Visual SLAM using straight lines

The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate localization in environments with few feature points, like corridors. As a foundation for the project, ScaViSLAM by Strasdat et al. is used, which is a state-of-the-art real-time visual SLAM framework. Since it currently only supports Stereo and RGB-D systems, implementing a Monocular approach will be researched as well as an integration of it as a ROS package in order to deploy it on a mobile robot. For the experimental results, the Care-O-bot service robot developed by Fraunhofer IPA will be used.

A stationary visual census technique for quantitatively assessing community structure of coral reef fishes

A new method is described and evaluated for visually sampling reef fish community structure in environments with highly diverse and abundant reef fish populations. The method is based on censuses of reef fishes taken within a cylinder of 7.5 m radius by a diver at randomly selected, stationary points. The method provides quantitative data on frequency of occnrrence, fish length, abundance, and community composition, and is simple, fast, objective, and repeatable. Species are accumulated rapidly for listing purposes, and large numbers of samples are easily obtained for statistical treatment. The method provides an alternative to traditional visual sampling methods. Observations showed that there were no significant differences in total numbers of species or individuals censused when visibility ranged between 8 and 30 m. The reefs and habitats sampled were significant sources of variation in number of species and individuals censused, but the diver was not a significant influence. Community similarity indices were influenced significantly by the specific sampling site and the reef sampled, but were not significantly affected by the habitat or diver (PDF file contains 21 pages.)

Plasticidad postlesional en el sistema visual : estrategias experimentales para su incremento en el adulto

196 p. :il.

The Economics of "Why is it so hard to save a threatened Language?"

We study the language choice behavior of bilingual speakers in modern societies, such as the Basque Country, Ireland andWales. These countries have two o cial languages:A, spoken by all, and B, spoken by a minority. We think of the bilinguals in those societies as a population playing repeatedly a Bayesian game in which, they must choose strategically the language, A or B, that might be used in the interaction. The choice has to be made under imperfect information about the linguistic type of the interlocutors. We take the Nash equilibrium of the language use game as a model for real life language choice behavior. It is shown that the predictions made with this model t very well the data about the actual use, contained in the censuses, of Basque, Irish and Welsh languages. Then the question posed by Fishman (2001),which appears in the title, is answered as follows: it is hard, mainly, because bilingual speakers have reached an equilibrium which is evolutionary stable. This means that to solve fast and in a re ex manner their frequent language coordination problem, bilinguals have developed linguistic conventions based chie y on the strategy 'Use the same language as your interlocutor', which weakens the actual use of B.1