Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Performance evaluation of MPEG-4 Video encoder on Adres

Actualment un típic embedded system (ex. telèfon mòbil) requereix alta qualitat per portar a terme tasques com codificar/descodificar a temps real; han de consumir poc energia per funcionar hores o dies utilitzant bateries lleugeres; han de ser el suficientment flexibles per integrar múltiples aplicacions i estàndards en un sol aparell; han de ser dissenyats i verificats en un període de temps curt tot i l’augment de la complexitat. Els dissenyadors lluiten contra aquestes adversitats, que demanen noves innovacions en arquitectures i metodologies de disseny. Coarse-grained reconfigurable architectures (CGRAs) estan emergent com a candidats potencials per superar totes aquestes dificultats. Diferents tipus d’arquitectures han estat presentades en els últims anys. L’alta granularitat redueix molt el retard, l’àrea, el consum i el temps de configuració comparant amb les FPGAs. D’altra banda, en comparació amb els tradicionals processadors coarse-grained programables, els alts recursos computacionals els permet d’assolir un alt nivell de paral•lelisme i eficiència. No obstant, els CGRAs existents no estant sent aplicats principalment per les grans dificultats en la programació per arquitectures complexes. ADRES és una nova CGRA dissenyada per I’Interuniversity Micro-Electronics Center (IMEC). Combina un processador very-long instruction word (VLIW) i un coarse-grained array per tenir dues opcions diferents en un mateix dispositiu físic. Entre els seus avantatges destaquen l’alta qualitat, poca redundància en les comunicacions i la facilitat de programació. Finalment ADRES és un patró enlloc d’una arquitectura concreta. Amb l’ajuda del compilador DRESC (Dynamically Reconfigurable Embedded System Compile), és possible trobar millors arquitectures o arquitectures específiques segons l’aplicació. Aquest treball presenta la implementació d’un codificador MPEG-4 per l’ADRES. Mostra l’evolució del codi per obtenir una bona implementació per una arquitectura donada. També es presenten les característiques principals d’ADRES i el seu compilador (DRESC). Els objectius són de reduir al màxim el nombre de cicles (temps) per implementar el codificador de MPEG-4 i veure les diferents dificultats de treballar en l’entorn ADRES. Els resultats mostren que els cícles es redueixen en un 67% comparant el codi inicial i final en el mode VLIW i un 84% comparant el codi inicial en VLIW i el final en mode CGA.

Power of Photos and Video in Education

Konferenssiesitelmä: PHOTOGRAPHY NEXT International Conference at Moderna museet and Nordiska Museet, Stockholm, 4-5 February, 2010

Design and Analysis of Forward Error Control Coding and Signaling for Guaranteeing QoS in Wireless Broadcast Systems

Broadcasting systems are networks where the transmission is received by several terminals. Generally broadcast receivers are passive devices in the network, meaning that they do not interact with the transmitter. Providing a certain Quality of Service (QoS) for the receivers in heterogeneous reception environment with no feedback is not an easy task. Forward error control coding can be used for protection against transmission errors to enhance the QoS for broadcast services. For good performance in terrestrial wireless networks, diversity should be utilized. The diversity is utilized by application of interleaving together with the forward error correction codes. In this dissertation the design and analysis of forward error control and control signalling for providing QoS in wireless broadcasting systems are studied. Control signaling is used in broadcasting networks to give the receiver necessary information on how to connect to the network itself and how to receive the services that are being transmitted. Usually control signalling is considered to be transmitted through a dedicated path in the systems. Therefore, the relationship of the signaling and service data paths should be considered early in the design phase. Modeling and simulations are used in the case studies of this dissertation to study this relationship. This dissertation begins with a survey on the broadcasting environment and mechanisms for providing QoS therein. Then case studies present analysis and design of such mechanisms in real systems. The mechanisms for providing QoS considering signaling and service data paths and their relationship at the DVB-H link layer are analyzed as the first case study. In particular the performance of different service data decoding mechanisms and optimal signaling transmission parameter selection are presented. The second case study investigates the design of signaling and service data paths for the more modern DVB-T2 physical layer. Furthermore, by comparing the performances of the signaling and service data paths by simulations, configuration guidelines for the DVB-T2 physical layer signaling are given. The presented guidelines can prove useful when configuring DVB-T2 transmission networks. Finally, recommendations for the design of data and signalling paths are given based on findings from the case studies. The requirements for the signaling design should be derived from the requirements for the main services. Generally, these requirements for signaling should be more demanding as the signaling is the enabler for service reception.

Poptähden muotokuva. Myytit, arkkityypit ja Michael Jacksonin video Smooth Criminal (1988)

Tämä tutkielma käsittelee poptähti Michael Jacksonin tähtikuvaa populaarina myyttinä arkkityyppien näkökulmasta. Tutkimus käsittelee myös tähteyden historiaa ja siirtymää klassisesta Hollywood -tähteydestä postmoderniin tähteyteen. Tutkimus pyrkii selvittämään Jacksonin positiota kulttuurisella tähtikentällä ja sitä, mitä uutta rajatilasankarin, initiaation ja tricksterin arkkityypit voivat kertoa tunnetusta poptähdestä. Tutkimusaineistoksi on valittu Jacksonin Moonwalker –elokuva (1988) ja sen sisällä oleva Smooth Criminal -osio, joka sisältää juonellisen tarinan ja musiikkivideokohtauksen. Smooth Criminal -musiikkikohtaus viittaa kulta-ajan Hollywood -tähden Fred Astairen Band Wagon –musikaalin (1953) Girl Hunt Ballet -musikaalinumeroon. Tutkimuksen kulttuurihistoriallisessa osiossa tuodaan vertailuun Astairen ja Jacksonin erilaiset tähteydet, videoiden narratiivit ja sankaruudet, joita tähdet ilmentävät narratiiveissa. Arkkityyppeihin keskittyvässä osiossa sama Smooth Criminal -narratiivi luetaan uudestaan näiden kolmen arkkityypin kautta, jolloin Jacksonin tähtikuvasta avautuu uusia aspekteja. Tutkimuksen teoreettisen rungon muodostavat sveitsiläisen analyyttisen psykologian perustajan Carl Gustav Jungin teoria arkkityypeistä ja tätä teoriaa soveltava postjungilainen tutkimus. Tutkimuksen kulttuurihistoriallinen puoli pohjaa perinteiseen tähtitutkimukseen ja erityisesti Richard Dyerin sekä Edgar Morinin teoksiin. Käytän postjungilaista elokuva- ja tähtitutkimusta tutkimuksessani, joista tärkeimpiä ovat John Izodin ja Luke Hockleyn teokset. Tutkimuksen perusteella voidaan todeta, että tähteys on kulttuurisidonnaista ja ilmentää omaa aikaansa. Astairen tähteys ja narratiivin sankaruus koostuu muutamista pelkistetyistä aspekteista. Jackson on tähtenä eräänlainen hybridisankari, jossa yhdistyvät monet vastakkaiset merkitykset. Rajatilasankarin, initiaation ja tricksterin arkkityypit ovat kaikki löydettävissä tutkinnan kohteena olevasta narratiivista. Arkkityyppien kautta voi nähdä, että Jacksonin ilmensi tähteydessään myös näitä kaikille ihmisille yhteisiä psyykkisiä sisältöjä, mikä voi osaltaan selittää hänen globaalia suosiotaan.

Mobile learning and video experience in delivering digital content

In recent years, the worldwide distribution of smartphone devices has been growing rapidly. Mobile technologies are evolving fast, a situation which provides new possibilities for mobile learning applications. Along with new delivery methods, this development enables new concepts for learning. This study focuses on the effectiveness and experience of a mobile learning video promoting the key features of a specific device. Through relevant learning theories, mobile technologies and empirical findings, the thesis presents the key elements for a mobile learning video that are essential for effective learning. This study also explores how previous experience with mobile services and knowledge of a mobile handset relate to final learning results. Moreover, this study discusses the optimal delivery mechanisms for a mobile video. The target group for the study consists of twenty employees of a Sanoma Company. The main findings show that the individual experience of learning and the actual learning results may differ and that the design for certain video elements, such as sound and the presentation of technical features, can have an impact on the experience and effectiveness of a mobile learning video. Moreover, a video delivery method based on cloud technologies and HTML5 is suggested to be used in parallel with standalone applications.

Video assisted resections. Increasing access to minimally invasive liver surgery?

Objective: To evaluate perioperative outcomes, safety and feasibility of video-assisted resection for primary and secondary liver lesions. Methods : From a prospective database, we analyzed the perioperative results (up to 90 days) of 25 consecutive patients undergoing video-assisted resections in the period between June 2007 and June 2013. Results : The mean age was 53.4 years (23-73) and 16 (64%) patients were female. Of the total, 84% were suffering from malignant diseases. We performed 33 resections (1 to 4 nodules per patient). The procedures performed were non-anatomical resections (n = 26), segmentectomy (n = 1), 2/3 bisegmentectomy (n = 1), 6/7 bisegmentectomy (n = 1), left hepatectomy (n = 2) and right hepatectomy (n = 2). The procedures contemplated postero-superior segments in 66.7%, requiring multiple or larger resections. The average operating time was 226 minutes (80-420), and anesthesia time, 360 minutes (200-630). The average size of resected nodes was 3.2 cm (0.8 to 10) and the surgical margins were free in all the analyzed specimens. Eight percent of patients needed blood transfusion and no case was converted to open surgery. The length of stay was 6.5 days (3-16). Postoperative complications occurred in 20% of patients, with no perioperative mortality. Conclusion : The video-assisted liver resection is feasible and safe and should be part of the liver surgeon armamentarium for resection of primary and secondary liver lesions.

Agility in international fast fashion retailing

The birth of Internet technologies, the developments of fast fashion and multiple retailing channels have created a need for a new, more integrated way for doing retailing. Agility in fast fashion retailing could be seen as a significant way of responding to these changes and furthermore, as a way to respond to consumers’ altering demands. The purpose of this study was to explore the ways in which agile supply chains and integrated multichannel retailing influence the international fast fashion retailing. A framework for agility in retail was developed based on available theoretical considerations in distribution and communication channels. Qualitative research methods and qualitative content analysis were used. Four expert interviews were carried out to gain new perspectives to the objectives. The rest of the data was collected from an industry specific document, expert video and two expert lectures. Following the data collection, the research material was analyzed with qualitative content analysis. The empirical findings on agility in retail were presented based on a coding frame. It was found that agility in retail has multiple parts, which are overlapping and affecting one another. Furthermore, instead of viewing the agile supply chain and integrated multichannel retailing separately of each other as usual, it was found that they should be integrated, and the term “agility” was proposed to denote this approach. Also, it was found that the most common drivers and constrains of integrated multichannel retailing were the new Internet technologies and customer demand. Brick-and-mortar store, online store, mobile devices and social media were found to be the most common retailing channels. Furthermore, in-store technology, click-and-collect approach, NFC-buying, RFID-technology as well as 3D- digital simulations on fabrics and patterns will enhance agility even more in the future. In addition, environmental issues, customer experiences and communication will be important factors. This study has provided new practical insights for the future retailing. Furthermore, it has contributed to the academic research by discussing the traditional approaches of agility in fast fashion retail and bringing in new insights.

Video transcoding in a distributed cloud computing environment

Video transcoding refers to the process of converting a digital video from one format into another format. It is a compute-intensive operation. Therefore, transcoding of a large number of simultaneous video streams requires a large amount of computing resources. Moreover, to handle di erent load conditions in a cost-e cient manner, the video transcoding service should be dynamically scalable. Infrastructure as a Service Clouds currently offer computing resources, such as virtual machines, under the pay-per-use business model. Thus the IaaS Clouds can be leveraged to provide a coste cient, dynamically scalable video transcoding service. To use computing resources e ciently in a cloud computing environment, cost-e cient virtual machine provisioning is required to avoid overutilization and under-utilization of virtual machines. This thesis presents proactive virtual machine resource allocation and de-allocation algorithms for video transcoding in cloud computing. Since users' requests for videos may change at di erent times, a check is required to see if the current computing resources are adequate for the video requests. Therefore, the work on admission control is also provided. In addition to admission control, temporal resolution reduction is used to avoid jitters in a video. Furthermore, in a cloud computing environment such as Amazon EC2, the computing resources are more expensive as compared with the storage resources. Therefore, to avoid repetition of transcoding operations, a transcoded video needs to be stored for a certain time. To store all videos for the same amount of time is also not cost-e cient because popular transcoded videos have high access rate while unpopular transcoded videos are rarely accessed. This thesis provides a cost-e cient computation and storage trade-o strategy, which stores videos in the video repository as long as it is cost-e cient to store them. This thesis also proposes video segmentation strategies for bit rate reduction and spatial resolution reduction video transcoding. The evaluation of proposed strategies is performed using a message passing interface based video transcoder, which uses a coarse-grain parallel processing approach where video is segmented at group of pictures level.

Local Features in Image and Video Processing - Object Class Matching and Video Shot Detection

The usage of digital content, such as video clips and images, has increased dramatically during the last decade. Local image features have been applied increasingly in various image and video retrieval applications. This thesis evaluates local features and applies them to image and video processing tasks. The results of the study show that 1) the performance of different local feature detector and descriptor methods vary significantly in object class matching, 2) local features can be applied in image alignment with superior results against the state-of-the-art, 3) the local feature based shot boundary detection method produces promising results, and 4) the local feature based hierarchical video summarization method shows promising new new research direction. In conclusion, this thesis presents the local features as a powerful tool in many applications and the imminent future work should concentrate on improving the quality of the local features.

Avalon Media System project update: a Hydra solution for digital audio and video access

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Audio and Video Repositories at Scale: Indiana University’s Media Digitization and Preservation Initiative

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014