DETERMINATION of THE INDIRECT ORIENTATION of ORBITAL PUSHBROOM IMAGES USING CONTROL STRAIGHT LINES

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A recursive approach to space resection using straight lines

An approach using straight lines as features to solve the photogrammetric space resection problem is presented. An explicit mathematical model relating straight lines, in both object and image space, is used. Based on this model, Kalman Filtering is applied to solve the space resection problem. The recursive property of the filter is used in an iterative process which uses the sequentially estimated camera location parameters to feedback to the feature extraction process in the image. This feedback process leads to a gradual reduction of the image space for feature searching, and consequently eliminates the bottleneck due to the high computational cost of the image segmentation phase. It also enables feature extraction and the determination of feature correspondence in image and object space in an automatic way, i.e., without operator interference. Results obtained from simulated and real data show that highly accurate space resection parameters are obtained as well as a progressive processing time reduction. The obtained accuracy, the automatic correspondence process, and the short related processing time show that the proposed approach can be used in many real-time machine vision systems, making possible the implementation of applications not feasible until now.

Bundle Block Adjustment of CBERS-2B HRC Imagery Combining Control Points and Lines

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A semi-automatic method for indirect orientation of aerial images using ground control lines extracted from airborne laser scanner data

This paper presents a method for indirect orientation of aerial images using ground control lines extracted from airborne Laser system (ALS) data. This data integration strategy has shown good potential in the automation of photogrammetric tasks, including the indirect orientation of images. The most important characteristic of the proposed approach is that the exterior orientation parameters (EOP) of a single or multiple images can be automatically computed with a space resection procedure from data derived from different sensors. The suggested method works as follows. Firstly, the straight lines are automatically extracted in the digital aerial image (s) and in the intensity image derived from an ALS data-set (S). Then, correspondence between s and S is automatically determined. A line-based coplanarity model that establishes the relationship between straight lines in the object and in the image space is used to estimate the EOP with the iterated extended Kalman filtering (IEKF). Implementation and testing of the method have employed data from different sensors. Experiments were conducted to assess the proposed method and the results obtained showed that the estimation of the EOP is function of ALS positional accuracy.

Indirect georeferencing of terrestrial laser scanning data using control lines

An indirect method for the georeferencing of 3D point clouds obtained with terrestrial laser scanning (TLS) data using control lines is presented. This technique could be used for rapid data acquisition where resources do not permit the use of expensive navigation sensors or the placement of pre-signalised targets. The most important characteristic is the development of a mathematical model based on the principle that the direction vector of the TLS straight line is coplanar with the plane defined by the origin of the TLS system, one endpoint of a control line and the direction vector of the control line in the ground reference coordinate system. The transformation parameters are estimated by minimising the distance between the control lines and their corresponding TLS straight lines. The proposed method was tested using both simulated and real data, and the advantages of this new approach are compared with conventional surveying methods. © 2013 This article is a U.S. Government work and is in the public domain in the USA.

Função vísuo-espacial em paralisia cerebral e proposta de novo teste com a ajuda de computador

The first idea of this study is trat there may be a disturbance of the visuo-spatial function in cerebral palsy. This idea is based upon the theories of Luria and Piaget. The second idea of this study is that the computer can help the investigation of visuo-spatial function. With the intention of evaluating the spatial function in cerebral palsy, the literature related to these themes was revised. We justify the proposal of a new test to study visuo-spatial function. This test uses straight lines in four different orientations and the subject has to recognize and arrange them individually or sets of them. This was done through the use of pencil and papel, and computer. The results confirm that there is a spatial disturbance and that a better understanding of the subject's difficulties was made possible through the use of the computer and the Logo computer language.

Radial Distortion Self-Calibration

In cameras with radial distortion, straight lines in space are in general mapped to curves in the image. Although epipolar geometry also gets distorted, there is a set of special epipolar lines that remain straight, namely those that go through the distortion center. By finding these straight epipolar lines in camera pairs we can obtain constraints on the distortion center(s) without any calibration object or plumbline assumptions in the scene. Although this holds for all radial distortion models we conceptually prove this idea using the division distortion model and the radial fundamental matrix which allow for a very simple closed form solution of the distortion center from two views (same distortion) or three views (different distortions). The non-iterative nature of our approach makes it immune to local minima and allows finding the distortion center also for cropped images or those where no good prior exists. Besides this, we give comprehensive relations between different undistortion models and discuss advantages and drawbacks.

O método potenciométrico na determinação do H+ trocável em solos

For the determination of exchangeable hydrogen ion in soils, the authors of the presente work made the extraction with normal calcium acetate solution that may have an initial pH between 7 and 8 without altering the amount of hydrogen ion extracted. The extraction was made by shaking 5,0 grams of air dry soil with 100 ml of normal calcium acetate solution, the pH of wich was ascertained to 7,0, 7,5 and 8,0 with acetic acid, in 250 mil conical flasks for 30 minutes in a Wagner shaker (30-40 rpm). The contents of the flasks were then, filtered. A 50 ml aliquot of each of the leachate was titrated with a 0,020 N NaOH solution and the volumes consumed sodium hydroxide were ploted against pH. The titration curves thus obtained showed to be straight lines between pH 8 and 9 and parallel to the curve obtained by the titration of the blank. Two ways of locating the end point of the titration showed to be possible: the use of a pHmeter or titrimeter or the use of phenolphtalein as indicator. When using a pH meter or a titrimeter, the end point may rest in any point between pH 8 and 9, and the volume of sodium hydroxide consumed is found by comparison with a similar curve obtained by the titration of the blank. When using phenolphtalein the calcium acetate solution must have a pH below 8.

A compositional data analysis package for R providing multiple approaches

”compositions” is a new R-package for the analysis of compositional and positive data.It contains four classes corresponding to the four different types of compositional andpositive geometry (including the Aitchison geometry). It provides means for computation,plotting and high-level multivariate statistical analysis in all four geometries.These geometries are treated in an fully analogous way, based on the principle of workingin coordinates, and the object-oriented programming paradigm of R. In this way,called functions automatically select the most appropriate type of analysis as a functionof the geometry. The graphical capabilities include ternary diagrams and tetrahedrons,various compositional plots (boxplots, barplots, piecharts) and extensive graphical toolsfor principal components. Afterwards, ortion and proportion lines, straight lines andellipses in all geometries can be added to plots. The package is accompanied by ahands-on-introduction, documentation for every function, demos of the graphical capabilitiesand plenty of usage examples. It allows direct and parallel computation inall four vector spaces and provides the beginner with a copy-and-paste style of dataanalysis, while letting advanced users keep the functionality and customizability theydemand of R, as well as all necessary tools to add own analysis routines. A completeexample is included in the appendix

DETERMINAÇÃO DO TEOR DE BIODIESEL EM DIESEL EMPREGANDO O ENSAIO COLORIMÉTRICO DO ÁCIDO HIDROXÂMICO

The aim of this paper was to use colorimetric assays for hydroxamic acid to quantify the biodiesel content in diesel and compare it with the traditional method (infrared spectroscopy, using the EN 14078 method). Samples were prepared from B2 to B10 with two kinds of diesel - S500 (red) and S50 (yellow) - to obtain two calibration curves. Through statistical methods it was shown that the slopes of the straight lines obtained for the different types of diesel were the same. Thus, the type of diesel did not influence the results of the colorimetric assay for hydroxamic acid. Real samples collected from gas stations were analyzed by both methods (colorimetry and EN 14078). By applying Student's t-test it was concluded that the methods could be considered statistically equivalent. Therefore, it was confirmed that the colorimetric assay for hydroxamic acid is suitable for detecting and quantifying the content of biodiesel in biodiesel/diesel blends and can also be easily adapted to field analyses.

Viscometric investigations and molecular interactions of some derivatives of 5-substituted indole dihydropyrimidines in mixed organic solvents

Colloid chemical behavior of indole dihydropyrimidines in non-aqueous solvent mixture benzene-methanol of varying composition has been investigated by viscometric measurements at 303K± 0.1. The viscosity of the system increases with the increase in concentration. The Trend Change Point (TCP) values have been determined by intersection of two straight lines, which are found to be dependent on the composition of solvent mixtures. The study confirms that the nature of synthesized compounds agglomerate formed below and above 50% benzene concentration is quite different. The viscometric data have been analyzed in terms of Einstein, Vand, Moulik and Jones-Dole equations. These well known equations have been successfully applied to explain the results of viscosity measurements and the viscometric parameters show that the behavior of compound changes in the proximity of 50% benzene concentration.

Internal Camera Calibration Using Rotation and Geometric Shapes

This paper describes a simple method for internal camera calibration for computer vision. This method is based on tracking image features through a sequence of images while the camera undergoes pure rotation. The location of the features relative to the camera or to each other need not be known and therefore this method can be used both for laboratory calibration and for self calibration in autonomous robots working in unstructured environments. A second method of calibration is also presented. This method uses simple geometric objects such as spheres and straight lines to The camera parameters. Calibration is performed using both methods and the results compared.

A compositional data analysis package for R providing multiple approaches

”compositions” is a new R-package for the analysis of compositional and positive data. It contains four classes corresponding to the four different types of compositional and positive geometry (including the Aitchison geometry). It provides means for computation, plotting and high-level multivariate statistical analysis in all four geometries. These geometries are treated in an fully analogous way, based on the principle of working in coordinates, and the object-oriented programming paradigm of R. In this way, called functions automatically select the most appropriate type of analysis as a function of the geometry. The graphical capabilities include ternary diagrams and tetrahedrons, various compositional plots (boxplots, barplots, piecharts) and extensive graphical tools for principal components. Afterwards, ortion and proportion lines, straight lines and ellipses in all geometries can be added to plots. The package is accompanied by a hands-on-introduction, documentation for every function, demos of the graphical capabilities and plenty of usage examples. It allows direct and parallel computation in all four vector spaces and provides the beginner with a copy-and-paste style of data analysis, while letting advanced users keep the functionality and customizability they demand of R, as well as all necessary tools to add own analysis routines. A complete example is included in the appendix

Contribució al posicionament dinàmic de robots mòbils per mitjà d'un sistema làser

Aquesta tesi tracta el problema del posicionament de robots mòbils quan, en el decurs del moviment, es realitzen mesures angulars relatives al robot de l'orientació de la recta entre un dels seus punts i punts de l'entorn de posició coneguda. Es considera que les mesures angulars són fetes per un sensor làser giratori que detecta diferents reflectors catadiòptrics fixos. La contribució principal és el desenvolupament d'un algorisme dinàmic, basat en un filtre de Kalman estès (EKF), que estima a cada instant de temps l'estat format pels angles associats als reflectors. La simulació hodomètrica dels angles entre mesures directes del sensor làser garanteix l'ús consistent i continuat dels mètodes de triangulació per a determinar la posició i l'orientació del robot. Inclou simulacions informàtiques i experiments per a validar la precisió del mètode de posicionament proposat. En l'experimentació s'utilitza un robot mòbil omnidireccional amb tres rodes de lliscament direccional de corrons esfèrics.