Independent Domain of Symmetric Encryption using Least SignificantBit : Computer Vision, Steganography and Cryptography Techniques

The rapid development of data transfer through internet made it easier to send the data accurate and faster to the destination. There are many transmission media to transfer the data to destination like e-mails; at the same time it is may be easier to modify and misuse the valuable information through hacking. So, in order to transfer the data securely to the destination without any modifications, there are many approaches like cryptography and steganography. This paper deals with the image steganography as well as with the different security issues, general overview of cryptography, steganography and digital watermarking approaches.  The problem of copyright violation of multimedia data has increased due to the enormous growth of computer networks that provides fast and error free transmission of any unauthorized duplicate and possibly manipulated copy of multimedia information. In order to be effective for copyright protection, digital watermark must be robust which are difficult to remove from the object in which they are embedded despite a variety of possible attacks. The message to be send safe and secure, we use watermarking. We use invisible watermarking to embed the message using LSB (Least Significant Bit) steganographic technique. The standard LSB technique embed the message in every pixel, but my contribution for this proposed watermarking, works with the hint for embedding the message only on the image edges alone. If the hacker knows that the system uses LSB technique also, it cannot decrypt correct message. To make my system robust and secure, we added cryptography algorithm as Vigenere square. Whereas the message is transmitted in cipher text and its added advantage to the proposed system. The standard Vigenere square algorithm works with either lower case or upper case. The proposed cryptography algorithm is Vigenere square with extension of numbers also. We can keep the crypto key with combination of characters and numbers. So by using these modifications and updating in this existing algorithm and combination of cryptography and steganography method we develop a secure and strong watermarking method. Performance of this watermarking scheme has been analyzed by evaluating the robustness of the algorithm with PSNR (Peak Signal to Noise Ratio) and MSE (Mean Square Error) against the quality of the image for large amount of data. While coming to see results of the proposed encryption, higher value of 89dB of PSNR with small value of MSE is 0.0017. Then it seems the proposed watermarking system is secure and robust for hiding secure information in any digital system, because this system collect the properties of both steganography and cryptography sciences.

The use of software Mapavox for teaching graphics and games to blind and low vision students: a development through practices

Current policies on education to visually impaired point for a growing trend of including students with special educational needs in regular schools. However, most often this inclusion is not accompanied by an appropriate professional trained or infrastructure, which has been presented as a big problem for regular school teachers who have students with visual impairments in their classroom. Based on this situation, the Group of Extension in Tactile Cartography from UNESP - University of the State of São Paulo - Campus de Rio Claro - SP - Brazil has been developing educational material of geography and cartography to blind students at a special school. Among the materials developed in this study highlight the development of graphics and board games provided with sound capabilities through MAPAVOX, software developed in partnership with UFRJ - Federal University from Rio de Janeiro - RJ - Brazil. Through this software, sound capabilities can be inserted into built materials, giving them a multi-sensory character. In most cases the necessary conditions for building specific materials to students with visual impairments is expensive and beyond the reach of features from a regular school, so the survey sought to use easy access and low cost materials like Cork, leaf aluminum, material for fixing and others. The development of these materials was supported by preparation in laboratory and its subsequent test through practices involving blind students. The methodology used on the survey is based on qualitative research and non comparative analysis of the results. In other words, the material is built based on the special students perception and reality construction, not being mere adaptations of visual materials, but a construction focused on the reality of the visually impaired. The results proved were quite successful as the materials prepared were effective on mediating the learning process of students with disabilities. Geographical and cartographic concepts were seized by the students through the technology used, associated with the use of materials that took into account in its building process the perception of the students.

Is your vision consistent? A method for checking, based on scenario concepts

Common sense tells us that the future is an essential element in any strategy. In addition, there is a good deal of literature on scenario planning, which is an important tool in considering the future in terms of strategy. However, in many organizations there is serious resistance to the development of scenarios, and they are not broadly implemented by companies. But even organizations that do not rely heavily on the development of scenarios do, in fact, construct visions to guide their strategies. But it might be asked, what happens when this vision is not consistent with the future? To address this problem, the present article proposes a method for checking the content and consistency of an organization's vision of the future, no matter how it was conceived. The proposed method is grounded on theoretical concepts from the field of future studies, which are described in this article. This study was motivated by the search for developing new ways of improving and using scenario techniques as a method for making strategic decisions. The method was then tested on a company in the field of information technology in order to check its operational feasibility. The test showed that the proposed method is, in fact, operationally feasible and was capable of analyzing the vision of the company being studied, indicating both its shortcomings and points of inconsistency. (C) 2007 Elsevier Ltd. All rights reserved.

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.

JSEG-based image segmentation in computer vision for agricultural mobile robot navigation

This project aims to apply image processing techniques in computer vision featuring an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained.

ANN statistical image recognition method for computer vision in agricultural mobile robot navigation

The main application area in this project, is to deploy image processing and segmentation techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. Thereby, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for image recognition. Hence, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave computational platforms, along with the application of customized Back-propagation Multilayer Perceptron (MLP) algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of segmented images in which reasonably accurate results were obtained. © 2010 IEEE.

Traffic congestion: the problem and how to tackle it

As the culmination of a project financed by the Technical Cooperation Agency of the Federal Republic of Germany (GTZ), ECLAC has just published Congestión de tránsito - El problema y cómo enfrentarlo, Cuadernos de la Cepal series, No. 87. The text of 194 pages analyses the negative impacts of congestion and the multidisciplinary efforts that are needed to keep it under control, through the design of appropriate policies and measures. Congestion control is part of the development of a strategic vision of how a city should develop which can make it possible to harmonize the needs of mobility, growth and competitiveness, which are so necessary today and in the future, with the sustainability of cities and the improvement of their quality of life.The task is complex and it is not easy to find appropriate solutions. The present publication presents tools for tackling this crucial problem. Everything indicates that it calls for high professional and leadership qualities on the part of the authorities, and that it must have the active support of the citizens.This edition of the Bulletin presents a summary of the main conclusions of the publication and it is stressed that ECLAC can conduct local workshops to analyze the problem and how to tackle it.

Traffic congestion: the problem and how to deal with it

The text of 194 pages analyses the negative impacts of congestion and the multidisciplinary efforts that are needed to keep it under control, through the design of appropriate policies and measures. Congestion control is part of the development of a strategic vision of how a city should develop which can make it possible to harmonize the needs of mobility, growth and competitiveness, which are so necessary today and in the future, with the sustainability of cities and the improvement of their quality of life.The task is complex and it is not easy to find appropriate solutions. The present publication presents tools for tackling this crucial problem. Everything indicates that it calls for high professional and leadership qualities on the part of the authorities, and that it must have the active support of the citizens.This edition of the Bulletin presents a summary of the main conclusions of the publication and it is stressed that ECLAC can conduct local workshops to analyze the problem and how to tackle it.

Vision-based vehicle detection and tracking with a mobile camera using a statistical framework

En esta tesis se aborda la detección y el seguimiento automático de vehículos mediante técnicas de visión artificial con una cámara monocular embarcada. Este problema ha suscitado un gran interés por parte de la industria automovilística y de la comunidad científica ya que supone el primer paso en aras de la ayuda a la conducción, la prevención de accidentes y, en última instancia, la conducción automática. A pesar de que se le ha dedicado mucho esfuerzo en los últimos años, de momento no se ha encontrado ninguna solución completamente satisfactoria y por lo tanto continúa siendo un tema de investigación abierto. Los principales problemas que plantean la detección y seguimiento mediante visión artificial son la gran variabilidad entre vehículos, un fondo que cambia dinámicamente debido al movimiento de la cámara, y la necesidad de operar en tiempo real. En este contexto, esta tesis propone un marco unificado para la detección y seguimiento de vehículos que afronta los problemas descritos mediante un enfoque estadístico. El marco se compone de tres grandes bloques, i.e., generación de hipótesis, verificación de hipótesis, y seguimiento de vehículos, que se llevan a cabo de manera secuencial. No obstante, se potencia el intercambio de información entre los diferentes bloques con objeto de obtener el máximo grado posible de adaptación a cambios en el entorno y de reducir el coste computacional. Para abordar la primera tarea de generación de hipótesis, se proponen dos métodos complementarios basados respectivamente en el análisis de la apariencia y la geometría de la escena. Para ello resulta especialmente interesante el uso de un dominio transformado en el que se elimina la perspectiva de la imagen original, puesto que este dominio permite una búsqueda rápida dentro de la imagen y por tanto una generación eficiente de hipótesis de localización de los vehículos. Los candidatos finales se obtienen por medio de un marco colaborativo entre el dominio original y el dominio transformado. Para la verificación de hipótesis se adopta un método de aprendizaje supervisado. Así, se evalúan algunos de los métodos de extracción de características más populares y se proponen nuevos descriptores con arreglo al conocimiento de la apariencia de los vehículos. Para evaluar la efectividad en la tarea de clasificación de estos descriptores, y dado que no existen bases de datos públicas que se adapten al problema descrito, se ha generado una nueva base de datos sobre la que se han realizado pruebas masivas. Finalmente, se presenta una metodología para la fusión de los diferentes clasificadores y se plantea una discusión sobre las combinaciones que ofrecen los mejores resultados. El núcleo del marco propuesto está constituido por un método Bayesiano de seguimiento basado en filtros de partículas. Se plantean contribuciones en los tres elementos fundamentales de estos filtros: el algoritmo de inferencia, el modelo dinámico y el modelo de observación. En concreto, se propone el uso de un método de muestreo basado en MCMC que evita el elevado coste computacional de los filtros de partículas tradicionales y por consiguiente permite que el modelado conjunto de múltiples vehículos sea computacionalmente viable. Por otra parte, el dominio transformado mencionado anteriormente permite la definición de un modelo dinámico de velocidad constante ya que se preserva el movimiento suave de los vehículos en autopistas. Por último, se propone un modelo de observación que integra diferentes características. En particular, además de la apariencia de los vehículos, el modelo tiene en cuenta también toda la información recibida de los bloques de procesamiento previos. El método propuesto se ejecuta en tiempo real en un ordenador de propósito general y da unos resultados sobresalientes en comparación con los métodos tradicionales. ABSTRACT This thesis addresses on-road vehicle detection and tracking with a monocular vision system. This problem has attracted the attention of the automotive industry and the research community as it is the first step for driver assistance and collision avoidance systems and for eventual autonomous driving. Although many effort has been devoted to address it in recent years, no satisfactory solution has yet been devised and thus it is an active research issue. The main challenges for vision-based vehicle detection and tracking are the high variability among vehicles, the dynamically changing background due to camera motion and the real-time processing requirement. In this thesis, a unified approach using statistical methods is presented for vehicle detection and tracking that tackles these issues. The approach is divided into three primary tasks, i.e., vehicle hypothesis generation, hypothesis verification, and vehicle tracking, which are performed sequentially. Nevertheless, the exchange of information between processing blocks is fostered so that the maximum degree of adaptation to changes in the environment can be achieved and the computational cost is alleviated. Two complementary strategies are proposed to address the first task, i.e., hypothesis generation, based respectively on appearance and geometry analysis. To this end, the use of a rectified domain in which the perspective is removed from the original image is especially interesting, as it allows for fast image scanning and coarse hypothesis generation. The final vehicle candidates are produced using a collaborative framework between the original and the rectified domains. A supervised classification strategy is adopted for the verification of the hypothesized vehicle locations. In particular, state-of-the-art methods for feature extraction are evaluated and new descriptors are proposed by exploiting the knowledge on vehicle appearance. Due to the lack of appropriate public databases, a new database is generated and the classification performance of the descriptors is extensively tested on it. Finally, a methodology for the fusion of the different classifiers is presented and the best combinations are discussed. The core of the proposed approach is a Bayesian tracking framework using particle filters. Contributions are made on its three key elements: the inference algorithm, the dynamic model and the observation model. In particular, the use of a Markov chain Monte Carlo method is proposed for sampling, which circumvents the exponential complexity increase of traditional particle filters thus making joint multiple vehicle tracking affordable. On the other hand, the aforementioned rectified domain allows for the definition of a constant-velocity dynamic model since it preserves the smooth motion of vehicles in highways. Finally, a multiple-cue observation model is proposed that not only accounts for vehicle appearance but also integrates the available information from the analysis in the previous blocks. The proposed approach is proven to run near real-time in a general purpose PC and to deliver outstanding results compared to traditional methods.

Discernment of bee pollen loads using computer vision and one-class classification techniques

In this paper, we propose a system for authenticating local bee pollen against fraudulent samples using image processing and classification techniques. Our system is based on the colour properties of bee pollen loads and the use of one-class classifiers to reject unknown pollen samples. The latter classification techniques allow us to tackle the major difficulty of the problem, the existence of many possible fraudulent pollen types. Also presented is a multi-classifier model with an ambiguity discovery process to fuse the output of the one-class classifiers. The method is validated by authenticating Spanish bee pollen types, the overall accuracy of the final system of being 94%. Therefore, the system is able to rapidly reject the non-local pollen samples with inexpensive hardware and without the need to send the product to the laboratory.

Offshore remote sensing of the ocean by stereo vision systems

In recent years, remote sensing imaging systems for the measurement of oceanic sea states have attracted renovated attention. Imaging technology is economical, non-invasive and enables a better understanding of the space-time dynamics of ocean waves over an area rather than at selected point locations of previous monitoring methods (buoys, wave gauges, etc.). We present recent progress in space-time measurement of ocean waves using stereo vision systems on offshore platforms, which focus on sea states with wavelengths in the range of 0.01 m to 1 m. Both traditional disparity-based systems and modern elevation-based ones are presented in a variational optimization framework: the main idea is to pose the stereoscopic reconstruction problem of the surface of the ocean in a variational setting and design an energy functional whose minimizer is the desired temporal sequence of wave heights. The functional combines photometric observations as well as spatial and temporal smoothness priors. Disparity methods estimate the disparity between images as an intermediate step toward retrieving the depth of the waves with respect to the cameras, whereas elevation methods estimate the ocean surface displacements directly in 3-D space. Both techniques are used to measure ocean waves from real data collected at offshore platforms in the Black Sea (Crimean Peninsula, Ukraine) and the Northern Adriatic Sea (Venice coast, Italy). Then, the statistical and spectral properties of the resulting observed waves are analyzed. We show the advantages and disadvantages of the presented stereo vision systems and discuss future lines of research to improve their performance in critical issues such as the robustness of the camera calibration in spite of undesired variations of the camera parameters or the processing time that it takes to retrieve ocean wave measurements from the stereo videos, which are very large datasets that need to be processed efficiently to be of practical usage. Multiresolution and short-time approaches would improve efficiency and scalability of the techniques so that wave displacements are obtained in feasible times.

Space-time ocean wave measurement using variational stereo vision systems

Remote sensing imaging systems for the measurement of oceanic sea states have recently attracted renovated attention. Imaging technology is economical, non-invasive and enables a better understanding of the space-time dynamics of ocean waves over an area rather than at selected point locations of previous monitoring methods (buoys, wave gauges, etc.). We present recent progress in space-time measurement of ocean waves using stereo vision systems on offshore platforms. Both traditional disparity-based systems and modern elevation-based ones are presented in a variational optimization framework: the main idea is to pose the stereoscopic reconstruction problem of the surface of the ocean in a variational setting and design an energy functional whose minimizer is the desired temporal sequence of wave heights. The functional combines photometric observations as well as spatial and temporal smoothness priors. Disparity methods estimate the disparity between images as an intermediate step toward retrieving the depth of the waves with respect to the cameras, whereas elevation methods estimate the ocean surface displacements directly in 3-D space. Both techniques are used to measure ocean waves from real data collected at offshore platforms in the Black Sea (Crimean Peninsula, Ukraine) and the Northern Adriatic Sea (Venice coast, Italy). Then, the statistical and spectral properties of the resulting observed waves are analyzed. We show the advantages and disadvantages of the presented stereo vision systems and discuss the improvement of their performance in critical issues such as the robustness of the camera calibration in spite of undesired variations of the camera parameters.

A vision based aerial rbot solution for the IARC 2014 by the Technical University of Madrid

The IARC competitions aim at making the state of the art in UAV progress. The 2014 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and Obstacle avoidance in the setting of a ground robot herding problem. We present in this paper a drone which will take part in this competition. The platform and hardware it is composed of and the software we designed are introduced. This software has three main components: the visual information acquisition, the mapping algorithm and the Aritificial Intelligence mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenge?s is also included.

Gordon Matta-Clark a través de Rem Koolhaas : adición a través de eliminación

Gordon Matta-Clark es el origen de la presente investigación. Su obra, de total actualidad, ha ido ganando interés entre la comunidad de arquitectos, si bien su dimensión teórica se ha visto a menudo eclipsada por el poderoso atractivo de sus aberturas, cortes y extracciones. Son muchos los investigadores que detectan una carencia en el estudio de su corpus de pensamiento desde el campo de la crítica arquitectónica a la que está inevitablemente vinculado, a pesar de haber puesto en marcha una potente maquinaria de criticismo. Se constata a su vez la problemática existente al construir dialécticas entre la obra de Gordon Matta-Clark y el ámbito de la práctica arquitectónica. Surgen áreas forzadas de reflexión al elevar ambas esferas al mismo plano, achacado a un desconocimiento de las motivaciones críticas e históricas del proyecto del arquitecto. Aparece de modo recurrente un intento por establecer una dialéctica que, sin embargo, es relegada constantemente a una colección de notas al pie de página: Rem Koolhaas es sesgadamente mencionado por la crítica como el digno continuador accidental de las teorías de Gordon Matta-Clark. Se inicia así la construcción de una dialéctica que permanece aún sin resolver. Rem Koolhaas, en una entrevista en la que vierte su opinión sobre Gordon Matta-Clark, lo considera el precursor accidental de su ‘estrategia de vacío’, reconociendo en su trabajo procesos de adición a través de eliminación como método de creación de espacio arquitectónico. Una visión incisiva que desdeña su faceta de artista destructor destacando su habilidad para inocular el vacío mediante el empleo de herramientas de adición a través de eliminación. Estas premisas dan lugar de forma automática a la hipótesis de partida: la formalización de una investigación que llene ese vacío estableciendo un fuego cruzado entre ambos arquitectos, los cuales comparten de manera fortuita época y escenarios. El discurso de Rem Koolhaas iluminará el pensamiento de Gordon Matta-Clark vinculando sus respectivas plataformas de producción teórica, construyendo un espacio metafórico común en torno a la palabra y la imagen, herramientas que ambos manejan con habilidad y fluidez. Las propuestas del grupo Anarchitecture y las Art Cards o recortes anárquicos de soliloquios mattaclarkianos encuentran su réplica en el diccionario de términos e imágenes “Small, Medium, Large, Extra-Large”, descrito por Rem Koolhaas como una acumulación de palabras e imágenes que ilumina la condición de la arquitectura actual. La investigación establece una profusa asociación de ideas, imágenes y parlamentos que navegan en el universo referencial de Rem Koolhaas aportando una nueva visión sobre la dimensión crítica de Gordon Matta-Clark. Una visión poliédrica alrededor de cinco conceptos clave y un glosario de estrategias de proyecto que abren nuevos umbrales en los que la adición a través de la eliminación se repite hasta la saciedad transformado en mantra arquitectónico. ABSTRACT The present research finds its origins in Gordon Matta-Clark. His work, still relevant today, has been gaining interest within the community of architects, although its theoretical dimension has often been overshadowed by the powerful attraction of his openings, cuts and extractions. Many researchers detect a lack in the study of his body of thought from the field of architectural criticism to which he is inevitably associated, despite having launched a powerful machinery of criticism. It is noted at the same time the problem appeared when different dialectics between the work of Gordon Matta-Clark and the field of architectural practice are established. Forced areas of thought emerge when both fields are observed from the same point of view, derived from a lack of knowledge of the critical and historical motivations of the architect project. An attempt to establish a dialectical relationship with another architect appears recurrently in different books and writings. However it is steadily consigned to a collection of insignificant footnotes: the critics mention Rem Koolhaas as the worthy accidental successor of the theories of Gordon Matta-Clark. The construction of a dialectic that remains unresolved begins at this point. Gordon Matta-Clark is considered by Rem Koolhaas the accidental predecessor of his ‘strategy of emptiness’ -in an interview in which he pours his opinion on him- recognizing processes of addition through elimination in the work of Matta-Clark as a method of building architectural space. Rem Koolhaas rejects his role as destructor artist highlighting his ability to inoculate the emptiness by using addition tools through elimination. These premises lead us automatically to the hypothesis of the research: the formalization of research that will fill the emptiness by setting a crossfire between both architects, who share by chance the same scenarios and time. The discourse given by Rem Koolhaas illuminates Gordon Matta-Clark´s thought by linking their respective theoretical work platforms, building a common metaphorical space around word and image as tools managed by both of them with expertise and fluency. The Anarchitecture proposals and the Art Cards -anarchic cuts of Matta-Clark´s thought- find its counterpart in the dictionary of terms and images included in “Small, Medium, Large, Extra- Large”, described by Rem Koolhaas as an accumulation of words and images that illuminates the condition of architecture today. The research provides a wide range of associations of ideas, images and discussions around the universe of references of Rem Koolhaas, offering a new insight into the critical dimension of the work of Gordon Matta-Clark. A multifaceted vision around five key concepts and a glossary of project strategies that opens up new thresholds in which addition through elimination is repeated endlessly becoming an architectural mantra.

Integrated architecture for vision-based indoor localization and mapping of a quadrotor micro-air vehicle

Atualmente os sistemas de pilotagem autónoma de quadricópteros estão a ser desenvolvidos de forma a efetuarem navegação em espaços exteriores, onde o sinal de GPS pode ser utilizado para definir waypoints de navegação, modos de position e altitude hold, returning home, entre outros. Contudo, o problema de navegação autónoma em espaços fechados sem que se utilize um sistema de posicionamento global dentro de uma sala, subsiste como um problema desafiante e sem solução fechada. Grande parte das soluções são baseadas em sensores dispendiosos, como o LIDAR ou como sistemas de posicionamento externos (p.ex. Vicon, Optitrack). Algumas destas soluções reservam a capacidade de processamento de dados dos sensores e dos algoritmos mais exigentes para sistemas de computação exteriores ao veículo, o que também retira a componente de autonomia total que se pretende num veículo com estas características. O objetivo desta tese pretende, assim, a preparação de um sistema aéreo não-tripulado de pequeno porte, nomeadamente um quadricóptero, que integre diferentes módulos que lhe permitam simultânea localização e mapeamento em espaços interiores onde o sinal GPS ´e negado, utilizando, para tal, uma câmara RGB-D, em conjunto com outros sensores internos e externos do quadricóptero, integrados num sistema que processa o posicionamento baseado em visão e com o qual se pretende que efectue, num futuro próximo, planeamento de movimento para navegação. O resultado deste trabalho foi uma arquitetura integrada para análise de módulos de localização, mapeamento e navegação, baseada em hardware aberto e barato e frameworks state-of-the-art disponíveis em código aberto. Foi também possível testar parcialmente alguns módulos de localização, sob certas condições de ensaio e certos parâmetros dos algoritmos. A capacidade de mapeamento da framework também foi testada e aprovada. A framework obtida encontra-se pronta para navegação, necessitando apenas de alguns ajustes e testes.