Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

On the way to solve lighting problems in underwater imaging

A major obstacle to processing images of the ocean floor comes from the absorption and scattering effects of the light in the aquatic environment. Due to the absorption of the natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion, and, as the vehicle moves, induce shadows in the scene. For this reason, the first step towards application of standard computer vision techniques to underwater imaging requires dealing first with these lighting problems. This paper analyses and compares existing methodologies to deal with low-contrast, nonuniform illumination in underwater image sequences. The reviewed techniques include: (i) study of the illumination-reflectance model, (ii) local histogram equalization, (iii) homomorphic filtering, and, (iv) subtraction of the illumination field. Several experiments on real data have been conducted to compare the different approaches

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

A new approach to segmentation based on fusing circumscribed contours, region growing and clustering

One of the major problems in machine vision is the segmentation of images of natural scenes. This paper presents a new proposal for the image segmentation problem which has been based on the integration of edge and region information. The main contours of the scene are detected and used to guide the posterior region growing process. The algorithm places a number of seeds at both sides of a contour allowing stating a set of concurrent growing processes. A previous analysis of the seeds permits to adjust the homogeneity criterion to the regions's characteristics. A new homogeneity criterion based on clustering analysis and convex hull construction is proposed

Online Robust 3D Mapping Using Structure from Motion Cues

This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations. Compared to standard structure from motion techniques, this approach decreases the error accumulation while increasing the robustness to scene occlusions and feature association failures. The obtained 3D information is used to generate high quality, composite visual maps of the scene (mosaics). The visual maps are used to create texture-mapped, realistic views of the scene

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

Accuracy estimation of a new omnidirectional 3D vision sensor

We present a computer vision system that associates omnidirectional vision with structured light with the aim of obtaining depth information for a 360 degrees field of view. The approach proposed in this article combines an omnidirectional camera with a panoramic laser projector. The article shows how the sensor is modelled and its accuracy is proved by means of experimental results. The proposed sensor provides useful information for robot navigation applications, pipe inspection, 3D scene modelling etc

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

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

Estado actual del sector estratégico textil-confecciones e identificación de los escenarios de desarrollo alternativos

El desarrollo del presente trabajo constituye, la aplicación del modelo del Análisis Estructural de los Sectores Estratégicos y la identificación de los escenarios de desarrollo alternativos para las empresas del Sector Textil-Confecciones de Bogota, en donde se describe el estado actual de las empresas en aspectos macroeconómicos y macroeconómicos; a continuación, se identifican los estados actuales, logros, alcances, y trazabilidad del sector. Dicha investigación se efectuó en dos etapas: la primera, corresponde al desarrollo del AESE, está compuesto por cuatro fases: en la primera, se evalúan los estados financieros de las empresas y las variables estratégicas para determinar el grado de convergencia estratégica dentro del sector; en la segunda, se lleva a cabo el levantamiento del panorama competitivo para identificar los espacios de mercado no atendidos que representan oportunidad de crecimiento. En la tercera, se realiza un diagnóstico de las Fuerzas del Mercado y en la última fase se realiza el Estudio de Competidores; en la segunda etapa de la investigación se realizo el análisis prospectivo, está compuesto por tres pasos: en el primero, a partir del desarrollo del AESE, se extrajeron las variables claves del sector y su nivel de impacto interno y externo; en el segundo, se determina la influencia que ejercen los actores presentes en el sector y por ultimo mediante una visión gerencial que contempla aspectos sociales, políticos , económicos y tecnológicos se proyectan futuros escenarios cada uno con probabilidad de ocurrencia.

Música, mujeres, hombres y contradicciones : la construcción del género en la escena del Death Metal en Bogotá

A lo largo del texto pretendo mostrar un estudio de caso de cómo se puede entender el género de manera más sutil, al plantear que hay formas alternativas de ver la feminidad y cómo se construye una nueva forma de ser mujer a partir de elementos masculinos. Es por esto, que este trabajo muestra que existen variaciones en el género que se deben tener en cuenta. Siguiendo esta línea de trabajo, procederé en el primer apartado a revisar de qué manera se realizó la investigación, teniendo en cuenta las diferentes fases en las que se realizó y las técnicas utilizadas. A continuación, en la segunda parte del texto, haré una revisión del concepto de género, para poder explicar qué son la masculinidad y la feminidad, al igual que los espacios masculinos. En el tercera parte, veremos cómo es la escena del Death Metal en Bogotá, lo que servirá de introducción para hablar de cómo se construye el género en este espacio. En el cuarto y el quinto apartado realizaremos un análisis de cómo son los hombres y las mujeres en esta escena, respectivamente. Para realizar esta explicación tomaré en cuenta la literatura sobre género, al igual que los resultados encontrados a lo largo de la investigación, para así determinar cómo se comprende la feminidad en el Death Metal, explicando la manera en que las mujeres de la escena construyen una forma alternativa de ser mujer. Finalmente, retomaremos las ideas principales del texto para establecer que hay una forma particular en la que se construye el género en esta escena, encontrando que existen vías no tradicionales de pensarse como mujer.

El papel de las regiones en la integración europea. Casos : Mecklemburgo-Pomerania Occidental (Alemania) e Isla de Francia (Francia). 1991-2008

La existencia de una red de diferentes niveles de gobernanza europea, que integre a los gobiernos locales, regionales y nacionales en el espectro supranacional, sumada al actual orden internacional globalizado, hace que algunas decisiones tomadas a nivel comunitario afecten directamente a los gobiernos que se encuentran por debajo del Estado Central. Como resultado, estos actores subnacionales han buscado la apertura de espacios para su participación en la construcción de la Unión Europea y en los procesos de toma de decisiones a escala supranacional, ya sea a través de sus gobiernos nacionales o realizando actividades internacionales no centrales. Éste es el caso de los gobiernos de Mecklemburgo-Pomerania Occidental (Mecklenburg Vorpommern), Land de la República Federal de Alemania, e Isla de Francia (Île-de-France), región de la República de Francia.

El Acto Legislativo 001 de 2003 y el comportamiento electoral de partidos y movimientos políticos, en las elecciones a la Cámara de Representantes 2002 y 2006. Estudio de caso : Antioquia

El presente trabajo tiene como objetivo mostrar los efectos del acto legislativo 01 de 2003, en las elecciones a la Cámara de Representantes de 2006 en el Departamento de Antioquia. Esto con el fin de mostrar el comportamiento de los partidos y movimientos políticos antes y después de entrar en vigencia la reforma. El objetivo principal de la investigación es identificar y entender la cotidianidad y las prácticas políticas a las que los partidos tradicionales y las nuevas organizaciones estaban acostumbradas después de la constitución de 1991. Estas reglas de juego planteadas por las Constitución Política, cambiaron el panorama político tanto para los partidos tradicionalistas, como para las nuevas organizaciones que querían y reclamaban reconocimiento, participación y poder. Reglas que se transformaron con la reforma política, y específicamente con el Acto legislativo 01 de 2003, cambiando el escenario político y por ende el comportamiento electoral.