Scene representation and matching for visual localization in hybrid camera scenarios

Scene representation and matching are crucial steps in a variety of tasks ranging from 3D reconstruction to virtual/augmented/mixed reality applications, to robotics, and others. While approaches exist that tackle these tasks, they mostly overlook the issue of efficiency in the scene representation, which is fundamental in resource-constrained systems and for increasing computing speed. Also, they normally assume the use of projective cameras, while performance on systems based on other camera geometries remains suboptimal. This dissertation contributes with a new efficient scene representation method that dramatically reduces the number of 3D points. The approach sets up an optimization problem for the automated selection of the most relevant points to retain. This leads to a constrained quadratic program, which is solved optimally with a newly introduced variant of the sequential minimal optimization method. In addition, a new initialization approach is introduced for the fast convergence of the method. Extensive experimentation on public benchmark datasets demonstrates that the approach produces a compressed scene representation quickly while delivering accurate pose estimates. The dissertation also contributes with new methods for scene matching that go beyond the use of projective cameras. Alternative camera geometries, like fisheye cameras, produce images with very high distortion, making current image feature point detectors and descriptors less efficient, since designed for projective cameras. New methods based on deep learning are introduced to address this problem, where feature detectors and descriptors can overcome distortion effects and more effectively perform feature matching between pairs of fisheye images, and also between hybrid pairs of fisheye and perspective images. Due to the limited availability of fisheye-perspective image datasets, three datasets were collected for training and testing the methods. The results demonstrate an increase of the detection and matching rates which outperform the current state-of-the-art methods

Self-supervised Interest Point Detection and Description for Fisheye and Perspective Images

Keypoint detection and matching is a fundamental task in many computer vision problems, from shape reconstruction, to structure from motion, to AR/VR applications and robotics. It is a well-studied problem with remarkable successes such as SIFT, and more recent deep learning approaches. While great robustness is exhibited by these techniques with respect to noise, illumination variation, and rigid motion transformations, less attention has been placed on image distortion sensitivity. In this work, we focus on the case when this is caused by the geometry of the cameras used for image acquisition, and consider the keypoint detection and matching problem between the hybrid scenario of a fisheye and a projective image. We build on a state-of-the-art approach and derive a self-supervised procedure that enables training an interest point detector and descriptor network. We also collected two new datasets for additional training and testing in this unexplored scenario, and we demonstrate that current approaches are suboptimal because they are designed to work in traditional projective conditions, while the proposed approach turns out to be the most effective.Comment: CVPR Workshop on Omnidirectional Computer Vision, 202

The Research Journey as a Challenge Towards New Trends

The academic community of the department of Risaralda, in its permanent interest in evidencing the results of the research processes that are carried out from the Higher Education Institutions and as a product of the VI meeting of researchers of the department of Risaralda held in November 2021 presents its work: “The journey of research as a challenge towards new trends”, which reflects the result of the latest research and advances in different lines of knowledge in Agricultural Sciences, Health Sciences, Social Sciences and Technology and Information Sciences, which seek to solve and meet the demands of the different sectors. This work would not have been possible without the help of each of the teachers, researchers and authors who presented their articles that make up each of the chapters of the book, to them our gratitude for their commitment, dedication and commitment, since their sole purpose is to contribute from the academy and science to scientific and technological development in the search for the solution of problems and thus contribute to transform the reality of our society and communities. We also wish to extend our gratitude to the institutions of the Network that made this publication possible: UTP, UCP, UNAD, UNIREMINGTON; UNISARC, CIAF, Universidad Libre, Uniclaretiana, Fundación Universitaria Comfamiliar and UNIMINUTO, institutions that in one way or another allowed this work to become a reality, which we hope will be of interest to you.Preface............................................................................................................................7 Chapter 1. Technologies and Engineering Towards a humanization in Engineering using soft skills in training in Engineers.............................................................................................................11 Omar Iván Trejos Buriticá1, Luis Eduardo Muñoz Guerrero Innovative materials in construction: review from a bibliometric analysis....................................................................................................................27 Cristian Osorio Gómez, Daniel Aristizábal Torres, Alejandro Alzate Buitrago, Cristhian Camilo Amariles López Bibliometric review of disaster risk management: progress, trends, and challenges.........................................................................................................51 Alejandro Alzate Buitrago, Gloria Milena Molina Vinasco. Incidence of land coverage and geology, in the unstability of lands of the micro-basin of the Combia creek, Pereira, Risaralda....................................73 Alejandro Alzate Buitrago, Daniel Aristizábal Torres. Chapter 2. Arts, Humanities, and Social Sciences Training experience with teachers teaching mathematics using the inquiry methodology ...............................................................................................95 Vivian Libeth Uzuriaga López, Héctor Gerardo Sánchez Bedoya. Interpretation of the multiple representations of the fears associated to the boarding of limited visual patients in the elective I students’ written productions and low vision ...................................................................................113 Eliana Bermúdez Cardona, Ana María Agudelo Guevara, Caterine Villamarín Acosta. The relevance of local knowledge in social sciences............................................131 Alberto Antonio Berón Ospina, Isabel Cristina Castillo Quintero. Basic education students’ conceptions of conflict a view from the peace for the education....................................................................................................143 Astrid Milena Calderón Cárdenas,Carolina Aguirre Arias, Carolina Franco Ossa, Martha Cecilia Gutiérrez Giraldo, Orfa Buitrago. Comprehensive risk prevention in educational settings: an interdisciplinary and socio-educational approach ............................................................................163 Olga María Henao Trujillo, Claudia María López Ortiz. Chapter 3. Natural and Agricultural Sciences Physicochemical characterization of three substrates used in the deep bedding system in swine .......................................................................................175 Juan Manuel Sánchez Rubio, Andrés Felipe Arias Roldan, Jesús Arturo Rincón Sanz, Jaime Andrés Betancourt Vásquez. Periodic solutions in AFM models........................................................................187 Daniel Cortés Zapata, Alexander Gutiérrez Gutiérrez. Phenology in flower and fruit of Rubus glaucus benth. Cv. Thornless in Risaralda: elements for phytosanitary management .........................................199 Shirley Palacios Castro, Andrés Alfonso Patiño Martínez, James Montoya Lerma, Ricardo Flórez, Harry Josué Pérez. Socio-economic and technical characterization of the cultivation of avocado (Persea americana) in Risaralda..............................................................217 Andrés Alfonso Patiño Martínez, Kelly Saudith Castañez Poveda, Eliana Gómez Correa. Biosecurity management in backyard systems in Santa Rosa de Cabal, Risaralda................................................................................................................227 Julia Victoria Arredondo Botero, Jaiver Estiben Ocampo Jaramillo, Juan Sebastián Mera Vallejo, Álvaro de Jesús Aranzazu Hernández. CONTENTS Physical-chemical diagnosis of soils in hillside areas with predominance of Lulo CV. La Selva production system in the department of Risaralda.............241 Adriana Patricia Restrepo Gallón, María Paula Landinez Montes, Jimena Tobón López. Digestibility of three concentrates used in canine feeding....................................271 María Fernanda Mejía Silva, Valentina Noreña Sánchez, Gastón Adolfo Castaño Jiménez. Chapter 4. Economic, Administrative, and Accounting Sciences Financial inclusion in households from socioeconomic strata 1 and 2 in the city of Pereira ..................................................................................................285 Lindy Neth Perea Mosquera, Marlen Isabel Redondo Ramírez, Angélica Viviana Morales. Internal marketing strategies as a competitive advantage for the company Mobilautos SAS de Dosquebradas........................................................................303 Inés Montoya Sánchez, Sandra Patricia Viana Bolaños, Ana María Barrera Rodríguez. Uses of tourist marketing in the tourist sector of the municipality of Belén de Umbría, Risaralda.............................................................................................319 Ana María Barrera Rodríguez, Paola Andrea Echeverri Gutiérrez, María Camila Parra Buitrago, Paola Andrea Martín Muñoz, Angy Paola Ángel Vélez, Luisa Natalia Trejos Ospina. Territorial prospective of Risaralda department (Colombia), based on the SDGS...............................................................................................................333 Juan Guillermo Gil García, Samanta Londoño Velásquez. Chapter 5. Health and Sports Sciences Performance evaluation in times of pandemic. What do medical students think?.......................................................................................................353 Samuel Eduardo Trujillo Henao, Rodolfo A. Cabrales Vega, Germán Alberto Moreno Gómez. The relevance of the therapist’s self and self-reference in the training of psychologists.....................................................................................................371 Maria Paula Marmolejo Lozano, Mireya Ospina Botero. Habits related to oral health which influence lifestyle of elder people in a wellness center for the elderly in Pereira 2020. .............................................387 Isadora Blanco Pérez, Olga Patricia Ramírez Rodríguez, Ángela María Rincón Hurtado. Analysis of the suicide trend in the Coffee Region in Colombia during the years 2012-2018 ..............................................................................................405 Germán Alberto Moreno Gómez, Jennifer Nessim Salazar, Jairo Franco Londoño, Juan Carlos Medina Osorio. Hind limb long bone fractures in canines and felines...........................................419 María Camila Cruz Vélez, Valentina Herrera Morales, Alba Nydia Restrepo Jiménez, Lina Marcela Palomino, Gabriel Rodolfo Izquierdo Bravo. Prevalence of overweight and obesity in children in the rural and urban area of Risaralda....................................................................................................439 Angela María Álvarez López, Angela Liceth Pérez Rendón, Alejandro Gómez Rodas, Luis Enrique Isaza Velásquez. Chapter 6. Architecture, Design and Advertising The artisan crafts of Risaralda, characteristics, importance, and risks within the Colombian Coffee Cultural Landscape, CCCL....................................457 Yaffa Nahir Ivette Gómez Barrera, Javier Alfonso López Morales

Medición del nivel de satisfacción de los clientes inactivos de Compañía General de Aceros ubicada en la ciudad de Santiago de Cali, con relación a los factores de: Producto, atención al cliente y servicio

El propósito del desarrollo de la presente pasantía institucional es medir el nivel de satisfacción de los clientes inactivos de la Compañía General de Aceros ubicada en la ciudad de Santiago de Cali, con relación a los factores: producto, atención al cliente y servicio. Para alcanzar el logro de este objetivo se propuso la estructuración de una investigación con enfoque exploratorio y descriptivo. El trabajo de campo se realizó con base a la encuesta con tipo de preguntas mixtas, vía telefónica a los clientes inactivos de la empresa. Se toma como población a los clientes inactivos de Compañía General de Aceros. Son considerados clientes inactivos quienes dejaron de comprar en el periodo de enero a diciembre de 2011. La población total es de 216 clientes inactivos de los cuales se tomaron 140 clientes. Los resultados dan cuenta de que para los clientes inactivos encuestados la empresa CGA representa una opción muy atractiva para adquirir sus productos o servicios, ya que la calificación obtenida fue de 4 que significa que se encuentran satisfechos en cuanto a la calidad de los productos, la atención recibida y el servicio prestado por la empresa CGA. Estos resultados no explican claramente lo que ha pasado con estos clientes inactivos, el por qué dejaron de comprar, por lo que normalmente se escucha argumentos que indican que el empresario conoce todo sobre su cliente, lo que necesita y como satisfacer aquellas necesidades. Esto puede significar que la empresa no está tomando en cuenta las sugerencias de los clientes, no hace seguimiento a los reclamos o quejas, o sencillamente no está consciente de la importancia que tiene el cliente para ella. Finalmente se recomienda realizar un plan de acción que contemple: ofrecer a los clientes inactivos de compañía General de Aceros una propuesta de valor que contribuya cada vez más al proceso productivoPasantía institucional (Profesional en Mercadeo y Negocios Internacionales)-- Universidad Autónoma de Occidente, 2012PregradoProfesional en Mercadeo y Negocios Internacionale

Medición del nivel de satisfacción de los clientes inactivos de Compañía General de Aceros ubicada en la ciudad de Santiago de Cali, con relación a los factores de: Producto, atención al cliente y servicio

El propósito del desarrollo de la presente pasantía institucional es medir el nivel de satisfacción de los clientes inactivos de la Compañía General de Aceros ubicada en la ciudad de Santiago de Cali, con relación a los factores: producto, atención al cliente y servicio. Para alcanzar el logro de este objetivo se propuso la estructuración de una investigación con enfoque exploratorio y descriptivo. El trabajo de campo se realizó con base a la encuesta con tipo de preguntas mixtas, vía telefónica a los clientes inactivos de la empresa. Se toma como población a los clientes inactivos de Compañía General de Aceros. Son considerados clientes inactivos quienes dejaron de comprar en el periodo de enero a diciembre de 2011. La población total es de 216 clientes inactivos de los cuales se tomaron 140 clientes. Los resultados dan cuenta de que para los clientes inactivos encuestados la empresa CGA representa una opción muy atractiva para adquirir sus productos o servicios, ya que la calificación obtenida fue de 4 que significa que se encuentran satisfechos en cuanto a la calidad de los productos, la atención recibida y el servicio prestado por la empresa CGA. Estos resultados no explican claramente lo que ha pasado con estos clientes inactivos, el por qué dejaron de comprar, por lo que normalmente se escucha argumentos que indican que el empresario conoce todo sobre su cliente, lo que necesita y como satisfacer aquellas necesidades. Esto puede significar que la empresa no está tomando en cuenta las sugerencias de los clientes, no hace seguimiento a los reclamos o quejas, o sencillamente no está consciente de la importancia que tiene el cliente para ella. Finalmente se recomienda realizar un plan de acción que contemple: ofrecer a los clientes inactivos de compañía General de Aceros una propuesta de valor que contribuya cada vez más al proceso productiv