Economic regional impacts of water transfers: the role of factor mobility in a case study of the agricultural sector in the Balearic Islands

Using a CGE model for the Balearic Islands, we simulate the effects of an agricultural water market in the farming sector facing reductions in the water endowment. The market lessens the negative effects on farming communities of short-term water restrictions associated with cyclical droughts. However, in scenarios of permanent reductions, such as those envisaged by global warming predictions or those that result from the implementation of the European Water Framework Directive, a water market may aggravate the negative effects of water shortage. Therefore, the paper shows that generalizations cannot be made about the effects of water markets on farming communities.Agricultural and Food Policy, Environmental Economics and Policy, D58, Q1, Q25, R13,

Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments

Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. In order to effectively combine both types of features, their associated errors are weighted according to their covariance matrices, computed from the propagation of Gaussian distribution errors in the sensor measurements. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Project "PROMOVE: Advances in mobile robotics for promoting independent life of elders", funded by the Spanish Government and the "European Regional Development Fund ERDF" under contract DPI2014-55826-R

Stereo visual odometry by combining points and lines

Poster presented at ICVSS2016: international Computer Vision Summer SchoolMost approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, so that the behavior of these algorithms deteriorates. This paper proposes a probabilistic approach to stereo visual odometry based on the combination of both point and line segment that works robustly in a wide variety of scenarios. The camera motion is recovered through non-linear minimization of the projection errors of both point and line segment features. The method, of course, is computationally more expensive that using only one type of feature, but still can run in real-time on a standard computer and provides interesting advantages, including a straightforward integration into any probabilistic framework commonly employed in mobile robotics.Universidad de Málag

Nonsmooth Morse-Sard theorems

We prove that every function $f:\mathbb{R}^n\to \mathbb{R}$ satisfies that the image of the set of critical points at which the function $f$ has Taylor expansions of order $n-1$ and non-empty subdifferentials of order $n$ is a Lebesgue-null set. As a by-product of our proof, for the proximal subdifferential $\partial_{P}$, we see that for every lower semicontinuous function $f:\mathbb{R}^2\to\mathbb{R}$ the set $f(\{x\in\mathbb{R}^2 : 0\in\partial_{P}f(x)\})$ is $\mathcal{L}^{1}$-null.Comment: Final version. The main result has been strengthened thanks to the suggestions of a refere

Measuring Regional Cohesion Effects of Large-scale Transport Infrastructure Investments: An Accessibility Approach.

Cohesion is considered one of the main policy goals both at a EU an national level. However, there is currently a lack of a common approach to measure cohesion effects of large-scale transport infrastructure investments. Accessibility indicators have an unexploited potential in transportation assessment methodologies. Accessibility is considered an added value of locations, which represents one of the elements contributing to a region’s welfare. Therefore, spatial distribution of accessibility may be used as a proxy to assess regional cohesion. This paper suggests an approach consisting in measuring changes in the spatial distribution of four different accessibility indicators, computed and mapped using a GIS support. Cohesion is subsequently measured calculating a set of inequality indices of the resulting accessibility distribution. It is possible then to assess whether disparities in regional accessibility are increased or reduced after the implementation of a new transport infrastructure. This approach is tested assessing regional cohesion effects of road and rail network developments in Spain in the period 1992-2004. Comparing the results obtained with accessibility indicators and inequality indices allows identifying the main critical factors and sources of bias. The conclusion is that for the rode mode, cohesion has improved, while regional disparities have increased for the rail mode

Geometric-based Line Segment Tracking for HDR Stereo Sequences

In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we exploit the univocal nature of the matching problem, i.e. every observation must be corresponded with a single feature or not corresponded at all. We state the problem as a sparse, convex, `1-minimization of the matching vector regularized by the geometric constraints. This formulation allows for the robust tracking of line segments along sequences where traditional appearance-based matching techniques tend to fail due to dynamic changes in illumination conditions. Moreover, the proposed matching algorithm also results in a considerable speed-up of previous state of the art techniques making it suitable for real-time applications such as Visual Odometry (VO). This, of course, comes at expense of a slightly lower number of matches in comparison with appearance based methods, and also limits its application to continuous video sequences, as it is rather constrained to small pose increments between consecutive frames.We validate the claimed advantages by first evaluating the matching performance in challenging video sequences, and then testing the method in a benchmarked point and line based VO algorithm.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.This work has been supported by the Spanish Government (project DPI2017-84827-R and grant BES-2015-071606) and by the Andalucian Government (project TEP2012-530)