2D Visual Place Recognition for Domestic Service Robots at Night

Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers have utilized range-based and visual sensors and user-placed beacons to enable robots to map and localize. However, active range and visual sensing solutions have the disadvantages of being intrusive, expensive, or only providing a 1D scan of the environment, while the requirement for beacon placement imposes other practical limitations. In this paper we present a passive and potentially cheap vision-based solution to 2D localization at night that combines easily obtainable day-time maps with low resolution contrast-normalized image matching algorithms, image sequence-based matching in two-dimensions, place match interpolation and recent advances in conventional low light camera technology. In a range of experiments over a domestic lawn and in a lounge room, we demonstrate that the proposed approach enables 2D localization at night, and analyse the effect on performance of varying odometry noise levels, place match interpolation and sequence matching length. Finally we benchmark the new low light camera technology and show how it can enable robust place recognition even in an environment lit only by a moonless sky, raising the tantalizing possibility of being able to apply all conventional vision algorithms, even in the darkest of nights

Visual sequence-based place recognition for changing conditions and varied viewpoints

Correctly identifying previously-visited locations is essential for robotic place recognition and localisation. This thesis presents training-free solutions to vision-based place recognition under changing environmental conditions and camera viewpoints. Using vision as a primary sensor, the proposed approaches combine image segmentation and rescaling techniques over sequences of visual imagery to enable successful place recognition over a range of challenging environments where prior techniques have failed

Thermography to assess grapevine status and traits opportunities and limitations in crop monitoring and phenotyping – a review

Mestrado em Engenharia de Viticultura e Enologia (Double degree) / Instituto Superior de Agronomia. Universidade de Lisboa / Faculdade de Ciências. Universidade do PortoClimate change and the increasing water shortage pose increasing challenges to agriculture and viticulture, especially in typically dry and hot areas such as the Mediterranean and demand for solutions to use water resources more effectively. For this reason, new tools are needed to precisely monitor water stress in crops such as grapevine in order to save irrigation water, while guaranteeing yield. Imaging technologies and remote sensing tools are becoming more common in agriculture and plant/crop science research namely to perform phenotyping/selection or for crop stress monitoring purposes. Thermography emerged as important tool for the industry and agriculture. It allows detection of the emitted infrared thermal radiation and conversion of infrared radiation into temperature distribution maps. Considering that leaf temperature is a feasible indicator of stress and/or stomatal behavior, thermography showed to be capable to support characterization of novel genotypes and/or monitor crop’s stress. However, there are still limitations in the use of the technique that need to be minimized such as the accuracy of thermal data due to variable weather conditions, limitations due to the high costs of the equipment/platforms and limitations related to image analysis and processing to extract meaningful thermal data. This work revises the role of remote sensing and imaging in modern viticulture as well as the advantages and disadvantages of thermography and future developments, focusing on viticultureN/

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 144

This bibliography lists 257 reports, articles, and other documents introduced into the NASA scientific and technical information system in July 1975

The role of acoustic signals in fish courtship and challenges in bioacoustic fish research

Sound production is a widespread phenomenon in fishes; however, the importance of acoustic signals and their potential to influence reproduction has not been determined. This dissertation examines fish acoustic courtship signals to investigate whether sound has a role in reproductive success. The pre-spawning sounds of several fishes were recorded and analyzed. The male advertisement call of two species of Belizean toadfish, Sanopus astrifer and Batrachoides gilberti, were found to significantly differ. These data, coupled with data in the literature suggest an influence of habitat characteristics on the calling behavior of toadfishes. Additionally, acoustic playback experiments were employed to investigate the role of male courtship sounds in the Malawi cichlid species, Tramitichromis intermedius. Playback results indicated that male sounds may initiate egg-laying behavior in females, but may not be behaviorally relevant to conspecific males. A discussion of confounding factors in aquarium playback experiments is presented. Technical aspects of fish sound recording, playback, and analysis were also examined to provide information for future fish bioacoustics studies. It was determined that digital cameras are a useful method of recording fish sounds to describe metric characteristics; however, temporal parameters are more accurately captured by hydrophones, which are optimal for use in scientific description of fish sounds. Underwater speakers commonly used in fish playback experiments were tested for fidelity when producing a low-frequency pulsed fish sound. The Electro-Voice UW30 speaker was found to perform the best playback at low sound pressure levels (120 dB re 1 μPa) and at greater distances than the UW30. Many fish sounds have been described in the literature; however, there is no standardization of sample size used in species descriptions. A method is presented that can be used to estimate the level of inclusiveness of sound variability in sound descriptions, and to approximate sufficient sample sizes of recordings. The courtship calls of Dascyllus albisella and Batrachoides gilberti were examined to illustrate this method and to provide a benchmark for future sound descriptions

Autonomous 3D mapping and surveillance of mines with MAVs

A dissertation Submitted to the Faculty of Science, University of the Witwatersrand, Johannesburg, for the degree of Master of Science. 12 July 2017.The mapping of mines, both operational and abandoned, is a long, di cult and occasionally dangerous task especially in the latter case. Recent developments in active and passive consumer grade sensors, as well as quadcopter drones present the opportunity to automate these challenging tasks providing cost and safety bene ts. The goal of this research is to develop an autonomous vision-based mapping system that employs quadrotor drones to explore and map sections of mine tunnels. The system is equipped with inexpensive, structured light, depth cameras in place of traditional laser scanners, making the quadrotor setup more viable to produce in bulk. A modi ed version of Microsoft's Kinect Fusion algorithm is used to construct 3D point clouds in real-time as the agents traverse the scene. Finally, the generated and merged point clouds from the system are compared with those produced by current Lidar scanners.LG201

Variable optical elements for fast focus control

In this Review, we survey recent developments in the emerging field of high-speed variable-z-focus optical elements, which are driving important innovations in advanced imaging and materials processing applications. Three-dimensional biomedical imaging, high-throughput industrial inspection, advanced spectroscopies, and other optical characterization and materials modification methods have made great strides forward in recent years due to precise and rapid axial control of light. Three state-of-the-art key optical technologies that enable fast z-focus modulation are reviewed, along with a discussion of the implications of the new developments in variable optical elements and their impact on technologically relevant applications