Inaug.-diss.--Munich. / "Quellen; Literatur": p. vii-xi.

Thesis (M.A.)--University of Wisconsin--Madison, 1967. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Visual(-Inertial) Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) are hot topics in Computer Vision today. These technologies have various applications, including robotics, autonomous driving, and virtual reality. They may also be valuable in studying human behavior and navigation through head-mounted visual systems. A complication to SLAM and VIO systems could potentially be visual degeneration such as motion blur. This thesis attempts to evaluate the robustness to motion blur of two open-source state-of-the-art VIO and SLAM systems, namely Delayed Marginalization Visual-Inertial Odometry (DM-VIO) and ORB-SLAM3. There are no real-world benchmark datasets with varying amounts of motion blur today. Instead, a semi-synthetic dataset was created with a dynamic trajectory-based motion blurring technique on an existing dataset, TUM VI. The systems were evaluated in two sensor configurations, Monocular and Monocular-Inertial. The systems are evaluated using the Root Mean Square (RMS) of the Absolute Trajectory Error (ATE).  Based on the findings, the visual input highly influences DM-VIO, and performance decreases substantially as motion blur increases, regardless of the sensor configuration. In the Monocular setup, the performance decline significantly going from centimeter precision to decimeter. The performance is slightly improved using the Monocular-Inertial configuration. ORB-SLAM3 is unaffected by motion blur performing on centimeter precision, and there is no significant difference between the sensor configurations. Nevertheless, a stochastic behavior can be noted in ORB-SLAM3 that can cause some sequences to deviate from this. In total, ORB-SLAM3 outperforms DM-VIO on the all sequences in the semi-synthetic datasets created for this thesis. The code used in this thesis is available at GitHub https://github.com/cmannila along with forked repositories of DM-VIO and ORB-SLAM3 / Visual(-Inertial) Odometry (VIO) och Simultaneous Localization and Mapping (SLAM) är av stort intresse inom datorseende (Computer Vision). Dessa system har en variation av tillämpningar såsom robotik, själv-körande bilar och VR (Virtual Reality). En ytterligare potentiell tillämpning är att integrera SLAM/VIO i huvudmonterade system, såsom glasögon, för att kunna studera beteenden och navigering hos bäraren. En komplikation till SLAM och VIO skulle kunna vara en visuell degration i det visuella systemet såsom rörelseoskärpa. Detta examensarbete försöker utvärdera robustheten mot rörelseoskärpa i två tillgängliga state-of-the-art system, DM-VIO (Delayed Marginalization Visual-Inertial Odometry) och ORB-SLAM3. Idag finns det inga tillgängliga dataset som innehåller specifikt varierande mängder rörelseoskärpa. Således, skapades ett semisyntetiskt dataset baserat på ett redan existerande, vid namn TUM VI. Detta gjordes med en dynamisk rendering av rörelseoskärpa enligt en känd rörelsebana erhållen från datasetet. Med denna teknik kunde olika mängder exponeringstid simuleras.  DM-VIO och ORB-SLAM3 utvärderades med två sensor konfigurationer, Monocular (en kamera) och Monokulär-Inertial (en kamera med Inertial Measurement Unit). Det objektiva mått som användes för att jämföra systemen var Root Mean Square av Absolute Trajectory Error i meter. Resultaten i detta arbete visar på att DM-VIO är i hög-grad beroende av den visuella signalen som används, och prestandan minskar avsevärt när rörelseoskärpan ökar, oavsett sensorkonfiguration. När enbart en kamera (Monocular) används minskar prestandan från centimeterprecision till diameter. ORB-SLAM3 påverkas inte av rörelseoskärpa och presterar med centimeterprecision för alla sekvenser. Det kan heller inte påvisas någon signifikant skillnad mellan sensorkonfigurationerna. Trots detta kan ett stokastiskt beteende i ORB-SLAM3 noteras, detta kan ha orsakat vissa sekvenser att bete sig avvikande. I helhet, ORB-SLAM3 överträffar DM-VIO på alla sekvenser i det semisyntetiska datasetet som skapats för detta arbete. Koden som använts i detta arbete finns tillgängligt på GitHub https://github.com/cmannila tillsammans med forkade repository för DM-VIO och ORB-SLAM3.

Made available in DSpace on 2016-04-04T18:21:54Z (GMT). No. of bitstreams: 1 RODRIGO HENRIQUE BUSNARDO DE SOUZA.pdf: 9816188 bytes, checksum: f1f2d8658d1d2a1067a0bfb1af5bf1f8 (MD5) Previous issue date: 2010-02-26 / This work has purpose to analyse through the territorial transformations of the Capuava Farm the process of urban evolution of the city of Valinhos-SP and its integration in the Metropolitan Region of Campinas. It approaches the recent phenomenon of the urban dispersion, understanding the city of characteristic Valinhos-SP as one fabric urban of the contemporary metropolitan space. It analyses, on the basis of the lines of direction contained in the three existing Managing Plans elaborated by the City hall of the city, the trajectory of the Capuava Farm since the sprouting as coffee farm, with prominence for the period where it attracted modernist artists and intellectuals, the successive accomplished urban parcels in its territory until the situation current of the overthrown headquarters surrounded for fabric urban fragmented and occupied by distributed closed condominiums in quarters of diverse social classes. On the basis of the lines of direction contained in the three existing Managing Plans, elaborated for the City hall of the city, t argues the difficulties and potentialities of the preservation of the Capuava Farm while historic site and cultural overthrown and the paper that can perform in the context of the Metropolitan Region of Campinas. / Este trabalho tem por finalidade analisar atrav?s das transforma??es territoriais da Fazenda Capuava o processo de evolu??o urbana da cidade de Valinhos-SP e sua integra??o na Regi?o Metropolitana de Campinas. Aborda o fen?meno recente da dispers?o urbana, entendendo a cidade de Valinhos-SP como um tecido urbano caracter?stico do espa?o metropolitano contempor?neo. Analisa, com base nas diretrizes contidas nos tr?s Planos Diretores existentes elaborados pela Prefeitura do munic?pio, a trajet?ria da Fazenda Capuava desde o surgimento como fazenda de caf?, com destaque para o per?odo em que atra?a artistas e intelectuais modernistas, os sucessivos parcelamentos urbanos realizados em seu territ?rio at? a situa??o atual da sede tombada cercada por um tecido urbano fragmentado e ocupado por condom?nios fechados distribu?dos em bairros de diversas classes sociais. Com base nas diretrizes contidas nos tr?s Planos Diretores existentes, elaborados pela Prefeitura do munic?pio, discute as dificuldades e potencialidades da preserva??o da Fazenda Capuava enquanto patrim?nio hist?rico e cultural tombado e o papel que pode desempenhar no contexto da Regi?o Metropolitana de Campinas.

Autonomous navigation has the opportunity to make roads safer and help perform search and rescue missions by reducing human error. Odometry methods are essential to allow for autonomous navigation because they estimate how the robot will move based on the available sensors. This thesis aims to compare and evaluate the Cubature Kalman filter (CKF) based approach for visual-inertial odometry (VIO) to traditional Extended Kalman Filter (EKF) based methods on criteria such as the accuracy of the results. VIO methods use camera and IMU sensor for the predictions. The Multi-State-Constraint Kalman filter (MSCKF) was utilized as the foundation VIO approach to evaluate the underlying filter between EKF and CKF while maintaining the background conditions like visual tracking pipeline, IMU model, and measurement model constant. Evaluation metrics of absolute trajectory error (ATE) and relative error (RE) was used after tuning the filters on EuRoC and KAIST datasets. It is shown that, based on the existing implementation, the filters have no statistically significant difference in performance when predicting motion estimates, despite the fact that the absolute trajectory error of position for EKF estimation is lower. It is further shown that as the length of the trajectory increases, the estimation error for both filters rises unboundedly. Under the visual inertial framework of MSCKF, the CKF filter, which does not linearize the system, works equally as well as the well-established EKF filter and has the potential to perform better with more accurate nonlinear system and measurement models. / Autonom navigering har möjlighet att göra vägar säkrare och hjälpa till att utföra räddningsuppdrag genom att minska mänskliga fel. Odometrimetoder är viktiga för att möjliggöra autonom navigering eftersom de skattar hur roboten rör sig baserat på tillgängliga sensorer. Detta examensarbete syftar till att utvärdera Cubature Kalman filter (CKF) för visuell tröghetsodometri (VIO) och jämföra med traditionella Extended Kalman Filter (EKF) gällande bland annat noggrannhet. VIO-metoder använder kamera och IMU-sensor för skattningarna. MultiState Constraint Kalmanfiltret (MSCKF) användes som grund VIO-metoden för att utvärdera filteralgoritmerna EKF och CKF, samtidigt som de VIO-specifika delarna så som IMU-modell och mätmodell kunde förbli desamma. Utvärderingen gjordes baserat på absolut banfel (ATE) och relativa fel (RE) på EuRoC- och KAIST-datauppsättningar. Det visas att, baserat på den befintliga implementeringen, har filtren ingen statistiskt signifikant skillnad i prestanda när de förutsäger rörelsen, trots att det absoluta banafelet för positionen för EKF-uppskattning är lägre. Det visas vidare att när längden på banan ökar, ökar uppskattningsfelet för båda filtren obegränsat. Under MSCKFs visuella tröghetsramverk fungerar CKF-filtret, som inte linjäriserar systemet, lika bra som det väletablerade EKF-filtret och har potential att prestera bättre med mer exakta olinjära system och mätmodeller.

Made available in DSpace on 2014-12-17T14:56:16Z (GMT). No. of bitstreams: 1 AylannaRCO_DISSERT.pdf: 1333788 bytes, checksum: efa7208178cf25ae582904e9a48f7ba8 (MD5) Previous issue date: 2013-07-26 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / Em sistemas desregulamentados, a Gest?o de Congestionamentos ? uma das principais tarefas executadas pelos operadores do sistema de transmiss?o para garantir o estado seguro da rede. Para resolver este problema, v?rias estrat?gias de controle s?o utilizadas. Dentre elas, destaca-se a t?cnica de chaveamentos corretivos, devido ao seu baixo custo de implanta??o e ? velocidade do tempo de converg?ncia das solu??es obtidas atrav?s do uso da metodologia de lineariza??o de c?lculos de fluxos de carga, conhecida como Inje??o Reversa. Dessa forma, este trabalho tem como objetivo desenvolver um algoritmo determin?stico que se proponha a eliminar congestionamentos em Sistemas de Pot?ncia por meio de Fun??es de Al?vio, para estimar o efeito das variantes de chaveamento ?teis da rede. Atrav?s desse m?todo, pretende-se que a abordagem apresentada obtenha um menor custo computacional, de forma que ela permita aplica??es de estudo em tempo real

Montréal Trigonix inc. 2018

Montréal Trigonix inc. 2018

Made available in DSpace on 2015-04-14T13:47:09Z (GMT). No. of bitstreams: 1 425647.pdf: 965959 bytes, checksum: 794201054a700986437cf5e168d9bfce (MD5) Previous issue date: 2010-06-25 / Esta tese aborda e problematiza a experi?ncia art?stica e a obra musical do violonista e compositor ga?cho Oct?vio Dutra (1884-1937). Uma das id?ias centrais desenvolvidas busca relacionar os contextos de cria??o das suas obras ? sua experi?ncia de media??o cultural dentro do campo da m?sica na cidade Porto Alegre. Parte-se do pressuposto de que sua forma??o, atua??o e obra caracterizaram-se pelo di?logo entre refer?ncias populares e eruditas e pela busca de aproxima??es entre tradi??o e modernidade no contexto de um campo art?stico em transforma??o e em vias de autonomiza??o. Para problematizar tais quest?es recorre-se primeiramente a uma revis?o bibliogr?fica nas ?reas da Hist?ria e da M?sica, com vistas a compreender como se deu a emerg?ncia e a consolida??o da m?sica popular brasileira em ?mbito nacional no per?odo investigado. Nesse sentido, aborda-se o modernismo musical, os contextos de desenvolvimento dos g?neros musicais e a experi?ncia pioneira de m?sicos mediadores durante a Primeira Rep?blica. No ?mbito regional, busca-se compreender a experi?ncia art?stica e as composi??es de Oct?vio Dutra no contexto de forma??o do campo musical na cidade de Porto Alegre. Nas primeiras d?cadas do s?culo vinte, este compositor experienciou o processo de institucionaliza??o do ensino musical, de moderniza??o urbana e o surgimento de novas tecnologias sonoras. Por fim, busca-se contextualizar e interpretar historicamente a produ??o musical de Oct?vio Dutra. Neste aspecto s?o analisadas as quest?es composicionais que envolvem a diversidade e a transforma??o dos g?neros musicais, bem como as representa??es do espa?o social urbano expressadas de forma expl?cita ou impl?cita no seu repert?rio, composto, editado e/ou gravado numa cronologia que abarca os anos de 1900 ? 1935.

Made available in DSpace on 2014-12-17T15:36:54Z (GMT). No. of bitstreams: 1 SilviaBFM.pdf: 183510 bytes, checksum: 25d17456b26e665dea3d1b33500465c1 (MD5) Previous issue date: 2008-11-07 / The cats (Felis catus) were domesticated about 9,500 years ago due to the advent of agriculture, being used to control the pests that devastated the food harvested. These animals went through an artificial selection and over generations and millennia had their behavior and morphology changed by humans. This process of domestication by man gave rise to a special ability, the understanding of human pointing gestures, clearly noticed while we feed our pets. Our goal in this study was to assess the comprehension of pointing gestures by cats and also verify the influence that social interactions exerts on the development of this ability. We found that experimental subjects from both groups, solitary animals and social animals, were able to follow human indication in order to find hidden food. However, social interaction had no effect on cats performances. The ability tested here probably evolved during the process of domestication of this species, and social interaction seems to exert little or no influence upon its expression / AOs gatos (Felis catus) foram domesticados h? cerca de 9.500 anos devido ? agricultura, onde eram utilizados no combate ?s pragas que assolavam os alimentos colhidos. Esses animais passaram por uma sele??o artificial e ao longo das gera??es e mil?nios tiveram seus comportamentos e morfologia modificadas pelos humanos. O processo de domestica??o pelo homem fez surgir uma habilidade em especial, a compreens?o de sinais gestuais humanos, que ? bem observada nos momentos em que alimentamos nossos animais. Nosso objetivo neste estudo foi testar a resposta ? sinaliza??o gestual (comportamento de apontar) em gatos, emitida por humanos e tamb?m verificar a influ?ncia do conv?vio social sobre o desenvolvimento desta habilidade. Observamos que os sujeitos experimentais de ambos os grupos, animais solit?rios e de conv?vio em grupo, foram capazes de seguir os sinais de indica??o humana para localizar o alimento escondido. Por?m, a forma de conv?vio social n?o influenciou no desempenho dos gatos. A habilidade aqui testada, possivelmente evoluiu durante o processo de domestica??o dessa esp?cie, e a intera??o social parece exercer pouca ou nenhuma influ?ncia sobre a sua express?o