Slow and Smooth: A Bayesian Theory for the Combination of Local Motion Signals in Human Vision

In order to estimate the motion of an object, the visual system needs to combine multiple local measurements, each of which carries some degree of ambiguity. We present a model of motion perception whereby measurements from different image regions are combined according to a Bayesian estimator --- the estimated motion maximizes the posterior probability assuming a prior favoring slow and smooth velocities. In reviewing a large number of previously published phenomena we find that the Bayesian estimator predicts a wide range of psychophysical results. This suggests that the seemingly complex set of illusions arise from a single computational strategy that is optimal under reasonable assumptions.

Biologically Plausible Neural Model for the Recognition of Biological Motion and Actions

The visual recognition of complex movements and actions is crucial for communication and survival in many species. Remarkable sensitivity and robustness of biological motion perception have been demonstrated in psychophysical experiments. In recent years, neurons and cortical areas involved in action recognition have been identified in neurophysiological and imaging studies. However, the detailed neural mechanisms that underlie the recognition of such complex movement patterns remain largely unknown. This paper reviews the experimental results and summarizes them in terms of a biologically plausible neural model. The model is based on the key assumption that action recognition is based on learned prototypical patterns and exploits information from the ventral and the dorsal pathway. The model makes specific predictions that motivate new experiments.

Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

A Motion compensated filtering approach to remove sunlight flicker in shallow water images

A common problem in video surveys in very shallow waters is the presence of strong light fluctuations, due to sun light refraction. Refracted sunlight casts fast moving patterns, which can significantly degrade the quality of the acquired data. Motivated by the growing need to improve the quality of shallow water imagery, we propose a method to remove sunlight patterns in video sequences. The method exploits the fact that video sequences allow several observations of the same area of the sea floor, over time. It is based on computing the image difference between a given reference frame and the temporal median of a registered set of neighboring images. A key observation is that this difference will have two components with separable spectral content. One is related to the illumination field (lower spatial frequencies) and the other to the registration error (higher frequencies). The illumination field, recovered by lowpass filtering, is used to correct the reference image. In addition to removing the sunflickering patterns, an important advantage of the approach is the ability to preserve the sharpness in corrected image, even in the presence of registration inaccuracies. The effectiveness of the method is illustrated in image sets acquired under strong camera motion containing non-rigid benthic structures. The results testify the good performance and generality of the approach

Proposal of a parallel architecture for a motion detection algorithm

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed

Recovering Euclidean deformable models from stereo-motion

In this paper we present a novel structure from motion (SfM) approach able to infer 3D deformable models from uncalibrated stereo images. Using a stereo setup dramatically improves the 3D model estimation when the observed 3D shape is mostly deforming without undergoing strong rigid motion. Our approach first calibrates the stereo system automatically and then computes a single metric rigid structure for each frame. Afterwards, these 3D shapes are aligned to a reference view using a RANSAC method in order to compute the mean shape of the object and to select the subset of points on the object which have remained rigid throughout the sequence without deforming. The selected rigid points are then used to compute frame-wise shape registration and to extract the motion parameters robustly from frame to frame. Finally, all this information is used in a global optimization stage with bundle adjustment which allows to refine the frame-wise initial solution and also to recover the non-rigid 3D model. We show results on synthetic and real data that prove the performance of the proposed method even when there is no rigid motion in the original sequence

Online Robust 3D Mapping Using Structure from Motion Cues

This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations. Compared to standard structure from motion techniques, this approach decreases the error accumulation while increasing the robustness to scene occlusions and feature association failures. The obtained 3D information is used to generate high quality, composite visual maps of the scene (mosaics). The visual maps are used to create texture-mapped, realistic views of the scene

Enhanced Model Selection for motion segmentation

In this paper a novel rank estimation technique for trajectories motion segmentation within the Local Subspace Affinity (LSA) framework is presented. This technique, called Enhanced Model Selection (EMS), is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built by LSA. The results on synthetic and real data show that without any a priori knowledge, EMS automatically provides an accurate and robust rank estimation, improving the accuracy of the final motion segmentation

Rank estimation of trajectory matrix in motion segmentation

A novel technique for estimating the rank of the trajectory matrix in the local subspace affinity (LSA) motion segmentation framework is presented. This new rank estimation is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built with LSA. The result is an enhanced model selection technique for trajectory matrix rank estimation by which it is possible to automate LSA, without requiring any a priori knowledge, and to improve the final segmentation

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Análisis de la competitividad del sub sector lechero de los pequeños y medianos productores frente al TLC con la Unión Europea

A través de los años y en busca de ser partícipes del fenómeno de la globalización y de la integración económica entre países, Colombia ha buscado establecer acuerdos comerciales estratégicamente adecuados para transformar la economía interna, expandirse a nivel internacional e intercambiar productos en los que no se es especializado. Ante esto, Colombia firmó el Tratado de Libre Comercio con la Unión Europea en Junio del 2012, que entró en vigencia en Agosto del 2013, y hasta el momento la situación del sector lechero ha sido crítica, pues carece del nivel de competitividad suficiente para garantizar la perdurabilidad de los pequeños y medianos productores de leche. El diagnóstico del sector lechero colombiano permite tener una visión más clara sobre las principales características de los sistemas de producción del país, es aquí donde se conocen las falencias que se presentan en el sector, pues la productividad es baja, los costos de producción son altos y los precios tienen una tendencia al alza, colocando a los productos nacionales en desventaja frente a la gran oferta internacional que invade el mercado interno con precios reducidos y con mejor calidad. Además, se identifica también que gran parte de los productores de leche son informales y por lo tanto es difícil consolidar la información referente al sector y convertirla en conocimiento para efectuar planes de cambio y transformación para mejorar la situación. Del lado contrario y actuando como principal competidor en este caso de estudio, se encuentra la Unión Europea. Su diagnóstico ubica esta zona geográfica en una posición indudablemente privilegiada: precios bajos, mejor calidad, alta productividad, entre otras características que hacen de la UE una verdadera amenaza para los pequeños y medianos productores colombianos. La sobreproducción que se presencia en esta asociación económica y política crea la necesidad de explorar otros mercados para poner a disposición dicha producción, y el Tratado de Libre Comercio con Colombia es una opción para compensar esa oferta con una demanda insatisfecha. Con el fin de conocer profundamente las implicaciones del TLC con la Unión Europea y cómo afecta este acuerdo a los pequeños y medianos productores de leche en Colombia, fue necesario abordar algunos puntos clave en la negociación establecida y a partir de estos determinar si este tratado es realmente una oportunidad para el campesino informal que se dedica a la producción de leche para el autoconsumo y/o la comercialización en veredas y pueblos, o por el contrario, es una plataforma que afecta negativamente a las 450 mil familias que viven de este oficio y que no tienen los niveles de competitividad exigidos para enfrentar una competencia extranjera tan fuerte como lo es la Unión Europea. Por último, el análisis DOFA permite crear estrategias coherentes y viables relacionando las fortalezas y debilidades de Colombia con las oportunidades y amenazas que implica tener un acuerdo de libre comercio con la Unión Europea. Estas estrategias contribuyen a mejorar la competitividad del sector en busca de garantizar una mayor perdurabilidad de los pequeños y medianos productores de leche, y de esta manera se logrará no sólo aprovechar este acuerdo comercial, si no también conquistar otros mercados internacionales con un producto de mejor calidad.

Definition of an it project portfolio management methodology for a pharmaceutical company

Con la creciente popularidad de las soluciones de IT como factor clave para aumentar la competitividad y la creación de valor para las empresas, la necesidad de invertir en proyectos de IT se incrementa considerablemente. La limitación de los recursos como un obstáculo para invertir ha obligado a las empresas a buscar metodologías para seleccionar y priorizar proyectos, asegurándose de que las decisiones que se toman son aquellas que van alineadas con las estrategias corporativas para asegurar la creación de valor y la maximización de los beneficios. Esta tesis proporciona los fundamentos para la implementación del Portafolio de dirección de Proyectos de IT (IT PPM) como una metodología eficaz para la gestión de proyectos basados en IT, y una herramienta para proporcionar criterios claros para los directores ejecutivos para la toma de decisiones. El documento proporciona la información acerca de cómo implementar el IT PPM en siete pasos, el análisis de los procesos y las funciones necesarias para su ejecución exitosa. Además, proporciona diferentes métodos y criterios para la selección y priorización de proyectos. Después de la parte teórica donde se describe el IT PPM, la tesis aporta un análisis del estudio de caso de una empresa farmacéutica. La empresa ya cuenta con un departamento de gestión de proyectos, pero se encontró la necesidad de implementar el IT PPM debido a su amplia cobertura de procesos End-to-End en Proyectos de IT, y la manera de asegurar la maximización de los beneficios. Con la investigación teórica y el análisis del estudio de caso, la tesis concluye con una definición práctica de un modelo aproximado IT PPM como una recomendación para su implementación en el Departamento de Gestión de Proyectos.

Implicit priming of picture naming : a theoretical and methodological note on the implicit priming task. 'Potenciación implícita del nombrado de imágenes : una nota teórica y metodológica sobre la tarea de pontenciación implícita'.

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