Recovering Euclidean deformable models from stereo-motion

In this paper we present a novel structure from motion (SfM) approach able to infer 3D deformable models from uncalibrated stereo images. Using a stereo setup dramatically improves the 3D model estimation when the observed 3D shape is mostly deforming without undergoing strong rigid motion. Our approach first calibrates the stereo system automatically and then computes a single metric rigid structure for each frame. Afterwards, these 3D shapes are aligned to a reference view using a RANSAC method in order to compute the mean shape of the object and to select the subset of points on the object which have remained rigid throughout the sequence without deforming. The selected rigid points are then used to compute frame-wise shape registration and to extract the motion parameters robustly from frame to frame. Finally, all this information is used in a global optimization stage with bundle adjustment which allows to refine the frame-wise initial solution and also to recover the non-rigid 3D model. We show results on synthetic and real data that prove the performance of the proposed method even when there is no rigid motion in the original sequence

Monocular-based 3-D seafloor reconstruction and ortho-mosaicing by piecewise planar representation

Photo-mosaicing techniques have become popular for seafloor mapping in various marine science applications. However, the common methods cannot accurately map regions with high relief and topographical variations. Ortho-mosaicing borrowed from photogrammetry is an alternative technique that enables taking into account the 3-D shape of the terrain. A serious bottleneck is the volume of elevation information that needs to be estimated from the video data, fused, and processed for the generation of a composite ortho-photo that covers a relatively large seafloor area. We present a framework that combines the advantages of dense depth-map and 3-D feature estimation techniques based on visual motion cues. The main goal is to identify and reconstruct certain key terrain feature points that adequately represent the surface with minimal complexity in the form of piecewise planar patches. The proposed implementation utilizes local depth maps for feature selection, while tracking over several views enables 3-D reconstruction by bundle adjustment. Experimental results with synthetic and real data validate the effectiveness of the proposed approach

Shape complexity based on mutual information

Shape complexity has recently received attention from different fields, such as computer vision and psychology. In this paper, integral geometry and information theory tools are applied to quantify the shape complexity from two different perspectives: from the inside of the object, we evaluate its degree of structure or correlation between its surfaces (inner complexity), and from the outside, we compute its degree of interaction with the circumscribing sphere (outer complexity). Our shape complexity measures are based on the following two facts: uniformly distributed global lines crossing an object define a continuous information channel and the continuous mutual information of this channel is independent of the object discretisation and invariant to translations, rotations, and changes of scale. The measures introduced in this paper can be potentially used as shape descriptors for object recognition, image retrieval, object localisation, tumour analysis, and protein docking, among others

La mujer y la geografia universitaria española

This article lies within the sphere of studies initiated recently in various social sciences and which aim to introduce women's problems as an element of analysis, or in other words, the gender perspective. In the field of geography, the earliest contributions of this nature were made in English-speaking countries. It is only in the 1980s that similar contributions begin to appear in Spanish geography, albeit sporadically . In the first part of this article, an analysis is made of the presence of women geographers in Spanish universities, based on a questionnaire submitted to twenty-six departments of geography. The questionnaires provide information on the age, sex and marital status of women staff, and other relevant facts. It becomes evident that women lecturers are in the minority in Spanish university Geography Departments, especially in the top posts, although the percentage compares favourably with English-speaking countries. The second part of the article consists of a study of the written contributions of women geographers through the analysis of the various geographical magazines published by geography departments and other related bodies. The author reaches the conclusion that the percentage of articles written by women geographers is even lower than the corresponding percentage of staff members. Especially noteworthy is the very limited number of articles in the fields of physical geography and geographical theory, in contrast to a certain tendency to publish studies on, for example, population or urban topics with a highly restricted territorial scope

Efficient topology estimation for large scale optical mapping

Large scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that lowcost Remotely operated vehicles (ROVs) usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predetermined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This thesis presents a set of consistent methods aimed at creating large area image mosaics from optical data obtained during surveys with low-cost underwater vehicles. First, a global alignment method developed within a Feature-based image mosaicing (FIM) framework, where nonlinear minimisation is substituted by two linear steps, is discussed. Then, a simple four-point mosaic rectifying method is proposed to reduce distortions that might occur due to lens distortions, error accumulation and the difficulties of optical imaging in an underwater medium. The topology estimation problem is addressed by means of an augmented state and extended Kalman filter combined framework, aimed at minimising the total number of matching attempts and simultaneously obtaining the best possible trajectory. Potential image pairs are predicted by taking into account the uncertainty in the trajectory. The contribution of matching an image pair is investigated using information theory principles. Lastly, a different solution to the topology estimation problem is proposed in a bundle adjustment framework. Innovative aspects include the use of fast image similarity criterion combined with a Minimum spanning tree (MST) solution, to obtain a tentative topology. This topology is improved by attempting image matching with the pairs for which there is the most overlap evidence. Unlike previous approaches for large-area mosaicing, our framework is able to deal naturally with cases where time-consecutive images cannot be matched successfully, such as completely unordered sets. Finally, the efficiency of the proposed methods is discussed and a comparison made with other state-of-the-art approaches, using a series of challenging datasets in underwater scenarios

Bioinspired iron and manganese catalysts for the effective and selective oxidation of alkanes and alkenes

La gran eficiència, selectivitat i les condicions suaus exhibides per les reaccions que tenen lloc al centre actiu de les metal·looxigenases són la font d'inspiració per la present dissertació. Amb l'objectiu de dissenyar catalitzadors d'oxidació eficients hem fet ús de dues estratègies: la primera consisteix en el disseny de complexos amb baix pes molecular inspirats en aspectes estructurals de la primera esfera de coordinació del centre metàl·lic d'enzims de ferro i de manganès. Aquests complexos s'han estudiat com a catalitzadors en l'oxidació selectiva d'alcans i d'alquens fent servir oxidants "verds" com ara l'H2O2. La segona estratègia està basada en l'ús de la química supramolecular per tal de desenvolupar estructures moleculars auto-acoblades amb la forma i les propietats químiques desitjades. Concretament, la construcció de nanocontenidors amb un catalitzador d'oxidació incrustat a la seva estructura ens permetria dur a terme reaccions més selectives, tal com passa en les reaccions catalitzades per enzims.

Preparació de nous catalitzadors basats en complexos de Ru i Pd, i el seu ancorament a polímers conductors per a la fabricació de materials multifuncionals

Aquesta tesi doctoral es basa en l'estudi de l'aplicació en catàlisi de dos tipus de complexos organometallics basats en dos metalls de tansició diferents. Concretament s'estudien complexos macrocíclics triolefínics de pal·ladi(0) com a catalitzadors per a les reaccions de Suzuki i Heck, i oxocomplexos carbènics de ruteni(II) com a espècies catalítiques en oxidacions de compostos orgànics. En el cas dels complexos de ruteni s'ha vist que en augmentar el nombre de lligands carbènics en l'esfera de coordinació del metall s'aconseguiex afavorir els processos bielectrònics, obtenint-se catalitzadors més actius i més selectius. En un segon pas, els dos tipus de catalitzadors homogenis s'han immobilitzat sobre la superfície d'un elèctrode mitjançant l'estratègia d'electropolimerització del grup pirrol. Els elèctodes modificats resultants s'han aplicat com a catalitzadors heterogenis. En ambdós casos els catalitzadors heterogenis han mostrat una activitat equiparable o superior a la del sistema homogeni corresponent. Finalment, s'ha assajat una reacció de catàlisi tàndem en què els dos catalitzadors (immobilitzats sobre el mateix elèctrode) actuen en cooperació. S'ha aconseguit realitzar dues transformacions consecutives d'un substat orgànic.

Régimen jurídico de la seguridad alimentaria. De la policía administrativa a la gestión de riesgos

La policia administrativa, una de les més clàssiques formes d'intervenció pública en l'esfera jurídica dels particulars, ha vingut caracteritzant fins a temps recents l'acció administrativa en el sector dels aliments. No obstant, les limitacions que sembla presentar aquesta forma d'intervenció davant el riscos que avui emergeixen de tal sector, i en particular de l'industria alimentària, han propiciat la construcció d´un nou i, fins a cert punt, complex sistema, caracteritzat a grans trets per la intersecció entre agents públics i privats: els sistema d´anàlisis i gestió de riscos.