in computer vision and the fundamental matrix estimation is the only way to compute it. This article surveys several methods of fundamental matrix estimation which have been classified into linear methods, iterative methods and robust methods. All of these methods have been programmed and their accuracy analysed using real images. A summary, accompanied with experimental results, is given

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

Enhanced Model Selection for motion segmentation

In this paper a novel rank estimation technique for trajectories motion segmentation within the Local Subspace Affinity (LSA) framework is presented. This technique, called Enhanced Model Selection (EMS), is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built by LSA. The results on synthetic and real data show that without any a priori knowledge, EMS automatically provides an accurate and robust rank estimation, improving the accuracy of the final motion segmentation

Rank estimation of trajectory matrix in motion segmentation

A novel technique for estimating the rank of the trajectory matrix in the local subspace affinity (LSA) motion segmentation framework is presented. This new rank estimation is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built with LSA. The result is an enhanced model selection technique for trajectory matrix rank estimation by which it is possible to automate LSA, without requiring any a priori knowledge, and to improve the final segmentation

Creació del Videojoc: “El Mensajero De Pekín”

L’ objectiu és el desenvolupament d'un videojoc (senzill) des d’ una idea inicial fins a un producte acabat i funcional (disseny del joc (la historia, els nivells, els personatges, etc.) com a concepte, programació, disseny gràfic, i finalment el poliment del producte per a que sigui un joc complet) utilitzant un software lliure. S'anomena "El Mensajero de Pekín" l'objectiu com a jugadors és aconseguir repartir uns paquets a una sèrie de bústies seguint una lògica de colors (cada paquet haurà de ser introduït a la bústia del mateix color per sumar punts). Es pot fer tant a mode individual, en el qual haurem de superar uns reptes que ens posi la màquina, com en mode multijugador, de dos a quatre jugadors, en el qual a part de repartir els paquets, haurem d'impedir que els rivals reparteixin els seus

Reconeixement d’escenes de la ciutat de Girona a partir del contingut d’imatges

Desenvolupament una aplicació informàtica basada en un sistema de visió per computador, la qual permeti donar una resposta en forma d'informació a partir d'una query d'una imatge que conté una escena o objecte en concret de manera que permeti reconèixer els objectes que apareixen en una imatge per llavors donar informació referent al contingut de la imatge a l’usuari que ha fet la consulta. Resumint, es tracta d’analitzar, dissenyar i construir un sistema de visió per computador capaç de reconèixer objectes d’interès en imatges

Curriculum sequencing for an e-learning system based on learning styles

This work shows the use of adaptation techniques involved in an e-learning system that considers students' learning styles and students' knowledge states. The mentioned e-learning system is built on a multiagent framework designed to examine opportunities to improve the teaching and to motivate the students to learn what they want in a user-friendly and assisted environment

Elaboración de software para la supervisión in situ de ejercicios prácticos de análisis de estructuras con enunciado personalizado

Se expone la experiencia de los autores en el desarrollo de las clases prácticas de análisis de estructuras, en la asignatura ESTRUCTURAS II de la ETS de Arquitectura de la Universidad de Granada, consistente en el desarrollo de ejercicios prácticos semanales con enunciados personalizados para cada alumno, previa elaboración de software que permite la supervisión y corrección in situ de los mismos. El objetivo de la metodología docente que se presenta, es la mejora de los tradicionalmente muy bajos índices de rendimiento académico, en las asignaturas de Análisis de Estructuras, en las escuelas de ingeniería y arquitectura, propiciando la participación activa del alumnado en el desarrollo de las clases mediante el planteamiento y resolución de ejercicios prácticos semanales de enunciado personalizado

Herramientas multimedia en la enseñanza de lenguas extranjeras: un recurso motivador

A día de hoy, nadie puede poner en duda el extraordinario desarrollo que las tecnologías de la comunicación y la comunicación (TIC) han experimentado en nuestras vidas. Y, aunque especialmente explotadas por el mundo empresarial, donde se obtienen rendimientos observables a corto plazo, las nuevas tecnologías (NNTT) se han introducido de lleno en la enseñanza: programas interactivos desde Internet, ordenadores interconectados mediante redes inalámbricas, cañones de datos y pizarras digitales forman parte del entorno académico, y suponen un valioso apoyo para los docentes

A Monte Carlo method for accelerating the computation of animated radiosity sequences

Realistic rendering animation is known to be an expensive processing task when physically-based global illumination methods are used in order to improve illumination details. This paper presents an acceleration technique to compute animations in radiosity environments. The technique is based on an interpolated approach that exploits temporal coherence in radiosity. A fast global Monte Carlo pre-processing step is introduced to the whole computation of the animated sequence to select important frames. These are fully computed and used as a base for the interpolation of all the sequence. The approach is completely view-independent. Once the illumination is computed, it can be visualized by any animated camera. Results present significant high speed-ups showing that the technique could be an interesting alternative to deterministic methods for computing non-interactive radiosity animations for moderately complex scenarios

A teaching/learning support tool for introductory programming courses

In This work we present a Web-based tool developed with the aim of reinforcing teaching and learning of introductory programming courses. This tool provides support for teaching and learning. From the teacher's perspective the system introduces important gains with respect to the classical teaching methodology. It reinforces lecture and laboratory sessions, makes it possible to give personalized attention to the student, assesses the degree of participation of the students and most importantly, performs a continuous assessment of the student's progress. From the student's perspective it provides a learning framework, consisting in a help environment and a correction environment, which facilitates their personal work. With this tool students are more motivated to do programming

An automatic correction tool for relational database schemas

A Web-based tool developed to automatically correct relational database schemas is presented. This tool has been integrated into a more general e-learning platform and is used to reinforce teaching and learning on database courses. This platform assigns to each student a set of database problems selected from a common repository. The student has to design a relational database schema and enter it into the system through a user friendly interface specifically designed for it. The correction tool corrects the design and shows detected errors. The student has the chance to correct them and send a new solution. These steps can be repeated as many times as required until a correct solution is obtained. Currently, this system is being used in different introductory database courses at the University of Girona with very promising results