Robust decoupled visual servoing based on structured light

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy

Overview of coded light projection techniques for automatic 3D profiling

Obtaining automatic 3D profile of objects is one of the most important issues in computer vision. With this information, a large number of applications become feasible: from visual inspection of industrial parts to 3D reconstruction of the environment for mobile robots. In order to achieve 3D data, range finders can be used. Coded structured light approach is one of the most widely used techniques to retrieve 3D information of an unknown surface. An overview of the existing techniques as well as a new classification of patterns for structured light sensors is presented. This kind of systems belong to the group of active triangulation method, which are based on projecting a light pattern and imaging the illuminated scene from one or more points of view. Since the patterns are coded, correspondences between points of the image(s) and points of the projected pattern can be easily found. Once correspondences are found, a classical triangulation strategy between camera(s) and projector device leads to the reconstruction of the surface. Advantages and constraints of the different patterns are discussed

Implementation of a robust coded structured light technique for dynamic 3D measurements

This paper presents the implementation details of a coded structured light system for rapid shape acquisition of unknown surfaces. Such techniques are based on the projection of patterns onto a measuring surface and grabbing images of every projection with a camera. Analyzing the pattern deformations that appear in the images, 3D information of the surface can be calculated. The implemented technique projects a unique pattern so that it can be used to measure moving surfaces. The structure of the pattern is a grid where the color of the slits are selected using a De Bruijn sequence. Moreover, since both axis of the pattern are coded, the cross points of the grid have two codewords (which permits to reconstruct them very precisely), while pixels belonging to horizontal and vertical slits have also a codeword. Different sets of colors are used for horizontal and vertical slits, so the resulting pattern is invariant to rotation. Therefore, the alignment constraint between camera and projector considered by a lot of authors is not necessary

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

PowerPoint Teaching Template - UoS light grey.ppt

This PowerPoint file can be used as a template for teaching presentations. This version has a pale grey background and dark blue text on the title slide and all subsequent content slides.

Economic crisis and the financial system amplification effect

A well informed and cautious financial system can improves the welfare outcome of an economy by driving lenders surplus to borrow-ers. Nevertheless in a crisis situation the financial system cautious behavior can become a crisis amplifier given that the credit approval conditions are hardly meet, so there could be a credit crunch even in a low interest rates environment. This paper illustrates the previous by developing a general equilibrium model where the collateral credit condition defines the prudential behavior of the financial sys-tem. This and some other conditions amplify the magnitude of a negative productivity shock.

QLM Quantum Light and Matter Logo

The new Physics dept Quantum Light and Matter group logo designed by Alexey Kavokin in vector format. Re-traced original bitmap logo for high quality printing. Created in inkscape and exported to PDF, EPS and high resolution PNG

“Superficial Water Concessions In Light Of The General Theory of the Administrative Act” The Incidence of the Public Law’s Dogmatic Tradition of Public Law Within Environmental Law

This paper seeks the determine the ways in which anomalous decisions derived from the particularization and constitutionalization of environmental law can arise given the general theory of administrative action. This is seen through the lens of a study and characterization of administrative decisions issued by the Regional Autonomous Corporation of Cundinamarca –CAR- within the superficial water concessions procedure. It also discusses the conceptual contents of these licenses.

All Lights y Light Out : una investigación entre luces y sombras.

Estudio del juego electrónico Lights Out y de la forma de resolverlo. Para ello se aplica la aritmética modular, que pretende localizar la solución sin ensayos ni errores. Se explica paso a paso el proceso hasta alcanzar esta solución.

Cerveza 0,0, refrescos `zeroï y productos light.

Artículo que muestra el uso de las cifras en la publicidad, en algunos casos de forma engañosa. La cerveza sin alcohol, o los refrescos y productos light son algunos de los ejemplos en los que la aritmética juega un papel importante, el cual se expone desde un punto de vista matemático.

Lightismo' juvenil : descripción, causas y tratamiento educativo : una aproximación a la influencia de lo 'light' en la cotidianidad de los jóvenes.

Resumen tomado de la publicación

Light and dark.

Con un enfoque interactivo se introduce al lector en los conceptos básicos de la luz, a través de situaciones cotidianas y de objetos, que puede reconocer en el mundo que le rodea. Explora la luz en todas sus formas, desde la luz eléctrica a la del sol. Introduce la terminología apropiada para los primeros años de escuela, presentando los conceptos científicos de una manera sencilla y lógica. Proporciona preguntas y ofrece actividades para estimular al niño a reflexionar sobre los conceptos planteados.

Experiment with light.

Ofrece unos sencillos experimentos que ayudan a los niños a probar y observar los principios científicos básicos de la luz. Para fomentar el interés por la investigación al realizar y comprobar en sí mismos los experimentos que se explican claramente con la ayuda de fotografías en color. Para edades comprendidas entre siete y diez años. Tiene un glosario.