SLAM

This study aims to identify the progress of cooperatives located in At-Taslim Islamic Boarding School, Bintoro Village, Demak District, Demak Regency. Entrepreneurial activities carried out within the framework of Kopontren, as well as the role of Kopontren At-Taslim in improving the entrepreneurial skills of students are interesting findings. This research was conducted using field research methods and using a qualitative descriptive approach. Data were collected through interviews, observations, and documentation involving informants related to the research issue. The results of this study noted that entrepreneurial activities carried out in the At-Taslim Kopontren environment include the At-Taslim Kopontren business unit in Bintoro Village, the "Mu'awanah" wood business unit in Karang Mlati Village, and the Refillable Drinking Water Depot (DAMIU QIYA) business unit in Wonosalam Village. The role of Kopontren At-Taslim in improving the entrepreneurial competence of s...

Nous présentons une nouvelle représentation hybride métrique/topologique/sémantique appelé MTS-Maps conçue pour la conduite automatique de véhicule autonome dans des environnements de grande taille d'intérieur ou d'extérieur. Basée sur une représentation générique, la sphère RGB-DL, elle permet de s'affranchir de la technologie du capteur utilisé. Ces différentes couches permettent de traiter le problème de localisation allant de la requête contextuelle jusqu'au calcul de l'erreur de pose utilisée dans le feedback du contrôleur. Les résultats présentés montrent ses performancesà la fois au niveau métrique par une expérimentation de conduite automatique dans un environnement urbain et au niveau sémantique par une comparaison avec une implémentation récente d'une méthode Bag-of-Words.

Nous présentons dans cet article un nouveau cadre pour la représentation de maillages multirésolution. Celui-ci étend les hypercartes, modèle à base topologique général sur lequel reposent les modèles issus des cartes combinatoires. Une hypercarte multirésolution est définie comme une hiérarchie d'hypercartes imbriquées. Chaque niveau de résolution du maillage est défini par une hypercarte, bénéficiant de sa généralité et de son efficacité. A partir de ce cadre général, nous définissons les 2-cartes multirésolution et leur représentation duale, permettant de décrire la topologie de la subdivision de surfaces multirésolution. Nous appliquons ici ce modèle à la représentation de surfaces de subdivision multirésolution. Les structures habituellement utilisées pour les représenter sont basées sur des quadtrees, dérivant directement de la hiérarchie de faces générée par les schémas de subdivision. Ces structures souffrent d'un certain nombre de défauts : elles sont limitées aux maillages triangulaires ou carrés, et doivent être développées spécifiquement pour chacun de ces maillages ; l'adaptivité génère une inconsistance topologique ; la complexité en temps des requêtes d'adjacence n'y est pas optimale. Les 2-cartes multirésolution permettent de pallier ces défauts en permettant la représentation de maillages quelconques, un support consistant de l'adaptivité et une efficacité accrue des opérateurs d'adjacence.

This paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the problem lies in the design of perception and planning modules that consider explicitly the dynamic nature of the vehicle and the environment while enforcing the safety constraint. The main contributions of this work are the development of such modules and integration into a single application. Initial full scale experiments validating the approach are presented.

« Déplacement sur quadrillage » désigne un  objet d’enseignement par lequel l’institution scolaire inaugure les activités mathématiques de l’élève dès le début de la scolarisation. C’est le signe que l’institution est poussée à concevoir cette inauguration par cet objet à cause de quelque vertu que celui-ci possède intrinsèquement. Cependant, le recours de l’institution à cet objet ne va pas au-delà de cette inauguration. Aussi, si l’objet admet une capacité importante à générer des conjectures et si ces conjectures sont susceptibles de donner lieu à l’établissement, à court terme, à moyen et à long terme, de théorèmes alors cette capacité est insoupçonnée de l’institution scolaire.

Precise positioning plays a key role in successful navigation of autonomous vehicles. A fusion architecture of Global Positioning System (GPS) and Laser-SLAM (Simultaneous Localization and Mapping) is widely adopted. While Laser-SLAM is known for its highly accurate localization, GPS is still required to overcome accumulated error and give SLAM a required reference coordinate. However, there are multiple cases where GPS signal quality is too low or not available such as in multi-story parking, tunnel or urban area due to multipath propagation issue etc. This paper proposes an alternative approach for these areas with WiFi Fingerprinting technique to replace GPS. Result obtained from WiFi Fingerprinting will then be fused with Laser-SLAM to maintain the general architecture, allow seamless adaptation of vehicle to the environment.

Accurate depth information retrieval of a scene is a field under investigation in the research areas of photogrammetry, computer vision and robotics. Various technologies, active, as well as passive, are used to serve this purpose such as laser scanning, photogrammetry and depth sensors, with the latter being a promising innovative approach for fast and accurate 3D object reconstruction using a broad variety of measuring principles including stereo vision, infrared light or laser beams. In this study we investigate the use of the newly designed Stereolab's ZED depth camera based on passive stereo depth calculation, mounted on an Unmanned Aerial Vehicle with an ad-hoc setup, specially designed for outdoor scene applications. Towards this direction, the results of its depth calculations and scene reconstruction generated by Simultaneous Localization and Mapping (SLAM) algorithms are compared and evaluated based on qualitative and quantitative criteria with respect to the ones derived by a typical Structure from Motion (SfM) and Multiple View Stereo (MVS) pipeline for a challenging cultural heritage application.

defende a importância da valorização do "mundo" do educando e sua relação com o processo educacional, enfatizando o relacionamento entre os conteúdos e a realidade das/os estudantes como forma de possibilitar caminhos mais significativos de aprendizagem. A partir dessa perspectiva, objetivamos apresentar um relato de experiência de uma professora de uma escola estadual na cidade de Arapiraca (AL), acerca do trabalho com o Slam em sala de aula. A escolha do gênero textual fundamenta-se no uso do letramento crítico e decolonial no contexto de ensino. Como aporte teórico, baseamo-nos em Freire (1985), , Cosson (2009), dentre outros, para pensar os letramentos, Quijano (1992) para abordar a decolonialidade, e Hall (2016) para conceituar a noção de identidades. Como resultados da pesquisa, observamos grandes contribuições do gênero literário Slam para as aulas de literatura e para a formação da identidade do sujeito leitor crítico, reflexivo e decolonial, uma vez que o trabalho desenvolvido contribuiu para o exercício do respeito e da aceitação das diferentes culturas e sujeitos. 1 Ressaltamos que uma primeira versão deste artigo foi apresentada no Congresso Internacional de Letras (CONIL), na Universidade Federal do Maranhão (UFMA), e publicada em anais. Para o presente artigo, a discussão realizada foi ampliada, sobretudo com intervenções da Profa. Dra. Lorena Araújo de Oliveira Borges.

A violência é uma marca distintiva do processo histórico que engendrou as hierarquias e estruturas da sociedade brasileira, como aquelas que marginalizam indígenas, pessoas negras e homossexuais, especialmente quando pobres e/ou do sexo feminino. Pensando nas modalidades de resistência que esses sujeitos marginalizados têm encontrado na literatura, proponho revisitar a noção de testemunho à luz de um sucinto panorama histórico, a fim de refletir sobre a pertinência dessa categoria para compreender parte da poesia brasileira contemporânea, em seu potencial de denúncia do genocídio negro em curso no país. Na primeira parte da análise, entram poemas da autoria de Conceição Evaristo, dando a ver o valor testemunhal de sua noção de “escrevivência”, em sua capacidade de resistir à barbárie perpetrada pelo processo civilizatório no Brasil. Aproveitando o potencial dessa noção, abordamos certas manifestações poéticas orais, do slam e do rap, naquilo que chegam a apontar os limites da própria literatura.

This paper surveys recent progress and discusses future opportunities for Simultaneous Localization And Mapping (SLAM) in extreme underground environments. SLAM in subterranean environments, from tunnels, caves, and man-made underground structures on Earth, to lava tubes on Mars, is a key enabler for a range of applications, such as planetary exploration, search and rescue, disaster response, and automated mining, among others. SLAM in underground environments has recently received substantial attention, thanks to the DARPA Subterranean (SubT) Challenge, a global robotics competition aimed at assessing and pushing the state of the art in autonomous robotic exploration and mapping in complex underground environments. This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on LIDAR-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the "dirty details" behind the different SubT SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.

La télédétection par laser (Lidar) est une technologie de plus en plus utilisée en particulier dans les fonctions de perception et localisation nécessaires à la conduite autonome. L'acquisition des données Lidar doit être couplée à la mesure du mouvement du véhicule par une centrale inertielle. Ces capteurs n'étant pas conçus pour fonctionner ensemble nativement, il est nécessaire de maitriser leur synchronisation et leur calibrage géométrique. Cet article présente une méthode pour caractériser les décalages temporels entre un Lidar 3D et une centrale inertielle. Il explique aussi comment mettre en oeuvre les méthodes de la littérature pour le calcul de la pose entre centrale inertielle et Lidar sur un véhicule utilisé en conditions réelles.

Dans ce papier nous proposons une solution de localisation en milieu industriel complexe basée lidar et filtrage particulaire. Notre méthode de localisation en 6 degrés de liberté (ddl) utilise une nouvelle fonction de vraisemblance efficace en temps de calcul grâce à un champ de vraisemblance 3D pré-calculé. Au final, nous obtenons une localisation 6 dll temps-réel, avec des erreurs de positionnement et d'angle inférieures à 2cm et 1°dans un environnement de 350m 3 .

This paper presents a low-cost system for simultaneous localization and mapping (SLAM) for unknown indoor environments. The system is based on a low-cost mobilerobot platform. The low-cost mobile robot is designed and fabricated in our control laboratory. The Rao-Blackwellized particle filter algorithm is used for SLAM computations, Xbox 360 Kinect module is utilized for stereo-camera imaging, and a Linuxbased microcomputer (Raspberry Pi3) was used as the main onboard processing unit. An Arduino board is used to control the DC motors for mobile robot wheels. Raspberry Pi unit was wirelessly connected to a ground station machine that processes the information sent by the robot to build the environment map and estimate its pose. ROS (Robot Operating System) is used for map visualization, data-handling, and communication between different software nodes. The system has been tested virtually on a simulator and in real indoor environments and has successfully identified objects greater than 30 cm × 30 cm × 30 cm and added it to the map. It also shows promising capability to work autonomous missions independently without aid from any external sensors and with a fraction of the cost of similar systems based on Lidars.

Structure from Motion (SfM) is a proficient technique for 3D reconstruction from multiple views. However, its potentials could only be seen after the development of computer and digital photograph especially in the developing countries. Nowadays, SfM is applied in many applicative scenarios ranging from earth observation to heritage documentation. An important task in SfM that has been solved just recently in practice is bundle adjustment, which is accomplished through nonlinear least-squares optimization based on Levenberg-Marquardt (LM) algorithm. The aim of this paper is to present an experimental validation of the most popular open-source optimization frameworks, which implanted LM algorithm for solving bundle adjustment in SfM. For this purpose, the comparison among their performance is conducted by using bundle adjustment in the large benchmark.

We introduce the problem for a robot to localize itself, and, simultaneously, actively infer the existence and properties of phenomena present in its surrounding environment: the SLAPI problem. A phenomenon is a representation of an entity "as the robot experiences it" through interaction. The SLAPI problem relates to the SLAM (simultaneous localization and mapping) problem but differs in that it does not aim at constructing a precise map of the environment, and it can apply to robots with coarse sensors. We demonstrate a SLAPI algorithm to control a robot equipped with omni-directional wheels, an echo-localization sensor, photosensitive sensors, and an inertial measurement unit, but no precise sensors like camera, lidar, or odometry. As the robot circles around an object, it constructs the phenomenon corresponding to this object under the form of the set of the spatially-localized control loops of interaction that the object affords to the robot. SLAPI algorithms could help design companion robots that mimic intrinsic motivation such as curiosity and playfulness. Further studies of the SLAPI problem could improve the scientific understanding of how cognitive beings construct knowledge about objects from sensorimotor experience of interaction.

Le bénitier de chevet ; Appelé également bénitier domestique parce que c'est celui de la maison que les catholiques suspendaient autrefois dans leur chambre, au chevet, c'est-à-dire à la tête, de leur lit : Nos aïeux, qu'ils fussent riches ou pauvres, habitants de nos petites villes ou de nos campagnes, dans la plaine ou la montagne, en possédaient tous et les utilisaient journellement. Rôles & utilisation de l'eau bénite: Elément de purification, sanctifiée par la prière de l'Eglise, elle joue, dans la vie des fidèles, deux rôles, en effaçant les péchés véniels et en nous protégeant du démon qui, ainsi que le dit saint Pierre comme un lion rugissant rôde autour de nous, cherchant qui dévorer (1e Epître, verset 8). Ne dit-on pas souvent : "Il se démène comme un diable dans le bénitier", en voulant marquer par-là l'horreur des esprits malins pour l'eau sainte ? Comment utilisait-on l'eau bénite à la maison ? Matin et soir on trempait le bout des doigts dans la cuvette, le soir pour faire le signe de la croix sur son lit et bénir ainsi la couche où l'on va reposer ; le matin, en se levant, on se signait soi-même pour se mettre sous la protection de Dieu. Parfois on accompagnait ce rite d'une prière, telle que celle-ci: Eau bénite, je te prends Si la mort subite me surprend Que tu me serves de dernier sacrement. Ces rites journaliers, tout catholique, qu'il fût riche ou pauvre, les accomplissait, et le Roi lui-même n'y manquait pas, puisque l'apport de l'eau bénite est une des premières phases de l'Etiquette à son lever. On trempait aussi les doigts dans le bénitier pour se protéger de la foudre quand l'orage grondait, pour se garder des dangers quand on devait sortir la nuit ou partir en voyage…

This study aims to identify the progress of cooperatives located in At-Taslim Islamic Boarding School, Bintoro Village, Demak District, Demak Regency. Entrepreneurial activities carried out within the framework of Kopontren, as well as the role of Kopontren At-Taslim in improving the entrepreneurial skills of students are interesting findings. This research was conducted using field research methods and using a qualitative descriptive approach. Data were collected through interviews, observations, and documentation involving informants related to the research issue. The results of this study noted that entrepreneurial activities carried out in the At-Taslim Kopontren environment include the At-Taslim Kopontren business unit in Bintoro Village, the "Mu'awanah" wood business unit in Karang Mlati Village, and the Refillable Drinking Water Depot (DAMIU QIYA) business unit in Wonosalam Village. The role of Kopontren At-Taslim in improving the entrepreneurial competence of s...

Aiming at building versatile humanoid systems, we present in this paper the real-time implementation of behaviors which integrate walking and vision to achieve general functionalities. This paper describes how real-time-or high bandwidth-cognitive processes can be obtained by combining vision with walking. The central point of our methodology is to use appropriate models to reduce the complexity of the search space. We will describe the models introduced in the different blocks of the system and their relationships: walking pattern, Self Localization and Map Building, real-time reactive vision behaviors, and planning.

This paper outlines the development of a module capable of constructing a map-building algorithm using inertial odometry and visual features. It incorporates an object recognition module that leverages local
features and unsupervised artificial neural networks to identify non-dynamic elements in a room and assign them positions. The map is modeled using a neural network, where each neuron corresponds to
an absolute position in the room. Once the map is constructed, capturing just a couple of images of the environment is sufficient to estimate the robot’s location. The experiments were conducted using both
simulation and a real robot. The Webots environment with the virtual humanoid robot NAO was used for the simulations. Concurrently, results were obtained using a real NAO robot in a setting with various
objects. The results demonstrate notable precision in localization within the two-dimensional maps, achieving an accuracy of ± (0.06, 0.1) m in simulations contrasted with the natural environment, where the best value achieved was ± (0.25, 0.16) m.

The project aims at designing, modelling and analysis of a fixed wing vertical take of landing (VTOL) UAV (Transitional aircraft), (Hybrid drone) and evaluate its performance of airfoil at different angle of attacks. The aircraft possess the merits of fixed wing aircraft which includes high speed, endurance and range and (VTOL) which includes hovering capability and precise low speed flight response which is extremely helpful in remote areas. The CAD modelling of the UAV is done with help of CATIA software The mathematical modelling is done using MATLAB & SIMULINK analysis of the airfoil using ANSYS (CFD simulation). Ultimately the project aims to develop a high-performance UAV that can take off and land vertically while providing efficient forward flight capabilities where the UAV is required to operate in harsh and extreme environmental conditions.

La détection et la localisation des obstacles à partir d'un nuage de points LiDAR sont des sujets majeurs dans le domaine de la conduite autonome. Les méthodes qui deviennent de plus en plus précises opèrent toutes de bout en bout, c'est-à-dire en retournant directement les coordonnées des boîtes englobantes des objets d'intérêt qu'elles estiment correctes. Cette stratégie rend plus difficile le diagnostic en cas de défaillance. Nous présentons une approche simple qui produit d'une part une carte de probabilité intermédiaire permettant de sélectionner les régions d'intérêt pour un système a posteriori, et de les visualiser lors de l'inférence. D'autre part, les véhicules correctement détectés sont représentés sous la forme d'ellipses. Un véhicule caché pourra ne pas être une ellipse complète, sa marque indiquera tout de même une présence. Grâce à cette représentation paramétrique des obstacles, une extraction directe des prédictions à partir de cette carte intermédiaire est possible. La simplicité architecturale de l'approche proposée, en comparaison des méthodes de l'état de l'art, ne l'empêche pas d'atteindre un haut niveau de performances sur le benchmark KITTI pour la détection d'obstacles en vue de dessus.

La détection et la localisation des obstacles à partir d'un nuage de points LiDAR sont des sujets majeurs dans le domaine de la conduite autonome. Les méthodes qui deviennent de plus en plus précises opèrent toutes de bout en bout, c'est-à-dire en retournant directement les coordonnées des boîtes englobantes des objets d'intérêt qu'elles estiment correctes. Cette stratégie rend plus difficile le diagnostic en cas de défaillance. Nous présentons une approche simple qui produit d'une part une carte de probabilité intermédiaire permettant de sélectionner les régions d'intérêt pour un système a posteriori, et de les visualiser lors de l'inférence. D'autre part, les véhicules correctement détectés sont représentés sous la forme d'ellipses. Un véhicule caché pourra ne pas être une ellipse complète, sa marque indiquera tout de même une présence. Grâce à cette représentation paramétrique des obstacles, une extraction directe des prédictions à partir de cette carte intermédiaire est possible. La simplicité architecturale de l'approche proposée, en comparaison des méthodes de l'état de l'art, ne l'empêche pas d'atteindre un haut niveau de performances sur le benchmark KITTI pour la détection d'obstacles en vue de dessus.

A Resolução Semad nº 2890/2019 instituiu o Sistema de Licenciamento Ambiental (SLA) para requerimento, processamento e emissão de licenças ambientais junto à Secretaria de Estado de Meio Ambiente e Desenvolvimento Sustentável – Semad. O SLA foi o primeiro módulo a integrar o portal EcoSistemas, acesso único que reunirá, de maneira gradativa, todos os serviços digitais do Sisema.

Esse manual foi pensado para orientar o usuário externo a percorrer de forma assertiva os fluxos existentes no interior do sistema. Foi elaborado com links internos que possibilite que o usuário siga diretor para as orientações específicas aos requerimentos de LP, LI, LO ou Certidão de dispensa. Levou-se em conta também as espeficificadas de vedações e as especificidades relativas ao Vetor Norte da Região Metropolitana de Belo Horizonte.

Rao-Blackwellized particle filters have become a popular tool to solve the simultaneous localization and mapping problem. This technique applies a particle filter in which each particle carries an individual map of the environment. Accordingly, a key issue is to reduce the number of particles and/or to make use of compact map representations. This paper presents an approximative but highly efficient approach to mapping with Rao-Blackwellized particle filters. Moreover, it provides a compact map model. A key advantage is that the individual particles can share large parts of the model of the environment. Furthermore, they are able to reuse an already computed proposal distribution. Both techniques substantially speed up the overall filtering process and reduce the memory requirements. Experimental results obtained with mobile robots in large-scale indoor environments and based on published standard datasets illustrate the advantages of our methods over previous mapping approaches using Rao-Blackwellized particle filters.

The calibration parameters of a mobile robot play a substantial role in navigation tasks. Often these parameters are subject to variations that depend either on changes in the environment or on the load of the robot. In this paper, we propose an approach to simultaneously estimate a map of the environment, the position of the on-board sensors of the robot, and its kinematic parameters. Our method requires no prior knowledge about the environment and relies only on a rough initial guess of the parameters of the platform. The proposed approach estimates the parameters on-line and it is able to adapt to non-stationary changes of the configuration. We tested our approach in simulated environments and on a wide range of real world data using different types of robotic platforms.

Traditionally, an available off-line map was used and more recently, by using novel techniques, robots could automatically generate a map of their environment. These techniques provided major improvements in the navigation process. Exploration of an environment consists of leading a mobile to some intermediate points where the robot expands its gathered map until the whole environment map becomes known. There are many environment exploration methods, two of which are more common; Rapidly Randomized Tree and Efficient Frontier (based on boundary search) Exploration Methods. This article aims to investigate the performance of these two methods in real environments by implementing them first within the Gazebo simulation environment and then on a commercial TurtleBot® mobile robot. The simulation and experimental results of both methods are demonstrated in terms of some crucial parameters, including explored area dimensions and traveling time and distance to determine the efficiency of each exploration technique. While the output parameter of time indicates whether the related method is quick enough for the desired application or not, the distance traveled by the robot is an indicator of energy consumption. Lastly, it is shown that the second method improves the robot's performance in exploration for all two independent parameters.

Dans cet article, nous proposons un algorithme d'alignement dense d'images en 3D qui permet d'estimer la transformation Euclidienne entre des paires de poses de caméras à partir des intensités des pixels. En utilisant la représentation des images dans l'espace d'échelle, l'originalité de l'approche proposée consiste en l'adaptation automatique du paramètre d'échelle au sein de chaque niveau d'une pyramide d'images multirésolutions. Ceci est accompli au travers de l'optimisation continue de l'échelle ainsi que la pose de la caméra, simultanément. L'approche proposée permet d'améliorer de manière significative la robustesse de l'algorithme d'alignement d'images aux larges mouvements entre images. Des expérimentations variées sur l'ensemble de données TUM RGB-D montrent que l'algorithme proposé surpasse l'approche classique basée pyramides à niveaux d'échelle fixes.

This paper presents new developments on drone‐based automated survey for the detection of individual items or fragments of material culture visible on the ground surface. Since the publication of our original proof of concept, awarded with the Journal of Archaeological Science and Society for Archaeological Sciences Emerging Investigator Award 2019, additional funding has allowed us to implement a series of improvements to the method. These aim to improve detection capabilities and the extraction of items' shapes and increase flight autonomy, control, area covered per flight and the type of environments in which the method can be applied while reducing computing needs, processing time and expertise necessary for its application. This paper provides an account of the methods followed to achieve these objectives, their preliminary results and the current development for their implementation into a free and open‐source system that can be used by the archaeological community at large.

A single hand-held camera provides an easily accessible but potentially extremely powerful setup for augmented reality. Capabilities which previously required expensive and complicated infrastructure have gradually become possible from a live monocular video feed, such as accurate camera tracking and, most recently, dense 3D scene reconstruction. A new frontier is to work towards recovering the reflectance properties of general surfaces and the lighting configuration in a scene without the need for probes, omnidirectional cameras or specialised light-field cameras. Specular lighting phenomena cause effects in a video stream which can lead current tracking and reconstruction algorithms to fail. However, the potential exists to measure and use these effects to estimate deeper physical details about an environment, enabling advanced scene understanding and more convincing AR. In this paper we present an algorithm for real-time surface lightfield capture from a single hand-held camera, which is able to capture dense illumination information for general specular surfaces. Our system incorporates a guidance mechanism to help the user interactively during capture. We then split the light-field into its diffuse and specular components, and show that the specular component can be used for estimation of an environment map. This enables the convincing placement of an augmentation on a specular surface such as a shiny book, with realistic synthesized shadow, reflection and occlusion of specularities as the viewpoint changes. Our method currently works for planar scenes, but the surface light-field representation makes it ideal for future combination with dense 3D reconstruction methods.

A single hand-held camera provides an easily accessible but potentially extremely powerful setup for augmented reality. Capabilities which previously required expensive and complicated infrastructure have gradually become possible from a live monocular video feed, such as accurate camera tracking and, most recently, dense 3D scene reconstruction. A new frontier is to work towards recovering the reflectance properties of general surfaces and the lighting configuration in a scene without the need for probes, omni-directional ...

One of the critical aspects of bridging 5G to 6G is the expansion and efficient utilization of spectrum. While 5G predominantly operates in sub-6 GHz and mmWave bands, 6G aims to harness the potential of terahertz (THz) frequencies. Learn more in a 5G to 6G Migration course by Tonex.

HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés. Utilisation d'outils de plongement d'Internet pour l'agrégation de ressources hétérogènes

This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.

This paper addresses distributed data sampling in marine environments using robotic devices. We present a method to strategically sample locally observable features using two classes of sensor platforms. Our system consists of a sophisticated autonomous surface vehicle (ASV) which strategically samples based on information provided by a team of inexpensive sensor nodes. The sensor nodes effectively extend the observational capabilities of the vehicle by capturing georeferenced samples from disparate and moving points across the region. The ASV uses this information, along with its own observations, to plan a path so as to sample points which it expects to be particularly informative. We compare our approach to a traditional exhaustive survey approach and show that we are able to effectively represent a region with less energy expenditure. We validate our approach through simulations and test the system on real robots in field.

This work presentsObject Landmarks, a new type of visual feature designed for visual localization over major changes in distance and scale. AnObject Landmarkconsists of a bounding box$${\mathbf {b}}$$bdefining an object, a descriptor$${\mathbf {q}}$$qof that object produced by a Convolutional Neural Network, and a set of classical point features within$${\mathbf {b}}$$b. We evaluateObject Landmarkson visual odometry and place-recognition tasks, and compare them against several modern approaches. We find thatObject Landmarksenable superior localization over major scale changes, reducing error by as much as 18% and increasing robustness to failure by as much as 80% versus the state-of-the-art. They allow localization under scale change factors up to 6, where state-of-the-art approaches break down at factors of 3 or more.

In this research Trigonometry Technique was implemented to predict the ball movement direction for Wheeled Soccer Robot Goalkeeper. The performance of goalkeeper robot in Wheeled Soccer Robot Contest is very important. The crucial problem with goalkeeper robot is the delay in ball detection by the camera because the results of the camera images captured are always slower than the pictures that have been captured. This causes the robot's response to blocking the opponent's kick ball being late. Trigonometry Technique is one technique that can be used to predict the direction of the ball movement based on trigonometry mathematical formulas. The input data used is the location of the last ball position (x–last ball and y-last ball) and the location of the current ball position (x-current ball and y-current ball). The outputs are the prediction of the next ball location (x-predict ball and y-predict ball) and the prediction of ball movement direction prediction. The results are ...

Ancrée dans une orientation sociohistorique de la didactique, notre contribution vise à montrer les étapes d’une démarche de réduction et de compréhension d’une masse de données audiovisuelles. Cette démarche produit en elle-même déjà une description des pratiques d’enseignement. Il s’agit, sur la base d’un dispositif de recherche semi-expé- rimental impliquant la lecture dans quatre classes de secondaire de textes littéraires et non littéraires, de mettre en évidence l’influence de la longueur et du statut des textes sur les contenus, «l’objet», enseignés. De manière plus générale, nous montrerons que le concept de «genre d’activité scolaire» constitue un outil de description et de com- préhension de la dynamique de l’objet, montré, négocié et construit en classe.

First, I would like to express my immense gratitude to my supervisors Prof. Dr. Javier González Jiménez and Dr. Vicente Arévalo for guiding me through the hard but exciting adventure of working for a PhD. They are responsible of the invaluable technical and theoretical knowledge that I have acquired, which gives me professional independence. The uncountable hours we have spent together discussing about different research problems and their results have today a reward in this thesis. Also, they were always comprehending at the hard moments of this PhD, offering their best. I also have to thank Guillaume Charpiat and Alexander Davies for the time they spent reviewing this thesis and for the useful comments they have provided me. I am also grateful to the committee members for having accepted to be members of this thesis' tribunal. These four years of research probably would not have been successful without the great people in our lab. Thanks to

Partindo da compreensão sobre o papel que uma educação emancipadora pode cumprir para a juventude, ao ter na sua formação os próprios atores sociais envolvidos e atuando de forma crítica, e considerando os limites que a educação formal pode apresentar à formação de jovens estudantes, buscamos neste artigo fazer uma reflexão sobre a atuação dos jovens, em sua maioria moradores das periferias urbanas, que vêm construindo espaços expressivos como as batalhas de poesia conhecidas como slams. Nelas, seus atores veiculam poemas que falam sobre as experiências vividas e que, em geral, dizem respeito a diversas formas de marginalização e opressão a que estão sujeitos por suas origens territoriais ou identitárias. Há nas batalhas uma intenção de promover o debate e conscientização dos sujeitos participantes a respeito de questões sociais, em um modo de aprender sobre si, sobre seu espaço, seus direitos. Apoiamos nossa reflexão em revisão bibliográfica, ilustrando-a com o caso dos Slams das Minas, circuito de batalhas promovidas por jovens mulheres. Consideramos que os slams podem ser pensados como espaços de educação popular, não formal, capazes de contribuir na formação social e humana dos sujeitos que deles participam.