François-Xavier Garneau et Jules Michelet : figures du peuple

La collection « Cahiers de recherche » (anciennement «Rapports de recherche») est publiée sous la responsabilité du Centre d’études québécoises du Département d’études françaises de l’Université de Montréal. Elle présente des recherches en cours, des bibliographies, des index ou d’autres types de travaux analogues sur la littérature québécoise, réalisés par des chercheurs, étudiants ou professeurs du Département d’études françaises.

Xavier Arbós. Els límits de la immunitat en les societats democràtiques. El cas de la portada d'el Jueves

El dia 18 de juliol la revista satítica el Jueves publicava una caricatura en què, a través de la sàtira als hereus de la corona espanyola, es pretenia atacar la subvenció que el govern de l'Estat havia decidit atorgar per incentivar la natalitat. La reacció de la fiscalia, que va ordenar el segrest de la publicació, ha tornat a obrir diverses ferides sempre mal curades, com són els límits de la llibertat d'expressió la legitimitat de la monarquia en una societat democràtica

Rafael Masó Valentí - Exposició bibliogràfica

La Biblioteca de la Universitat de la Girona ha volgut adherir-se als actes de l'Any Masó amb la presentació de la seva primera exposició virtual

Discurs de presentació del senyor Miquel Roca Junyent, a càrrec del Dr. Xavier Arbós

Miquel Roca Junyent (Cauderan, Francia, 1940) es va llicenciar en Dret el 1961 i va iniciar la seva activitat com a advocat i com a profesor a la Universitat de Barcelona. Diputat des de 1977, va ser designat membre de la Ponència Constitucional i posteriorment membre de la comissió redactora de l'Estatut de Catalunya

Xavier Quintana: "cal conservar els valors ecològics del territori"

La possibilitat que els aiguamolls del Baix Ter es converteixin en un parc natural és cada cop més a prop. La càtedra d'Ecosistemes Litorals Mediterranis té molt a veure en el procés de definició del futur Parc

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

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

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

Estimating the motion of an underwater robot from a monocular image sequence

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot

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

Augmented state Kalman filtering for AUV navigation

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position

Detection of matchings in a sequence of underwater images through texture analysis

This paper presents an approach to ameliorate the reliability of the correspondence points relating two consecutive images of a sequence. The images are especially difficult to handle, since they have been acquired by a camera looking at the sea floor while carried by an underwater robot. Underwater images are usually difficult to process due to light absorption, changing image radiance and lack of well-defined features. A new approach based on gray-level region matching and selective texture analysis significantly improves the matching reliability

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

La revolución democrática de Rafael Correa

El objetivo de este documento es dar luces acerca del proceso que se inició en Ecuador desde enero de 2006 y que se inscribe en el denominado socialismo del siglo XXI. En ese sentido, el texto estará dividido en cuatro partes. En la primera, se estudiará el perfil de Rafael Correa, lo que implica un estudio de su formación profesional, su carrera política y su plataforma ideológica: Alianza PAÍS. En segundo lugar se analizará la propuesta para la convocatoria de una asamblea constituyente. Al respecto se hará un paralelo entre el momento actual y el ambiente previo a la redacción de la Constitución de 1998; asimismo, se estudiarán los choques entre las diferentes ramas del poder público en torno a la convocatoria para dicha asamblea y se identificarán, de forma sintética, los puntos de la propuesta del gobierno para la elaboración de la nueva Carta Magna. En tercer lugar, se abordarán los asuntos económicos con base en tres puntos: la renegociación de la deuda externa y la propuesta del Banco del Sur, la gestión de los recursos naturales y el papel del Estado en la economía. Finalmente, se examinarán aspectos generales de la política exterior ecuatoriana, especialmente en lo referente a las relaciones con Colombia.