Um método para determinação da profundidade combinando visão estéreo e autocalibração para aplicação em robótica móvel

This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment

Construção e validação de um receptor GPS para uso espacial

Global Positioning System, or simply GPS, it is a radionavigation system developed by United States for military applications, but it becames very useful for civilian using. In the last decades Brazil has developed sounding rockets and today many projects to build micro and nanosatellites has appeared. This kind of vehicles named spacecrafts or high dynamic vehicles, can use GPS for its autonome location and trajectories controls. Despite of a huge number of GPS receivers available for civilian applications, they cannot used in high dynamic vehicles due environmental issues (vibrations, temperatures, etc.) or imposed dynamic working limits. Only a few nations have the technology to build GPS receivers for spacecrafts or high dynamic vehicles is available and they imposes rules who difficult the access to this receivers. This project intends to build a GPS receiver, to install them in a payload of a sounding rocket and data collecting to verify its correct operation when at the flight conditions. The inner software to this receiver was available in source code and it was tested in a software development platform named GPS Architect. Many organizations cooperated to support this project: AEB, UFRN, IAE, INPE e CLBI. After many phases: defining working conditions, choice and searching electronic, the making of the printed boards, assembling and assembling tests; the receiver was installed in a VS30 sounding rocket launched at Centro de Lançamento da Barreira do Inferno in Natal/RN. Despite of the fact the locations data from the receiver were collected only the first 70 seconds of flight, this data confirms the correct operation of the receiver by the comparison between its positioning data and the the trajectory data from CLBI s tracking radar named ADOUR

Localização de robôs móveis autônomos utilizando fusão sensorial de odometria e visão monocular

The development and refinement of techniques that make simultaneous localization and mapping (SLAM) for an autonomous mobile robot and the building of local 3-D maps from a sequence of images, is widely studied in scientific circles. This work presents a monocular visual SLAM technique based on extended Kalman filter, which uses features found in a sequence of images using the SURF descriptor (Speeded Up Robust Features) and determines which features can be used as marks by a technique based on delayed initialization from 3-D straight lines. For this, only the coordinates of the features found in the image and the intrinsic and extrinsic camera parameters are avaliable. Its possible to determine the position of the marks only on the availability of information of depth. Tests have shown that during the route, the mobile robot detects the presence of characteristics in the images and through a proposed technique for delayed initialization of marks, adds new marks to the state vector of the extended Kalman filter (EKF), after estimating the depth of features. With the estimated position of the marks, it was possible to estimate the updated position of the robot at each step, obtaining good results that demonstrate the effectiveness of monocular visual SLAM system proposed in this paper

Implementação de rotinas computacionais básicas para cabeça estéreo robótica

O Laboratório de Sistemas Inteligentes do Departamento de Engenharia de Computação e Automação da Universidade Federal do Rio Grande do Norte - UFRN -tem como um de seus projetos de pesquisa -Robosense -a construção de uma plataforma robótica móvel. Trata-se de um robô provido de duas rodas, acionadas de forma diferencial, dois braços, com 5 graus de liberdade cada, um cinturão de sonares e uma cabeça estéreo. Como objetivo principal do projeto Robosense, o robô deverá ser capaz de navegar por todo o prédio do LECA, desviando de obstáculos. O sistema de navegação do robô, responsável pela geração e seguimento de rotas, atuará em malha fechada. Ou seja, sensores serão utilizados pelo sistema com o intuito de informar ao robô a sua pose atual, incluindo localização e a configuração de seus recursos. Encoders (sensores especiais de rotação) foram instalados nas rodas, bem como em todos os motores dos dois braços da cabeça estéreo. Sensores de fim-de-curso foram instalados em todas as juntas da cabeça estéreo para que seja possível sua pré-calibração. Sonares e câmeras também farão parte do grupo de sensores utilizados no projeto. O robô contará com uma plataforma composta por, a princípio, dois computadores ligados a um barramento único para uma operação em tempo real, em paralelo. Um deles será responsável pela parte de controle dos braços e de sua navegação, tomando como base as informações recebidas dos sensores das rodas e dos próximos objetivos do robô. O outro computador processará todas as informações referentes à cabeça estéreo do robô, como as imagens recebidas das câmeras. A utilização de técnicas de imageamento estéreo torna-se necessária, pois a informação de uma única imagem não determina unicamente a posição de um dado ponto correspondente no mundo. Podemos então, através da utilização de duas ou mais câmeras, recuperar a informação de profundidade da cena. A cabeça estéreo proposta nada mais é que um artefato físico que deve dar suporte a duas câmeras de vídeo, movimentá-las seguindo requisições de programas (softwares) apropriados e ser capaz de fornecer sua pose atual. Fatores como velocidade angular de movimentação das câmeras, precisão espacial e acurácia são determinantes para o eficiente resultado dos algoritmos que nesses valores se baseiam

Desenvolvimento e testes de software de um receptor de GPS para uso espacial

Spacecraft move with high speeds and suffer abrupt changes in acceleration. So, an onboard GPS receiver could calculate navigation solutions if the Doppler effect is taken into consideration during the satellite signals acquisition and tracking. Thus, for the receiver subject to such dynamic cope these shifts in the frequency signal, resulting from this effect, it is imperative to adjust its acquisition bandwidth and increase its tracking loop to a higher order. This paper presents the changes in the GPS Orion s software, an open architecture receiver produced by GEC Plessey Semiconductors, nowadays Zarlink, in order to make it able to generate navigation fix for vehicle under high dynamics, especially Low Earth Orbit satellites. GPS Architect development system, sold by the same company, supported the modifications. Furthermore, it presents GPS Monitor Aerospace s characteristics, a computational tool developed for monitoring navigation fix calculated by the GPS receiver, through graphics. Although it was not possible to simulate the software modifications implemented in the receiver in high dynamics, it was observed that the receiver worked in stationary tests, verified also in the new interface. This work also presents the results of GPS Receiver for Aerospace Applications experiment, achieved with the receiver s participation in a suborbital mission, Operation Maracati 2, in December 2010, using a digital second order carrier tracking loop. Despite an incident moments before the launch have hindered the effective navigation of the receiver, it was observed that the experiment worked properly, acquiring new satellites and tracking them during the VSB-30 rocket flight.

Acelerando algoritmos de baixo nível em visão robótica com hardware reconfigurável

A challenge that remains in the robotics field is how to make a robot to react in real time to visual stimulus. Traditional computer vision algorithms used to overcome this problem are still very expensive taking too long when using common computer processors. Very simple algorithms like image filtering or even mathematical morphology operations may take too long. Researchers have implemented image processing algorithms in high parallelism hardware devices in order to cut down the time spent in the algorithms processing, with good results. By using hardware implemented image processing techniques and a platform oriented system that uses the Nios II Processor we propose an approach that uses the hardware processing and event based programming to simplify the vision based systems while at the same time accelerating some parts of the used algorithms

Desenvolvimento de solução para SLAM utilizando visão de teto

This work intends to show a new and few explored SLAM approach inside the simultaneous localization and mapping problem (SLAM). The purpose is to put a mobile robot to work in an indoor environment. The robot should map the environment and localize itself in the map. The robot used in the tests has an upward camera and encoders on the wheels. The landmarks in this built map are light splotches on the images of the camera caused by luminaries on the ceil. This work develops a solution based on Extended Kalman Filter to the SLAM problem using a developed observation model. Several developed tests and softwares to accomplish the SLAM experiments are shown in details

Desenvolvimento de um Sistema de Visão Global para uma Frota de Mini-Robôs Móveis

Navigation based on visual feedback for robots, working in a closed environment, can be obtained settling a camera in each robot (local vision system). However, this solution requests a camera and capacity of local processing for each robot. When possible, a global vision system is a cheapest solution for this problem. In this case, one or a little amount of cameras, covering all the workspace, can be shared by the entire team of robots, saving the cost of a great amount of cameras and the associated processing hardware needed in a local vision system. This work presents the implementation and experimental results of a global vision system for mobile mini-robots, using robot soccer as test platform. The proposed vision system consists of a camera, a frame grabber and a computer (PC) for image processing. The PC is responsible for the team motion control, based on the visual feedback, sending commands to the robots through a radio link. In order for the system to be able to unequivocally recognize each robot, each one has a label on its top, consisting of two colored circles. Image processing algorithms were developed for the eficient computation, in real time, of all objects position (robot and ball) and orientation (robot). A great problem found was to label the color, in real time, of each colored point of the image, in time-varying illumination conditions. To overcome this problem, an automatic camera calibration, based on clustering K-means algorithm, was implemented. This method guarantees that similar pixels will be clustered around a unique color class. The obtained experimental results shown that the position and orientation of each robot can be obtained with a precision of few millimeters. The updating of the position and orientation was attained in real time, analyzing 30 frames per second

Estimativa da evapotranspiração espacial em uma região semiárida utilizando sensoriamento remoto

With the need to deploy management and monitoring systems of natural resources in areas susceptible to environmental degradation, as is the case of semiarid regions, several works have been developed in order to find effective models and technically and economically viable. Therefore, this study aimed to estimate the daily actual evapotranspiration (ETr) through the application of the Surface Energy Balance Algorithm for Land (SEBAL), from remote sensing products, in a semiarid region, Seridó of the Rio Grande do Norte, and do the validation of these estimates using ETr values obtained by the Penman-Monteith (standard method of the Food and Agriculture Organization-FAO). The SEBAL is based on energy balance method, which allows obtaining the vertical latent heat flux (LE) with orbital images and, consequently, of the evapotranspiration through the difference of flows, also vertical, of heat in the soil (G), sensitive heat (H) and radiation balance (Rn). The study area includes the surrounding areas of the Dourado reservoir, located in the Currais Novos/RN city. For the implementation of the algorithm were used five images TM/Landsat-5. The work was divided in three chapters in order to facilitate a better discussion of each part of the SEBAL processing, distributed as follows: first chapter addressing the spatio-temporal variability of the biophysical variables; second chapter dealing with spatio-temporal distribution of instant and daily radiation balance; and the third chapter discussing the heart of the work, the daily actual evapotranspiration estimation and the validation than to the study area

Caracterização espacial de reservatórios do semiárido em função da qualidade da água através do uso de componentes principais

A região semiárida sofre escassez hídrica. A fim de regularizar a disponibilidade hídrica nos períodos de estiagem, são construídas barragens. No entanto, a qualidade da água armazenada tem sofrido os efeitos do descarte irregular de resíduos no meio ambiente e das atividades antrópicas exercidas nas bacias hidrográficas. A degradação hídrica pode ser constatada a partir do monitoramento dos parâmetros de qualidade da água. Estes dados podem ser analisados através de métodos estatísticos tais como a Análise de Componentes Principais e a análise de agrupamento, que seleciona indivíduos com características semelhantes. O objetivo deste trabalho é realizar oagrupamento dos reservatórios do Rio Grande do Norte, com base nos parâmetros de qualidade da água, para a identificação de grupos homogêneos de reservatórios em termos de fontes de poluição. Serão objeto desse estudo as bacias Piranhas-Açu, Apodi-Mossoró, Trairí, Potengi e Ceará-Mirim. Os parâmetros mercúrio, chumbo, cromo, fósforo total, nitrogênio total e zinco contribuíram para a formação da primeira componente principal, que pode indicar poluição por metais pesados; sólidos totais, DBO, OD e cobre, para a segunda componente, que pode ser indicativo de poluição por matéria orgânica e atividades antrópicas; e clorofila a , cádmio e níquel, para a terceira componente, que pode indicar eutrofização e poluição por metais pesados. De posse das componentes principais se procedeu o agrupamento dos reservatórios, formando-se quatro grupos distintos. Os grupos 1 e 2 são constituídos por reservatórios da Bacia Piranhas-Açu, que apresentou maiores valores de metais pesados. O grupo 3, constituído por reservatórios das bacias Ceará-Mirim, Potengi e Trairí, apresentou maiores valores de DBO e sólidostotais e o grupo 4 é formado por reservatórios da Bacia Apodi-Mossoró. Nas Bacias do Trarí e Piranhas-Açu deve ser coibido o lançamento desordenado de efluentes e fontes de poluição difusas, e implantado um sistema de coleta de esgoto para minimizar a poluição por matéria orgânica

Geometria e arirmética numa visão multicultural: uma experiência pedagógica

This paper aims to build a notebook of activities that can help the teacher of elementary school mathematics. Topics covered are arithmetic and geometry and the activities proposed here were developed aiming print them a multicultural character. We take as a base line developed by Claudia Zaslavsky multiculturalism and reflected in his books "Games and activities worldwide" and "More games and activities worldwide." We structure our work around four themes: the symbol of the Olympic Games, the pyramids of Egypt, the Russian abacus abacus and Chinese. The first two themes allow you to explore basic concepts of geometry while the latter two themes allow us to explore numerical notation and arithmetic operations

Uma visão axiológica do riso na charge

O objetivo deste trabalho é investigar a construção axiológica do riso na charge. Nesse gênero discursivo abordaremos a construção do riso, partindo da hipótese de que o riso constitutivo das relações dialógicas na charge é construído axiologicamente, ou seja, é um riso que presentifica enunciativamente e é por meio dele que chegamos ao axiológico, aos posicionamentos, ao ideológico. Para tanto, nos deteremos na investigação dos elementos verbo-visuais presentes na forma composicional como também do projeto de dizer constituidor/constituinte da forma arquitetônica. Tomamos como fundamento teórico-metodológico as formulações sobre linguagem advindas do Círculo de Bakhtin (2010, 2011, 1998) e outros tais como Faraco (2009), Brait (2009, 2006), Ponzio (2009) que comungam dessa concepção de linguagem. Especificamente sobre o gênero discursivo charge, nos reportamos a Ramos (2009, 2010, 2011) e Vergueiro (2009, 2010). Quanto ao riso, apoiamo-nos em autores como Possenti (2010), Minois (2003), Propp (1992), Bergson (2001), Skinner (2002), no entanto, tendo por principal referência a obra de Bakhtin sobre cosmovisão carnavalesca e riso (1997, 2010). Este trabalho se insere na área da Linguística Aplicada de perspectiva sócio-histórica e tem como tema linguagem, axiologia e riso

Cidade e identidade: discursividades imagético-espaciais e a construção da identidade espacial do Recife, Veneza Brasileira

This treatise analyzes the identitary setting called Veneza Brasileira (Brazilian Venice) which is subscribed to the discoursive materialization related to the imagetic setting (literary and mediatic) produced about the city of Recife. The main investigation of this research is to examine the way how the identitary setting called Veneza Brasileira has been constructed in the imagetic setting practices about the city of Recife in the nineteenth and twentieth centuries. This study is subscribed to the Applied Linguistics and considers the theoretical perspectives that come from the Cultural Studies which investigation basis is focused on authors such as: Hall (2006); Bauman (1999; 2001;2005); Silva (2000); and Castells (2000) related to the discussion over identity, as well as the discussion over Urban Studies presented in Santos (1997; 1999); Ferrara (1998); and Pesavento (2001). Moreover it is also based on the theoretical basis found in Foucault (2004; 2006; 2007). Furthermore theoretical-methodological approaches rely on the French Discourse Analysis (DA) found in Orlandi (2001); Gregolin (2007); and Courtine (2006). On being so, this treatise aims to: analyze the meaning effects over the production of the identitary setting, especially the so-called Veneza Brasileira, in the imagetic setting discoursive practices (Poems, Post Cards and Touristic Guides) which are produced over the urban setting of the city of Recife. This research is characterized by being qualitative and interpretative and the theoretical analytical approaches contributed to the reading of both poetic and iconic images presented in the excerpts of poems from the nineteenth century and early twentieth century in: Manuel Bandeira s poems, Carlos Pena Filho s poems, and João Cabral de Melo Neto s poems which were produced in the early and late twentieth century. Moreover, this study observed some photographic images in Post Cards and Touristic Guides related to the visiting of historical sites in Recife. One could conclude that the imagetic setting discourse about Recife produced different identitary effects over the so-called Veneza Brasileira along these three centuries: in the nineteenth century, the poetry constructed the utopia city along with the meaning effect of identitary unit; as for the twentieth century, one observed an oscillation between a utopia/heteroutopia city meaning effect of both united and fragmented identity, the latter one is prevalent. As for the twenty-first century, the media reconstructed over again the utopia city, and consequently, produced meaning effect of identitary unit. These same meaning effects of identity either corroborate or contradict to/with the concepts of the postmodernism over identity along these three centuries. In other words, considering the imagetic setting, this oscillation occurs in the proportion of one finds an (ex) inclusion of social agents that construct these same identities.

Interpretação e análise do problema da indução sob uma visão fundamentada em teorias de conjuntos e teoria de probabilidades

The following work is to interpret and analyze the problem of induction under a vision founded on set theory and probability theory as a basis for solution of its negative philosophical implications related to the systems of inductive logic in general. Due to the importance of the problem and the relatively recent developments in these fields of knowledge (early 20th century), as well as the visible relations between them and the process of inductive inference, it has been opened a field of relatively unexplored and promising possibilities. The key point of the study consists in modeling the information acquisition process using concepts of set theory, followed by a treatment using probability theory. Throughout the study it was identified as a major obstacle to the probabilistic justification, both: the problem of defining the concept of probability and that of rationality, as well as the subtle connection between the two. This finding called for a greater care in choosing the criterion of rationality to be considered in order to facilitate the treatment of the problem through such specific situations, but without losing their original characteristics so that the conclusions can be extended to classic cases such as the question about the continuity of the sunrise

Morfologia em alta resolução espacial de estrelas de tipo Mira e R Corenae Borealis

Mira and R Coronae Borealis (R CrB) variable stars are evolved objects surrounded by circumstellar envelopes (CSE) composed of the ejected stellar material. We present a detailed high-spatial resolution morfological study of the CSE of three stars: IRC+10216, the closest and more studied Carbon-Rich Mira; o Ceti, the prototype of the Mira class; and RY Sagitarii (RY Sgr), the brightest R CrB variable of the south hemisphere. JHKL near-infrared adaptive optics images of IRC+10216 with high dynamic range and Vband images with high angular resolution and high depth, collected with the VLT/NACO and VLT/FORS1 instruments, were analyzed. NACO images of o Ceti were also analyzed. Interferometric observations of RY Sgr collected with the VLTI/MIDI instrument allowed us to explore its CSE innermost regions (»20 40 mas). The CSE of IRC+10216 exhibit, in near-infrared, clumps with more complex relative displacements than proposed in previous studies. In V-band, the majority of the non-concentric shells, located in the outer CSE layers, seem to be composed of thinner elongated shells. In a global view, the morphological connection between the shells and the bipolar core of the nebulae, located in the outer layers, together with the clumps, located in the innermost regions, has a difficult interpretation. In the CSE of o Ceti, preliminar results would be indicating the presence of possible clumps. In the innermost regions (.110 UA) of the CSE of RY Sgr, two clouds were detected in different epochs, embedded in a variable gaussian envelope. Based on a rigorous verification, the first cloud was located at »100 R¤ (or »30 AU) from the centre, toward the east-north-east direction (modulo 180o) and the second one was almost at a perpendicular direction, having aproximately 2£ the distance of the first cloud. This study introduces new constraints to the mass-loss history of these kind of variables and to the morphology of their innermost CSE regions