Posicionamento e movimentação de um robô humanóide utilizando imagens de uma câmera móvel externa

This work proposes a method to localize a simple humanoid robot, without embedded sensors, using images taken from an extern camera and image processing techniques. Once the robot is localized relative to the camera, supposing we know the position of the camera relative to the world, we can compute the position of the robot relative to the world. To make the camera move in the work space, we will use another mobile robot with wheels, which has a precise locating system, and will place the camera on it. Once the humanoid is localized in the work space, we can take the necessary actions to move it. Simultaneously, we will move the camera robot, so it will take good images of the humanoid. The mainly contributions of this work are: the idea of using another mobile robot to aid the navigation of a humanoid robot without and advanced embedded electronics; chosing of the intrinsic and extrinsic calibration methods appropriated to the task, especially in the real time part; and the collaborative algorithm of simultaneous navigation of the robots

Compressão auto-adaptativa de imagens coloridas

Image compress consists in represent by small amount of data, without loss a visual quality. Data compression is important when large images are used, for example satellite image. Full color digital images typically use 24 bits to specify the color of each pixel of the Images with 8 bits for each of the primary components, red, green and blue (RGB). Compress an image with three or more bands (multispectral) is fundamental to reduce the transmission time, process time and record time. Because many applications need images, that compression image data is important: medical image, satellite image, sensor etc. In this work a new compression color images method is proposed. This method is based in measure of information of each band. This technique is called by Self-Adaptive Compression (S.A.C.) and each band of image is compressed with a different threshold, for preserve information with better result. SAC do a large compression in large redundancy bands, that is, lower information and soft compression to bands with bigger amount of information. Two image transforms are used in this technique: Discrete Cosine Transform (DCT) and Principal Component Analysis (PCA). Primary step is convert data to new bands without relationship, with PCA. Later Apply DCT in each band. Data Loss is doing when a threshold discarding any coefficients. This threshold is calculated with two elements: PCA result and a parameter user. Parameters user define a compression tax. The system produce three different thresholds, one to each band of image, that is proportional of amount information. For image reconstruction is realized DCT and PCA inverse. SAC was compared with JPEG (Joint Photographic Experts Group) standard and YIQ compression and better results are obtain, in MSE (Mean Square Root). Tests shown that SAC has better quality in hard compressions. With two advantages: (a) like is adaptive is sensible to image type, that is, presents good results to divers images kinds (synthetic, landscapes, people etc., and, (b) it need only one parameters user, that is, just letter human intervention is required

Utilizando mapas de conectividade fuzzy no desenvolvimento de algoritmos reparadores de imagens binárias 3D

A 3D binary image is considered well-composed if, and only if, the union of the faces shared by the foreground and background voxels of the image is a surface in R3. Wellcomposed images have some desirable topological properties, which allow us to simplify and optimize algorithms that are widely used in computer graphics, computer vision and image processing. These advantages have fostered the development of algorithms to repair bi-dimensional (2D) and three-dimensional (3D) images that are not well-composed. These algorithms are known as repairing algorithms. In this dissertation, we propose two repairing algorithms, one randomized and one deterministic. Both algorithms are capable of making topological repairs in 3D binary images, producing well-composed images similar to the original images. The key idea behind both algorithms is to iteratively change the assigned color of some points in the input image from 0 (background)to 1 (foreground) until the image becomes well-composed. The points whose colors are changed by the algorithms are chosen according to their values in the fuzzy connectivity map resulting from the image segmentation process. The use of the fuzzy connectivity map ensures that a subset of points chosen by the algorithm at any given iteration is the one with the least affinity with the background among all possible choices

Segmentação fuzzy de imagens e vídeos

Image segmentation is the process of subdiving an image into constituent regions or objects that have similar features. In video segmentation, more than subdividing the frames in object that have similar features, there is a consistency requirement among segmentations of successive frames of the video. Fuzzy segmentation is a region growing technique that assigns to each element in an image (which may have been corrupted by noise and/or shading) a grade of membership between 0 and 1 to an object. In this work we present an application that uses a fuzzy segmentation algorithm to identify and select particles in micrographs and an extension of the algorithm to perform video segmentation. Here, we treat a video shot is treated as a three-dimensional volume with different z slices being occupied by different frames of the video shot. The volume is interactively segmented based on selected seed elements, that will determine the affinity functions based on their motion and color properties. The color information can be extracted from a specific color space or from three channels of a set of color models that are selected based on the correlation of the information from all channels. The motion information is provided into the form of dense optical flows maps. Finally, segmentation of real and synthetic videos and their application in a non-photorealistic rendering (NPR) toll are presented

Segmentação fuzzy de imagens coloridas com características texturais: uma aplicação a rochas sedimentares

Image segmentation is the process of labeling pixels on di erent objects, an important step in many image processing systems. This work proposes a clustering method for the segmentation of color digital images with textural features. This is done by reducing the dimensionality of histograms of color images and using the Skew Divergence to calculate the fuzzy a nity functions. This approach is appropriate for segmenting images that have colorful textural features such as geological, dermoscopic and other natural images, as images containing mountains, grass or forests. Furthermore, experimental results of colored texture clustering using images of aquifers' sedimentary porous rocks are presented and analyzed in terms of precision to verify its e ectiveness.

Detecção da área e extração do campo em imagens de impressão digital

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Detecção de rodovias em imagens digitais de alta resolução com o uso da teoria de morfologia matemática

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Formação de imagens multiespectrais por meio de fusão de imagens adquiridas por múltiplas câmaras

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Geração automática de modelos digitais de superfícies utilizando múltiplas imagens

Pós-graduação em Ciências Cartográficas - FCT

Determinação da velocidade de um objeto, a partir de uma seqüência de imagens, aplicando as equações de colinearidade modificadas

Pós-graduação em Ciências Cartográficas - FCT

Sistema de armazenamento de imagens comprimidas através da transformada wavelet

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Detecção de Crateras de Impacto em Imagens Digitais. Estudo de caso: Superfície de Marte

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Análise discriminatória de alvos da paisagem urbana em imagens aéreas multiespectrais

Pós-graduação em Ciências Cartográficas - FCT

Metodologia automática para extração de cruzamentos de rodovias em imagens de alta resolução

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Metodologia para avaliação de rodovias extraídas computacionalmente em imagens digitais

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)