Portable 3D laser-camera calibration system with color fusion for SLAM

Nowadays, the use of RGB-D sensors have focused a lot of research in computer vision and robotics. These kinds of sensors, like Kinect, allow to obtain 3D data together with color information. However, their working range is limited to less than 10 meters, making them useless in some robotics applications, like outdoor mapping. In these environments, 3D lasers, working in ranges of 20-80 meters, are better. But 3D lasers do not usually provide color information. A simple 2D camera can be used to provide color information to the point cloud, but a calibration process between camera and laser must be done. In this paper we present a portable calibration system to calibrate any traditional camera with a 3D laser in order to assign color information to the 3D points obtained. Thus, we can use laser precision and simultaneously make use of color information. Unlike other techniques that make use of a three-dimensional body of known dimensions in the calibration process, this system is highly portable because it makes use of small catadioptrics that can be placed in a simple manner in the environment. We use our calibration system in a 3D mapping system, including Simultaneous Location and Mapping (SLAM), in order to get a 3D colored map which can be used in different tasks. We show that an additional problem arises: 2D cameras information is different when lighting conditions change. So when we merge 3D point clouds from two different views, several points in a given neighborhood could have different color information. A new method for color fusion is presented, obtaining correct colored maps. The system will be tested by applying it to 3D reconstruction.

Portable 3D laser-camera calibration system with color fusion for SLAM

Paper submitted to the 43rd International Symposium on Robotics (ISR2012), Taipei, Taiwan, Aug. 29-31, 2012.

Importancia de los procesos de validación topológica en la gestión de alteraciones catastrales

Las tecnologías de la información y la comunicación están consiguiendo que la información geográfica sea asequible a un mayor número de profesionales a través de las Tecnologías de la Información Geográfica. La intervención multidisciplinar en el territorio enriquece la investigación y las formas de aplicación de este tipo de recursos tecnológicos. Pero esta facilidad tecnológica puede suponer el riesgo de un uso inadecuado, por falta de conocimientos técnicos adecuados a la complejidad de la información geográfica o por el mal uso de las aplicaciones informáticas. El trabajo catastral puede beneficiarse mucho del empleo de estas tecnologías de información geográfica, al facilitar el uso, la comunicación y su administración electrónica, pero el desconocimiento de las propiedades geométricas y topológicas de la información geográfica puede llevar a cometer errores de graves consecuencias a profesionales no especializados. En este artículo ofrecemos el resultado de la investigación del trabajo de diversos juristas y técnicos, con el objetivo de desarrollar métodos automatizados y aplicaciones informáticas que permitan a los especialistas no expertos en Cartografía usar este tipo de información con garantías de exactitud al más alto nivel, como una solución eficaz para que la información geográfica con calidad topológica enriquezca la seguridad jurídica en el tráfico inmobiliario.

La Universidad de Alicante Universidad promotora de salud/Universidad Saludable. Un reto y una oportunidad

Justificación: Dentro de la estrategia de Universidades Saludables, la Universidad de Alicante (UA) inicia un proyecto para conocer, difundir y potenciar los activos para la salud. Se plantea dotar de contenido empírico la propuesta de Morgan y Ziglio de usar el modelo de activos para la salud pública identificados por la comunidad universitaria. Objetivos: explorar la factibilidad y los retos de la aplicación de mapeos de activos para la salud en la UA con el fin de que la comunidad universitaria pueda ganar salud, calidad de vida y bienestar. Desarrollo de la experiencia: Formación de promotores de salud: • La promoción de la salud y la teoría salutogénica. • Aproximación al modelo y la estrategia de activos en salud. Enfoque Asset-Based Community Development (ABCD). • Diferencia entre recursos y activos. • Técnicas de observación y diálogo. • Técnicas mixtas: open space, TICs y mapping... • Competencias profesionales, entorno facilitador y apoyo para obtener resultados. Metodología: Lograr el mapeo de los activos en salud, sus entornos y sus estudiantes siguiendo el enfoque de John McKnight. Aplicación de “lo aprendido” en el contexto de la UA: Planificación del proyecto para el año 2014. Resultados: construcción de un mapa de activos para la salud, geolocalizado en la Universidad de Alicante. Dinamización del mapa de activos, estudiando conexiones entre activos y necesidades de la comunidad universitaria con las personas participantes, para realizar propuestas de acción futura. Difusión del mismo a través de tecnologías de la información.

Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.

Evaluación del contenido sobre educación alimentaria en páginas web de servicios de catering: estudio piloto en el ámbito escolar

Introducción: Analizar la calidad de las páginas web de los servicios de catering en el ámbito escolar y su contenido en educación alimentaria, y tener una primera experiencia con la herramienta de evaluación EDALCAT. Material y métodos: Estudio descriptivo transversal. La población de estudio son páginas web de empresas de catering encargadas de la gestión de los comedores escolares. La muestra se obtuvo utilizando el buscador Google y un Ranking de las principales empresas de catering por facturación, escogiendo aquellas que tenían página web. Para la prueba piloto se seleccionaron diez páginas web según proximidad geográfica a la ciudad de Alicante y nivel de facturación. Para la evaluación de los sitios web se diseñó un cuestionario (EDALCAT), compuesto de un primer bloque de predictores de calidad con 19 variables de fiabilidad, diseño y navegación; y de un segundo bloque de contenidos específicos de educación alimentaria con 19 variables de contenido y actividades educativas. Resultados: Se han obtenido resultados positivos en 31 de las 38 variables del cuestionario, excepto en los ítems: “Buscador”, “Idioma” (40%) y “Ayuda” (10%) del bloque predictores de calidad y en los ítems: “Talleres”, “Recetario”, “Web alimentación-nutrición” (40%) y “Ejemplos” (30%) del bloque de contenidos específicos de educación alimentaria. Todas las páginas web evaluadas superan valores del 50% de cumplimiento de criterios de calidad y de contenidos mínimos en educación alimentaria, y sólo una de ellas, incumple el nivel de actividad mínimo establecido. Conclusiones: Los predictores de calidad y los contenidos específicos en educación alimentaria dieron buenos resultados en todas las páginas web evaluadas. La mayoría de ellas obtuvieron una alta puntuación en su valoración, y en su análisis individual por bloques. Tras el estudio piloto el cuestionario se ha modificado y se obtiene el EDALCAT definitivo. En líneas generales EDALCAT parece ser adecuado para evaluar la calidad de las páginas web de servicios de catering y su contenido en educación alimentaria, sin embargo el presente estudio no puede considerarse como validación del mismo.

Towards a real-time 3D object recognition pipeline on mobile GPGPU computing platforms using low-cost RGB-D sensors

In this project, we propose the implementation of a 3D object recognition system which will be optimized to operate under demanding time constraints. The system must be robust so that objects can be recognized properly in poor light conditions and cluttered scenes with significant levels of occlusion. An important requirement must be met: the system must exhibit a reasonable performance running on a low power consumption mobile GPU computing platform (NVIDIA Jetson TK1) so that it can be integrated in mobile robotics systems, ambient intelligence or ambient assisted living applications. The acquisition system is based on the use of color and depth (RGB-D) data streams provided by low-cost 3D sensors like Microsoft Kinect or PrimeSense Carmine. The range of algorithms and applications to be implemented and integrated will be quite broad, ranging from the acquisition, outlier removal or filtering of the input data and the segmentation or characterization of regions of interest in the scene to the very object recognition and pose estimation. Furthermore, in order to validate the proposed system, we will create a 3D object dataset. It will be composed by a set of 3D models, reconstructed from common household objects, as well as a handful of test scenes in which those objects appear. The scenes will be characterized by different levels of occlusion, diverse distances from the elements to the sensor and variations on the pose of the target objects. The creation of this dataset implies the additional development of 3D data acquisition and 3D object reconstruction applications. The resulting system has many possible applications, ranging from mobile robot navigation and semantic scene labeling to human-computer interaction (HCI) systems based on visual information.

Co-design: setting relational domains for deep sustainability

This paper draws mainly on the work of Elizabeth Sanders who has being practising, thinking and mapping participatory design research for over 25 years, connecting it to insights from Maturana (1984), Capra (2002), Jovchelovitch (1995, 2000, 2007) and Preece (2011), to propose that the process of design per se is a relational domain of cocreativity that is essential to construct a way toward deeper sustainability.

Maldives, 1902 (Image 1 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Trigonometrical survey of the Maldive Islands, by Commander R. Moresby, assisted by Lieut. F.T. Powell, Indian Navy ; additions and corrections by Professor A. Agassiz, Mr. Stanley Gardiner and Mr. L. A. Molony, 1902 ; eng. by J. & C. Walker. Sheet 1. It was published by Hydrographic Office, 1904. Scale [ca. 1:310,000]. This layer is image 1 of 3 total images of the three sheet source map representing the northern portion of the map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the 'Mercator' projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, human settlements, ground cover, shoreline features, inlets, lagoons, shoals, sand banks, atolls, islands and islets, points, rocks, bottom types, and more. Relief shown by spot heights. Depths shown by soundings. Includes notes on navigation and locations of potable water. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection and the Harvard University Library as part of the Open Collections Program at Harvard University project: Organizing Our World: Sponsored Exploration and Scientific Discovery in the Modern Age. Maps selected for the project correspond to various expeditions and represent a range of regions, originators, ground condition dates, scales, and purposes.

Maldives, 1902 (Image 2 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Trigonometrical survey of the Maldive Islands, by Commander R. Moresby, assisted by Lieut. F.T. Powell, Indian Navy ; additions and corrections by Professor A. Agassiz, Mr. Stanley Gardiner and Mr. L. A. Molony, 1902 ; eng. by J. & C. Walker. Sheet 2. It was published by Hydrographic Office, 1904. Scale [ca. 1:310,000]. This layer is image 2 of 3 total images of the three sheet source map representing the central portion of the map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the 'Mercator' projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, human settlements, ground cover, shoreline features, inlets, lagoons, shoals, sand banks, atolls, islands and islets, points, rocks, bottom types, and more. Relief shown by spot heights. Depths shown by soundings. Includes notes on navigation and locations of potable water. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection and the Harvard University Library as part of the Open Collections Program at Harvard University project: Organizing Our World: Sponsored Exploration and Scientific Discovery in the Modern Age. Maps selected for the project correspond to various expeditions and represent a range of regions, originators, ground condition dates, scales, and purposes.

Maldives, 1902 (Image 3 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Trigonometrical survey of the Maldive Islands, by Commander R. Moresby, assisted by Lieut. F.T. Powell, Indian Navy ; additions and corrections by Professor A. Agassiz, Mr. Stanley Gardiner and Mr. L. A. Molony, 1902 ; eng. by J. & C. Walker. Sheet 3. It was published by Hydrographic Office, 1904. Scale [ca. 1:310,000]. This layer is image 3 of 3 total images of the three sheet source map representing the southern portion of the map. The image inside the map neatline is georeferenced to the surface of the earth and fit to the 'Mercator' projection. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, human settlements, ground cover, shoreline features, inlets, lagoons, shoals, sand banks, atolls, islands and islets, points, rocks, bottom types, and more. Relief shown by spot heights. Depths shown by soundings. Includes notes on navigation and locations of potable water. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection and the Harvard University Library as part of the Open Collections Program at Harvard University project: Organizing Our World: Sponsored Exploration and Scientific Discovery in the Modern Age. Maps selected for the project correspond to various expeditions and represent a range of regions, originators, ground condition dates, scales, and purposes.

Beijing, China : Street Centerlines, 2006

Beijing, China street centerline vectors with road type attributes extracted from DigitalGlobe QuickBird CitySphere high-resolution (60cm) satellite imagery ortho mosaics.

Barcelona, Spain : Street Centerlines, 2005

Barcelona, Spain street centerline vectors with road type attributes extracted from DigitalGlobe QuickBird CitySphere high-resolution (60cm) satellite imagery ortho mosaics.

Hong Kong, China : Street Centerlines, 2004

Hong Kong, China street centerline vectors with road type attributes extracted from DigitalGlobe QuickBird CitySphere high-resolution (60cm) satellite imagery ortho mosaics.

Berlin, Germany : Street Centerlines, 2006

Berlin, Germany street centerline vectors with road type attributes extracted from DigitalGlobe QuickBird CitySphere high-resolution (60cm) satellite imagery ortho mosaics.