Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

27-8-20, Circuit de la Sarthe, Delaunay sur Bignan Sport : [photographie de presse] / [Agence Rol]

Référence bibliographique : Rol, 60769

Special report of New York State Survey on the preservation of the scenery of Niagara Falls ; and fourth annual report on the triangulation of State. For the Year 1879 /

Notes by F. L. Olmsted.

Triangulation of rights, balancing of interests : exploring the tensions between freedom of conscience and freedom of religion in comparative constitutional law

La liberté de religion, souvent reconnue comme étant la « première liberté » dans de nombreuses traditions juridiques, reflète également les différentes conceptions de la place de l’individu et de la communauté dans la société. Notre étude analysera les modèles constitutionnels canadien, américain et européen de liberté de religion et conscience. Dans un premier chapitre, nous examinerons les conceptions théoriques de la religion dans les sciences sociales ainsi les approches juridiques afin de mieux cerner comment la religion est conçue et de plus, comprendre les diverses influences sur sa conceptualisation. Dans un second et troisième chapitre, nous tenterons d’une part, de qualifier la relation entre la liberté de conscience et la liberté de religion au Canada en nous livrant à une analyse approfondie des deux libertés et d’autre part, d’identifier les questions qui demeurent irrésolues. Dans le chapitre final, nous observerons comment la liberté de conscience a été interprétée dans les contextes américain et dans l’Union Européenne, par le biais de la Cour Européenne des droits de l’Homme. Notre hypothèse est que l’on peut arriver à une meilleure compréhension de la relation entre les libertés de conscience et religion en clarifiant les conceptions théoriques de la religion et de la conscience en droit constitutionnel comparé.

Du père psychanalytique au père développemental : vision systémique de la fonction de triangulation: aplication à l'évaluation de la parentalité psychique

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

Triangulation by Continuous Embedding

When triangulating a belief network we aim to obtain a junction tree of minimum state space. Searching for the optimal triangulation can be cast as a search over all the permutations of the network's vaeriables. Our approach is to embed the discrete set of permutations in a convex continuous domain D. By suitably extending the cost function over D and solving the continous nonlinear optimization task we hope to obtain a good triangulation with respect to the aformentioned cost. In this paper we introduce an upper bound to the total junction tree weight as the cost function. The appropriatedness of this choice is discussed and explored by simulations. Then we present two ways of embedding the new objective function into continuous domains and show that they perform well compared to the best known heuristic.

New Methods for Triangulation-based Shape Acquisition using Laser Scanners

Tradicionalment, la reproducció del mon real se'ns ha mostrat a traves d'imatges planes. Aquestes imatges se solien materialitzar mitjançant pintures sobre tela o be amb dibuixos. Avui, per sort, encara podem veure pintures fetes a ma, tot i que la majoria d'imatges s'adquireixen mitjançant càmeres, i es mostren directament a una audiència, com en el cinema, la televisió o exposicions de fotografies, o be son processades per un sistema computeritzat per tal d'obtenir un resultat en particular. Aquests processaments s'apliquen en camps com en el control de qualitat industrial o be en la recerca mes puntera en intel·ligència artificial. Aplicant algorismes de processament de nivell mitja es poden obtenir imatges 3D a partir d'imatges 2D, utilitzant tècniques ben conegudes anomenades Shape From X, on X es el mètode per obtenir la tercera dimensió, i varia en funció de la tècnica que s'utilitza a tal nalitat. Tot i que l'evolució cap a la càmera 3D va començar en els 90, cal que les tècniques per obtenir les formes tridimensionals siguin mes i mes acurades. Les aplicacions dels escàners 3D han augmentat considerablement en els darrers anys, especialment en camps com el lleure, diagnosi/cirurgia assistida, robòtica, etc. Una de les tècniques mes utilitzades per obtenir informació 3D d'una escena, es la triangulació, i mes concretament, la utilització d'escàners laser tridimensionals. Des de la seva aparició formal en publicacions científiques al 1971 [SS71], hi ha hagut contribucions per solucionar problemes inherents com ara la disminució d'oclusions, millora de la precisió, velocitat d'adquisició, descripció de la forma, etc. Tots i cadascun dels mètodes per obtenir punts 3D d'una escena te associat un procés de calibració, i aquest procés juga un paper decisiu en el rendiment d'un dispositiu d'adquisició tridimensional. La nalitat d'aquesta tesi es la d'abordar el problema de l'adquisició de forma 3D, des d'un punt de vista total, reportant un estat de l'art sobre escàners laser basats en triangulació, provant el funcionament i rendiment de diferents sistemes, i fent aportacions per millorar la precisió en la detecció del feix laser, especialment en condicions adverses, i solucionant el problema de la calibració a partir de mètodes geomètrics projectius.

Using triangulation to identify word senses

Word sense disambiguation is the task of determining which sense of a word is intended from its context. Previous methods have found the lack of training data and the restrictiveness of dictionaries' choices of senses to be major stumbling blocks. A robust novel algorithm is presented that uses multiple dictionaries, the Internet, clustering and triangulation to attempt to discern the most useful senses of a given word and learn how they can be disambiguated. The algorithm is explained, and some promising sample results are given.

Voronoi, Delaunay, and Block-Structured Mesh Refinement for Solution of the Shallow-Water Equations on the Sphere

Alternative meshes of the sphere and adaptive mesh refinement could be immensely beneficial for weather and climate forecasts, but it is not clear how mesh refinement should be achieved. A finite-volume model that solves the shallow-water equations on any mesh of the surface of the sphere is presented. The accuracy and cost effectiveness of four quasi-uniform meshes of the sphere are compared: a cubed sphere, reduced latitude–longitude, hexagonal–icosahedral, and triangular–icosahedral. On some standard shallow-water tests, the hexagonal–icosahedral mesh performs best and the reduced latitude–longitude mesh performs well only when the flow is aligned with the mesh. The inclusion of a refined mesh over a disc-shaped region is achieved using either gradual Delaunay, gradual Voronoi, or abrupt 2:1 block-structured refinement. These refined regions can actually degrade global accuracy, presumably because of changes in wave dispersion where the mesh is highly nonuniform. However, using gradual refinement to resolve a mountain in an otherwise coarse mesh can improve accuracy for the same cost. The model prognostic variables are height and momentum collocated at cell centers, and (to remove grid-scale oscillations of the A grid) the mass flux between cells is advanced from the old momentum using the momentum equation. Quadratic and upwind biased cubic differencing methods are used as explicit corrections to a fast implicit solution that uses linear differencing.

Geração de modelos digitais de superfície por meio de plataformas computacionais com estrutura vetorial e raster

Geographic Information Systems (GIS) integrate the technologies related to Geoprocessing, with the ability to manipulate georeferenced information through data storage, management and analysis. One of the GIS applications is the generation of Digital Elevation Models (DEM) as a result of rebuilding the elevation of a region using computation tools and artificial representation. This paper presents the DEM created from a point base in two computational frameworks with different structures (vector and raster), comparing the contour lines generated from these models with the original contour lines from analog cartographic base. It was observed that one of the generated models presented some discrepancies related to real space for both GIS structures. However, using constrained Delaunay's triangulation in raster GIS a digital elevation model was generated with contour lines quite close to the original ones, with satisfactory results. A 3-D terrain representation was also created offering a very useful tool for analysis.

Delaunay Tetrahedralization of the Heart Based on Integration of Open Source Codes

The Finite Element Method (FEM) is a way of numerical solution applied in different areas, as simulations used in studies to improve cardiac ablation procedures. For this purpose, the meshes should have the same size and histological features of the focused structures. Some methods and tools used to generate tetrahedral meshes are limited mainly by the use conditions. In this paper, the integration of Open Source Softwares is presented as an alternative to solid modeling and automatic mesh generation. To demonstrate its efficiency, the cardiac structures were considered as a first application context: atriums, ventricles, valves, arteries and pericardium. The proposed method is feasible to obtain refined meshes in an acceptable time and with the required quality for simulations using FEM.

Surface coverage in wireless sensor networks based on delaunay tetrahedralization

In this work is presented a new method for sensor deployment on 3D surfaces. The method was structured on different steps. The first one aimed discretizes the relief of interest with Delaunay algorithm. The tetrahedra and relative values (spatial coordinates of each vertex and faces) were input to construction of 3D Voronoi diagram. Each circumcenter was calculated as a candidate position for a sensor node: the corresponding circular coverage area was calculated based on a radius r. The r value can be adjusted to simulate different kinds of sensors. The Dijkstra algorithm and a selection method were applied to eliminate candidate positions with overlapped coverage areas or beyond of surface of interest. Performance evaluations measures were defined using coverage area and communication as criteria. The results were relevant, once the mean coverage rate achieved on three different surfaces were among 91% and 100%.