Massive stereo-based DTM production for Mars on cloud computers

Digital Terrain Model (DTM) creation is essential to improving our understanding of the formation processes of the Martian surface. Although there have been previous demonstrations of open-source or commercial planetary 3D reconstruction software, planetary scientists are still struggling with creating good quality DTMs that meet their science needs, especially when there is a requirement to produce a large number of high quality DTMs using "free" software. In this paper, we describe a new open source system to overcome many of these obstacles by demonstrating results in the context of issues found from experience with several planetary DTM pipelines. We introduce a new fully automated multi-resolution DTM processing chain for NASA Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High Resolution Imaging Science Experiment (HiRISE) stereo processing, called the Co-registration Ames Stereo Pipeline (ASP) Gotcha Optimised (CASP-GO), based on the open source NASA ASP. CASP-GO employs tie-point based multi-resolution image co-registration, and Gotcha sub-pixel refinement and densification. CASP-GO pipeline is used to produce planet-wide CTX and HiRISE DTMs that guarantee global geo-referencing compliance with respect to High Resolution Stereo Colour imaging (HRSC), and thence to the Mars Orbiter Laser Altimeter (MOLA); providing refined stereo matching completeness and accuracy. All software and good quality products introduced in this paper are being made open-source to the planetary science community through collaboration with NASA Ames, United States Geological Survey (USGS) and the Jet Propulsion Laboratory (JPL), Advanced Multi-Mission Operations System (AMMOS) Planetary Data System (PDS) Pipeline Service (APPS-PDS4), as well as browseable and visualisable through the iMars web based Geographic Information System (webGIS) system

Speech Recognition

Chapters in the first part of the book cover all the essential speech processing techniques for building robust, automatic speech recognition systems: the representation for speech signals and the methods for speech-features extraction, acoustic and language modeling, efficient algorithms for searching the hypothesis space, and multimodal approaches to speech recognition. The last part of the book is devoted to other speech processing applications that can use the information from automatic speech recognition for speaker identification and tracking, for prosody modeling in emotion-detection systems and in other speech processing applications that are able to operate in real-world environments, like mobile communication services and smart homes

6th International Meeting on Retouching of Cultural Heritage, RECH6

RECH Biennial Meeting is one of the largest educational and scientific events in Retouching field, an ideal venue for conservators and scientists to present their research results about retouching. The main focus will be to promote the exchange of ideas, concepts, terminology, methods, techniques and materials applied during the retouching process in different areas of conservation: mural painting, easel painting, sculpture, graphic documentation, architecture, plasterwork, photography, contemporary art, among others. This Meeting aims to address retouching by encouraging papers that contribute to a deeper understanding of this final task of the conservation and restoration intervention. The main theme embraces the concepts of retouching, the criteria and limits in the retouching process, the bad retouching impact on heritage and their technical and scientific developments.This Meeting will discuss real-life approaches on retouching, focusing on practical solutions and on sharing experiencesColomina Subiela, A.; Doménech García, B.; Bailão, A. (2023). 6th International Meeting on Retouching of Cultural Heritage, RECH6. Editorial Universitat Politècnica de València. https://doi.org/10.4995/RECH6.2021.1601

Ship recognition on the sea surface using aerial images taken by Uav : a deep learning approach

Dissertation submitted in partial fulfilment of the requirements for the Degree of Master of Science in Geospatial TechnologiesOceans are very important for mankind, because they are a very important source of food, they have a very large impact on the global environmental equilibrium, and it is over the oceans that most of the world commerce is done. Thus, maritime surveillance and monitoring, in particular identifying the ships used, is of great importance to oversee activities like fishing, marine transportation, navigation in general, illegal border encroachment, and search and rescue operations. In this thesis, we used images obtained with Unmanned Aerial Vehicles (UAVs) over the Atlantic Ocean to identify what type of ship (if any) is present in a given location. Images generated from UAV cameras suffer from camera motion, scale variability, variability in the sea surface and sun glares. Extracting information from these images is challenging and is mostly done by human operators, but advances in computer vision technology and development of deep learning techniques in recent years have made it possible to do so automatically. We used four of the state-of-art pretrained deep learning network models, namely VGG16, Xception, ResNet and InceptionResNet trained on ImageNet dataset, modified their original structure using transfer learning based fine tuning techniques and then trained them on our dataset to create new models. We managed to achieve very high accuracy (99.6 to 99.9% correct classifications) when classifying the ships that appear on the images of our dataset. With such a high success rate (albeit at the cost of high computing power), we can proceed to implement these algorithms on maritime patrol UAVs, and thus improve Maritime Situational Awareness

Underwater image restoration: super-resolution and deblurring via sparse representation and denoising by means of marine snow removal

Underwater imaging has been widely used as a tool in many fields, however, a major issue is the quality of the resulting images/videos. Due to the light's interaction with water and its constituents, the acquired underwater images/videos often suffer from a significant amount of scatter (blur, haze) and noise. In the light of these issues, this thesis considers problems of low-resolution, blurred and noisy underwater images and proposes several approaches to improve the quality of such images/video frames. Quantitative and qualitative experiments validate the success of proposed algorithms

Online Synthesis Of Speculative Building Information Models For Robot Motion Planning

Autonomous mobile robots today still lack the necessary understanding of indoor environments for making informed decisions about the state of the world beyond their immediate field of view. As a result, they are forced to make conservative and often inaccurate assumptions about unexplored space, inhibiting the degree of performance being increasingly expected of them in the areas of high-speed navigation and mission planning. In order to address this limitation, this thesis explores the use of Building Information Models (BIMs) for providing the existing ecosystem of local and global planning algorithms with informative compact higher-level representations of indoor environments. Although BIMs have long been used in architecture, engineering, and construction for a number of different purposes, to our knowledge, this is the first instance of them being used in robotics. Given the technical constraints accompanying this domain, including a limited and incomplete set of observations which grows over time, the systems we present are designed such that together they produce BIMs capable of providing explanations of both the explored and unexplored space in an online fashion. The first is a SLAM system that uses the structural regularity of buildings in order to mitigate drift and provide the simplest explanation of architectural features such as floors, walls, and ceilings. The planar model generated is then passed to a secondary system that then reasons about their mutual relationships in order to provide a water-tight model of the observed and inferred freespace. Our experimental results demonstrate this to be an accurate and efficient approach towards this end

Psychiatric Case Record

Bipolar Disorder-Mania: Patient was apparently normal one-month back, Then all of a sudden he developed sleep disturbances –mainly difficult in initiation of sleep. He also started abusing his family members for unwanted things. Subsequently, he started talking excessively and irritable. Sometimes he sings film songs and dances. He used to say that God Supreme exists in himself and so he has all the powers of Almighty. With that superior power he says that he can solve all the problems in this world. He also says that he has invented herbs to keep people young. For the past one week, he talks excessively without having an hour of sleep & wanders here and there & found excessively smoking. He becomes excessively spiritual and goes to near by villages for offering prayers to God. He takes only a little food everyday and he is very much keen in personal cleanliness. Paranoid Schizophrenia: She was apparently normal 8 months back, then she developed sleep disturbances in the form of difficult in falling asleep. She was found talking & smiling to herself at night & day with mirror gazing. She started saying that her neighbour & relatives are planning to kill herself by poisoning. In this context she had frequent quarrels with them and she refused to take food prepared by her mother in law. She left the home at night without informing any one and started wandering in the road side near her home. She was complaining that she hears voices as if her neighbour & relatives were talking about her among themselves She was not doing house hold activities for past 6 months and she was not taking care of her child. Her personal hygiene was very much deteriorated slowly as she used to take bath & brush, only if she was asked to do so. She started abusing & assaulting the strangers and family members. Generalised Anxiety Disorder: Six months back he was apparently normal. He is working as a system analyst in a private bank . He had once, made a mistake in his bank work for which he was given charges by his employer, followed this event he becomes very tense and afraid whenever his boss called him. He is very cautious that he should not commit any mistakes. Even though he is not doing so, he fears that he may commit some mistake in his work. At that moment he develops palpitation, giddiness, breathlessness, excessive sweating over palms and soles. Slowly these symptoms present through out the day even when he was not in his office, and he could not control his fearfulness. For the past 6 months he didn’t sleep well. His sleep is disturbed by bad dreams. Recurrent Depressive Disorder: Patient was apparently alright 2 months back. Then she developed sleep disturbances particularly early morning awakening, she use to wake up by 3.00 am and use to brood about herself and started crying. She was not doing her domestic work as before, as she felt excess tiredness and use to take frequent rests. She developed poor communication. She had lost her interest in pleasurable activities and was not interested in watching TV, and attending family gatherings. She stayed aloof most of the time & calm, quiet and withdrawn. She was expressing her helplessness and hopelessness about the future. She started to have decline in maintaining self care. 15 days back, she frequently expressed suicidal ideas and she had attempted suicide by hanging herself and was rescued by neighbours. 5 days back, she started talking in an irrelevant manner. She was smiling to self. She was assaulting her family members. She was suspicious that her neighbour had done black magic on her and also saying that people are talking about her. She reported hearing the voice of her neighbour scolding and threatening her. Organic Brain Syndrome – Dementia: Ten months back he was apparently alright. Then his relatives noticed himself frequently misplaces things inside his home. Then he started behaving aggressively. He was beating his wife without reason. He was roaming here and there, running out of home and wandering aimlessly. He was not able to come back home when he goes out. He was brought back to home by his relatives. Slowly he developed fearfulness and tremulousness while he was staying alone. He also started saying that his family members & neighbours were talking about himself, in this context he would make frequent quarrels with them. He also started hearing voices of known male voices abusing himself in third person. He sleeps for few hour only. He is passing urine and motion inside the house. He is asking about his brother and mother-in-law who were expired long back. He behaves abnormally such as pouring water in the plate while eating. And his relatives found the symptoms were worsened by evening. All these symptoms started insidiously, increased in severity through time and attained the present state. No history of loss of appetite / crying spells / suicidal tendencies / convulsions / fever / head injury