Automatic camera pose initialization, using scale, rotation and luminance invariant natural feature tracking

The solution to the camera registration and tracking problem serves Augmented Reality, in order to provide an enhancement to the user’s cognitive perception of the real world and his/her situational awareness. By analyzing the five most representative tracking and feature detection techniques, we have concluded that the Camera Pose Initialization (CPI) problem, a relevant sub-problem in the overall camera tracking problem, is still far from being solved using straightforward and non-intrusive methods. The assessed techniques often use user inputs (i.e. mouse clicking) or auxiliary artifacts (i.e. fiducial markers) to solve the CPI problem. This paper presents a novel approach to real-time scale, rotation and luminance invariant natural feature tracking, in order to solve the CPI problem using totally automatic procedures. The technique is applicable for the case of planar objects with arbitrary topologies and natural textures, and can be used in Augmented Reality. We also present a heuristic method for feature clustering, which has revealed to be efficient and reliable. The presented work uses this novel feature detection technique as a baseline for a real-time and robust planar texture tracking algorithm, which combines optical flow, backprojection and template matching techniques. The paper presents also performance and precision results of the proposed technique.info:eu-repo/semantics/publishedVersio

Infrared tracking system for immersive virtual environments

In this paper, we describe the theoretical foundations and engineering approach of an infrared-optical tracking system specially design for large scale immersive virtual environments (VE) or augmented reality (AR) settings. The system described is capable of tracking independent retro-reflective markers arranged in a 3D structure (ar-tefact) in real time (25Hz), recovering all possible 6 Degrees of Freedom (DOF). These artefacts can be ad-justed to the user’s stereo glasses to track his/her pose while immersed in the VE or AR, or can be used as a 3D input device. The hardware configuration consists in 4 shutter-synchronized cameras attached with band-pass infrared filters and the artefacts are illuminated by infrared array-emitters. The system was specially designed to fit a room with sizes of 5.7m x 2.7m x 3.4 m, which match the dimensions of the CAVE-Hollowspace of Lousal where the system will be deployed. Pilot lab results have shown a latency of 40ms in tracking the pose of two ar-tefacts with 4 infrared markers, achieving a frame-rate of 24.80 fps and showing a mean accuracy of 0.93mm/0.52º and a mean precision of 0.08mm/0.04º, respectively, in overall translation/rotation DOFs, fulfill-ing the system requirements initially defined.info:eu-repo/semantics/publishedVersio

Discrete wavelet analysis of the influence of the North Atlantic Oscillation on Baltic Sea level

Mean sea level (MSL) in the Baltic Sea is influenced by several factors and therefore presents a complex behaviour over a wide range of time-scales. This work performs a multi-scale analysis of MSL variability in the Baltic Sea using discrete wavelet analysis. The North Atlantic Oscillation (NAO) is well known for having a strong influence in MSL variability over the Baltic; however, the relationship between MSL and NAO at different time-scales is still little understood. In this work a comparison of MSL and NAO variability is performed for a wide range of temporal scales, uncovering distinct relationships in high-frequency and long-term temporal variability. The annual and sub-annual scales are found to account for more than 50% of the total MSL variability. The MSL annual cycle is analysed and a shift from low to high amplitude values is identified in the 1970s for most stations. MSL is found to be anti-correlated to NAO at short time-scales while on the long-term NAO and MSL appear to be positively correlated for most stations. The physical mechanisms behind these distinct relationships deserve deeper study

Semi-automatic 3D reconstruction of urban areas using epipolar geometry and template matching

WOS:000240143800002 (Nº de Acesso Web of Science)In this work we describe a novel technique for semi-automatic three-dimensional (3D) reconstruction of urban areas, from airborne stereo-pair images whose output is VRML or DXF. The main challenge is to compute the relevant information—building's height and volume, roof's description, and texture—algorithmically, because it is very time consuming and thus expensive to produce it manually for large urban areas. The algorithm requires some initial calibration input and is able to compute the above-mentioned building characteristics from the stereo pair and the availability of the 2D CAD and the digital elevation model of the same area, with no knowledge of the camera pose or its intrinsic parameters. To achieve this, we have used epipolar geometry, homography computation, automatic feature extraction and we have solved the feature correspondence problem in the stereo pair, by using template matching

Reptilia, Squamata, Tropiduridae, <i>Stenocercus sinesaccus</i> Torres–Carvajal, 2005: Distribution extension

The present study reports the easternmost known record for the tropidurid lizard Stenocercussinesaccus Torres–Carvajal, 2005, at Floresta Nacional de Silvânia, state of Goiás, Brazil, in a transition areabetween cerrado sensu strictu and gallery fores

Non-Commutative Correction to Thin Shell Collapse in Reissner Nordstro¨\ddot{o}m Geometry

This paper investigates the polytropic matter shell collapse in the non-commutative Reissner-Nordstr$\ddot{o}$m geometry. Using the Israel criteria, equation of motion for the polytropic matter shell is derived. In order to explore the physical aspects of this equation, the most general equation of state, $p=k{\rho}^{({1+\frac{1}{n}})}$, has been used for finite and infinite values of $n$. The effective potentials corresponding to the equation of motion have been used to explain different states of the matter shell collapse. The numerical solution of the equation of motion predicts collapse as well as expansion depending on the choice of initial data. Further, in order to include the non-commutative correction, we modify the matter components and re-formulate the equation of motion as well as the corresponding effective potentials by including non-commutative factor and charge parameter. It is concluded that charge reduces the velocity of the expanding or collapsing matter shell but does not bring the shell to static position. While the non-commutative factor with generic matter favors the formation of black hole.Comment: 18 pages,17 figure

Do We Know What We Need? Preference for Feedback About Accurate Performances Does Not Benefit Sensorimotor Learning

Previous research on skill acquisition has shown that learners seem to prefer receiving knowledge of results (KR) about those trials in which they have performed more accurately. In the present study, we assessed whether this preference leads to an advantage in terms of skill acquisition, transfer, and retention of their capacity to extrapolate the motion of decelerating objects during periods of visual occlusion. Instead of questionnaires, we adopted a more direct approach to investigate learners' preferences for KR. Participants performed 90 trials of a motion extrapolation task (acquisition phase) in which, every three trials, they could decide between receiving KR about their best or worst performance. Retention and transfer tests were carried out 24 hr after the acquisition phase, without KR, to examine the effects of the self-selected KR on sensorimotor learning. Consistent with the current literature, a preference for receiving KR about the most accurate performance was observed. However, participants' preferences were not consistent throughout the experiment as less than 10% (N = 40) selected the same type of KR in all their choices. Importantly, although preferred by most participants, KR about accurate performances had detrimental effects on skill acquisition, suggesting that learners may not always choose the KR that will maximize their learning experiences and skill retention