<p>Many kinds of data have a spherical representation, the idea is to tessellate the "sphere" in an efficient way and then decode the data so it can be compressed easily. In this paper, the process of exploration will start from the basic spherical wavelet-like to some new tessellation compression techniques in 3D to decompose the sphere with squares or triangles. The produced tessellation will have more round corners and the artefacts will be less prominent. Earth map will be textured on the sphere to compare the effect of different compression techniques.</p>

<p>Recognition is one of the first steps towards success for any business. A strong visual logo design enables consumers to recognize the business easily. If the company does not have an efficient marketing strategy, the customer will not buy their products, which is a loss in the company’s sales. While working with a company, a 3D logo and corporate video was created to simulate realistic water flow with Dynamic Fluids using Autodesk Maya and Real Flow. This research examines the behavior of different fluids, water, how different forces affect the water and how waves are formed and their movements, as well as gravitational forces. The result was a dynamic fluid simulated logo in which water starts flowing in the middle and spreads out to all of the letters of the company’s name, Pool-Friends</p>

<p>Genom att använda scheman till textfiler som ska matas in ett system, kan textfilerna direkt översättas till systemets interna datastrukturer. Scheman kan också användas för att kontrollera att inte felaktiga värden matas in i systemet. För enklare textfiler som YAML och JSON är det ovanligt med format för att definiera scheman. Det vanligaste schema-formatet för YAML i nuläget är Kwalify, men det finns inte för Microsofts .NET-ramverk. Lösningen är att implementera Kwalify på .NET. Implementationen benämns Nkwalify. För verifiering av implementeringen används systemdatabasen i Lantmäteriets nya miljö för kartproduktion. Implementeringen jämförs med Xmlserializer, som har delvis samma användningsområde. Xmlserializer ingår som standard i .NET. Prestandatester visar att vid mycket stora datamängder är Xmlserializer upp till fem gånger snabbare på att ladda in data. Nkwalify stödjer dock fler datatyper och mer komplicerade datastrukturer än Xmlserializer samt matar ut data minst fem gånger snabbare. Nkwalify är lämplig för snabb och enkel överföring av komplexa data och för kontroll av inmatade värden. Det behövs ytterligare utveckling och tester för att Nkwalify ska vara produktionsklart.</p>

<p>This thesis addresses the problem of people detection and tracking by mobile robots in indoor environments. A system that can detect and recognise people is an essential part of any mobile robot that is designed to operate in populated environments. Information about the presence and location of persons in the robot’s surroundings is necessary to enable interaction with the human operator, and also for ensuring the safety of people near the robot.</p><p>The presented people tracking system uses a combination of thermal and colour information to robustly track persons. The use of a thermal camera simplifies the detection problem, which is especially difficult on a mobile platform. The system is based on a fast and efficient samplebased tracking method that enables tracking of people in real-time. The elliptic measurement model is fast to calculate and allows detection and tracking of persons under different views. An explicit model of the human silhouette effectively distinguishes persons from other objects in the scene. Moreover the process of detection and localisation is performed simultaneously so that measurements are incorporated directly into the tracking framework without thresholding of observations. With this approach persons can be detected independently from current light conditions and in situations where other popular detection methods based on skin colour would fail.</p><p>A very challenging situation for a tracking system occurs when multiple persons are present on the scene. The tracking system has to estimate the number and position of all persons in the vicinity of the robot. Tracking of multiple persons in the presented system is realised by an efficient algorithm that mitigates the problems of combinatorial explosion common to other known algorithms. A sequential detector initialises an independent tracking filter for each new person appearing in the image. A single filter is automatically deleted when it stops tracking a person. While thermal vision is good for detecting people, it can be very difficult to maintain the correct association between different observations and persons, especially where they occlude one another, due to the unpredictable appearance and social behaviour of humans. To address these problems the presented tracking system uses additional information from the colour camera. An adaptive colour model is incorporated into the measurement model of the tracker to improve data association. For this purpose an efficient integral image based method is used to maintain the real-time performance of the tracker. To deal with occlusions the system uses an explicit method that first detects situations where people occlude each other. This is realised by a new approach based on a machine learning classifier for pairwise comparison of persons that uses both thermal and colour features provided by the tracker. This information is then incorporated into the tracker for occlusion handling and to resolve situations where persons reappear in a scene.</p><p>Finally the thesis presents a comprehensive, quantitative evaluation of the whole system and its different components using a set of well defined performance measures. The behaviour of the system was investigated on different data sets including different real office environments and different appearances and behaviours of persons. Moreover the influence of all important system parameters on the performance of the system was checked and their values optimised based on these results.</p>

<p>Three dimensional (3D) sensing, analysis and reconstruction of objects and scenesin unknown environments has become an important area of research in several disciplines.Recently, Time-of-Flight (ToF) cameras have attracted attention because oftheir advantageous ability to generate full 3D range distance information at videoframe rates. However, several challenging fluctuations like systematic or random errorscan occur and thus decrease the quality of the acquired data. Therefore, the usabilityof such systems is very much dependent on an accurate camera calibration. Inaddition, ToF cameras have still limited resolution (e.g. 176x144) and they can onlyprovide monochromatic (grayscale) information.This work concentrates on the fusion of 2D vision and 3D range data in order toobtain accurate and visually appealing representations of real indoor environments. Inparticular two major fields of research are treated. The first concerns the compensationof the common errors that the ToF cameras present. This is achieved by performing acalibration schema that additionally sets the ground towards the creation of a commonreference frame for both sensors. The second task is to incorporate these two differentsensors into one system that exhibits improved accuracy and high quality output data.The calibration process addresses both photogrammetric and depth correction techniques.Moreover, due to the fact that the real world scenes increase the level of difficultythat such a system has to confront, a validation of the ToF cameras performanceemerges as an important need. For this purpose, a novel approach to evaluate and get abetter insight on the accuracy of the ToF camera is introduced, based on a 3D NormalDistribution Transform.Finally, as sensor fusion plays an important role in this work, multi-sensor applicationsare further investigated based on the incorporation of such a biform sensorysystem. Principle goal is to communicate the color information and enhance the overallresult by the use of 3D surface reconstruction approaches.</p><p> </p>

<p>Sammanfattning</p><p>Denna rapport beskriver ett examensarbete som gjordes åt TietoEnator. Målet med examensarbetet var att optimera listhantering i en telekomapplikation. För att utföra detta användes programmeringsspråket C. Uppgiften omfattade fyra delar som bestod av att:</p><p>- Undersöka den nuvarande implementationen</p><p>- Föreslå förbättring till den nuvarande implementationen</p><p>- Implementera den utvalda lösningen</p><p>- Utföra mätningar samt dokumentera resultaten</p><p>Undersökningen av den nuvarande implementationen gjordes genom flera olika mätningar för att kunna se exekveringstiderna på operationerna. Förslag till förbättringar till den nuvarande implementationen gjordes genom analysering av olika datastrukturer. Implementationen av den utvalda lösningen blev ett AVL-träd och en hjälplista som är en länkad lista. Mätningar och dokumentation gjordes genom att mäta tider på den gamla och nya implementationen där man sedan jämförde exekveringstiderna. Resultatet blev en klar förbättring som t.ex. sökning av ett objekt vilket blev i snitt 3000 ggr snabbare. Det vi har gjort i detta examensarbete kommer TietoEnator att implementera och utveckla vidare.</p>

<p>Sammanfattning</p><p>Skriptspråk har under det senaste decenniet fått en ökad spridning, både gällande användare och gällande användningsområden. Från att huvudsakligen ha använts till enklare dagliga administratörsuppgifter används idag skriptspråken inom många områden där tidigare enbart</p><p>systemspråk var ett alternativ. Denna uppsats undersöker och granskar fem skriptspråk: PHP, Perl, Ruby, Tcl och PostScript. Målet är att undersöka språkens egenskaper och se på skillnader språken emellan. Vi jämför också skriptspråken mot systemspråket C, som dock inte granskas för sig. Vi utför ett test där quicksort-algoritmen används för att sortera ett antal element som läses in från fil. Ett testskript skrivs i varje språk, och dess effektivitet och expressivitet jämförs.</p><p>Vi kommer i denna uppsats fram till att definitionen för skriptspråk, och det som skiljer skriptspråk från systemspråk, är skriptspråkens avsaknad av ett separat kompileringssteg. En annan viktig aspekt är skriptspråkens användning av dynamisk typbindning för variabler. De</p><p>tester vi gjort visar att inget av skriptspråken kan mäta sig med systemspråket C vad gäller exekveringstid, däremot är de bättre gällande expressivitet. Av skriptspråken är Perl det språk som är snabbast och PostScript det språk som är långsammast.</p> / <p>Abstract</p><p>During the last decade, scripting languages have seen an increase in both number of users and areas of development. Earlier, scripting languages were mainly used for everyday system administration tasks. Nowadays, scripting languages are used in areas where previously only</p><p>system languages were an alternative. In this dissertation, five scripting languages are compared and reviewed. The languages are: PHP, Perl, Ruby, Tcl, and PostScript. The goal is to examine characteristics of the languages and illustrate the differences between them. We also compare the scripting languages against the system language C, which is not examined in this dissertation. We perform a test where the quicksort algorithm is used to sort a number of elements which are read from file. A test script is written in every language, and their efficiency and expressiveness are compared.</p><p>In this dissertation we come to the conclusion that the definition of scripting languages, and the main difference between scripting languages and system languages, is the absence of a separate compiling stage for scripting languages. We also consider the use of dynamic typing regarding variables to be an important aspect of scripting languages. The tests have shown that scripting languages can not compete with the system language C regarding efficiency of execution, but the scripting languages have a higher level of expressiveness. Perl is fastest among the scripting languages and PostScript is the slowest.</p>

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<p>Albert Einstein predicted in 1905 with his paper on special relativity the signi cantvisual eects of objects moving close to the speed of light. Einstein could not see them then but with todays graphical hardware it is possible to produce these eects in real time in a computer simulation. In this thesis the implementation, results and comparison of two techniques for doing this are presented. The two techniques dier substantially in how they execute the task. One alters the vertex positions of the objects and the other performs the eects as a post process step using a cube map. The results of the two techniques are generally the same,both having dierent advantages and disadvantages.</p>