Towards Reliable and Accurate Global Structure-from-Motion

Reconstruction of objects or scenes from sparse point detections across multiple views is one of the most tackled problems in computer vision. Given the coordinates of 2D points tracked in multiple images, the problem consists of estimating the corresponding 3D points and cameras\u27 calibrations (intrinsic and pose), and can be solved by minimizing reprojection errors using bundle adjustment. However, given bundle adjustment\u27s nonlinear objective function and iterative nature, a good starting guess is required to converge to global minima. Global and Incremental Structure-from-Motion methods appear as ways to provide good initializations to bundle adjustment, each with different properties. While Global Structure-from-Motion has been shown to result in more accurate reconstructions compared to Incremental Structure-from-Motion, the latter has better scalability by starting with a small subset of images and sequentially adding new views, allowing reconstruction of sequences with millions of images. Additionally, both Global and Incremental Structure-from-Motion methods rely on accurate models of the scene or object, and under noisy conditions or high model uncertainty might result in poor initializations for bundle adjustment. Recently pOSE, a class of matrix factorization methods, has been proposed as an alternative to conventional Global SfM methods. These methods use VarPro - a second-order optimization method - to minimize a linear combination of an approximation of reprojection errors and a regularization term based on an affine camera model, and have been shown to converge to global minima with a high rate even when starting from random camera calibration estimations.This thesis aims at improving the reliability and accuracy of global SfM through different approaches. First, by studying conditions for global optimality of point set registration, a point cloud averaging method that can be used when (incomplete) 3D point clouds of the same scene in different coordinate systems are available. Second, by extending pOSE methods to different Structure-from-Motion problem instances, such as Non-Rigid SfM or radial distortion invariant SfM. Third and finally, by replacing the regularization term of pOSE methods with an exponential regularization on the projective depth of the 3D point estimations, resulting in a loss that achieves reconstructions with accuracy close to bundle adjustment

COMPACTION CAUSED BY FELLER-BUNCHER AND SKIDDER TRAFFIC IN AN ENTISOL UNDER DISTINCT MOISTURES

This research evaluated the influence of water content on soil compaction of an Entisol under traffic of forest harvesting machines and developed models to estimate soil compaction. The study was conducted in areas of a forest company, located in the state of Santa Catarina, Brazil. The sampling was performed under various conditions of soil moisture, contemplating three classes: Ug1 (Ug < 0,30 kg kg-1); Ug2 (0,30 64 Ug < 0,40 kg kg-1); Ug3 (Ug 65 0,40 kg kg-1). The soil bulk density was determined (Ds), total (Pt) and air-filled porosity (PA) and penetration resistance (RP), under the conditions without traffic (WT) and after traffic (AT) of a Feller-buncher (CAT 522) and a Skidder (CAT 545) employed in wood harvesting of Pinus taeda stands. Multiple regression equations were adjusted to estimate the soil penetration resistance, through arithmetic and logarithmic models with pure and mixed variables. The results indicate that in moisture condition above than 0,40 kg kg-1 (Ug3), the traffic promoted increase in Bd and PR of 10 and 24%, respectively, and decrease in \u3b1t and \u3b1air, in order of 12 and 43%. In low moisture content (Ug < 0,30 kg kg-1), the increase of Bd and PR was 3 and 13%, respectively, and the decrease of \u3b1air of 8% and without effect in \u3b1t. The stepwise logarithmic model with mixed variables (SLMM) showed the best results for the estimation of soil penetration resistance, but caution must be raised in their employment due to the possible influence of other factors in the estimation and determination of PR.Esta pesquisa objetivou avaliar a influencia da umidade na compactacao de um Neossolo Regolitico submetido ao trafego de maquinas de colheita florestal e desenvolver modelos para estimativa da compactacao. O trabalho foi conduzido em areas de uma empresa florestal localizada no Estado de Santa Catarina. A amostragem foi realizada em diversas condicoes de umidade do solo, contemplando tres classes: Ug1 (Ug < 0,30 kg kg-1); Ug2 (0,30 64Ug < 0,40 kg kg-1) e Ug3 (Ug 650,40 kg kg-1). Determinou-se a densidade do solo (Ds), a porosidade total (Pt) e de aeracao (PA) e a resistencia a penetracao (RP), nas condicoes sem trafego (ST) e apos trafego (AT) de um Feller buncher (CAT 522) e um Skidder (CAT 545) utilizados na colheita da madeira de povoamentos de Pinus taeda . Foram ajustadas equacoes de regressao multipla para estimar a RP, por meio de modelos aritmeticos e logaritmicos com variaveis puras e mistas. Os resultados indicaram que em condicao de umidade superior a 0,40 kg kg-1 (Ug3), o trafego promoveu aumento da Ds e RP da ordem de 10 e 24% e reducao da Pt e da PA, da ordem de 12 e 43%, respectivamente. Em baixa umidade (Ug < 0,30 kg kg-1), o aumento da Ds e RP foi da ordem de 3 e 13%, respectivamente, e reducao da PA da ordem de 8% e sem efeito na Pt. O modelo por stepwise logaritmico com variaveis mistas (MSLM) (Ln RP =-1,11 + 0,64Ds-2 + 0,14Ug-1) apresenta os melhores resultados para estimativa da resistencia do solo a penetracao, mas deve haver cautela no seu emprego, devido a possibilidade de influencia de outros fatores na estimativa e determinacao da RP

PHYSIOLOGICAL MATURATION OF Erythrina variegata L. SEEDS

O trabalho teve como objetivo estudar a matura\ue7\ue3o fisiol\uf3gica de sementes de Erythrina variegata L. Cada flor foi identificada em sua respectiva data de antese. A partir dos 21 dias ap\uf3s a antese (DAA) efetuaram-se coletas semanais de frutos para avalia\ue7\uf5es das seguintes caracter\uedsticas: comprimento e di\ue2metro dos frutos; colora\ue7\ue3o, massa fresca, massa seca e teor de \ue1gua de frutos e sementes; germina\ue7\ue3o e vigor das sementes. O delineamento experimental utilizado foi o inteiramente casualizado. O crescimento dos frutos de Erythrina variegata, em comprimento e di\ue2metro, vai at\ue9 42 DAA. As sementes come\ue7am a germinar aos 63 DAA, cujo teor de \ue1gua \ue9 de 68,15% e a massa seca 481,38 mg semente-1. A m\ue1xima germina\ue7\ue3o e vigor s\ue3o obtidos aos 77 DAA, que coincide com o m\ue1ximo conte\ufado de massa seca, frutos com colora\ue7\ue3o castanho-escura, sementes castanho-arroxeadas, com tegumento c\uf3rneo e teor de \ue1gua de 21%, considerado o ponto de matura\ue7\ue3o fisiol\uf3gica dessas sementes. Ap\uf3s 91 DAA ocorre a deisc\ueancia dos frutos.The study objective was to determine the physiological maturation of the Erythrina variegata L. seed. Each flower was identified according to its respective anthesis date. The fruit was collected weekly following the 21st day after anthesis (DAA). The following characteristics were evaluated: length and diameter of each fruit; color, fresh mass, dry mass, water content of both fruit and seeds; the seed germination state and vigor. The experimental design utilized was the completely randomized. It was found that the fruit of Erythrina variegata continues to grow in both length and diameter up until the 42ndDAA. The seeds start to germinate on the 63rd DAA, when the seed water content is 68.15% and the dry mass is 481.38 mg per seed. The maximum germination and vigor are obtained at the 77th DAA which coincides with the maximum seed dry mass. At this time the fruit has a dark brown color with brown-purple seeds which have a corneous tegument and a water content of 21%. This is considered as being the physiological maturation point of the seeds. The dehiscence of the fruit occurs at the 91st DAA

ENERGY USE OF WOOD RESIDUES IN PRODUCTION OF CERAMICS IN THE STATE OF SAO PAULO

O uso da biomassa florestal \ue9 uma importante alternativa de fonte energ\ue9tica renov\ue1vel, econ\uf4mica, t\ue9cnica e ambientalmente vi\ue1vel, disputando espa\ue7o com outras fontes energ\ue9ticas, mais caras ou n\ue3o renov\ue1veis, tais como g\ue1s natural, \uf3leo diesel e GLP. Dentro do setor industrial, maior consumidor de energia a partir de biomassa, destaca-se o segmento de cer\ue2micas vermelhas, tradicional consumidor de lenha para a produ\ue7\ue3o de energia. Uma consider\ue1vel parcela de empresas deste setor recentemente passou a utilizar, como alternativa de energia, cavacos produzidos a partir de res\uedduos madeireiros diversos. A op\ue7\ue3o por esse tipo de biomassa se deve a quatro principais raz\uf5es: maior disponibilidade desse material para aquisi\ue7\ue3o no mercado; envolver um importante aspecto ambiental, uma vez que se trata de um material de origem renov\ue1vel; por proporcionar uma maior homogeneidade durante a combust\ue3o, quando comparado com a lenha; e possibilita a automa\ue7\ue3o da alimenta\ue7\ue3o dos fornos. O presente estudo teve por objetivo caracterizar e descrever o segmento de cer\ue2micas vermelhas no Estado de S\ue3o Paulo quanto ao consumo de res\uedduos madeireiros para fins energ\ue9ticos. A pesquisa por amostragem coletou dados regionais sobre a quantidade e efici\ueancia do uso de res\uedduos madeireiros como fonte de gera\ue7\ue3o de energia no setor, bem como aspectos tecnol\uf3gicos, econ\uf4micos e log\uedsticos associados ao uso desta biomassa. Estima-se que o uso de cavacos de madeira vem sendo adotado atualmente por cerca de 80% das cer\ue2micas de porte m\ue9dio no Estado de S\ue3o Paulo. Os cavacos s\ue3o originados de res\uedduos de serrarias, opera\ue7\uf5es da colheita florestal de pinus e eucalipto, poda de arboriza\ue7\ue3o urbana e reciclagem de produtos madeireiros em geral. O raio m\ue9dio de dist\ue2ncia para suprimento dos cavacos at\ue9 as cer\ue2micas \ue9 de aproximadamente 200 km. As cer\ue2micas avaliadas compram os cavacos de terceiros a um pre\ue7o m\ue9dio em torno de R 43,00 por m\ub3. A efici\ueancia m\ue9dia apurada foi de 1,4 m\ub3 de cavaco para cada milheiro de pe\ue7as acabadas produzidas. As cer\ue2micas expressaram a necessidade de maior regularidade na qualidade deste biocombust\uedvel, que normalmente varia a cada carga recebida.The use of forest biomass is an important alternative source of renewable, economic, technical and environmentally viable energy, which struggles to displace other energy sources that are more expensive or non-renewable, such as natural gas, diesel oil and LPG. Within the industrial sector, which is the biggest consumer of energy from biomass, the red ceramics sector represents a traditional consumer of firewood for energy production. A considerable number of companies in this sector has recently started to use, as an alternative option for energy production, chips made from several different wood wastes. The choice for this type of biomass is due to four main reasons: high availability of material on the market; environmental benefits, since it is a renewable material; higher uniformity during combustion, compared with firewood; and feasibility for implementation of an automatic furnace feeding system. This study aimed to characterize and describe the red ceramics sector in the State of Sao Paulo, regarding the consumption of wood residues for energy purposes. The sampling survey collected regional data on the quantity and efficiency of use of wood residues as a source for energy generation in the sector, as well as on technological, economic and logistical aspects related to the use of this biomass. It is estimated that the use of wood chips is being presently adopted by approximately 80% of medium scale ceramic plants in the State of Sao Paulo. These chips are originated from sawmill residues, forest harvest operations of pine and eucalyptus, urban trees pruning and recycling of wood products in general. The average distance radius for supply of chips to the ceramic plants is approximately 200 km. The evaluated ceramic plants outsource chips at an average price of R 43.00 per m\ub3. The average efficiency observed was of 1.4 m\ub3 of chips per thousand finished pieces produced. The ceramic plants reported the need for a better regularity in quality of this bio-fuel, which usually varies for each other load delivered

PHYSIOLOGICAL QUALITY OF Tabernaemontana fuchsiaefolia A. DC SEEDS DUE TO THE ACCELERATED AGING TEST

Tabernaemontana fuchsiaefolia A. DC \ue9 uma esp\ue9cie da fam\uedlia Apocynaceae, nativa do Brasil, com caracter\uedstica invasora, possuindo potencial para uso em recupera\ue7\ue3o de \ue1reas degradadas. O trabalho teve o objetivo de avaliar a influ\ueancia dos m\ue9todos de envelhecimento acelerado sobre a qualidade fisiol\uf3gica e germina\ue7\ue3o de sementes, utilizando-se o m\ue9todo tradicional e em solu\ue7\ue3o de NaCl, empregando-se a metodologia de gerbox, formando minic\ue2maras de envelhecimento, em tr\ueas temperaturas (41, 43 e 45\ub0C) e cinco tempos de envelhecimento (0, 24, 48, 72 e 96 horas). As sementes, ap\uf3s o envelhecimento, foram colocadas para germinar em rolos de papel germitest, em quatro repeti\ue7\uf5es de 25 sementes, em c\ue2maras BOD a temperatura de 30\ub0C, com fotoper\uedodo de 8 horas. O efeito da temperatura foi comparado pelo teste de Tukey em n\uedvel de 5% de probabilidade e o efeito do tempo de envelhecimento, pela an\ue1lise de regress\ue3o. Ap\uf3s 35 dias, foram avaliados percentual, \uedndice de velocidade, tempo m\ue9dio e frequ\ueancia da germina\ue7\ue3o, bem como comprimento de raiz e parte a\ue9rea, massa seca de pl\ue2ntulas e percentual de pl\ue2ntulas normais. Observou-se que o m\ue9todo alternativo de envelhecimento com solu\ue7\ue3o de NaCl teve pouca influ\ueancia na qualidade das sementes, n\ue3o sendo indicado para testes de vigor para a esp\ue9cie. O m\ue9todo tradicional, na temperatura de 45\ub0C em per\uedodo de envelhecimento de 96 horas, promoveu queda na germina\ue7\ue3o e pode ser utilizado para testar o vigor de sementes de leiteira.Tabernaemontana fuchsiaefolia A. DC is a species of the Apocynaceae family, native of Brasil, with aggressive characteristic, having potential for use in restoration of degraded areas. The work aimed to evaluate the influence os methods of accelerated aging on the physiological quality and germination of seeds, using the traditional method and in NaCl solution, employing the methodology of gerbox, forming mini-chambers of aging at three temperatures (41, 43 and 45 \ub0C) and five aging times (0, 24, 48, 72 and 96 hours). The seeds, after aging, were germinated in rolls of germitest paper, in four replicates of 25 seeds, in BOD chambers at 30 \ub0C with a photoperiod of 8 hours. The effect of temperature was evaluated by Tukey test, at 5% probability, while the effect of aging time by regression analysis. After 35 days, we assessed the percentage, germination speed index, mean time and frequency of germination; root length and aerial part length, dry matter of seedlings and percentage of normal seedlings. It was observed that the alternative method of aging with a NaCl solution have a little influence in seed quality, may not be suitable for testing the seed vigor of that specie. The traditional method, in the temperature of 45 \ub0C in 96 hours of aging period provided decrease in germination and can be used to test the seed vigor

INITIAL GROWTH OF ITA aBA AND MACACA aBA UNDER CONTAINERS OF DIFFERENT SIZES

As dimens\uf5es do recipiente afetam tanto o custo de produ\ue7\ue3o quanto a qualidade das mudas de esp\ue9cies florestais, e o padr\ue3o de resposta destas \ue9 dependente da especificidade da esp\ue9cie. Objetivou-se com o presente estudo avaliar o efeito do tamanho de recipientes no crescimento inicial das esp\ue9cies florestais Mezilaurus itauba Taub. ex Mez e Platymiscium ulei Harms. Foram conduzidos dois experimentos concomitantemente, em condi\ue7\uf5es de viveiro, utilizando-se o delineamento experimental inteiramente casualizado, com cinco repeti\ue7\uf5es. Os tamanhos de recipientes testados equivaleram-se a 20 x 15 cm (T1); 20 x 20 cm (T2); 23 x 20 cm (T3); 25 x 20 cm (T4); 30 x 20 cm (T5) e 33 x 23 cm (T6). Aos 90 dias ap\uf3s o transplantio das pl\ue2ntulas, verificou-se que o tamanho de recipientes afeta, de maneira diferenciada, a qualidade das mudas tanto de macaca\ufaba quanto de ita\ufaba. Sendo o recipiente 25 x 20 cm mais indicado para o cultivo da esp\ue9cie macaca\ufaba, enquanto que para a ita\ufaba recomenda-se o recipiente de dimens\uf5es 33 x 23 cm. Por outro lado, os recipientes 20 x 15 cm e 20 x 20 cm n\ue3o devem ser utilizados para nenhuma das esp\ue9cies avaliadas.The dimensions of the container affect both the production cost and the quality of seedlings of forest species, and the pattern of response of these depends on the specificity of the species. The objective of this study was to evaluate the effect of size of containers on the initial growth of forest species Mezilaurus itauba Taub. ex Mez and Platymiscium ulei Harms. Two experiments were conducted concomitantly in nursery conditions, using the completely randomized design with five replicates. The treatments comprised of six sizes of containers: 20 cm x 15 cm (T1), 20 cm x 20 cm (T2), 23 cm x 20 cm (T3), 25 cm x 20 cm (T4), 30 cm x 20 cm (T5) and 33 cm x 23 cm (T6). After 90 days of growth, the size of containers affects differently the quality of the seedlings of both the species. The size of container 25 x 20 cm is more appropriate for the cultivation of macaca\ufaba species while the best response to ita\ufaba was obtained for the container 33 x 23 cm. On the other hand, the containers 20 x 15 cm and 20 x 20 cm should not be used for any of the tested species

Linear model alternative to estimate the green biomass of the Bambusa vulgaris Schrad. ex J.C. Wendl. within the appearance of multicollinearity

O objetivo deste trabalho foi utilizar um m\ue9todo estat\uedstico multivariado como op\ue7\ue3o para estimar a biomassa verde da haste principal do bambu, Bambusa vulgaris Schrad. ex J. C. Wendl., na exist\ueancia de multicolinearidade. Os dados foram provenientes de um experimento conduzido pela empresa Agroindustrial Excelsior S. A. (Agrimex) localizada no Engenho Itapirema, munic\uedpio de Goiana, PE. Foram utilizadas 450 hastes de bambu, que tiveram sua biomassa verde quantificada por meio do peso e mensura\ue7\ue3o de quatro vari\ue1veis independentes. Inicialmente, comprovou-se a exist\ueancia da multicolinearidade por meio da matriz de correla\ue7\ue3o das vari\ue1veis independentes e pelo fator de infla\ue7\ue3o da vari\ue2ncia e a op\ue7\ue3o utilizada foi \ue0 regress\ue3o linear com os componentes principais que tem como base a matriz de covari\ue2ncia. O resultado indicou que ao existir uma interpreta\ue7\ue3o para os componentes principais o modelo apresenta um ajuste satisfat\uf3rio aos dados, podendo ser utilizado para estimar a biomassa verde da haste principal do bambu.The objective of this work was to use a multivariate statistical method as an alternative to estimate the green biomass of the main bamboo rod, Bambusa vulgaris Schrad. i.e.: J.C. Wendl., in the presence of multicollinearity. The data came from an experiment carried out for the Agroindustrial Excelsior S. A. (Agrimex) company located in the city of Goiana - PE. Quantified by their green biomass weight, 450 bamboo rods were used and 4 independent variables measured in the rod. Initially, the presence of the multicollinearity could be verified through the correlation matrix of the independent variables and the varience inflation factors, the alternative used was the regression of the principal components based on the covariate matrix. The result indicates that, when there is an interpretation to the main components, the model shows a satisfactory data adjust, and it could be used to estimate the green biomass of the main bamboo rod