Fast Graph-Based Object Segmentation for RGB-D Images

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large variety in appearance, from lack of texture to strong textures, for the task of robotic grasping. The algorithm does not rely on image features or machine learning. We propose a modified Canny edge detector for extracting robust edges by using depth information and two simple cost functions for combining color and depth cues. The cost functions are used to build an undirected graph, which is partitioned using the concept of internal and external differences between graph regions. The partitioning is fast with O(NlogN) complexity. We also discuss ways to deal with missing depth information. We test the approach on different publicly available RGB-D object datasets, such as the Rutgers APC RGB-D dataset and the RGB-D Object Dataset, and compare the results with other existing methods

From text to dictionary.: Steps for a computerised process.

The aim of this study is to illustrate the state of-the art of technical tools which allow the user to build the lexicon of a Swahili text. Different kinds of statistical information can also be extracted from the text with the aid of tailor made software. The basic operation in building the lexicon of a text is lemmatization, i. e extracting the lemma from the forms contained in the text. Once the lemma list is ready it can be converted into a list of entties, to be filled according to selected criteria

Physical Interaction of Autonomous Robots in Complex Environments

Recent breakthroughs in the fields of computer vision and robotics are firmly changing the people perception about robots. The idea of robots that substitute humansisnowturningintorobotsthatcollaboratewiththem. Serviceroboticsconsidersrobotsaspersonalassistants. Itsafelyplacesrobotsindomesticenvironments in order to facilitate humans daily life. Industrial robotics is now reconsidering its basic idea of robot as a worker. Currently, the primary method to guarantee the personnels safety in industrial environments is the installation of physical barriers around the working area of robots. The development of new technologies and new algorithms in the sensor field and in the robotic one has led to a new generation of lightweight and collaborative robots. Therefore, industrial robotics leveraged the intrinsic properties of this kind of robots to generate a robot co-worker that is able to safely coexist, collaborate and interact inside its workspace with both personnels and objects. This Ph.D. dissertation focuses on the generation of a pipeline for fast object pose estimation and distance computation of moving objects,in both structured and unstructured environments,using RGB-D images. This pipeline outputs the command actions which let the robot complete its main task and fulfil the safety human-robot coexistence behaviour at once. The proposed pipeline is divided into an object segmentation part,a 6D.o.F. object pose estimation part and a real-time collision avoidance part for safe human-robot coexistence. Firstly, the segmentation module finds candidate object clusters out of RGB-D images of clutter scenes using a graph-based image segmentation technique. This segmentation technique generates a cluster of pixels for each object found in the image. The candidate object clusters are then fed as input to the 6 D.o.F. object pose estimation module. The latter is in charge of estimating both the translation and the orientation in 3D space of each candidate object clusters. The object pose is then employed by the robotic arm to compute a suitable grasping policy. The last module generates a force vector field of the environment surrounding the robot, the objects and the humans. This force vector field drives the robot toward its goal while any potential collision against objects and/or humans is safely avoided. This work has been carried out at Politecnico di Torino, in collaboration with Telecom Italia S.p.A

The Portucel Soporcel Group : the goodwill treatment under the international standards

The concept of Fair Value is increasingly relevant in the corporate world. For several years that listed companies in Europe and in the U.S. take this concept into consideration when preparing their financial statements, namely when measuring some assets and liabilities such as Financial Assets and Financial Liabilities, Goodwill and Biological Assets. In order to better understand how companies actually fulfill the requirements established by International Standards, this dissertation focuses on the Portucel Soporcel Group and on the accounting treatment of Goodwill, addressing specifically the way the company translates into its financial statements the concept of Fair Value, as well as the methodology used to estimate Goodwill and the corresponding recoverable amount. The Group follows International Standards in the preparation of financial statements and in the treatment of Goodwill, with data being obtained from reliable and renowned sources such as Reuters and being treated in combination with internally generated information, properly validated and periodically revised

Los gobiernos municipales mexiquenses en la mitigación de riesgos y prevención de desastres

En este texto se presenta un estudio sobre el funcionamiento de la protecci.ncivil en el nivel de gobierno municipal. De acuerdo con el Sistema Nacional deProtecci.n Civil, el municipio es la primera instancia encargada de mitigar losriesgos, prevenir y atender desastres. Asimismo, el art.culo 115 constitucionalle confiere al municipio facultades y competencias relativas al ordenamientoterritorial, actividades vinculadas con el manejo de riesgos y desastres; aun as.los municipios enfrentan serias dificultades para prevenir y atender desastres.A partir del estudio de cinco procesos de riesgo–desastre en municipios mexiquensesse trata de comprender la forma en que los gobiernos municipales act.anfrente a los riesgos y desastres y qu. implicaciones tiene que la protecci.ncivil sea una pol.tica p.blica descentralizada.

Strutture portanti - Aspetti progettuali e normativi

Comitato tecnico scientifico in materia di rischio sismico (istituito con Delibera Giunta Regionale n. 606 del 21/6/2010) Orientamenti interpretativi in merito a interventi locali o di riparazione in edifici esistenti (modifica e sostituisce quello ratificato nella seduta CTS del 21.7.2010. Aggiornamento del 3/10/2012 - Parte 1/