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

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

Evolução de Rádio Fontes Duplas Extragalácticas

Double radio sources have been studied since the discovery of extragalactic radio sources in the decade of 1930. Since then, several numerical studies and analytical models have been proposed seeking a better understanding of the physical phenomena that determines the origin and evolution of such objects. In this thesis, we intended to study the evolution problem of the double radio sources in two fronts: in the ¯rst we have developed an analytical self-similar model that represents a generalization of most models found in the literature and solve some existent problems related to the jet head evolution. We deal with this problem using samples of hot spot sizes to ¯nd a power law relation between the jet head dimension and the source length. Using our model, we were able to draw the evolution curves of the double sources in a PD diagram for both compact sources (GPS and CSS) and extended sources of the 3CR catalogue. We have alson developed a computation tool that allows us to generate synthetic radio maps of the double sources. The objective is to determine the principal physical parameters of those objects by comparing synthetic and observed radio maps. In the second front, we used numeric simulations to study the interaction of the extra- galactic jets with the environment. We simulated situations where the jet propagates in a medium with high density contrast gas clouds capable to block the jet forward motion, forming the distorted structures observed in the morphology of real sources. We have also analyzed the situation in which the jet changes its propagation direction due to a change of the source main axis, creating the X-shaped sources. The comparison between our simulations and the real double radio sources, enable us to determine the values of the main physical parameters responsible for the distortions observed in those objects