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

Fonaments d'una plataforma digital universitària lliure com a reforç en l'aprenentatge de les matemàtiques

El canvi cap a un paradigma d’ensenyament centrat en l’alumne ha incrementat el debat dels processos d’ensenyament i d’aprenentatge. En aquest marc de treball, el debat originat en torn de si un alumne universitari disposa dels suficients recursos per repassar autònomament principis matemàtics bàsics no ofereix una resposta gens clara. I aquesta resposta és important, especialment en les titulacions on les matemàtiques s’utilitzen principalment com a eina de modelatge, tal i com succeeix en les titulacions impartides en la Facultat de Ciències Econòmiques i Empresarials(FCEE) de la Universitat de Girona(UdG). L’equip docent en Matemàtiques per a l’Economia de la UdG està duent a terme la construcció d’un recurs que intenta fomentar el treball continu de les lleis matemàtiques. Aquesta eina didàctica tecnològica, anomenada plataforma virtual universitària lliure, neix de l’aplicació a les plataformes universitàries de les idees aportades pels corrents de ideologia lliure, com són la famosa enciclopèdia digital Wikipedia o el projecte gnui. La plataforma virtual universitària lliure és un recurs tecnològic format per la combinació de dos recursos independents habituals en tota plataforma universitària, com són un servidor d’arxius ftp i una eina d’avaluació, amb una estructura de funcionament modelada per les següents condicions: 1) Tota llei matemàtica de qualsevol assignatura de les titulacions impartides en la FCEE de la UdG pot ser treballada en el recurs. 2) Només les lleis matemàtiques podran ser treballades en el recurs. 3) El recurs ha de facilitar als alumnes el llistat de lleis que ha de dominar en una assignatura qualsevol. 4) El recurs ha de facilitar als alumnes material de treball per a una llei d’un llistat. 5) Només les lleis que surtin en un llistat poden contenir materials de treball. 6) Tots els alumnes de la FCEE de la UdG poden entrar al recurs. 7) Tots els professors de la FCEE de la UdG poden crear o modificar qualsevol arxiu o prova d’avaluació. 8) Només els professors de la FCEE de la UdG poden crear o modificar arxius o proves d’avaluació. 9) El recurs d’avaluació ha de proporcionar a un alumne informació immediata sobre el coneixement actual de les lleis d’un llistat. 10) Els enunciats dels exercicis de lleis dels materials de treball sempre han d’anar acompanyats amb la solució corresponent. 11) Tot enunciat d’un exercici de llei ha de tenir associat un exemple completament resolt

LiDAR data filtering with GRASS GIS for the determination of digital terrain models

In the last years, the use of every type of Digital Elevation Models has iimproved. The LiDAR (Light Detection and Ranging) technology, based on the scansion of the territory b airborne laser telemeters, allows the construction of digital Surface Models (DSM), in an easy way by a simple data interpolation

Sistema de geocodificación libre: Callejero Digital de Andalucía

La Junta de Andalucía dentro de su proyecto de Sistema de Información Geográfico Corporativo (SIGC), ha desarrollado un módulo de Callejero Digital de Andalucía (CDA) que recoge la información de direcciones de los 770 municipios de Andalucía. El Callejero Digital de Andalucía se articula en torno a los datos espaciales, una aplicación web de consulta, un motor de búsqueda (geocoder) y una serie de servicios OGC y SOAP. Todas los desarrollos están basados en software libre y pretenden convertirse en la herramienta corporativa para establecer la geoinformación asociada a registros y direcciones postales de la Junta de Andalucía. (...)

Resum del "VII Workshop REBIUN sobre proyectos digitales: la estrategia digital: ¿hacia donde?"

Resum del "VII Workshop REBIUN sobre proyectos digitales". Ens dóna el marc tecnològic (Driver) i legal (Cedro, Rebiun), parla del Open Access i exposa alguns projectes digitals de biblioteques

Practicum 2.0. El diario digital compartido sustituye a la memoria tradicional

La utilización de la Web 2.0 surge como una oportunidad para potenciar cada uno de los aspectos relacionados al acto educativo y por tanto es una herramienta enriquecedora de los procesos de enseñanza y de aprendizaje. Dentro del campo de la evaluación, la colaboración entre pares permite un aprendizaje más significativo, cómo lo explican algunas teorías por ejemplo, la del aprendizaje social. A través de las redes sociales y el conectivismo propio de la Web 2.0, se enriquece cada vez más el proceso evaluativo, ya que no sólo participan pares si no también otras personas que forman parte del contexto, puntualmente en cada momento de la formación. El diario digital compartido a través de la Web 2.0 puede ser una alternativa para potenciar el practicum de los estudiantes de magisterio e incluso de cualquier otro grado que requiera el desarrollo de memorias que reflejen una práctica profesionalizadora. Dentro del ámbito del Espacio Europeo de Educación Superior, la evaluación por competencias es un factor inminente y determinante para el logro de ciertas habilidades propias de las profesiones en las que se están formando los estudiantes de todas las carreras, es por esto necesario replantearse el desarrollo de estrategias así como de herramientas que permitan la integración de las nuevas tendencias educativas y los avances tecnológicos, sin olvidar los principios fundamentales de la formación de profesionales eficientes dentro del campo laboral. Se plantea por tanto, a través de diversos instrumentos desarrollados en la Web 2.0 contribuir en los procesos evaluativos de estudiantes de magisterio que cursan el practicum, potenciando procesos reflexivos y permitiendo la generación de conocimientos a través de la autoevaluación y la colaboración de todos los individuos implicados en el proceso, incluso, facilitan al profesor el llevar a cabo una evaluación continua más práctica y objetiva

Differential epipolar constraint in mobile robot egomotion estimation

The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

Augmented state Kalman filtering for AUV navigation

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position

Detection of matchings in a sequence of underwater images through texture analysis

This paper presents an approach to ameliorate the reliability of the correspondence points relating two consecutive images of a sequence. The images are especially difficult to handle, since they have been acquired by a camera looking at the sea floor while carried by an underwater robot. Underwater images are usually difficult to process due to light absorption, changing image radiance and lack of well-defined features. A new approach based on gray-level region matching and selective texture analysis significantly improves the matching reliability

A Motion compensated filtering approach to remove sunlight flicker in shallow water images

A common problem in video surveys in very shallow waters is the presence of strong light fluctuations, due to sun light refraction. Refracted sunlight casts fast moving patterns, which can significantly degrade the quality of the acquired data. Motivated by the growing need to improve the quality of shallow water imagery, we propose a method to remove sunlight patterns in video sequences. The method exploits the fact that video sequences allow several observations of the same area of the sea floor, over time. It is based on computing the image difference between a given reference frame and the temporal median of a registered set of neighboring images. A key observation is that this difference will have two components with separable spectral content. One is related to the illumination field (lower spatial frequencies) and the other to the registration error (higher frequencies). The illumination field, recovered by lowpass filtering, is used to correct the reference image. In addition to removing the sunflickering patterns, an important advantage of the approach is the ability to preserve the sharpness in corrected image, even in the presence of registration inaccuracies. The effectiveness of the method is illustrated in image sets acquired under strong camera motion containing non-rigid benthic structures. The results testify the good performance and generality of the approach

Microcalcification evaluation in computer assisted diagnosis for digital mammography

In order to develop applications for z;isual interpretation of medical images, the early detection and evaluation of microcalcifications in digital mammograms is verg important since their presence is often associated with a high incidence of breast cancers. Accurate classification into benign and malignant groups would help improve diagnostic sensitivity as well as reduce the number of unnecessa y biopsies. The challenge here is the selection of the useful features to distinguish benign from malignant micro calcifications. Our purpose in this work is to analyse a microcalcification evaluation method based on a set of shapebased features extracted from the digitised mammography. The segmentation of the microcalcifications is performed using a fixed-tolerance region growing method to extract boundaries of calcifications with manually selected seed pixels. Taking into account that shapes and sizes of clustered microcalcifications have been associated with a high risk of carcinoma based on digerent subjective measures, such as whether or not the calcifications are irregular, linear, vermiform, branched, rounded or ring like, our efforts were addressed to obtain a feature set related to the shape. The identification of the pammeters concerning the malignant character of the microcalcifications was performed on a set of 146 mammograms with their real diagnosis known in advance from biopsies. This allowed identifying the following shape-based parameters as the relevant ones: Number of clusters, Number of holes, Area, Feret elongation, Roughness, and Elongation. Further experiments on a set of 70 new mammogmms showed that the performance of the classification scheme is close to the mean performance of three expert radiologists, which allows to consider the proposed method for assisting the diagnosis and encourages to continue the investigation in the sense of adding new features not only related to the shape

Planar homography: accuracy analysis and applications

Projective homography sits at the heart of many problems in image registration. In addition to many methods for estimating the homography parameters (R.I. Hartley and A. Zisserman, 2000), analytical expressions to assess the accuracy of the transformation parameters have been proposed (A. Criminisi et al., 1999). We show that these expressions provide less accurate bounds than those based on the earlier results of Weng et al. (1989). The discrepancy becomes more critical in applications involving the integration of frame-to-frame homographies and their uncertainties, as in the reconstruction of terrain mosaics and the camera trajectory from flyover imagery. We demonstrate these issues through selected examples

Accuracy estimation of a new omnidirectional 3D vision sensor

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc