Odometria visual baseada em técnicas de structure from motion

Visual Odometry is the process that estimates camera position and orientation based solely on images and in features (projections of visual landmarks present in the scene) extraced from them. With the increasing advance of Computer Vision algorithms and computer processing power, the subarea known as Structure from Motion (SFM) started to supply mathematical tools composing localization systems for robotics and Augmented Reality applications, in contrast with its initial purpose of being used in inherently offline solutions aiming 3D reconstruction and image based modelling. In that way, this work proposes a pipeline to obtain relative position featuring a previously calibrated camera as positional sensor and based entirely on models and algorithms from SFM. Techniques usually applied in camera localization systems such as Kalman filters and particle filters are not used, making unnecessary additional information like probabilistic models for camera state transition. Experiments assessing both 3D reconstruction quality and camera position estimated by the system were performed, in which image sequences captured in reallistic scenarios were processed and compared to localization data gathered from a mobile robotic platform

Ondas de spin em nanofilmes nagnéticos acoplados quasiperiodicamente

We studied the spin waves modes that can propagate in magnetic multilayers composed of ferromagnetic metallic films in the nanometer scale. The ferromagnetic films (iron) are separated and coupled through the nonmagnetic spacer films (chromium). The films that make up the multilayer are stacked in a quasiperiodic pattern, following the Fibonacci and double period sequences. We used a phenomenological theory taking into account: the Zeeman energy (between the ferromagnetic films and the external magnetic field), the energy of the magneto-crystalline anisotropy (present in the ferromagnetic films), the energy of the bilinear and biquadratic couplings (between the ferromagnetic films) and the energy of the dipole-dipole interaction (between the ferromagnetic films), to describe the system. The total magnetic energy of the system is numerically minimized and the equilibrium angles of the magnetization of each ferromagnetic film are determined. We solved the equation of motion of the multilayer to find the dispersion relation for the system and, as a consequence, the spin waves modes frequencies. Our theoretical results show that, in the case of trilayers (Fe/Cr/Fe), our model reproduces with excellent agreement experimental results of Brillouin light scattering, known from the literature, by adjusting the physical parameters of the nanofilms. Furthermore, we generalize the model to N ferromagnetic layers which allowed us to determine how complex these systems become when we increase the number of components. It is worth noting that our theoretical calculations generalize all the results known from the literature

Propriedades estáticas e dinâmicas de multicamadas magnéticas acopladas quasiperiodicamente

In this work we study, for two different growth directions, multilayers of nanometric magnetic metallic lms grown, using Fibonacci sequences, in such a way that the thickness of the non-magnetic spacer may vary from a pair of lms to another. We applied a phenomenological theory that uses the magnetic energy to describe the behavior of the system. After we found numerically the global minimum of the total energy, we used the equilibrium angles to obtain magnetization and magnetoresistance curves. Next, we solved the equation of motion of the multilayers to nd the dispersion relation for the system. The results show that, when spacers are used with thickness so that the biquadratic coupling is strong in comparison to the bilinear one, non usual behaviors for both magnetization and magnetoresistance are observed. For example, a dependence on the parity of the Fibonacci generation utilized for constructing the system, a low magnetoresistance step in low external magnetic fields and regions that show high sensibility to small variations of the applied field. Those behaviors are not present in quasiperiodic magnetic multilayers with constant spacer thickness