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ITC/USA 2009 Conference Proceedings / The Forty-Fifth Annual International Telemetering Conference and Technical Exhibition / October 26-29, 2009 / Riviera Hotel & Convention Center, Las Vegas, Nevada / Several navigation technologies exist, which can facilitate the generation of Time Space Positioning Information (TSPI) in urban environments. These include GPS, image-based localization, radio-based localization and dead reckoning. This paper first presents a basic overview of these techniques including advantages and limitations of each. We present an approach to localization in urban environments, based on environment learning and collaborative navigation using multiple homogeneous and non-homogeneous localization technologies, fused to form a multi-sensor system.

This thesis describes the development of the Texas A&M University Autonomous Helicopter System and the integration of obstacle avoidance capabilities into that system. The helicopter system, composed of a Bergen Observer helicopter and a Rotomotion Autonomous Flight Control System (AFCS), was developed as a platform to support the development of the obstacle avoidance system through integration of sensors and onboard processing capabilities. The system has proven in various flight tests that it has the capability to autonomously hover and fly to user defined GPS waypoints. The obstacle avoidance algorithm has been proven in simulations involving an interface with the Rotomotion AFCS and the flight simulation software they created to facilitate the development of that system. The helicopter has also demonstrated appropriate responses to sensor input commensurate with the obstacle avoidance algorithm. Full avoidance tests were unable to be performed due to hardware malfunctions inherent in the obstacle avoidance sensors.

The research explores aspects of road surface measurement and monitoring, targeting some of the main challenges in the field, including cost and portability of high-speed inertial profilers. These challenges are due to the complexities of modern profilers to integrate various sensors while using advanced algorithms and processes to analyse measured sensor data. Novel techniques were proposed to improve the accuracy of road surface longitudinal profiles using inertial profilers. The thesis presents a Half-Wavelength Peak Matching (HWPM) model, designed for inertial profilers that integrate a laser displacement sensor and an accelerometer to evaluate surface irregularities. The model provides an alternative approach to drift correction in accelerometers, which is a major challenge when evaluating displacement from acceleration. The theory relies on using data from the laser displacement sensor to estimate a correction offset for the derived displacement. The study also proposes an alternative technique to evaluating vibration velocity, which improves on computational factors when compared to commonly used methods. The aim is to explore a different dimension to road roughness evaluation, by investigating the effect of surface irregularities on vehicle vibration. The measured samples show that the drift in the displacement calculated from the accelerometer increased as the vehicle speed at which the road measurement was taken increased. As such, the significance of the HWPM model is more apparent at higher vehicle speeds, where the results obtained show noticeable improvements to current techniques. All results and analysis carried out to validate the model are based on real-time data obtained from an inertial profiler that was designed and developed for the research. The profiler, which is designed for portability, scalability and accuracy, provides a Power Over Ethernet (POE) enabled solution to cope with the demand for high data transmission rates.

Made available in DSpace on 2014-06-11T19:30:32Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-11-19Bitstream added on 2014-06-13T19:00:45Z : No. of bitstreams: 1 ruy_rs_dr_prud.pdf: 5800893 bytes, checksum: eca044ea30603eb3cacb3a982ca7088c (MD5) / Nos últimos anos observa-se uma crescente utilização de câmaras digitais em Fotogrametria, especialmente os modelos profissionais de câmaras de pequeno e médio formato. Isso porque os sistemas digitais comerciais de grande formato possuem custos elevados e um complexo sistema de gerenciamento, armazenamento e processamento das imagens. Além disso, as câmaras digitais de pequeno e médio formato possuem algumas vantagens que as tornam altamente atrativas, como: grande disponibilidade no mercado; flexibilidade quanto ao intervalo de focalização; são pequenas, leves e de fácil manejo e; possuem custos substancialmente reduzidos quando comparadas aos sistemas digitais de grande formato. Por outro lado, algumas limitações ainda estão presentes nestes modelos de câmaras, no que se refere à confiabilidade da geometria interna e à resolução dos sensores. Contudo, estudos de caso têm mostrado que estes problemas podem ser contornados, podendo-se utilizar todo o potencial deste tipo de sensor para mapeamentos temáticos, topográficos e cadastrais em áreas de pequeno e médio porte, com grande flexibilidade em relação aos sensores aéreos e orbitais convencionais. Neste contexto, este trabalho teve como objetivo a concepção, implementação física e testes reais de um sistema de aquisição de imagens digitais, formado por câmaras digitais de médio formato integradas a sensores de orientação direta, dispositivos eletrônicos e interfaces de hardware e software. Foram desenvolvidos também estudos, análises, algoritmos e programas computacionais de Fototriangulação com parâmetros adicionais (FPA), com dados de georreferenciamento direto, voltados ao sistema desenvolvido... / In the last years there is a growing use of digital cameras in Photogrammetry, mainly the small and medium format cameras, because of high cost and problems with the images management and postprocessing in the high end digital cameras. Besides, if the small and medium format cameras are calibrated they can provide quality data, together with their advantages: variety in the market; focalization flexibility; are small, light, easy handling and; have low cost if compared with the high resolution cameras. Although, these models of digital cameras have some limitations, like the interior orientation reliability and the resolution of the sensor. Some case studies have showed that these problems can be solved and the digital sensors can be used with success in thematic, topographic and cadastral mapping of small and medium areas, with high flexibility if compared with conventional aerial and orbital sensors. In this context, the aim of this work is the conception, development and real tests performing of a digital image acquisition system composed by medium format digital cameras integrated to direct orientation systems, electronic devices and hardware and software developments. Studies, analysis and computational programs related to block triangulation with additional parameters with direct orientation data were performed for establishing the interior orientation of the cameras that compose the acquisition system... (Complete abstract click electronic access below)

Orientador: Antonio Maria Garcia Tommaselli / Banca: Edson Aparecido Mitishita / Banca: Jorge Luis Nunes e Silva Brito / Banca: Julio Kiyoshi Hasegawa / Banca: Mauricio Galo / Resumo: Nos últimos anos observa-se uma crescente utilização de câmaras digitais em Fotogrametria, especialmente os modelos profissionais de câmaras de pequeno e médio formato. Isso porque os sistemas digitais comerciais de grande formato possuem custos elevados e um complexo sistema de gerenciamento, armazenamento e processamento das imagens. Além disso, as câmaras digitais de pequeno e médio formato possuem algumas vantagens que as tornam altamente atrativas, como: grande disponibilidade no mercado; flexibilidade quanto ao intervalo de focalização; são pequenas, leves e de fácil manejo e; possuem custos substancialmente reduzidos quando comparadas aos sistemas digitais de grande formato. Por outro lado, algumas limitações ainda estão presentes nestes modelos de câmaras, no que se refere à confiabilidade da geometria interna e à resolução dos sensores. Contudo, estudos de caso têm mostrado que estes problemas podem ser contornados, podendo-se utilizar todo o potencial deste tipo de sensor para mapeamentos temáticos, topográficos e cadastrais em áreas de pequeno e médio porte, com grande flexibilidade em relação aos sensores aéreos e orbitais convencionais. Neste contexto, este trabalho teve como objetivo a concepção, implementação física e testes reais de um sistema de aquisição de imagens digitais, formado por câmaras digitais de médio formato integradas a sensores de orientação direta, dispositivos eletrônicos e interfaces de hardware e software. Foram desenvolvidos também estudos, análises, algoritmos e programas computacionais de Fototriangulação com parâmetros adicionais (FPA), com dados de georreferenciamento direto, voltados ao sistema desenvolvido... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: In the last years there is a growing use of digital cameras in Photogrammetry, mainly the small and medium format cameras, because of high cost and problems with the images management and postprocessing in the high end digital cameras. Besides, if the small and medium format cameras are calibrated they can provide quality data, together with their advantages: variety in the market; focalization flexibility; are small, light, easy handling and; have low cost if compared with the high resolution cameras. Although, these models of digital cameras have some limitations, like the interior orientation reliability and the resolution of the sensor. Some case studies have showed that these problems can be solved and the digital sensors can be used with success in thematic, topographic and cadastral mapping of small and medium areas, with high flexibility if compared with conventional aerial and orbital sensors. In this context, the aim of this work is the conception, development and real tests performing of a digital image acquisition system composed by medium format digital cameras integrated to direct orientation systems, electronic devices and hardware and software developments. Studies, analysis and computational programs related to block triangulation with additional parameters with direct orientation data were performed for establishing the interior orientation of the cameras that compose the acquisition system... (Complete abstract click electronic access below) / Doutor

Orientador: João Fernando Custódio da Silva / Resumo: Um sistema de mapeamento móvel (SMM) permite obter informações geográficas das vias e de seu entorno. O objetivo deste trabalho é controlar a propagação de erros na determinação dos POE no processo de caminhamento fotogramétrico, para isto, foi estudada a adição de uma terceira câmera ao sistema e a integração das imagens com dados dos sensores de posicionamento e navegação. As câmeras foram dispostas em um arranjo triangular, de modo que o terceiro raio homólogo de um ponto fosse não coplanar aos demais raios homólogos deste mesmo ponto. Isto permite melhorar a estimativa da posição geométrica dos pontos, principalmente no sentido transversal à base do levantamento. Para a realização do levantamento, o sistema foi calibrado no campo de calibração da FCT/Unesp. O trajeto percorrido foi no entorno de uma quadra urbana, de modo a percorrer trechos retos e curvos. Os algoritmos SIFT (Scale Invariant Feature Transform) e RANSAC (RANdom SAmple Consensus) foram aplicados nas imagens coletadas pelo sistema, a fim de identificar os pontos homólogos nos trios de imagens e nas imagens subsequentes. Os parâmetros de orientação exterior (POE) das câmeras foram calculados pelo processo de fototriangulação, o ajustamento foi pelo método dos mínimos quadrados (MMQ), modelo paramétrico. Os dados foram processados variandose a quantidade de câmeras, duas ou três, para analisar a contribuição da terceira câmera. Os experimentos foram realizados para trechos retos e curvos e variou-se o tamanho... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: A mobile mapping system (MMS) provides geographical information of the roads and their surroundings. When carried by pedestrians, it can provide information of indoor areas or inaccessible to vehicles. The objective of this work was to control the spread of errors in determining the EOP in photogrammetric traversal process to this, the addition of a third camera to the system and the integration of images and positioning and navigation sensors data were studied. Cameras were mounted in a triangular arrangement, in a way that the third homologous beam of a point is non-colinear to the others homologous beams of the same point. This enables a point position estimative enhancement, mainly in the transverse direction of the base. For the survey, the system was calibrated in the FCT/Unesp calibration field. The route taken was in the vicinity of an urban block, passing by straight and curved sections. SIFT algorithm (Scale Invariant Feature Transform) and RANSAC (RANdom SAmple Consensus) were applied on the images collected by the system to identify the corresponding points in image trios and subsequent images. The exterior orientation parameters (EOP) of the cameras were calculated by the phototriangulation process, the adjustment method used was the least squares (LSM), parametric model. The data were processed by varying the number of cameras, two or three, to analyze the contribution of the third camera. The experiments were realized for straight and curved sections and was va... (Complete abstract click electronic access below) / Mestre

Submitted by Tobias Rehder da Cunha Patuci null (tobiasrehder@hotmail.com) on 2018-02-05T13:35:54Z No. of bitstreams: 1 diss_qualif_final.pdf: 48075089 bytes, checksum: add7dc77ed0089fb6e3ef138bf65abbc (MD5) / Approved for entry into archive by ALESSANDRA KUBA OSHIRO ASSUNÇÃO (alessandra@fct.unesp.br) on 2018-02-05T17:08:27Z (GMT) No. of bitstreams: 1 patuci_trc_me_prud.pdf: 48075089 bytes, checksum: add7dc77ed0089fb6e3ef138bf65abbc (MD5) / Made available in DSpace on 2018-02-05T17:08:28Z (GMT). No. of bitstreams: 1 patuci_trc_me_prud.pdf: 48075089 bytes, checksum: add7dc77ed0089fb6e3ef138bf65abbc (MD5) Previous issue date: 2017-12-16 / Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) / Um sistema de mapeamento móvel (SMM) permite obter informações geográficas das vias e de seu entorno. O objetivo deste trabalho é controlar a propagação de erros na determinação dos POE no processo de caminhamento fotogramétrico, para isto, foi estudada a adição de uma terceira câmera ao sistema e a integração das imagens com dados dos sensores de posicionamento e navegação. As câmeras foram dispostas em um arranjo triangular, de modo que o terceiro raio homólogo de um ponto fosse não coplanar aos demais raios homólogos deste mesmo ponto. Isto permite melhorar a estimativa da posição geométrica dos pontos, principalmente no sentido transversal à base do levantamento. Para a realização do levantamento, o sistema foi calibrado no campo de calibração da FCT/Unesp. O trajeto percorrido foi no entorno de uma quadra urbana, de modo a percorrer trechos retos e curvos. Os algoritmos SIFT (Scale Invariant Feature Transform) e RANSAC (RANdom SAmple Consensus) foram aplicados nas imagens coletadas pelo sistema, a fim de identificar os pontos homólogos nos trios de imagens e nas imagens subsequentes. Os parâmetros de orientação exterior (POE) das câmeras foram calculados pelo processo de fototriangulação, o ajustamento foi pelo método dos mínimos quadrados (MMQ), modelo paramétrico. Os dados foram processados variandose a quantidade de câmeras, duas ou três, para analisar a contribuição da terceira câmera. Os experimentos foram realizados para trechos retos e curvos e variou-se o tamanho do bloco processado e o avanço de base. Além disso, foi analisada a diferença entre o processamento em lote e sequencial. O controle de qualidade foi realizado pela análise da raíz do erro médio quadrático, comparando-se as coordenadas obtidas na fototriangulação com as coordenadas medidas em campo, em um levantamento topográfico. Os experimentos mostraram que com a adição da terceira câmera foram obtidos melhores resultados, principalmente para a trajetória curva. / A mobile mapping system (MMS) provides geographical information of the roads and their surroundings. When carried by pedestrians, it can provide information of indoor areas or inaccessible to vehicles. The objective of this work was to control the spread of errors in determining the EOP in photogrammetric traversal process to this, the addition of a third camera to the system and the integration of images and positioning and navigation sensors data were studied. Cameras were mounted in a triangular arrangement, in a way that the third homologous beam of a point is non-colinear to the others homologous beams of the same point. This enables a point position estimative enhancement, mainly in the transverse direction of the base. For the survey, the system was calibrated in the FCT/Unesp calibration field. The route taken was in the vicinity of an urban block, passing by straight and curved sections. SIFT algorithm (Scale Invariant Feature Transform) and RANSAC (RANdom SAmple Consensus) were applied on the images collected by the system to identify the corresponding points in image trios and subsequent images. The exterior orientation parameters (EOP) of the cameras were calculated by the phototriangulation process, the adjustment method used was the least squares (LSM), parametric model. The data were processed by varying the number of cameras, two or three, to analyze the contribution of the third camera. The experiments were realized for straight and curved sections and was varied the block size and base advance. Moreover, it was analysed the difference between sequential and full block calculation. Quality control was held by root mean square error analysis, comparing coordinates obtained in phototriangulation with object coordinates obtained by topographic survey. Finally, the experiments presented better results with the third camera addition, mainly for the curved section. / 131910/2015-9

abstract: Millions of Americans live with motor impairments resulting from a stroke and the best way to administer rehabilitative therapy to achieve recovery is not well understood. Adaptive mixed reality rehabilitation (AMRR) is a novel integration of motion capture technology and high-level media computing that provides precise kinematic measurements and engaging multimodal feedback for self-assessment during a therapeutic task. The AMRR system was evaluated in a small (N=3) cohort of stroke survivors to determine best practices for administering adaptive, media-based therapy. A proof of concept study followed, examining changes in clinical scale and kinematic performances among a group of stroke survivors who received either a month of AMRR therapy (N = 11) or matched dosing of traditional repetitive task therapy (N = 10). Both groups demonstrated statistically significant improvements in Wolf Motor Function Test and upper-extremity Fugl-Meyer Assessment scores, indicating increased function after the therapy. However, only participants who received AMRR therapy showed a consistent improvement in their kinematic measurements, including those measured in the trained reaching task (reaching to grasp a cone) and in an untrained reaching task (reaching to push a lighted button). These results suggest that that the AMRR system can be used as a therapy tool to enhance both functionality and reaching kinematics that quantify movement quality. Additionally, the AMRR concepts are currently being transitioned to a home-based training application. An inexpensive, easy-to-use, toolkit of tangible objects has been developed to sense, assess and provide feedback on hand function during different functional activities. These objects have been shown to accurately and consistently track hand function in people with unimpaired movements and will be tested with stroke survivors in the future. / Dissertation/Thesis / Ph.D. Bioengineering 2012

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