Registro global de nuvens de pontos RGB-D em tempo real usando fluxo óptico e marcadores

Registration of point clouds captured by depth sensors is an important task in 3D reconstruction applications based on computer vision. In many applications with strict performance requirements, the registration should be executed not only with precision, but also in the same frequency as data is acquired by the sensor. This thesis proposes theuse of the pyramidal sparse optical flow algorithm to incrementally register point clouds captured by RGB-D sensors (e.g. Microsoft Kinect) in real time. The accumulated errorinherent to the process is posteriorly minimized by utilizing a marker and pose graph optimization. Experimental results gathered by processing several RGB-D datasets validatethe system proposed by this thesis in visual odometry and simultaneous localization and mapping (SLAM) applications.

O city marketing em Natal/RN e a construção da imagem da cidade

The growing importance of tourism in overall economic activity worldwide has favored the intensification of competition among cities that seek to create environments attractive to tourists and potential investors. It has been common practice to import characteristics of the business environment in the public management of cities. The city marketing is a key tool used by public leaders to promote a linkage between the tourism image and urban image and involves, in addition to promoting the image of the city, the planning of interventions in urban space, trying to formulate a positive image of the city able to facilitate the deployment of capital. This research seeks to understand the nature of city marketing as part of contemporary urban management and analyzes how is its application in decisions concerning the promotion of tourism in Natal/RN. The approach of this research is qualitative, exploratory and descriptive, in which respondents were the main leaders of two of the official tourism site, the Empresa Potiguar de Promoção Turística and the Secretaria Municipal de Turismo e Desenvolvimento Econômico. It was found that there is a strong articulation of public power with private enterprise in the design and conduct of the actions of urban marketing, that from the survey data show that the behavior of target markets provide guidelines for taking strategic decisions relating to tourism. Sun and sea are some key elements explored to form the image of Natal and to authorize the sale of the city as a tropical paradise. However, there is an increase in the diversification of tourism products, seeking to increase flow to the segments of ecotourism, adventure, business and culture. It s also growing the use of local culture as a tourism product, however, the cultural representation focuses on superficial values and does not bring to light the social and historical richness that the city has. Public authorities use the city marketing strategies as a means able to maximize the attractiveness of Natal urban space to investors, business groups and tourists. It can be observed that urban managers seek solutions that can continuously increase the tours, which often manifests in interventions that focus the tourist areas of the city, in oposition of those who do not contribute to a positive reading of the city, which ultimately generate the worsening of spacial and social inequalities

Compressão auto-adaptativa de imagens coloridas

Image compress consists in represent by small amount of data, without loss a visual quality. Data compression is important when large images are used, for example satellite image. Full color digital images typically use 24 bits to specify the color of each pixel of the Images with 8 bits for each of the primary components, red, green and blue (RGB). Compress an image with three or more bands (multispectral) is fundamental to reduce the transmission time, process time and record time. Because many applications need images, that compression image data is important: medical image, satellite image, sensor etc. In this work a new compression color images method is proposed. This method is based in measure of information of each band. This technique is called by Self-Adaptive Compression (S.A.C.) and each band of image is compressed with a different threshold, for preserve information with better result. SAC do a large compression in large redundancy bands, that is, lower information and soft compression to bands with bigger amount of information. Two image transforms are used in this technique: Discrete Cosine Transform (DCT) and Principal Component Analysis (PCA). Primary step is convert data to new bands without relationship, with PCA. Later Apply DCT in each band. Data Loss is doing when a threshold discarding any coefficients. This threshold is calculated with two elements: PCA result and a parameter user. Parameters user define a compression tax. The system produce three different thresholds, one to each band of image, that is proportional of amount information. For image reconstruction is realized DCT and PCA inverse. SAC was compared with JPEG (Joint Photographic Experts Group) standard and YIQ compression and better results are obtain, in MSE (Mean Square Root). Tests shown that SAC has better quality in hard compressions. With two advantages: (a) like is adaptive is sensible to image type, that is, presents good results to divers images kinds (synthetic, landscapes, people etc., and, (b) it need only one parameters user, that is, just letter human intervention is required

Imagem sócio-ambiental do bairro de Cidade Nova, Natal-RN, por seus moradores

This dissertation investigates how the neighborhood of Cidade Nova, located in the western side of the of Natal, is perceived by its residents in order to understand its socio-environmental image, intending to contribute both to define strategies of urban intervention and environmental education in the area and to consolidate a methodology that addresses this kind of problem. The completion of field research used a multimethod strategy to study the socio-environmental image of urban areas. It consists of: (a) review of local history from literature research, data recorded by the City Hall, news published on the city's newspapers and interviews with former inhabitants, (b) application of questionnaires to inhabitants including emotions, visual perception, memory and local social activities, (c) development of a drawing of the district, (d) conducting focus groups with inhabitants, using as a starting point the results obtained in the previous activities. In steps "b" and "c" attended 32 neighborhood residents, 16 of them being Community Health Workers and other 16 persons appointed by them. In step "d" 10 individuals took part, divided into two groups. The result of the research showed a picture of residents coincident with the image conveyed by the media in relation to the issues: violence, garbage, public policy/social support and appreciation of the beauties of environmental (dunes and Parque da Cidade park). Although Cidade Nova has been regarded as a dirty, noisy and dangerous place, most of the participants say they enjoy living on the neighborhood. Overall, the results corroborate and gain theoretical explanations, as they are interrelated. The socio-environmental image is expressed for instance in the elements dunes, dump, railroad tracks and Central Avenue that gain symbolic connotation influenced by time and socio-economic context. The insecurity and other negative characteristics assigned by the inhabitants and the media are parallel to the place attachment, since the environmental legibility, the time/familiarity and territoriality offer inhabitants the preference for place of residence, setting up their social identity.

O city marketing em Natal/RN e a construção da imagem da cidade

The growing importance of tourism in overall economic activity worldwide has favored the intensification of competition among cities that seek to create environments attractive to tourists and potential investors. It has been common practice to import characteristics of the business environment in the public management of cities. The city marketing is a key tool used by public leaders to promote a linkage between the tourism image and urban image and involves, in addition to promoting the image of the city, the planning of interventions in urban space, trying to formulate a positive image of the city able to facilitate the deployment of capital. This research seeks to understand the nature of city marketing as part of contemporary urban management and analyzes how is its application in decisions concerning the promotion of tourism in Natal/RN. The approach of this research is qualitative, exploratory and descriptive, in which respondents were the main leaders of two of the official tourism site, the Empresa Potiguar de Promoção Turística and the Secretaria Municipal de Turismo e Desenvolvimento Econômico. It was found that there is a strong articulation of public power with private enterprise in the design and conduct of the actions of urban marketing, that from the survey data show that the behavior of target markets provide guidelines for taking strategic decisions relating to tourism. Sun and sea are some key elements explored to form the image of Natal and to authorize the sale of the city as a tropical paradise. However, there is an increase in the diversification of tourism products, seeking to increase flow to the segments of ecotourism, adventure, business and culture. It s also growing the use of local culture as a tourism product, however, the cultural representation focuses on superficial values and does not bring to light the social and historical richness that the city has. Public authorities use the city marketing strategies as a means able to maximize the attractiveness of Natal urban space to investors, business groups and tourists. It can be observed that urban managers seek solutions that can continuously increase the tours, which often manifests in interventions that focus the tourist areas of the city, in oposition of those who do not contribute to a positive reading of the city, which ultimately generate the worsening of spacial and social inequalities