Recursive estimation of camera motion from uncalibrated image sequences

We describe a method for estimating the motion and structure of a scene from a sequence of images taken with a camera whose geometric calibration parameters are unknown. The scheme is based upon a recursive motion estimation scheme, called the “essential filter”, extended according to the epipolar geometric representation presented by Faugeras, Luong, and Maybank (see Proc. of the ECCV92, vol.588 of LNCS, Springer Verlag, 1992) in order to estimate the calibration parameters as well. The motion estimates can then be fed into any “structure from motion” module that processes motion error, in order to recover the structure of the scene

Recursive multibody dynamics and discrete-time optimal control

A recursive algorithm is developed for the solution of the simulation dynamics problem for a chain of rigid bodies. Arbitrary joint constraints are permitted, that is, joints may allow translational and/or rotational degrees of freedom. The recursive procedure is shown to be identical to that encountered in a discrete-time optimal control problem. For each relevant quantity in the multibody dynamics problem, there exists an analog in the context of optimal control. The performance index that is minimized in the control problem is identified as Gibbs' function for the chain of bodies

Improving working relationships for smallholder farmers in formal organic crop supply chains: Evidence from KwaZulu-Natal, South Africa

The 48 members of the Ezemvelo Farmers' Organisation (EFO) in KwaZulu-Natal, South Africa (SA), that are fully-certified as organic farmers were surveyed in October-December 2004 to assess their perceived levels of satisfaction, trust, cooperation and commitment in a formal supply chain producing amadhumbes (a traditional vegetable tuber), potatoes and sweet potatoes for a major SA supermarket group. Empirical recursive models show that a high level of satisfaction in the working relationship results in these farmers trusting the pack-house agent more. High levels of trust, in turn, lead to higher levels of both commitment to, and cooperation in, the supply chain. A simultaneous-equation model showed that EFO members with higher levels of commitment tend to be more cooperative, and that members with higher levels of cooperation tend to be more committed toward the working relationship. These results suggest that strategies to improve the working relationship with the pack-house agent need to promote satisfaction, trust, cooperation and commitment. For example, co-investment in better crop storage facilities at farm-level would promote satisfaction and hence trust. There is also scope for more cooperation in the planning of new organic crop products to grow and market, and to remove some price uncertainty by giving EFO farmers more information about prices that they will be paid by the pack-house in this supply chain.Industrial Organization,