Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.

Advances in camera trap data management tools: Towards collaborative development and integration with GIS

Camera traps have become a widely used technique for conducting biological inventories, generating a large number of database records of great interest. The main aim of this paper is to describe a new free and open source software (FOSS), developed to facilitate the management of camera-trapped data which originated from a protected Mediterranean area (SE Spain). In the last decade, some other useful alternatives have been proposed, but ours focuses especially on a collaborative undertaking and on the importance of spatial information underpinning common camera trap studies. This FOSS application, namely, “Camera Trap Manager” (CTM), has been designed to expedite the processing of pictures on the .NET platform. CTM has a very intuitive user interface, automatic extraction of some image metadata (date, time, moon phase, location, temperature, atmospheric pressure, among others), analytical (Geographical Information Systems, statistics, charts, among others), and reporting capabilities (ESRI Shapefiles, Microsoft Excel Spreadsheets, PDF reports, among others). Using this application, we have achieved a very simple management, fast analysis, and a significant reduction of costs. While we were able to classify an average of 55 pictures per hour manually, CTM has made it possible to process over 1000 photographs per hour, consequently retrieving a greater amount of data.

Targetless image-based method for measuring displacements and strains on concrete surfaces with a consumer camera

Measurement of concrete strain through non-invasive methods is of great importance in civil engineering and structural analysis. Traditional methods use laser speckle and high quality cameras that may result too expensive for many applications. Here we present a method for measuring concrete deformations with a standard reflex camera and image processing for tracking objects in the concretes surface. Two different approaches are presented here. In the first one, on-purpose objects are drawn on the surface, while on the second one we track small defects on the surface due to air bubbles in the hardening process. The method has been tested on a concrete sample under several loading/unloading cycles. A stop-motion sequence of the process has been captured and analyzed. Results have been successfully compared with the values given by a strain gauge. Accuracy of our methods in tracking objects is below 8 μm, in the order of more expensive commercial devices.

Strumenti e metodi per la tracciabilità della catena logistica agroalimentare: simulazione e diagnostica di una camera climatica

I fenomeni di globalizzazione in atto hanno radicalmente modificato il consumo e la distribuzione dei prodotti agroalimentari e dilatato le distanze tra l’origine delle materie prime e consumo finale. Obiettivo del progetto interuniversitario "Food Supply Chain" è studiare le condizioni di trasporto di prodotti agroalimentari. Una delle attività principali è tracciare ed analizzare i fattori critici di spedizioni dal momento in cui i prodotti lasciano lo stabilimento produttivo in Italia fino ai consumatori situati in EU o extra-EU. La tesi si inserisce all’interno di questo progetto e descrive la realizzazione di due Piattaforme in ambiente LabVIEW per la consultazione e la simulazione dei viaggi logistici, le cui caratteristiche sono conservate e organizzate in appositi database. La "Piattaforma LabVIEW per la consultazione a analisi" permette di consultare il database attraverso interrogazioni multiple, estrarre le informazioni più significative, riprodurre le spedizioni in apposite interfacce e produrre dei report riassuntivi per comunicazioni alle imprese La "Piattaforma LabVIEW per la simulazione in camera climatica" rappresenta il sistema di controllo attraverso cui gestire la simulazione dei singoli viaggi in camera climatica, realizzata nel Laboratorio MECCANICA del DIN della Scuola di Ingegneria e Architettura dell’Università di Bologna. Si potranno così valutare e comparare tra loro soluzioni alternative rispetto ad una medesima catena logistica in termini di packaging, imballaggio e protezioni supplementari della spedizione. Infine si potranno confrontare rotte commerciali differenti relative allo stesso prodotto. I risultati ottenuti in camera climatica costituiranno la base per le successive analisi biochimiche sui prodotti e valutazione finale della sostenibilità dell’intera catena logistica.

3D models created from ROV videos and their corresponding subtransect dimensions

Underwater video transects have become a common tool for quantitative analysis of the seafloor. However a major difficulty remains in the accurate determination of the area surveyed as underwater navigation can be unreliable and image scaling does not always compensate for distortions due to perspective and topography. Depending on the camera set-up and available instruments, different methods of surface measurement are applied, which make it difficult to compare data obtained by different vehicles. 3-D modelling of the seafloor based on 2-D video data and a reference scale can be used to compute subtransect dimensions. Focussing on the length of the subtransect, the data obtained from 3-D models created with the software PhotoModeler Scanner are compared with those determined from underwater acoustic positioning (ultra short baseline, USBL) and bottom tracking (Doppler velocity log, DVL). 3-D model building and scaling was successfully conducted on all three tested set-ups and the distortion of the reference scales due to substrate roughness was identified as the main source of imprecision. Acoustic positioning was generally inaccurate and bottom tracking unreliable on rough terrain. Subtransect lengths assessed with PhotoModeler were on average 20% longer than those derived from acoustic positioning due to the higher spatial resolution and the inclusion of slope. On a high relief wall bottom tracking and 3-D modelling yielded similar results. At present, 3-D modelling is the most powerful, albeit the most time-consuming, method for accurate determination of video subtransect dimensions.

Del riparo de' pennelli alle rive del Po di Cremona : a sua eccellenza il signor marchese don Angiolo Luigi Maraviglia Mantegazza, consigliere intimo attuale di stato delle Ll. maestáa imperiali, e presidente della regia camera ec.

Acquisition made accessible thanks to a 2015-2017 grant from the Council on Libraries and Information Resources.

TravTek evaluation task C3 - camera car study. Final report.

Federal Highway Administration, Office of Safety and Traffic Operations Research and Development, McLean, Va.

Nantucket, a camera impression,

Illustrated t. p. and lining-papers.