Método para el registro automático de imágenes basado en transformaciones proyectivas planas dependientes de las distancias y orientado a imágenes sin características comunes

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Ciencias Físicas, Departamento de Arquitectura de Computadores y Automática, leída el 18-12-2015Multisensory data fusion oriented to image-based application improves the accuracy, quality and availability of the data, and consequently, the performance of robotic systems, by means of combining the information of a scene acquired from multiple and different sources into a unified representation of the 3D world scene, which is more enlightening and enriching for the subsequent image processing, improving either the reliability by using the redundant information, or the capability by taking advantage of complementary information. Image registration is one of the most relevant steps in image fusion techniques. This procedure aims the geometrical alignment of two or more images. Normally, this process relies on feature-matching techniques, which is a drawback for combining sensors that are not able to deliver common features. For instance, in the combination of ToF and RGB cameras, the robust feature-matching is not reliable. Typically, the fusion of these two sensors has been addressed from the computation of the cameras calibration parameters for coordinate transformation between them. As a result, a low resolution colour depth map is provided. For improving the resolution of these maps and reducing the loss of colour information, extrapolation techniques are adopted. A crucial issue for computing high quality and accurate dense maps is the presence of noise in the depth measurement from the ToF camera, which is normally reduced by means of sensor calibration and filtering techniques. However, the filtering methods, implemented for the data extrapolation and denoising, usually over-smooth the data, reducing consequently the accuracy of the registration procedure...La fusión multisensorial orientada a aplicaciones de procesamiento de imágenes, conocida como fusión de imágenes, es una técnica que permite mejorar la exactitud, la calidad y la disponibilidad de datos de un entorno tridimensional, que a su vez permite mejorar el rendimiento y la operatividad de sistemas robóticos. Dicha fusión, se consigue mediante la combinación de la información adquirida por múltiples y diversas fuentes de captura de datos, la cual se agrupa del tal forma que se obtiene una mejor representación del entorno 3D, que es mucho más ilustrativa y enriquecedora para la implementación de métodos de procesamiento de imágenes. Con ello se consigue una mejora en la fiabilidad y capacidad del sistema, empleando la información redundante que ha sido adquirida por múltiples sensores. El registro de imágenes es uno de los procedimientos más importantes que componen la fusión de imágenes. El objetivo principal del registro de imágenes es la consecución de la alineación geométrica entre dos o más imágenes. Normalmente, este proceso depende de técnicas de búsqueda de patrones comunes entre imágenes, lo cual puede ser un inconveniente cuando se combinan sensores que no proporcionan datos con características similares. Un ejemplo de ello, es la fusión de cámaras de color de alta resolución (RGB) con cámaras de Tiempo de Vuelo de baja resolución (Time-of-Flight (ToF)), con las cuales no es posible conseguir una detección robusta de patrones comunes entre las imágenes capturadas por ambos sensores. Por lo general, la fusión entre estas cámaras se realiza mediante el cálculo de los parámetros de calibración de las mismas, que permiten realizar la trasformación homogénea entre ellas. Y como resultado de este xii Abstract procedimiento, se obtienen mapas de profundad y de color de baja resolución. Con el objetivo de mejorar la resolución de estos mapas y de evitar la pérdida de información de color, se utilizan diversas técnicas de extrapolación de datos. Un factor crucial a tomar en cuenta para la obtención de mapas de alta calidad y alta exactitud, es la presencia de ruido en las medidas de profundidad obtenidas por las cámaras ToF. Este problema, normalmente se reduce mediante la calibración de estos sensores y con técnicas de filtrado de datos. Sin embargo, las técnicas de filtrado utilizadas, tanto para la interpolación de datos, como para la reducción del ruido, suelen producir el sobre-alisamiento de los datos originales, lo cual reduce la exactitud del registro de imágenes...Sección Deptal. de Arquitectura de Computadores y Automática (Físicas)Fac. de Ciencias FísicasTRUEunpu

A perception system for accurate automatic control of an articulated bus

This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane.The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Española de Cooperación Internacional para el Desarrollo, AECID). Dr. Héctor Montes acknowledges support form Universidad Tecnológica de Panamá and from CSIC under grant JAE-Doc.Peer reviewe

A perception system for accurate automatic control of an articulated bus

This paper describes the perception system for an automatic articulated bus where an accurate tracking trajectory is desired. Among the most promising transport infrastructures of the autonomous or semi-autonomous transportation systems, the articulated bus is an interesting low cost and friendly option. This platform involves a mobile vehicle and a private circuit inside CSIC premises. The perception system, presented in this work, based on 2D laser scanner as a prime sensor generates local terrain maps, where the major concern lies in detecting and tracking a tunnel guide rail built-in the circuit, by using a hybrid-efficient line extraction algorithm and the obstacle detection to guide the vehicle down the lane.The authors acknowledge partial funding of this research under: Robocity2030-II S2009/DPI-1559 and IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE); FORTUNA D/026706/09 (Agencia Española de Cooperación Internacional para el Desarrollo, AECID). Dr. Héctor Montes acknowledges support form Universidad Tecnológica de Panamá and from CSIC under grant JAE-Doc.Peer reviewe

La sostenibilidad: un viaje mediante Google Earth

Agrupación de reportajes y entrevistas que giran en torno a la sostenibilidad. Gracias a las últimas herramientas desarrolladas por Google, cada uno de los reportajes cuentan con diferentes recorridos 2D y 3D a lo largo del planeta Tierra, un viaje interactivo donde el usuario puede elegir qué lugares ver. Los bancos de semillas, las energías limpias, la digitalización de los trámites, los edificios sostenibles, la moda, la educación, las tecnologías y los modelos económicos circulares dan lugar a este proyecto, muy ligados a los Objeteivos de Desarrollo Sostenible de la Agenda 2030.Traballo fin de grao (UDC.COM). Comunicación audiovisual. Curso 2020/202

VIS-NIR, SWIR and LWIR Imagery for Estimation of Ground Bearing Capacity

Ground bearing capacity has become a relevant concept for site-specific management that aims to protect soil from the compaction and the rutting produced by the indiscriminate use of agricultural and forestry machines. Nevertheless, commonly known techniques for its estimation are cumbersome and time-consuming. In order to alleviate these difficulties, this paper introduces an innovative sensory system based on Visible-Near InfraRed (VIS-NIR), Short-Wave InfraRed (SWIR) and Long-Wave InfraRed (LWIR) imagery and a sequential algorithm that combines a registration procedure, a multi-class SVM classifier, a K-means clustering and a linear regression for estimating the ground bearing capacity. To evaluate the feasibility and capabilities of the presented approach, several experimental tests were carried out in a sandy-loam terrain. The proposed solution offers notable benefits such as its non-invasiveness to the soil, its spatial coverage without the need for exhaustive manual measurements and its real time operation. Therefore, it can be very useful in decision making processes that tend to reduce ground damage during agricultural and forestry operations.The authors acknowledge funding from the European commission in the 7th Framework Programme (CROPS Grant Agreement No. 246252) and partial funding under ROBOCITY2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programa de Actividades I + D en la Comunidad de Madrid and cofunded by Structural Funds of the EU. Héctor Montes also acknowledges support from Universidad Tecnológica de Panamá.We acknowledge support of the publication fee by the CSIC Open Access Publication Support Initiative through its Unit of Information Resources for Research (URICI).CHF 1,620 APC fee funded by the EC FP7 Post-Grant Open Access PilotPeer reviewe

Lateral and Longitudinal Control System for the Automation of an Articulated Bus

This paper presents several results regarding the lateral and longitudinal control systems that have been applied for the automation of an articulated bus, using a rolling wheeled box system with special design that moves inside a guide rail. Nowadays, transport systems are achieving major advances by the incorporation of automation based technologies. Recent developments of electronic instrumentation and actuation systems and the increasing speed of processors allows for the implementation of real-time systems. The automation of an articulated bus provides combined advantages of both conventional bus and train, because it can ascend slopes of 15% and turn on curves of low radius. This transport modality is an interesting, low cost and friendly option. In this paper an experimental setup for the development of lateral and longitudinal control of the articulated bus is presented. Comprised by an experimental mobile platform (articulated bus) fully instrumented and a ground test area of asphalt roads inside CSIC installations, this experimental facility allows full testing of automatic driving systems.This paper presents several results regarding the lateral and longitudinal control systems that have been applied for the automation of an articulated bus, using a rolling wheeled box system with special design that moves inside a guide rail. Nowadays, transport systems are achieving major advances by the incorporation of automation based technologies. Recent developments of electronic instrumentation and actuation systems and the increasing speed of processors allows for the implementation of real-time systems. The automation of an articulated bus provides combined advantages of both conventional bus and train, because it can ascend slopes of 15% and turn on curves of low radius. This transport modality is an interesting, low cost and friendly option. In this paper an experimental setup for the development of lateral and longitudinal control of the articulated bus is presented. Comprised by an experimental mobile platform (articulated bus) fully instrumented and a ground test area of asphalt roads inside CSIC installations, this experimental facility allows full testing of automatic driving systems

Multisensory System for Fruit Harvesting Robots. Experimental Testing in Natural Scenarios and with Different Kinds of Crops

The motivation of this research was to explore the feasibility of detecting and locating fruits from different kinds of crops in natural scenarios. To this end, a unique, modular and easily adaptable multisensory system and a set of associated pre-processing algorithms are proposed. The offered multisensory rig combines a high resolution colour camera and a multispectral system for the detection of fruits, as well as for the discrimination of the different elements of the plants, and a Time-Of-Flight (TOF) camera that provides fast acquisition of distances enabling the localisation of the targets in the coordinate space. A controlled lighting system completes the set-up, increasing its flexibility for being used in different working conditions. The pre-processing algorithms designed for the proposed multisensory system include a pixel-based classification algorithm that labels areas of interest that belong to fruits and a registration algorithm that combines the results of the aforementioned classification algorithm with the data provided by the TOF camera for the 3D reconstruction of the desired regions. Several experimental tests have been carried out in outdoors conditions in order to validate the capabilities of the proposed system.The motivation of this research was to explore the feasibility of detecting and locating fruits from different kinds of crops in natural scenarios. To this end, a unique, modular and easily adaptable multisensory system and a set of associated pre-processing algorithms are proposed. The offered multisensory rig combines a high resolution colour camera and a multispectral system for the detection of fruits, as well as for the discrimination of the different elements of the plants, and a Time-Of-Flight (TOF) camera that provides fast acquisition of distances enabling the localisation of the targets in the coordinate space. A controlled lighting system completes the set-up, increasing its flexibility for being used in different working conditions. The pre-processing algorithms designed for the proposed multisensory system include a pixel-based classification algorithm that labels areas of interest that belong to fruits and a registration algorithm that combines the results of the aforementioned classification algorithm with the data provided by the TOF camera for the 3D reconstruction of the desired regions. Several experimental tests have been carried out in outdoors conditions in order to validate the capabilities of the proposed system

Sistema de percepción de alta precisión para sistemas inteligentes de transporte

Robocity2030 7th Workshop. Móstoles. Spain. Oct, 2010. Visión en Robótica (2010).Este trabajo describe el sistema de percepción de alta precisión implementado sobre un autobús articulado para su conducción automática a través de un carril guía. Entre las infraestructuras de transporte más prometedoras de los sistemas de transporte automáticos, el bus articulado presenta un costo bajo relacionada con la cantidad de pasajeros que puede transportar, además del confort de los mismos relacionados con otros medios de transporte masivo. La plataforma experimental que se presenta en este trabajo consiste en un vehículo móvil y un circuito privado dentro de las instalaciones del CSIC. El sistema de percepción que se presenta en este trabajo está basado en dos escáneres láser 2D, donde la principal objetivo radica en la detección de un carril guía construido en el circuito, mediante un algoritmo híbrido eficiente de extracción de líneas, y la detección de obstáculos posibles sobre el recorrido del circuito.Este trabajo ha sido realizado en el marco del proyecto Robocity2030-II S2009/DPI-1559 subvencionado por la Dirección General de Investigación de la Consejería de Educación y Cultura de la Comunidad de Madrid e IMADE PIE/62/2008 (Comunidad de Madrid, ALDESA CONSTRUCCIONES SA, MAXIMASDE), y la Agencia Española de Cooperación Internacional para el Desarrollo (AECID) en el marco del proyecto FORTUNA D/026706/09. El Dr. Héctor Montes agradece el apoyo recibido de la Universidad Tecnológica de Panamá y del CSIC bajo el Programa JAE-Doc.Peer reviewe

Evaluation of a Sensory Tracking System for Hand-held Detectors in Outdoor Conditions

This paper presents the experimental results obtained throughout the outdoor testing of a sensory tracking system specifically designed as part of a training tool for improving the utilisation of hand-held detectors. The proposed system is able to acquire information in two different scenarios: when the expert’s skills are studied in order to quantify some critical performance variables and when the deminers’ performance is evaluated during the close- in-detection training tasks, in order to give the operator significant feedback for improving their competences. Additionally to previously studied variables such as the safety distance to advance the detector search-head on each sweep, the sweep velocity, the scan height, the inclination of the hand-held detector head with respect to the ground and the coverage area, a special emphasis related to the geo-referencing of the hand-held detector head in real-time is provided.This paper presents the experimental results obtained throughout the outdoor testing of a sensory tracking system specifically designed as part of a training tool for improving the utilisation of hand-held detectors. The proposed system is able to acquire information in two different scenarios: when the expert’s skills are studied in order to quantify some critical performance variables and when the deminers’ performance is evaluated during the close- in-detection training tasks, in order to give the operator significant feedback for improving their competences. Additionally to previously studied variables such as the safety distance to advance the detector search-head on each sweep, the sweep velocity, the scan height, the inclination of the hand-held detector head with respect to the ground and the coverage area, a special emphasis related to the geo-referencing of the hand-held detector head in real-time is provided

Design of a training tool for improving the use of hand-held detectors in humanitarian demining

Purpose – The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close-in detection tasks. Design/methodology/approach – Following an introduction that highlights the impact of mines and improvised explosive devices (IEDs), and the importance of training for enhancing the safety and the efficiency of the deminers, this paper considers the utilization of a sensory tracking system to study the skill of the hand-held detector expert operators. With the compiled information, some critical performance variables can be extracted, assessed, and quantified, so that they can be used afterwards as reference values for the training task. In a second stage, the sensory tracking system is used for analysing the trainee skills. The experimentation phase aims to test the effectiveness of the elements that compose the sensory system to track the hand-held detector during the training sessions. Findings – The proposed training tool will be able to evaluate the deminers' efficiency during the scanning tasks and will provide important information for improving their competences. Originality/value – This paper highlights the need of introducing emerging technologies for enhancing the current training techniques for deminers and proposes a sensory tracking system that can be successfully utilised for evaluating trainees' performance with hand-held detectors