Visual SLAM using straight lines

The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate localization in environments with few feature points, like corridors. As a foundation for the project, ScaViSLAM by Strasdat et al. is used, which is a state-of-the-art real-time visual SLAM framework. Since it currently only supports Stereo and RGB-D systems, implementing a Monocular approach will be researched as well as an integration of it as a ROS package in order to deploy it on a mobile robot. For the experimental results, the Care-O-bot service robot developed by Fraunhofer IPA will be used.

A stationary visual census technique for quantitatively assessing community structure of coral reef fishes

A new method is described and evaluated for visually sampling reef fish community structure in environments with highly diverse and abundant reef fish populations. The method is based on censuses of reef fishes taken within a cylinder of 7.5 m radius by a diver at randomly selected, stationary points. The method provides quantitative data on frequency of occnrrence, fish length, abundance, and community composition, and is simple, fast, objective, and repeatable. Species are accumulated rapidly for listing purposes, and large numbers of samples are easily obtained for statistical treatment. The method provides an alternative to traditional visual sampling methods. Observations showed that there were no significant differences in total numbers of species or individuals censused when visibility ranged between 8 and 30 m. The reefs and habitats sampled were significant sources of variation in number of species and individuals censused, but the diver was not a significant influence. Community similarity indices were influenced significantly by the specific sampling site and the reef sampled, but were not significantly affected by the habitat or diver (PDF file contains 21 pages.)

Plasticidad postlesional en el sistema visual : estrategias experimentales para su incremento en el adulto

196 p. :il.

Skeleton based visual pattern recognition. Applications to tabletop interaction

211 p. :il.

El árbol del arte. Matriz trans-sensorial e intersubjetiva para el arte no visual y el silencio del yo artístico

461 p. : il., col.

Study on the biomass yield of Duckweed (Lemna minor) (L.) in hydroponic cultures containing different concentrations of aquaeous extract of chicken manure

The biomass yields of duck week (Lemna minor(L) was monitored in hydroponic media prepared by variously extracting 0.50, 1.00 and 2.00g of dried chicken manure per liter of city water (tap water) supply. The culture media consisting of aqueous extract of the various manure treatments were made up to 12 liters in all cases with tap water as control. Plastic baths of 25 liters capacity with 0.71 super(m2) surface area were used as culture facility. Each bath was stocked at a density of 30g super(m-2) with fresh weed samples (i.e 21.30g/bath). Maximum yields were obtained at all treatment levels and control on day 3 and based on the highest yield of 0.37gm super(-2)d super(-1) (dry matter) obtained at 1.00gL manure treatment which was however not significantly higher (P>0.05) than the 0.36gm super(-2)d super(-1) (dry matter) at 0.05gl super(-1) media manure content, an average manure level of 0.75l super(-1) was selected and used to determine the operational plant density. Thus fresh weights of 30 to 300gm super(-2) was grown in triplicate at 30g intervals for a period of 3 days. A regression equation of Y=2.6720+0.0021x with a corresponding maximum density or operational plant density of 266gm super(-2) and yield of 0.98gm super(-2), d super(-1) (dry matter) were obtained. Further growth trials were carried out at the operational density and manure levels of 0.50, 0.75, 1.00, 1.25, 1.50, 1.75 and 2.00gl super(-1) media manure concentration giving a significantly higher yield (P<0.05) of 17gm super(-2), d super(-1) (dry matter). This yield was however doubled to between 2.21 and 2.24gm super(-2) d super(-1) (equivalent to 7.96 to 8.06mt.ha-1, Yr-1 dry matter on extrapolation) if 25% and 75% respectively of the total weed cover were harvested daily within the experimental period. The role of some dissolved plant nutrients (DPN) were also discussed