Model-based objects recognition in industrial environments for autonomous vehicles control

Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system

Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

Surface registration from range image fusion

The registration of full 3-D models is an important task in computer vision. Range finders only reconstruct a partial view of the object. Many authors have proposed several techniques to register 3D surfaces from multiple views in which there are basically two aspects to consider. First, poor registration in which some sort of correspondences are established. Second, accurate registration in order to obtain a better solution. A survey of the most common techniques is presented and includes experimental results of some of them

Omnidirectional Depth Computation from a Single Image

Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical method for obtaining depth in computer vision is to project a known structured light pattern on the scene avoiding the problems and costs involved by stereo vision. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to provide 3D information about the scene. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. It is also discussed how this sensor can be used in robot navigation applications

Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

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

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Estudi del model dinàmic d’un robot submarí d’intervenció (IAUV) composat per un vehicle i un braç manipulador

Fins a la data d’avui, el grup VICOROB de la Universitat de Girona ha desenvolupat diversos vehicles autònoms (GARBÍ, URIS i ICTINEU). El projecte que comença aquest any té com objectiu desenvolupar un nou vehicle submarí autònom amb capacitat d’intervenció (I-AUV) gràcies a un braç manipulador. Aquest projecte final de carrera té com objectiu desenvolupar en entorn MATLAB un simulador d’un I-AUV, format per un AUV i un braç manipulador de n graus de llibertat per tal d’avaluar les reaccions dels moviments del braç, amb càrrega i sense, sobre el robot, i viceversa

A Vision of Students Today (2007)

Video produced by Martin Wesch with his students in their Digital Ethnography Class at Kansas State University. Looks at way in which students experience Higher Education. Further information can be found at http://mediatedcultures.net/ksudigg/ You may particularly want to look at a response "A Vision of Professors Today (by Sandra)" http://mediatedcultures.net/ksudigg/?p=125

Pachler N (2008) SCOPING A VISION FOR FORMATIVE E-ASSESSMENT - FEEDBACK Findings from the literature review

Pachler N (2008) SCOPING A VISION FOR FORMATIVE E-ASSESSMENT - FEEDBACK Findings from the literature review

ZeroWIN Vision Conference

*Test* to check feasibility for use for ZeroWIN conference

ZeroWIN Vision Conference July 6 2010 - speakers' presentations

Copy of all presentations from ZeroWIN Vision Conference

Formative Research. An Integral Vision for Health Professionals

These writing conceive formation in formative research as a complex process that demands simultaneous and congruent actions in the objective, subjective and intersubjective fields, adjusted to a careful and progressive planification in order to form teachers, students and management staff as university actors of research processes. Integral formation in formative research into health area demands a comprehensive and broad perspective encompassing science, moral and art, or objective truth, subjective veracity and intersubjective equity. All means must meet towards a strong and developmental formative research culture capable of nourishing subjects engaged in systematic self-questioning, interaction and argumentated debate at the interior of communities of pairs. In the same way, they must have rigorous methodological formation in order to approach the study objects.

Programa de orientación en el desarrollo sensorial para niños y niñas de 3 a 7 años de la fundación children’s vision dirigido a educadoras y profesores

Este trabajo se realiza como un Proyecto de Aplicación Práctica (PAP), en la Especialización de Desarrollo infantil y Procesos de Aprendizaje; se basa principalmente en la teoría de integración sensorial y la relación con el aprendizaje. El objetivo es implementar un programa de desarrollo sensorial para niños y niñas de 3 a 7 años en condiciones de Institucionalización en la Fundación Children’s Vision, orienta a educadoras y profesoras en el manejo de diferentes estrategias y actividades de índole sensorial que permiten al equipo de trabajo y apoyo de la Fundación potencializar comportamientos adaptativos de los niños acordes con las necesidades y desempeño propio para su edad. El programa se divide en tres fases: la primera comprende la recolección de datos acerca del desempeño sensorial de la población a estudio (utilización de lista de chequeo1 y trabajo directo con niños); en la segunda fase se realiza talleres y charlas de sensibilización dirigidas a docentes y educadores; la tercera fase plantea estrategias de manejo en el área sensorial.

Un robot en casa : la lavadora.

Aproximación a un objeto de la vida cuotidiana como el lavadora. Se hace un recorrido histórico sobre el uso de este electrodoméstico y se comentan aspectos como el funcionamiento o los gastos que se derivan de su uso. Además se intenta relacionar la lavadora con las matemáticas.