Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robot s pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

Análise da precipitação no semi-árido potiguar

The semiarid rainfall regime is northeastern Brazil is highly variable. Climate processes associated with rainfall are complex and their effects may represent extreme situations of drought or floods, which can have adverse effects on society and the environment. The regional economy has a significant agricultural component, which is strongly influenced by weather conditions. Maximum precipitation analysis is traditionally performed using the intensity-duration-frequency (IDF) probabilistic approach. Results from such analysis are typically used in engineering projects involving hydraulic structures such as drainage network systems and road structures. On the other hand, precipitation data analysis may require the adoption of some kind of event identification criteria. The minimum inter-event duration (IMEE) is one of the most used criteria. This study aims to analyze the effect of the IMEE on the obtained rain event properties. For this purpose, a nine-year precipitation time series (2002- 2011) was used. This data was obtained from an automatic raingauge station, installed in an environmentally protected area, Ecological Seridó Station. The results showed that adopted IMEE values has an important effect on the number of events, duration, event height, mean rainfall rate and mean inter-event duration. Furthermore, a higher occurrence of extreme events was observed for small IMEE values. Most events showed average rainfall intensity higher than 2 mm.h-1 regardless of IMEE. The storm coefficient of advance was, in most cases, within the first quartile of the event, regardless of the IMEE value. Time series analysis using partial time series made it possible to adjust the IDF equations to local characteristics

Extração automatica de feições rodoviáris em imagens digitais

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

Comparação de dois métodos de extração de Xanthomonas campestris pv. phaseoli em sementes de feijoeiro

The objective of this research was to evaluate the effectiveness of the extraction of Xanthomonas campestris pv. phaseoli from naturally infected dry bean seeds. Extraction methods tested included soaking whole seeds in sterilized saline phosphate buffer and crushing seeds after soaking in sterilized saline phosphate buffer. The bacterium was isolated on a semiselective agar medium. The seed crushing method was found to be more effective. The bacterium strains isolated were pathogenic to bean leaves, reacted with X. campestris pv. phaseoli antiserum, and had morphological and physiological/biochemical characteristics typical of the X. campestris pv. phaseoli.

Extração de feições rodoviárias em imagens digitais: Metodologias desenvolvidas pelo GP-F&VC

Several kinds of research in road extraction have been carried out in the last 6 years by the Photogrammetry and Computer Vision Research Group (GPF&VC - Grupo de Pesquisa em Fotogrametria e Visão Computacional). Several semi-automatic road extraction methodologies have been developed, including sequential and optimizatin techniques. The GP-F&VC has also been developing fully automatic methodologies for road extraction. This paper presents an overview of the GP-F&VC research in road extraction from digital images, along with examples of results obtained by the developed methodologies.

Determinação automática da altura de edifícios em imagens aéreas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Extração de segmentos de rodovias em imagens de resoluções variadas usando o princípio de bordas paralelas

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

Verificação automática da malha viária georreferenciada em imagens digitais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Geração automática de Trimap para Matting Digital de Imagens e Vídeo

Pós-graduação em Ciência da Computação - IBILCE

Degradação fotocatalítica na redução da DQO (demanda química de oxigênio) de efluente proveniente de processos de extração vegetal

Pós-graduação em Agronomia (Energia na Agricultura) - FCA

Efeito do ultrassom de alta intensidade na extração e difusão da cafeína nos grãos de café (Coffea arabica)

Pós-graduação em Engenharia e Ciência de Alimentos - IBILCE

Estudo de vocabulário controlado na indexação automática: aplicação no processo de indexação do Sistema de Indización Semiautomática (SISA)

Pós-graduação em Ciência da Informação - FFC

Método para extração e caracterização de lesões de pele usando difusão anisotrópica, crescimento de regiões, watersheds e contornos ativos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Reconhecimento semi-automático de sinus frontais para identificação humana forense baseado na transformada imagem-floresta e no contexto da forma

Pós-graduação em Ciência da Computação - IBILCE

Uso de técnicas de otimização e agrupamento hierárquico para a complementação automática da malha viária em regiões rurais a partir de imagens aéreas de média e alta resolução

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)