Coarse-to-fine vision-based localization by indexing scale-invariant features

This paper presents a novel coarse-to-fine global localization approach inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by scale-invariant transformation feature descriptors are used as natural landmarks. They are indexed into two databases: a location vector space model (LVSM) and a location database. The localization process consists of two stages: coarse localization and fine localization. Coarse localization from the LVSM is fast, but not accurate enough, whereas localization from the location database using a voting algorithm is relatively slow, but more accurate. The integration of coarse and fine stages makes fast and reliable localization possible. If necessary, the localization result can be verified by epipolar geometry between the representative view in the database and the view to be localized. In addition, the localization system recovers the position of the camera by essential matrix decomposition. The localization system has been tested in indoor and outdoor environments. The results show that our approach is efficient and reliable. © 2006 IEEE.

Vision-based global localization using a visual vocabular

This paper presents a novel coarse-to-fine global localization approach that is inspired by object recognition and text retrieval techniques. Harris-Laplace interest points characterized by SIFT descriptors are used as natural land-marks. These descriptors are indexed into two databases: an inverted index and a location database. The inverted index is built based on a visual vocabulary learned from the feature descriptors. In the location database, each location is directly represented by a set of scale invariant descriptors. The localization process consists of two stages: coarse localization and fine localization. Coarse localization from the inverted index is fast but not accurate enough; whereas localization from the location database using voting algorithm is relatively slow but more accurate. The combination of coarse and fine stages makes fast and reliable localization possible. In addition, if necessary, the localization result can be verified by epipolar geometry between the representative view in database and the view to be localized. Experimental results show that our approach is efficient and reliable. ©2005 IEEE.

A análise ambiental integrada para o estudo de fragilidade turística: um estudo de caso para o município de Duas Barras (RJ)

O turismo na natureza é uma das modalidades de turismo que mais tem crescido no Brasil, sendo visto como alternativa econômica para municípios de médio e pequeno porte que possuem Unidades de Conservação em seus territórios ou áreas com remanescentes florestais ou ainda áreas de interesse geológico, geomorfológico, concentração hídrica que possam atrair o turista. A preocupação quanto ao sustento da atividade turística desta categoria ocorre, quando o ambiente natural na qual se pretende instalar os empreendimentos turísticos não possui estudos pretéritos sobre o meio físico e nem instrumento legal de planejamento ambiental que apoie a tomada de decisão. Neste contexto, esta dissertação versa sobre o estudo da fragilidade turística do município de Duas Barras Rio de Janeiro com objetivos de balizar os resultados obtidos, com estudos pretéritos sobre potencialidades turísticas da região, assim como os empreendimentos turísticos já instalados e verificando se há conformidade entre o ambiente explorado e a atividade turística em curso. Como metodologia, a presente pesquisa utilizou técnicas de fragilidade ambiental desenvolvida de Ross (2010), a análise da fragilidade turística teve adaptações com base em Costa (2009), o modelo de indicadores turísticos de Barbosa (2009) e os dados sobre a potencialidade turística local foram extraídos de Goes (2007). Utilização de técnicas de geoprocessamento foram fundamentais para desenvolvimento de análises espaciais, geográficas e a visão integrada dos dados. Como resultados, foram gerados mapas temáticos do meio físico, socioeconomia e a avaliação das atuais instalações turísticas na região.

Fast and accurate multi-scale keypoints based on end-stopped cells

Increasingly more applications in computer vision employ interest points. Algorithms like SIFT and SURF are all based on partial derivatives of images smoothed with Gaussian filter kemels. These algorithrns are fast and therefore very popular.

State-of-the-Art: Transformation Invariant Descriptors

As the popularity of digital videos increases, a large number illegal videos are being generated and getting published. Video copies are generated by performing various sorts of transformations on the original video data. For effectively identifying such illegal videos, the image features that are invariant to various transformations must be extracted for performing similarity matching. An image feature can be its local feature or global feature. Among them, local features are powerful and have been applied in a wide variety of computer vision aplications .This paper focuses on various recently proposed local detectors and descriptors that are invariant to a number of image transformations.

A quandary in management practice: Academic research or consulting?

This paper compares the practice of academic action research against management consulting. Consulting is founded upon a body of underpinning knowledge drawn from a different perspective than action research. Nevertheless, consulting and action research, in practice, draw from similar methods of investigation. The difficulty in distinguishing action research from consulting adds to unique ethical problems in practice. In this paper, an ethics quandary is identified, defined and explored with implications for research practice. An example of an action research project is presented to highlight the potential ethical dilemma and conflict of interest points of
the investigation, whether as an academic or a consultant. The authors, by crystallising the boundaries of academic action research and consulting posit that, when designed and executed well, risk can be minimised to gather rich and deep insights into management practice.

Plane detection from monocular image sequences

AIRES, Kelson R. T. ; ARAÚJO, Hélder J. ; MEDEIROS, Adelardo A. D. . Plane Detection from Monocular Image Sequences. In: VISUALIZATION, IMAGING AND IMAGE PROCESSING, 2008, Palma de Mallorca, Spain. Proceedings..., Palma de Mallorca: VIIP, 2008

Plane Detection Using Affine Homography

AIRES, Kelson R. T.; ARAÚJO, Hélder J.; MEDEIROS, Adelardo A. D. Plane Detection Using Affine Homography. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG: Anais... do CBA 2008.

Registro semiautomático entre imagens infravermelhas e RGB coletadas por um par de câmaras digitais

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

Image categorization through optimum path forest and visual words

Different from the first attempts to solve the image categorization problem (often based on global features), recently, several researchers have been tackling this research branch through a new vantage point - using features around locally invariant interest points and visual dictionaries. Although several advances have been done in the visual dictionaries literature in the past few years, a problem we still need to cope with is calculation of the number of representative words in the dictionary. Therefore, in this paper we introduce a new solution for automatically finding the number of visual words in an N-Way image categorization problem by means of supervised pattern classification based on optimum-path forest. © 2011 IEEE.

Vergleich von Softwarelösungen für die Ökobilanzierung – eine softwareergonomische Analyse

Ökobilanzierung von Produktsystemen dient der Abschätzung ihrer Wirkung auf die Umwelt. Eine vollständige Lebenswegbetrachtung erfordert auch die Einbeziehung intralogistischer Transportprozesse bzw. -mittel. Für die Erstellung von Ökobilanzen wird i. d. R. ein Computerprogramm verwendet. Die Demoversionen dreier kommerzieller Softwarelösungen (SimaPro, GaBi und Umberto NXT LCA) und die Vollversion einer Open Source Software (openLCA) wurden aus softwareergonomischer Sicht analysiert. Hierzu erfolgte u. a. der Nachbau der bereitgestellten Tutorials bzw. die Modellierung eigener Produktsysteme. Im Rahmen der Analyse wurden die Punkte • Entstehung, Verbreitung, Zielgruppe, • Eignung der Tutorials, Erlernbarkeit, • Grafische Benutzeroberfläche, Individualisierbarkeit der Software, • Umsetzung der Anforderungen aus den Ökobilanzierungsnormen, • Notwendige Arbeitsschritte zur Erstellung einer Ökobilanz einer vergleichenden Betrachtung unterzogen. Der Beitrag beinhaltet eine Einführung in die wesentlichen Prinzipien der Ökobilanzierung und die Grundsätze der Softwareergonomie. Diese werden zu softwareergonomischen Eigenschaften für Ökobilanzsoftwarelösungen subsumiert. Anschließend werden die Ergebnisse des Softwarevergleiches dargestellt. Abschließend erfolgt eine Zusammenfassung der Erkenntnisse.

A stable graph-based representation for object recognition through high-order matching

Many Object recognition techniques perform some flavour of point pattern matching between a model and a scene. Such points are usually selected through a feature detection algorithm that is robust to a class of image transformations and a suitable descriptor is computed over them in order to get a reliable matching. Moreover, some approaches take an additional step by casting the correspondence problem into a matching between graphs defined over feature points. The motivation is that the relational model would add more discriminative power, however the overall effectiveness strongly depends on the ability to build a graph that is stable with respect to both changes in the object appearance and spatial distribution of interest points. In fact, widely used graph-based representations, have shown to suffer some limitations, especially with respect to changes in the Euclidean organization of the feature points. In this paper we introduce a technique to build relational structures over corner points that does not depend on the spatial distribution of the features. © 2012 ICPR Org Committee.

Plane detection from monocular image sequences

AIRES, Kelson R. T. ; ARAÚJO, Hélder J. ; MEDEIROS, Adelardo A. D. . Plane Detection from Monocular Image Sequences. In: VISUALIZATION, IMAGING AND IMAGE PROCESSING, 2008, Palma de Mallorca, Spain. Proceedings..., Palma de Mallorca: VIIP, 2008

Plane Detection Using Affine Homography

AIRES, Kelson R. T.; ARAÚJO, Hélder J.; MEDEIROS, Adelardo A. D. Plane Detection Using Affine Homography. In: CONGRESSO BRASILEIRO DE AUTOMÁTICA, 2008, Juiz de Fora, MG: Anais... do CBA 2008.