Facteurs environnementaux immédiats et santé des enfants dans les zones de l’Observatoire de population de Ouagadougou (Burkina Faso)

Comme la plupart des villes en Afrique subsaharienne, Ouagadougou, capitale du Burkina Faso, a connu au cours de ces dernières décennies une croissance démographique rapide. Cette situation pose de nombreux problèmes d’ordre sanitaire et environnemental. Pourtant, les liens entre la santé et l’environnement immédiat sont encore faiblement étudiés du fait de la qualité des données qui, lorsqu’elles existent, se révèlent peu appropriées. La présente thèse vise à analyser les liens entre l’environnement immédiat et certains symptômes de maladies, plus spécifiquement la fièvre et la diarrhée ; deux problèmes majeurs de santé liés à l’environnement chez les enfants de moins de 5 ans dans les villes d’Afrique subsaharienne. Cette étude se base sur des données de l’Observatoire de population de Ouagadougou (OPO) recueillies entre 2009 et 2010 dans l’objectif d’étudier les inégalités de santé en milieu urbain (notamment les données de l’enquête santé portant sur 950 enfants de moins de 5 ans recueillies en 2010). La thèse décrit d’abord la santé environnementale en milieu urbain en dépassant l’opposition classique quartiers lotis/quartiers non lotis (zones d’habitation formelles/zones d’habitation informelles). Elle s’intéresse ensuite à l’évaluation plus fine des liens entre l’environnement immédiat et la fièvre en tenant compte des facteurs démographiques et socio-économiques pertinents dans l’estimation. Enfin, la thèse approfondit les analyses sur la co-occurrence de la diarrhée et de la fièvre en mettant en évidence les effets conjoints des facteurs environnementaux et démographiques. À l’aide des analyses spatiales basées sur la distance euclidienne, des analyses factorielles et de classification, cette étude décrit le contexte sanitaire des quartiers formels et informels et analyse la pertinence de la dichotomie entre les quartiers lotis et les quartiers non lotis dans les zones suivies par l’OPO. L’étude effectue également des analyses multivariées en recourant respectivement aux modèles logit simple et ordonné pour estimer les effets propres de l’environnement immédiat sur la fièvre et la co-occurrence de la diarrhée et de la fièvre chez les enfants. Les résultats de l’étude montrent que les risques environnementaux sont variables d’un quartier à l’autre, et que les quartiers lotis bien qu’étant les plus pourvus en services urbains de base sont les plus exposés aux dangers environnementaux. Néanmoins, ce constat ne suffit pas pour rendre compte de la vulnérabilité des enfants dans les quartiers lotis que dans les quartiers non lotis, puisque l’accès à l’eau, l’assainissement, la nature du sol, et le niveau d’éducation de la mère sont des facteurs clés dans l’occurrence des symptômes liés à l’environnement immédiat. On note également une hétérogénéité concernant la santé environnementale, notamment dans les zones non loties. En considérant les effets de l’environnement immédiat sur la fièvre chez les enfants, les résultats montrent que ces effets baissent après la prise en compte des variables démographiques, socio-économiques et du quartier de résidence. Les facteurs de l’environnement tels que la gestion des ordures ménagères et celle des eaux usées discriminent significativement la fièvre. Les enfants à Nioko 2 (quartier non loti), par exemple, ont deux fois plus de risque d’avoir eu de la fièvre par rapport à Kilwin (quartier loti). Les effets conjoints des facteurs environnementaux et démographiques sont également mis en exergue dans la co-occurrence de la diarrhée et de la fièvre, même si ces effets diminuent régulièrement avec le nombre des symptômes chez les enfants. Le fait d’être dans un ménage insalubre ou d’avoir le sol extérieur en terre augmente la propension de co-occurrence de la diarrhée et de la fièvre. En revanche, cette co-occurrence chez les enfants diminue significativement avec l’âge. Les effets de l’environnement sur l’occurrence ou la co-occurrence des symptômes existent, quand bien même ces effets diminuent avec la prise en compte des facteurs démographiques et socio-économiques et du quartier de résidence. Les résultats de la thèse plaident pour un effort méthodologique, afin d’affiner la définition des variables de l’environnement en milieu urbain.

Influence de la phase d’usage dans les enjeux de la rénovation de bâtiments résidentiels écologiques : vers une approche diachronique

En Amérique du Nord, les pratiques actuelles de conception de l’industrie de la construction suscitent de nombreux et importants problèmes, tant au niveau environnemental, que social et économique. Certaines tendances conceptuelles, telles que l’industrialisation de la construction, le bâtiment vert, l’approche diachronique et la rationalisation spatiale proposent des moyens afin de répondre à cette problématique. La conception synchronique, qui ne se base encore que sur des besoins immédiats, produit des bâtiments statiques qui ne peuvent accommoder l’évolution des besoins. En plus de la phase d’usage qui se révèle la plus coûteuse en termes de consommation d’énergie, d’eau, de matériaux et de génération de déchets, le bâtiment statique est amené à subir de nombreuses rénovations, profondément délétères pour l’environnement et la situation économique des ménages. Dans une perspective d’opérationnalisation du développement durable, la problématique de recherche concerne la considération de la phase d’usage dans le processus conceptuel de l’habitation. Dans l’optique de favoriser une conception plutôt diachronique, 55 projets de rénovation résidentiels ont été analysés et comparés afin de décrire la nature et l’intensité des interventions effectuées. L’examen des plans avant/après rénovation a permis de quantifier le niveau d’intensité des interventions et ainsi, mettre en relief certaines tendances et récurrences des pratiques actuelles. Dans le but de valider si le bâtiment vert est en mesure de répondre aux enjeux environnementaux contemporains de l’habitation, les contenus de trois programmes de certification utilisés en Amérique du Nord, à savoir BOMA-BESt®, LEED®, et Living Building ChallengeTM, sont analysés. Une classification des stratégies proposées montre la répartition des préoccupations envers le bâtiment, les systèmes et l’usager. Une analyse permet de mettre en relief que les considérations semblent, de façon générale, cohérentes avec les impacts associés à l’habitation. Un examen plus ciblé sur la teneur et les objectifs des stratégies considérant l’usager permet l’émergence de deux ensembles thématiques : les cinq sources potentielles d’impacts (énergie, eau, matériaux, déchets et environnement intérieur), ainsi que les quatre thèmes reliés aux objectifs et aux finalités des stratégies (entretien et surveillance; sensibilisation et formation; modélisation et mesurage; comportement et habitude). La discussion a permis d’émettre des pistes d’écoconception pour permettre à l’habitation d’accommoder l’évolution des besoins des occupants, à savoir la « démontabilité », l’aptitude à l’évolution et l’accessibilité. Des recommandations, telles que la nécessité de mieux prendre en compte l’usager comme facteur d’influence des impacts occasionnés par la phase d’usage, sont ensuite proposées. D’autres suggestions appellent à une concrétisation de la performance en suscitant l’implication, l’engagement, la responsabilisation et l’autonomisation des occupants. Enfin, il semble que certaines modifications des programmes de certification et de la législation en vigueur pourraient favoriser l’émergence d’une vision nouvelle concernant la nécessaire réduction de la superficie habitable. Toutes ces opportunités d’amélioration ont le potentiel de mener ce secteur vers une démarche plus globale et systémique, tout en bonifiant de façon majeure les implications environnementales, économiques et sociales de l’habitation.

Geochemistry of transition, non-transition and rare-earth elements in the surficial sediments of continental shelf of Kerala and an annex to the Cochin estuarine system

The metals present in the surface sediments have high demand on a global perspective, and the main reservoir of these elements is believed to be the ocean floor. A lot of studies on metals are going on throughout the world for its quantification and exploitation. Even though, some preliminary attempts have been made in selected areas for the quantitative study of metals in the western continental shelf of India, no comprehensive work has been reported so far. The importance of this study also lies on the fact that there has not been a proper evaluation of the impact of the Great Tsunami of 2004 on the coastal areas of the south India. In View of this, an attempt has been made to address the seasonal distribution, behavior and mechanisms which control the deposition of metals in the sediments of the western continental shelf and Cochin Estuary, an annex to this coastal marine region.Surface sediment samples were collected seasonally from two subenvironemnts of southwest coast of India, (continental shelf of Kerala and Cochin estuarine system), to estimate the seasonal distribution and geochemical behavior of non-transition, transition, rare-earth elements, Th and U. Bottom water samples were also taken from each station, and analysed for temperature, salinity and dissolved oxygen, hence the response of redox sensitive elements to oxygen minimum zone can be addressed. In addition, other sedimentary parameters such as sand, silt, clay fractions, CaCO3 and organic carbon content were also estimated to evaluate the control factors on level of metals present in the sediment. The study used different environmental data analysis techniques to evaluate the distribution and behavior of elements during different seasons. This includes environmental parameters such as elemental normalisation, enrichment factor, element excess, cerium and europium anomalies and authigenic uranium.

Numerical Investigations on Soil Structure Interaction of Multistorey Frames

Frames are the most widely used structural system for multistorey buildings. A building frame is a three dimensional discrete structure consisting of a number of high rise bays in two directions at right angles to each other in the vertical plane. Multistorey frames are a three dimensional lattice structure which are statically indeterminate. Frames sustain gravity loads and resist lateral forces acting on it. India lies at the north westem end of the Indo-Australian tectonic plate and is identified as an active tectonic area. Under horizontal shaking of the ground, horizontal inertial forces are generated at the floor levels of a multistorey frame. These lateral inertia forces are transferred by the floor slab to the beams, subsequently to the columns and finally to the soil through the foundation system. There are many parameters that affect the response of a structure to ground excitations such as, shape, size and geometry of the structure, type of foundation, soil characteristics etc. The Soil Structure Interaction (SS1) effects refer to the influence of the supporting soil medium on the behavior of the structure when it is subjected to different types of loads. Interaction between the structure and its supporting foundation and soil, which is a complete system, has been modeled with finite elements. Numerical investigations have been carried out on a four bay, twelve storeyed regular multistorey frame considering depth of fixity at ground level, at characteristic depth of pile and at full depth. Soil structure interaction effects have been studied by considering two models for soil viz., discrete and continuum. Linear static analysis has been conducted to study the interaction effects under static load. Free vibration analysis and further shock spectrum analysis has been conducted to study the interaction effects under time dependent loads. The study has been extended to four types of soil viz., laterite, sand, alluvium and layered.The structural responses evaluated in the finite element analysis are bending moment, shear force and axial force for columns, and bending moment and shear force for beams. These responses increase with increase in the founding depth; however these responses show minimal increase beyond the characteristic length of pile. When the soil structure interaction effects are incorporated in the analysis, the aforesaid responses of the frame increases upto the characteristic depth and decreases when the frame has been analysed for the full depth. It has been observed that shock spectrum analysis gives wide variation of responses in the frame compared to linear elastic analysis. Both increase and decrease in responses have been observed in the interior storeys. The good congruence shown by the two finite element models viz., discrete and continuum in linear static analysis has been absent in shock spectrum analysis.

Studies on the Effects of Bottom Trawling on the Benthic Fauna off Veraval Coast, Gujarat

Bottom trawling is one among the most destructive human induced physical disturbances inflicted to seabed and its living communities. The bottom trawls are designed to tow along the sea floor, which on its operation indiscriminately smashes everything on their way crushing, killing, burying and exposing to predators the benthic fauna. Bottom trawling causes physical and biological damages that are irreversible, extensive and long lasting. The commercial trawling fleet of India consists of 29,241 small and medium-fishing boats. The northwest coast of India has the largest fishing fleet consisting of 23,618 mechanized vessels, especially the bottom trawlers. However, attempts were not made to study the impact of bottom trawling along Northwest coast of India. The estimated optimum fleet size of Gujarat is 1,473 mechanised trawlers while 7402 commercial trawlers are operated from the coast of Gujarat. Veraval port was designed initially for 1,200 fishing trawlers but 2793 trawlers are being operated from this port making it the largest trawler port of Gujarat. The aim of this study was to investigate the effects of bottom trawling on the substratum and the associated benthic communities of commercial trawling grounds of Veraval coast. The study compared the differences between the samples collected before and after experimental trawling to detect the impacts of bottom trawling. Attempts were made to assess the possible impact of bottom trawling on:(i) the sediment characteristics (ii)the sediment heavy metals (iii) epifauna (iv) macrobenthos and (v) meiobenthos. This study is expected to generate information on trawling impacts of the studied area that will help in better management of the biological diversity and integrity of the benthic fauna off Veraval coast. An exhaustive review on the studies conducted around the world and in India on impact of bottom trawling on the benthic fauna is also detailed.In the present study, the bottom trawling induced variations on sediment organic matter, epifauna, macrobenthos and meiobenthos were evident. It was also observed that the seasonal/ natural variations were more prominent masking the trawling effect on sediment texture and heavy metals. Enforcement of control of excess bottom trawlers and popularization of semi pelagic trawls designed to operate a little distance above the sea bottom for off bottom resources will minimize disturbance on the sea bottom. Training and creating awareness in responsible fishing should be made mandatory requirements, to the coastal communities. They should be made wardens to protect the valuable resources for the benefit of sustainability. To protect the biodiversity and ecosystem health, the imminent need is to survey and make catalogue, identification of sensitive areas or hot spots and to adopt management strategies for the conservation and biodiversity protection of benthic fauna. The present study is a pioneering work carried out along Veraval coast. This thesis will provide a major fillip to the studies on impact of bottom trawling on the benthic fauna along the coast of India.

Heterotrophic bacteria from the continental slope sediments of arabian sea

The marine environment is indubitably the largest contiguous habitat on Earth. Because of its vast volume and area, the influence of the world ocean on global climate is profound and plays an important role in human welfare and destiny. The marine environment encompasses several habitats, from the sea surface layer down through the bulk water column, which extends >10,000 meters depth, and further down to the habitats on and under the sea floor. Compared to surface habitats, which have relatively high kinetic energy, deep-ocean circulation is very sluggish. By comparison, life in the deep sea is characterized by a relatively constant physical and chemical environment. Deep water occupying the world ocean basin is a potential natural resource based on its properties such as low temperature, high pressure and relatively unexplored properties. So, a judicious assessment of the marine resources and its management are essential to ensure sustainable development of the country’s ocean resources. Marine sediments are complex environments that are affected by both physiological and biological factors, water movements and burrowing animals. They encompass a large extent of aggregates falling from the surface waters. In aquatic ecosystems, the flux of organic matter to the bottom sediments depend on primary productivity at the ocean surface and water depth. Over 50% of the earth’s surface is covered by deep-sea sediments that are primarily formed through the continual deposition of particles from the productive pelagic waters (Vetriani et al., 1999). These aggregates are regarded as ‘hot spots’ of microbial activity in the ocean (Simon et al., 2002). This represents a good nutritional substrate for heterotrophic bacteria and favours bacterial growth

Thermoaktive Bauteilsysteme - Ein neuer simulationstechnischer Berechnungsansatz

Thermoaktive Bauteilsysteme sind Bauteile, die als Teil der Raumumschließungsflächen über ein integriertes Rohrsystem mit einem Heiz- oder Kühlmedium beaufschlagt werden können und so die Beheizung oder Kühlung des Raumes ermöglichen. Die Konstruktionenvielfalt reicht nach diesem Verständnis von Heiz, bzw. Kühldecken über Geschoßtrenndecken mit kern-integrierten Rohren bis hin zu den Fußbodenheizungen. Die darin enthaltenen extrem trägen Systeme werden bewußt eingesetzt, um Energieangebot und Raumenergiebedarf unter dem Aspekt der rationellen Energieanwendung zeitlich zu entkoppeln, z. B. aktive Bauteilkühlung in der Nacht, passive Raumkühlung über das kühle Bauteil am Tage. Gebäude- und Anlagenkonzepte, die träge reagierende thermoaktive Bauteilsysteme vorsehen, setzen im kompetenten und verantwortungsvollen Planungsprozeß den Einsatz moderner Gebäudesimulationswerkzeuge voraus, um fundierte Aussagen über Behaglichkeit und Energiebedarf treffen zu können. Die thermoaktiven Bauteilsysteme werden innerhalb dieser Werkzeuge durch Berechnungskomponenten repräsentiert, die auf mathematisch-physikalischen Modellen basieren und zur Lösung des bauteilimmanenten mehrdimensionalen instationären Wärmeleitungsproblems dienen. Bisher standen hierfür zwei unterschiedliche prinzipielle Vorgehensweisen zur Lösung zur Verfügung, die der physikalischen Modellbildung entstammen und Grenzen bzgl. abbildbarer Geometrie oder Rechengeschwindigkeit setzen. Die vorliegende Arbeit dokumentiert eine neue Herangehensweise, die als experimentelle Modellbildung bezeichnet wird. Über den Weg der Systemidentifikation können aus experimentell ermittelten Datenreihen die Parameter für ein kompaktes Black-Box-Modell bestimmt werden, das das Eingangs-Ausgangsverhalten des zugehörigen beliebig aufgebauten thermoaktiven Bauteils mit hinreichender Genauigkeit widergibt. Die Meßdatenreihen lassen sich über hochgenaue Berechnungen generieren, die auf Grund ihrer Detailtreue für den unmittelbaren Einsatz in der Gebäudesimulation ungeeignet wären. Die Anwendung der Systemidentifikation auf das zweidimensionale Wärmeleitungsproblem und der Nachweis ihrer Eignung wird an Hand von sechs sehr unterschiedlichen Aufbauten thermoaktiver Bauteilsysteme durchgeführt und bestätigt sehr geringe Temperatur- und Energiebilanzfehler. Vergleiche zwischen via Systemidentifikation ermittelten Black-Box-Modellen und physikalischen Modellen für zwei Fußbodenkonstruktionen zeigen, daß erstgenannte auch als Referenz für Genauigkeitsabschätzungen herangezogen werden können. Die Praktikabilität des neuen Modellierungsansatzes wird an Fallstudien demonstriert, die Ganzjahressimulationen unter Bauteil- und Betriebsvariationen an einem exemplarischen Büroraum betreffen. Dazu erfolgt die Integration des Black-Box-Modells in das kommerzielle Gebäude- und Anlagensimulationsprogramm CARNOT. Die akzeptablen Rechenzeiten für ein Einzonen-Gebäudemodell in Verbindung mit den hohen Genauigkeiten bescheinigen die Eignung der neuen Modellierungsweise.

China's Labor Question

The Honda workers’ strike in 2010 attracted world wide attention. It was one of thousands of labor disputes that happen every year in China, but it was the first major calling for the right of workers to represent themselves in collective bargaining. The question of representation is therefore the main topic of the book. The various contributors to this volume share the view that the Chinese party-state takes the protest against social inequality seriously. It has enacted many laws aimed at channeling dissatisfaction into safe channels. The implementation of these laws, however, lags behind and these laws do not include the right of freedom of association. Without this right, super-exploitation will persist and the system of labor relations will remain prone to eruptive forms of protest. The first part of the book provides an overview of the economic context of Chinese labor relations, the transformation of class-relations, the evolution of labor law, and government policies intended to set a wage floor. Based on extensive field research, the second part looks at the evolution of labor relations at the industry level. In the third part, the focus shifts to the Corporate Social Responsibility agenda in China. The final part looks at the connection between land reform and social inequality.

Cleanliness versus cow comfort – an insolvable problem?

Cubicle should provide good resting comfort as well as clean udders. Dairy cows in cubicle houses often face a restrictive environment with regard to resting behaviour, whereas cleanliness may still be impaired. This study aimed to determine reliable behavioural measures regarding resting comfort applicable in on-farm welfare assessments. Furthermore, relationships between cubicle design, cow sizes, management factors and udder cleanliness (namely teats and teat tips) were investigated. Altogether 15 resting measures were examined in terms of feasibility, inter-observer reliability (IOR) and consistency of results per farm over time. They were recorded during three farm visits on farms in Germany and Austria with cubicle, deep litter and tie stall systems. Seven measures occurred to infrequently to allow reliable recording within a limited observation time. IOR was generally acceptable to excellent except for 'collisions during lying down', which only showed good IOR after improvement of the definition. Only three measures were acceptably repeatable over time: 'duration of lying down', 'percentage of collisions during lying down' and 'percentage of cows lying partly or completely outside lying area'. These measures were evaluated as suitable animal based welfare measures regarding resting behaviour in the framework of an on-farm welfare assessment protocol. The second part of the thesis comprises a cross-sectional study on resting comfort and cow cleanliness including 23 Holstein Friesian dairy herds with very low within-farm variation in cubicle measures. Height at withers, shoulder width and diagonal body length were measured in 79-100 % of the cows (herd size 30 to115 cows). Based on the 25 % largest animals, compliance with recommendations for cubicle measures was calculated. Cleanliness of different body parts, the udder, teats and teat tips was assessed for each cow in the herd prior to morning milking. No significant correlation was found between udder soiling and teat or teat tip soiling on herd level. The final model of a stepwise regression regarding the percentage of dirty teats per farm explained 58.5 % the variance and contained four factors. Teat dipping after milking which might be associated with an overall clean and accurate management style, deep bedded cubicles, increasing cubicle maintenance times and decreasing compliance concerning total cubicle length predicted lower teat soiling. The final model concerning teat tip soiling explained 46.0 % of the variance and contained three factors. Increasing litter height in the rear part of the cubicle and increased alley soiling which is difficult to explain, predicted for less soiled teat tips, whereas increasing compliance concerning resting length was associated with higher percentages of dirty teat tips. The dependent variable ‘duration of lying down’ was analysed using again stepwise regression. The final model explained 54.8 % of the total variance. Lying down duration was significantly shorter in deep bedded cubicles. Further explanatory though not significant factors in the model were neck-rail height, deep bedding or comfort mattresses versus concrete floor or rubber mats and clearance height of side partitions. In the attempt to create a more comprehensive lying down measure, another analysis was carried out with percentage of ‘impaired lying down’ (i.e. events exceeding 6.3 seconds, with collisions or being interrupted) as dependent variable. The explanatory value of this final model was 41.3 %. An increase in partition length, in compliance concerning cubicle width and the presence of straw within bedding predicted a lower proportion of impaired lying down. The effect of partition length is difficult to interpret, but partition length and height were positively correlated on the study farms, possibly leading to a bigger zone of clear space for pelvis freedom. No associations could be found between impaired lying down and teat or teat tip soiling. Altogether, in agreement with earlier studies it was found that cubicle dimensions in practice are often inadequate with regard to the body dimensions of the cows, leading to high proportions of impaired lying down behaviour, whereas teat cleanliness is still unsatisfactory. Connections between cleanliness and cow comfort are far from simplistic. Especially the relationship between cubicle characteristics and lying down behaviour apparently is very complex, so that it is difficult to identify single influential factors that are valid for all farm situations. However, based on the results of the present study the use of deep bedded cubicles can be recommended as well as improved management with special regard to cubicle and litter maintenance in order to achieve both better resting comfort and teat cleanliness.

Planning Urban Food Production into Today's Cities

If cities are to become more sustainable and resilient to change it is likely that they will have to engage with food at increasingly localised levels, in order to reduce their dependency on global systems. With 87 percent of people in developed regions estimated to be living in cities by 2050 it can be assumed that the majority of this localised production will occur in and around cities. As part of a 12 month engagement, Queen’s University Belfast designed and implemented an elevated aquaponic food system spanning the top internal floor and exterior roof space of a disused mill in Manchester, England. The experimental aquaponic system was developed to explore the possibilities and difficulties associated with integrating food production with existing buildings. This paper utilises empirical research regarding crop growth from the elevated aquaponic system and extrapolates the findings across a whole city. The resulting research enables the agricultural productive capacity of today’s cities to be estimated and a framework of implementation to be proposed.

Strategies for Lean Product Development

The essence of lean is very simple, but from a research and implementation point of view overwhelming. Lean is the search for perfection through the elimination of waste and the insertion of practices that contribute to reduction in cost and schedule while improving performance of products. This concept of lean has wide applicability to a large range of processes, people and organizations, from concept design to the factory floor, from the laborer to the upper management, from the customer to the developer. Progress has been made in implementing and raising the awareness of lean practices at the factory floor. However, the level of implementation and education in other areas, like product development, is very low.

An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented

Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation

When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions

Large-Area Photo-Mosaics Using Global Alignment and Navigation Data

Seafloor imagery is a rich source of data for the study of biological and geological processes. Among several applications, still images of the ocean floor can be used to build image composites referred to as photo-mosaics. Photo-mosaics provide a wide-area visual representation of the benthos, and enable applications as diverse as geological surveys, mapping and detection of temporal changes in the morphology of biodiversity. We present an approach for creating globally aligned photo-mosaics using 3D position estimates provided by navigation sensors available in deep water surveys. Without image registration, such navigation data does not provide enough accuracy to produce useful composite images. Results from a challenging data set of the Lucky Strike vent field at the Mid Atlantic Ridge are reported

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system