Interest point detectors for visual SLAM

In this paper we present several interest points detectors and we analyze their suitability when used as landmark extractors for vision-based simultaneous localization and mapping (vSLAM). For this purpose, we evaluate the detectors according to their repeatability under changes in viewpoint and scale. These are the desired requirements for visual landmarks. Several experiments were carried out using sequence of images captured with high precision. The sequences represent planar objects as well as 3D scenes

Local descriptors for visual SLAM

We present a comparison of several local image descriptors in the context of visual Simultaneous Localization and Mapping (SLAM). In visual SLAM a set of points in the environment are extracted from images and used as landmarks. The points are represented by local descriptors used to resolve the association between landmarks. In this paper, we study the class separability of several descriptors under changes in viewpoint and scale. Several experiments were carried out using sequences of images in 2D and 3D scenes

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriat

Framework para la verificación y corrección de modelos de procesos de negocio basado en técnicas de MDE y Ontologías

El presente trabajo propone un framework para la validación de diagramas BPMN (Notación para el Modelado de Procesos de Negocio) con respecto a las reglas de negocio que los rigen. Este framework está compuesto por un DSL (Lenguaje de Dominio Específico) que es capaz de representar reglas de un proceso de negocio y transformar tanto el diagrama BPMN como las reglas del proceso en una base de conocimiento. Esta base de conocimiento es representada por una ontología, esto con la intención de validar la consistencia del diagrama respecto a sus reglas de negocio. La utilidad de este framework radica en la capacidad de realizar validaciones sobre los modelos BPMN antes de ser implementados en sistemas BPM y almacenar las restricciones de negocio en un formato estándar fácil de comprender y compartir. Los resultados obtenidos en las pruebas de este framework demuestran la utilidad de este enfoque en el mantenimiento e implantación de sistemas BPM.This paper proposes a framework for validating BPMN diagrams (Business Process Modeling Notation) with respect to the business rules that govern it. This framework consists of a DSL (Domain Specific Language) that is capable of representing rules of a business process and transform both the BPMN diagram and process rules in a knowledge base. This knowledge base is represented by an ontology in order to validate the consistency of the diagram with respect to its business rules. The usefulness of this framework is the ability to perform validations on BPMN models before its implementation in BPM systems and store business constraints in a standard format that is easy to understand and share. The results of testing this framework demonstrate the utility of this approach in the maintenance and deployment of BPM systems.Magíster en Ingeniería de Sistemas y ComputaciónMaestrí