Real-time Image-based RGB-D Camera Motion Tracking and Environment Mapping

In this work, image based estimation methods, also known as direct methods, are studied which avoid feature extraction and matching completely. Cost functions use raw pixels as measurements and the goal is to produce precise 3D pose and structure estimates. The cost functions presented minimize the sensor error, because measurements are not transformed or modified. In photometric camera pose estimation, 3D rotation and translation parameters are estimated by minimizing a sequence of image based cost functions, which are non-linear due to perspective projection and lens distortion. In image based structure refinement, on the other hand, 3D structure is refined using a number of additional views and an image based cost metric. Image based estimation methods are particularly useful in conditions where the Lambertian assumption holds, and the 3D points have constant color despite viewing angle. The goal is to improve image based estimation methods, and to produce computationally efficient methods which can be accomodated into real-time applications. The developed image-based 3D pose and structure estimation methods are finally demonstrated in practise in indoor 3D reconstruction use, and in a live augmented reality application.

Video transcoding in a distributed cloud computing environment

Video transcoding refers to the process of converting a digital video from one format into another format. It is a compute-intensive operation. Therefore, transcoding of a large number of simultaneous video streams requires a large amount of computing resources. Moreover, to handle di erent load conditions in a cost-e cient manner, the video transcoding service should be dynamically scalable. Infrastructure as a Service Clouds currently offer computing resources, such as virtual machines, under the pay-per-use business model. Thus the IaaS Clouds can be leveraged to provide a coste cient, dynamically scalable video transcoding service. To use computing resources e ciently in a cloud computing environment, cost-e cient virtual machine provisioning is required to avoid overutilization and under-utilization of virtual machines. This thesis presents proactive virtual machine resource allocation and de-allocation algorithms for video transcoding in cloud computing. Since users' requests for videos may change at di erent times, a check is required to see if the current computing resources are adequate for the video requests. Therefore, the work on admission control is also provided. In addition to admission control, temporal resolution reduction is used to avoid jitters in a video. Furthermore, in a cloud computing environment such as Amazon EC2, the computing resources are more expensive as compared with the storage resources. Therefore, to avoid repetition of transcoding operations, a transcoded video needs to be stored for a certain time. To store all videos for the same amount of time is also not cost-e cient because popular transcoded videos have high access rate while unpopular transcoded videos are rarely accessed. This thesis provides a cost-e cient computation and storage trade-o strategy, which stores videos in the video repository as long as it is cost-e cient to store them. This thesis also proposes video segmentation strategies for bit rate reduction and spatial resolution reduction video transcoding. The evaluation of proposed strategies is performed using a message passing interface based video transcoder, which uses a coarse-grain parallel processing approach where video is segmented at group of pictures level.

Finnish SMEs and Russian Business Environment: Challenges and Support Activities

The purpose of this study is based on the need of finding what kind of problems Finnish SMEs face in Russian market and how they could be supported. Used support activities in certain levels of internationalization and internationalization patterns are evaluated, international experience of entrepreneur is compared to used support activities and the most challenging pillars in Russia from the Institutional Theory are defined. The empirical part of the study is a semi structured qualitative analysis of ten case companies that represent different industry fields. All of them are SMEs and they represent different levels of internationalization and internationalization patterns. The results of this study indicated that usefulness of support activities have to be evaluated case by case. All the companies are individual organizations and usefulness of support activities have to be evaluated according to the actual situation of the company. International experience of manager has effect on the use of support activities. SMEs identified many problems related to pillars of Institutional theory and regulative environment seems to be the most challenging one.

Model-Based Tracking Initialization in Ship Building Environment

An augmented reality (AR) device must know observer’s location and orientation, i.e. observer’s pose, to be able to correctly register the virtual content to observer’s view. One possible way to determine and continuously follow-up the pose is model-based visual tracking. It supposes that a 3D model of the surroundings is known and that there is a video camera that is fixed to the device. The pose is tracked by comparing the video camera image to the model. Each new pose estimate is usually based on the previous estimate. However, the first estimate must be found out without a prior estimate, i.e. the tracking must be initialized, which in practice means that some model features must be identified from the image and matched to model features. This is known in literature as model-to-image registration problem or simultaneous pose and correspondence problem. This report reviews visual tracking initialization methods that are suitable for visual tracking in ship building environment when the ship CAD model is available. The environment is complex, which makes the initialization non-trivial. The report has been done as part of MARIN project.

Scientific creativity and diversity of physical work environment: framework development

The aim of this research was to develop a framework to analyze how physical environment influences scientific creativity. Due to the relative novelty of this topic, there is still a gap in the unified method to study connection between physical environment and creativity. Therefore, in order to study this issue deeply, the qualitative method was used (interviews and qualitative questionnaire). Scientists (PhD students and senior researchers) of Graduate School of Management were interviewed to build the model and one expert interview was conducted to assess its validity. The model highlights several dimensions via which physical environment can influence scientific creativity: Comfort, Instruments and Diversity. Comfort and Instruments are considered to be related mostly to productivity, an initial requirement for creativity, while Diversity is the factor responsible for supporting all the stages of scientific creative process. Thus, creative physical environment is not one place by its nature, but an aggregative phenomenon. Due to two levels of analysis, the model is named the two-level model of creative physical environment.

Potential of plant species for bioremediation of soils applied with imidazolinone herbicides

Imidazolinone herbicides present physicochemical characteristics that allow them to persist longer in environment, with increased chances of soil and water contamination, as well as carryover effects on subsequent crops. Phytoremediation is shown as a promising technique to decontaminate soils polluted by herbicides. The aim of this study was to assess the potential of some winter grown species in removing residuals from soils contaminated with imazethapyr + imazapic and imazapic + imazapyr, using pre-emergence to control weeds in summer grown rice fields. The experiment was conducted in a completely randomized design, with four replications. All species were subjected to herbicide application at different doses. Imazethapyr + imazapic and imazapyr + imazapic were applied at doses of 0.0, 1.0 and 2.0 L ha-1, and 0.0, 140 and 280 g ha-1, respectively, in pre-emergence of the species. Brassica napus and Festuca arundinaceae are not tolerant to herbicides, with 100% of phytotoxicity (plant death) for all doses assessed. The herbicide imazapyr + imazapic proved to be less selective, causing the highest phytotoxicity in the species tested. The most tolerant species to the herbicides was Vicia sativa, which may be the most suitable one for phytoremediation programs in areas contaminated with imazethapyr + imazapic and imazapyr + imazapic.

The Purdue University Research Repository (PURR): An institutional data management service with a virtual research environment, data publication, and archiving

Poster at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

The seed coat as a modulator of seed-environment relationships in Fabaceae

The seed coat is one of the main determinants of seed germination, vigor and longevity potentials. It is also intimately associated with temporal and spatial dispersion of seed germination in a large number of plant species. The understanding of its properties and characteristics may explain, anticipate or even allow the modification of seed performance under certain environmental conditions. There is a growing volume of evidence associating seed coat characteristics to specific seed problems. For example, susceptibility to mechanical damage is related to lignin content of the seed coat, while seed longevity and tolerance to field weathering depends on seed coat integrity. Seed performance in many legumes has been associated with certain seed coat structures, such as the hilum, strophiole and micropyle. In soybean, permeability is also related with porosity, color, and cerosity, that affect seed vigor, storage potential, resistance to shrinking and fungi infection, and to susceptibility to imbibition damage. The understanding of these associations is necessary before genetic alterations through breeding for desirable characteristics and is fundamental for the development and improvement of seed pre-sowing treatments, production, handling and quality evaluation procedures, which may ultimately result in reduction of seed quality losses and increase the efficiency of agricultural production systems.

Temporal variations in the primary productivity of Eleocharis acutangula (Cyperaceae) in a tropical wetland environment

Wetland vegetation typically includes aquatic macrophytes with high primary production capacities. The present study investigated how hydrological variations affect biomass allocation and primary productivity in the emergent macrophyte Eleocharis acutangula (Roxb.) Schult. Eleocharis acutangula ramets were collected from the Campelo Lagoon flood plain (21°39'S, 41°12'W and 21°37S, 41°11'W) between March/2005 and February/2006. This region experienced an unusually short rainy period between November/2005 and February/2006 that generated atypically high primary production levels (128gDWm-2month-1) and total biomass gains (447gDWm-2) in May and June/2005 respectively. Our data indicated that primary production and biomass allocation were strongly influenced by variations in wetland water levels and that macrophytes quickly invested in biomass accumulation when surface water levels rised.

Natural preference of zebrafish (Danio rerio) for a dark environment

The zebrafish (Danio rerio) has been used as a model in neuroscience but knowledge about its behavior is limited. The aim of this study was to determine the preference of this fish species for a dark or light environment. Initially we used a place preference test and in a second experiment we applied an exit latency test. A two-chamber aquarium was used for the preference test. The aquarium consisted of a black chamber and a white chamber. In the first experiment the animal was placed in the aquarium and the time spent in the two compartments was recorded for 10 min. More time was spent in the black compartment (Wilcoxon matched-pairs signed-rank test, T = 7, N1 = N2 = 18, P = 0.0001). In the second experiment the animal was placed in the black or white compartment and the time it took to go from the initial compartment to the opposite one was recorded. The test lasted a maximum of 10 min. The results showed that the animal spent more time to go from the black to the white compartment (Mann-Whitney rank sum test, T = 48, N1 = 9, N2 = 8, P<0.0230). These data suggest that this fish species has a natural preference for a dark environment and this characteristic can be very useful for the development of new behavioral paradigms for fish.