Using appearance and context for outdoor scene object classification

We propose a probabilistic object classifier for outdoor scene analysis as a first step in solving the problem of scene context generation. The method begins with a top-down control, which uses the previously learned models (appearance and absolute location) to obtain an initial pixel-level classification. This information provides us the core of objects, which is used to acquire a more accurate object model. Therefore, their growing by specific active regions allows us to obtain an accurate recognition of known regions. Next, a stage of general segmentation provides the segmentation of unknown regions by a bottom-strategy. Finally, the last stage tries to perform a region fusion of known and unknown segmented objects. The result is both a segmentation of the image and a recognition of each segment as a given object class or as an unknown segmented object. Furthermore, experimental results are shown and evaluated to prove the validity of our proposal

Vision-based localization of an underwater robot in a structured environment

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system

Competencias de las localidades en materia de planeación y ejecución de las políticas públicas en el Distrito Capital, en la administración de Enrique Peñalosa (1998 – 2000)

El diseño y la ejecución de las políticas públicas es una de las actividades fundamentales del Estado y es la forma en la que éste ofrece soluciones para suplir necesidades más apremiantes de la sociedad. La formulación y la ejecución de las políticas públicas también dan cuenta de las relaciones entre los gobiernos y la comunidad, y los niveles de legitimidad y gobernabilidad que tienen el Estado en un territorio determinado. La estructura político-administrativa de Bogotá, como Distrito Capital, es muy diferente a la de los demás municipios y departamentos del Colombia, pues desde 1991 se ha desarrollado un proceso de descentralización interna de la ciudad para acercar más al gobierno distrital con la comunidad y permitir la participación activa de los ciudadanos en la construcción de las soluciones a las necesidades de su entorno más cercano, las Localidades. En la primera década de desarrollo de este proceso interno de descentralización, tres administraciones afrontaron el reto de profundizar dicho proceso (Jaime Castro 1992-1994, Antanas Mockus – Paul Bromberg 1995-1997 y Enrique Peñalosa 1998-2000), que estaría enmarcado en el Estatuto Orgánico de Bogotá (Decreto-Ley 1421 de 1993). De estas tres primeras administraciones que se enfrentaron a la figura novedosa en el país de la descentralización al interior de un ente descentralizado como el Distrito Capital, la administración de Enrique Peñalosa adoptó políticas que disminuían la relativa autonomía que habían logrado las Localidades y planteó un modelo de recentralización que transformaba la relación entre los gobiernos locales, el gobierno central distrital y la ciudadanía.

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

Surface registration from range image fusion

The registration of full 3-D models is an important task in computer vision. Range finders only reconstruct a partial view of the object. Many authors have proposed several techniques to register 3D surfaces from multiple views in which there are basically two aspects to consider. First, poor registration in which some sort of correspondences are established. Second, accurate registration in order to obtain a better solution. A survey of the most common techniques is presented and includes experimental results of some of them

An approach to visual servoing based on coded light

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objects or objects for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance

Overview of coded light projection techniques for automatic 3D profiling

Obtaining automatic 3D profile of objects is one of the most important issues in computer vision. With this information, a large number of applications become feasible: from visual inspection of industrial parts to 3D reconstruction of the environment for mobile robots. In order to achieve 3D data, range finders can be used. Coded structured light approach is one of the most widely used techniques to retrieve 3D information of an unknown surface. An overview of the existing techniques as well as a new classification of patterns for structured light sensors is presented. This kind of systems belong to the group of active triangulation method, which are based on projecting a light pattern and imaging the illuminated scene from one or more points of view. Since the patterns are coded, correspondences between points of the image(s) and points of the projected pattern can be easily found. Once correspondences are found, a classical triangulation strategy between camera(s) and projector device leads to the reconstruction of the surface. Advantages and constraints of the different patterns are discussed

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments

Backup your work

A share of information on why & how to make copies of data so that these additional copies may be used to restore the original after a data loss event. Burn cd's and copy to memory sticks.

Alteraciones respiratorias durante el sueño en niños con Síndrome Down a la altura de Bogotá

Objetivo: determinar la frecuencia de las diferentes alteraciones respiratorias durante el sueño (ARS) e hipertensión pulmonar (HTP) y establecer la saturación de oxígeno (SpO2) en vigilia, sueño y durante los eventos en niños con Síndrome Down (SD) a la altura de Bogotá (2640m) de acuerdo a grupos de edad e IMC. Métodos: estudio descriptivo de corte transversal, se incluyeron todos los niños con SD con sospecha de ARS remitidos a polisonograma (PSG) de octubre de 2011 a enero de 2013 a la Fundación Neumológica Colombina (FNC). Se dividieron en 3 grupos: apnea obstructiva, apnea obstructiva y central, sin apneas. Resultados: 74 niños, el 36,5% mujeres, edad media 4 años. 47,3% presento apnea obstructiva, más frecuente en >2 años, 35,1% apnea obstructiva y central, más frecuente en < 2 años y 17,6 % sin apnea. SpO2 promedio en apnea obstructiva 84,63%, apnea obstructiva y central: 81,8% y sin apnea: 86,85% (p 0,058). 23% presento obesidad, 16% con apnea obstructiva. 53 pacientes tenían ecocardiograma: 28% HTP, 53,3% tuvo apnea obstructiva y 26,7 apnea obstructiva y central, no diferencias significativas. SpO2 promedio en HTP 88,3% vigilia, 86,2% sueño REM, 85,7 % sueño no REM, no diferencia significativa comparada con pacientes sin HTP. Conclusiones: Las ARS son frecuentes en los niños con SD, La desaturación está presente en los niños con SD independiente del tipo de apnea. A todos los niños SD se les debe practicar un PSG en el primer año de vida.

Evaluación de la representación política de género de la bancada de mujeres (2006-2010)

Este estudio de caso tiene como objetivo explicar cómo fue el proceso de representación política de género de la Bancada de Mujeres en el Congreso de la República (2006-2010), creada como una Comisión Legal con el fin de realizar desde el trabajo legislativo de las congresistas una representación que favoreciera la inclusión e igualdad de las mujeres en el campo político del país. Se explican y se muestran las principales razones que motivaron su creación y los resultados alcanzados, partiendo de diferentes conceptos claves de la teoría feminista, como grupo social, opresión, inclusión y representación, desarrollados por distintos autores, entre los que se destacan Iris Marion Young, Hanna Pitkin y Didier Ruedin. Este acercamiento permite evaluar sí la Bancada de Mujeres puede ser considerado como un ejercicio de representación política de las mujeres dentro del principal espacio de la democracia colombiana.