Accuracy assessment of a photogrammetric close-range reconstruction system

Geometric accuracy of a close-range photogrammetric system is assessed in this paper considering surface reconstruction with structured light as its main purpose. The system is based on an off-the-shelf digital camera and a pattern projector. The mathematical model for reconstruction is based on the parametric equation of the projected straight line combined with collinearity equations. A sequential approach for system calibration was developed and is presented. Results obtained from real data are also presented and discussed. Experiments with real data using a prototype have indicated 0.5mm of accuracy in height determination and 0.2mm in the XY plane considering an application where the object was 1630mm distant from the camera.

A low-cost 3D reconstruction system using a single-shot projection of a pattern matrix

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Estudo de métodos para classificação e localização precisa de padrões usando um sistema de luz estruturada

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Modelagem fotogramétrica e calibração de um sistema de visão omnidirecional

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Classificação automática de padrões projetados por um sistema de luz estruturada

One of the main problems in Computer Vision and Close Range Digital Photogrammetry is 3D reconstruction. 3D reconstruction with structured light is one of the existing techniques and which still has several problems, one of them the identification or classification of the projected targets. Approaching this problem is the goal of this paper. An area based method called template matching was used for target classification. This method performs detection of area similarity by correlation, which measures the similarity between the reference and search windows, using a suitable correlation function. In this paper the modified cross covariance function was used, which presented the best results. A strategy was developed for adaptative resampling of the patterns, which solved the problem of deformation of the targets due to object surface inclination. Experiments with simulated and real data were performed in order to assess the efficiency of the proposed methodology for target detection. The results showed that the proposed classification strategy works properly, identifying 98% of targets in plane surfaces and 93% in oblique surfaces.

Soil CO2 emission estimated by different interpolation techniques

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Unsuccessful attacks dominate a drone-preying wasp's hunting performance near stingless bee nests

Bee males (drones) of stingless bees tend to congregate near entrances of conspecific nests, where they wait for virgin queens that initiate their nuptial flight. We observed that the Neotropical solitary wasp Trachypus boharti (Hymenoptera, Cabronidae) specifically preys on males of the stingless bee Scaptotrigona postica (Hymenoptera, Apidae); these wasps captured up to 50 males per day near the entrance of a single hive. Over 90% of the wasp attacks were unsuccessful; such erroneous attacks often involved conspecific wasps and worker bees. After the capture of non-male prey, wasps almost immediately released these individuals unharmed and continued hunting. A simple behavioral experiment showed that at short distances wasps were not specifically attracted to S. postica males nor were they repelled by workers of the same species. Likely, short-range prey detection near the bees' nest is achieved mainly by vision whereas close-range prey recognition is based principally on chemical and/or mechanical cues. We argue that the dependence on the wasp's visual perception during attack and the crowded and dynamic hunting conditions caused wasps to make many preying attempts that failed. Two wasp-density-related factors, wasp-prey distance and wasp-wasp encounters, may account for the fact that the highest male capture and unsuccessful wasp bee encounter rates occurred at intermediate wasp numbers.

Line based camera calibration in machine vision dynamic applications

The problem of dynamic camera calibration considering moving objects in close range environments using straight lines as references is addressed. A mathematical model for the correspondence of a straight line in the object and image spaces is discussed. This model is based on the equivalence between the vector normal to the interpretation plane in the image space and the vector normal to the rotated interpretation plane in the object space. In order to solve the dynamic camera calibration, Kalman Filtering is applied; an iterative process based on the recursive property of the Kalman Filter is defined, using the sequentially estimated camera orientation parameters to feedback the feature extraction process in the image. For the dynamic case, e.g. an image sequence of a moving object, a state prediction and a covariance matrix for the next instant is obtained using the available estimates and the system model. Filtered state estimates can be computed from these predicted estimates using the Kalman Filtering approach and based on the system model parameters with good quality, for each instant of an image sequence. The proposed approach was tested with simulated and real data. Experiments with real data were carried out in a controlled environment, considering a sequence of images of a moving cube in a linear trajectory over a flat surface.

Uso de vídeo-estereocâmara para reconstrução de superfícies à curta distância

Pós-graduação em Ciências Cartográficas - FCT

Descrição taxonômica e história natural de uma nova espécie de Hypsiboas da Mata Atlântica do Alto da Serra de Paranapiacaba, Estado de São Paulo (Amphibia, Anura, Hylidae)

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Automatic Orientation of Multi-Scale Terrestrial Images for 3D Reconstruction

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Can Eucalyptus invade native forest fragments close to commercial stands?

Some Eucalyptus species are widely used as a plantation crop in tropical and subtropical regions. One reason for this is the diversity of end uses, but the main reason is the high level of wood production obtained from commercial plantings. With the advancement of biotechnology it will be possible to expand the geographical area in which eucalypts can be used as commercial plantation crops, especially in regions with current climatic restrictions. Despite the popularity of eucalypts and their increasing range, questions still exist, in both traditional planting areas and in the new regions: Can eucalypts invade areas of native vegetation, causing damage to natural ecosystems biodiversity?The objective of this study it was to assess whether eucalypts can invade native vegetation fragments in proximity to commercial stands, and what factors promote this invasive growth. Thus, three experiments were established in forest fragments located in three different regions of Brazil. Each experiment was composed of 40 plots (1 m(2) each one), 20 plots located at the border between the forest fragment and eucalypts plantation, and 20 plots in the interior of the forest fragments. In each experimental site, the plots were paired by two soil exposure conditions, 10 plots in natural conditions and 10 plots with soil exposure (no plant and no litter). During the rainy season, 2 g of eucalypts seeds were sown in each plot, including Eucalyptus grandis or a hybrid of E. urophylla x E. grandis, the most common commercial eucalypt species planted in the three region. At 15, 30, 45, 90, 180, 270 and 360 days after sowing, we assessed the number of seedlings of eucalypts and the number of seedlings of native species resulting from natural regeneration. Fifteen days after sowing, the greatest number of eucalypts seedlings (37 m(-2)) was observed in the plots with lower luminosity and exposed soil. Also, for native species, it was observed that exposed soil improved natural germination reaching the highest number of 163 seedlings per square meter. Site and soil exposure were the factors that have the greatest influence on seed germination of both eucalypt and native species. However, 270 days after sowing, eucalypt seedlings were not observed at any of the three experimental sites. The result shows the inability of eucalypts to adapt to condition outside of their natural range. However, native species demonstrated their strong capacity for natural regeneration in forest fragments under the same conditions where eucalypts were seeded. (C) 2011 Elsevier B.V. All rights reserved.

Low-energy direct muon transfer from H to Ne10+, S16+ and Ar18+ using the two-state close-coupling approximation to the Faddeev-Hahn-type equation

We perform a three-body calculation of direct muon-transfer rates from thermalized muonic hydrogen isotopes to bare nuclei Ne10+, S16+ and Ar18+ employing integro-differential Faddeev-Hahn-type equations in configuration space with a two-state close-coupling approximation scheme. All Coulomb potentials including the strong final-state Coulomb repulsion are treated exactly. A long-range polarization potential is included in the elastic channel to take into account the high polarizability of the muonic hydrogen. The transfer rates so-calculated are in good agreement with recent experiments. We find that the muon is captured predominantly in the n = 6, 9 and 10 states of muonic Ne10+, S16+ and Ar18+, respectively.

Ps-He scattering using the three-state positronium close-coupling approximation

A three-state target elastic positronium close-coupling approximation (CCA) is employed to investigate Ps-He scattering in the energy range 0-200 eV with and without electron exchange. Low-lying phase shifts below the first excitation threshold and the total integrated cross sections using both the models are reported. Estimation of integrated excitation cross sections for Ps(1s --> 2s) and Ps(1s --> 2p) using CCA are presented for the first time. The present total cross sections are in good agreement with the measured data in the incident Ps energy range 20-30 eV.

Rescaled range analysis of pluviometric records in SA o pound Paulo State, Brazil

This paper presents an analysis of pluviometric precipitation time series obtained from 45 data collection points, with daily rain measurements (in mm), from 45 counties within the nine climatic regions of the state of SA o pound Paulo, mostly for the period of 1950-1997. SA o pound Paulo State (Brazil) is situated between the inter-tropical climatic zone, dominated by tropical and equatorial masses, and the sub-tropical climatic zone controlled by tropical and polar air masses. Due to this location the State can be divided into three climatic zones: south-east and south-west, which are permanently humid, and north with a well defined dry period. Rescaled range analysis, or R/S analysis, has been used to investigate the scale properties of the time series. We found two clear values for the Hurst exponent, one for a period of 10 to 200 days (H(1)), and another for a period above 210 days (H(2)). The value of H(1) lies between 0.6 to 0.7 for all climatic zones indicating characteristics of persistence. However, H(2) is (i) close to 0.5 for the littoral area, showing random characteristics, (ii) close to 0.6 for mountain areas, indicating persistence characteristics, and (iii) close to 0.4 for the plane area, irrespective of whether the climate is dry or humid, and shows anti-persistence characteristics.