Mostrando recursos 1 - 20 de 433

  1. Mini-SLAM: minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity

    Andreasson, Henrik; Duckett, Tom; Lilienthal, Achim
    This paper presents a vision-based approach to SLAM in large-scale environments with minimal sensing and computational requirements. The approach is based on a graphical representation of robot poses and links between the poses. Links between the robot poses are established based on odomety and image similarity, then a relaxation algorithm is used to generate a globally consistent map. To estimate the covariance matrix for links obtained from the vision sensor, a novel method is introduced based on the relative similarity of neighbouring images, without requiring distances to image features or multiple view geometry. Indoor and outdoor experiments demonstrate that the approach...

  2. Active people recognition using thermal and grey images on a mobile security robot

    Treptow, A.; Cielniak, G.; Duckett, T.
    In this paper we present a vision-based approach to detect, track and identify people on a mobile robot in real time. While most vision systems for tracking people on mobile robots use skin color information, we present an approach using thermal images and a fast contour model together with a Particle Filter. With this method a person can be detected independently from current light conditions and in situations were no skin color is visible (the person is not close or does not face the robot). Tracking in thermal images is used as an attention system to get an estimate of the...

  3. Automatic building detection from aerial images for mobile robot mapping

    Persson, M.; Sandvall, M.; Duckett, T.
    To improve mobile robot outdoor mapping, information about the shape and location of buildings is of interest. This paper describes a system for automatic detection of buildings in aerial images taken from a nadir view. The system builds two types of independent hypotheses based on the image contents. A segmentation process implemented as an ensemble of SOMs (Self Organizing Maps) is trained and used to create a segmented image showing different types of roofs, vegetation and sea. A second type of hypotheses is based on an edge image produced from the aerial photo. A line extraction process uses the edge image...

  4. Conveying intentions through haptics in human-computer collaboration

    Kucukyilmaz, Ayse; Sezgin, Tevfik Metin; Basdogan, Cagatay
    Haptics has been used as a natural way for humans to communicate with computers in collaborative virtual environments. Human-computer collaboration is typically achieved by sharing control of the task between a human and a computer operator. An important research challenge in the field addresses the need to realize intention recognition and response, which involves a decision making process between the partners. In an earlier study, we implemented a dynamic role exchange mechanism, which realizes decision making by means of trading the parties' control levels on the task. This mechanism proved to show promise of a more intuitive and comfortable communication....

  5. Drone memorial

    Ruffino, Paolo
    The ninth edition of Talent Prize, an Italian award for the best contributions in the field of visual arts (painting, photography, video, sculpture, installation). Paolo Ruffino (as IOCOSE) has won the UTOPIA award with the work Drone Memorial, a memorial to drones fallen in military operations.

  6. Designing from scratch: what to do in a new paradigm -approaches made by EB White in the early years of electrification in Pietermaritzburg

    Whelan, Deborah
    Electricity arrived in Pietermaritzburg in the late 1890s, but it was only post World War I that any formal structures apart from cast iron and wood and iron substations were constructed. Many of these early buildings, certainly between 1919 and 1931, were designed and signed off by one EB White, an electrical technician who used pattern book language in the construction of these new buildings. This paper discusses the dearth of precedent that was encountered by the early designers of substation buildings, entrenching a reliance on the extant built environment and prevailing architectural traditions

  7. Visual statistics of large samples of Western artworks

    Mather, George
    Over the last twenty years a number of studies have analysed the image statistics of artworks to test whether the mark-making choices of artists can be described, at least in part, in terms of certain mathematical rules governing image content, and human aesthetic responses to that content. Debate in the field is still ongoing, and is driven partly by three unresolved questions: (i) How do different statistical measures compare? (ii) Are artistic choices influenced in some way by the values of particular visual statistics? (iii) Do the values of particular visual statistics bear any relation to viewer responses to artworks?...

  8. Investigation of high-frequency transcranial random noise stimulation (hf-tRNS) mechanism on visual motion perception: a stochastic resonance approach

    Ghin, Filippo; Pavan, Andrea; Mather, George
    High-frequency transcranial random noise stimulation (hf-tRNS) is a neuromodulatory technique consisting of the application of an alternating current at random frequencies usually ranging between 101 and 640 Hz. Stochastic resonance is a nonlinear phenomenon whereby the addition of a random interference “noise” can enhance the detection or discrimination of a weak signal. An optimal amount of noise would result in performance enhancement, whereas further noise increments would impair the signal detection or discrimination. hf-tRNS induces random activity in the system (i.e., hf-tRNS-induced noise) that may serve as a pedestal to boost the sensitivity of neurons to weak inputs, thus increasing the...

  9. Adaptation to the locomotion speed of point-light walkers

    Mather, George; Parsons, Todd
    Adaptation to slowed-down or speeded-up videos of natural scenes depicting human locomotion causes later videos played at standard playback speed to appear too fast or too slow respectively (re-normalisation; ECVP 2015, 2016). Psychophysical data shows that the effect is qualitatively different from that obtained in retinal velocity after-effect experiments, and implicates a higher level process that encodes objective velocity. As a test for the involvement of high-level motion processes, we measured adaptation to locomotion speed using point-light walker (PLW) stimuli which varied in retinal size and facing direction while walking at a fixed locomotion speed. An after-effect of apparent locomotion...

  10. After-effects from implied colours of natural objects

    Lee, Robert; Mather, George
    It is well known that after viewing a coloured stimulus the perception of subsequent stimuli is chromatically shifted in the opponent direction, because of biased output of early chromatic mechanisms. Recent studies [1,2] show that known colours of familiar objects affect the perception of those objects, biasing the white-point in the direction opposite that of the memory colour. We investigated whether familiar object colours cause an after-effect by adapting observers to greyscale images of objects with diagnostic colour, before measuring the perceived white-point of simple geometric stimuli. In control measurements the adapting images were phase-scrambled. Despite the measurements being made...

  11. The future of Through the Gate resettlement, next steps for healthcare

    Sirdifield, Coral
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  12. Respectability, shame and allegations of extra marital crimes in the Divorce Court of England and Wales, 1909 -1923

    Ranyard, Diane
    From 1857 (the year of its foundation) to 1923 (the year of the Matrimonial Causes Act) the Divorce Court hosted a number of highly-gendered trials. Women petitioning for divorce were legally required to supply proof of their husband's adultery plus another marital crime (such as cruelty, desertion or bigamy); men had only to demonstrate their wives' sexual infidelity. Yet, despite the historical attention paid to this gendered legal disparity, little attention has been paid to date on the nature of the extra marital crimes alleged by wives, seeking to free themselves from unsatisfactory marriages. This paper considers women's treatment by...

  13. What values do professionals have? An exploration of values held by nursing and social work professionals entering AMHP training

    Goemans, Robert
    Values based practice is now an old concept in mental health, yet there is little evidence to show what values professionals have and how these are put into practice in their decision making. Perhaps more than any other professional role, values and principles are central within Approved Mental Health Professional (AMHP) training and practice, enforced by clear sets of training requirements and statutory competencies, and, given that AMHPs are intervening at the extreme end of mental health practice, understanding the values that guide such decisions is vital. This paper explores, through an analysis of practitioners’ reflective statements, the values held by...

  14. A conceptual framework for developing the cost of capital of stakeholders: case study of Sustainable Hockerton Ltd.

    Lakshmi, Geeta; Khan, Muhammad; Vortelinos, Dimitrios
    In this paper, we introduce a framework for calculating the Weighted Average Cost of Capital (WACC) for stakeholders of a firm. Our framework is built upon the traditional WACC i.e. the weighted average of returns to shareholders and lenders, but extends the framework to incorporate the triple bottom line i.e. the planet, the people along with the notion of profit. Although there is a voluminous amount of finance theory developed for corporate finance, there is little theory postulated for other types of businesses. Most papers concentrate on measurement for companies, but fail to capture the financial research for smaller businesses or...

  15. What values do professionals have? An exploration of values held by nursing and social work professionals entering AMHP training

    Goemans, Robert
    Values based practice is now an old concept in mental health, yet there is little evidence to show what values professionals have and how these are put into practice in their decision making. Perhaps more than any other professional role, values and principles are central within Approved Mental Health Professional (AMHP) training and practice, enforced by clear sets of training requirements and statutory competencies, and, given that AMHPs are intervening at the extreme end of mental health practice, understanding the values that guide such decisions is vital. This paper explores, through an analysis of practitioners’ reflective statements, the values held by...

  16. Madness, gender, and class: the construction of identity and experiences in the Lincoln Lunatic Asylum 1820-1840

    Goemans, Robert; Goddard, Rebecca
    The Lincoln Lunatic Asylum (LLA) opened in 1820 and, in 1837, became the first asylum in the country to achieve total abolition of mechanical restraint. Through an analysis of the original documents, we are seeking to understand how the construction of identities, including conceptions of gender and class, influenced how people’s madness was constructed and experienced. Using the records of restraint, we have broken down the overall picture of the reduction in use of mechanical restraint into different pictures depending on gender and class. This data, alongside qualitative depictions of patients within documents such as the House Surgeon’s journal and the...

  17. Numerical modeling of thermal bar and stratification pattern in Lake Ontario using the EFDC model

    Arifin, R. R.; de Alwis Pitts, D. A.; James, S. J.; Hamlet, A. F.; Sharma, A.; Fernando, H. J. S.
    Thermal bar is an important phenomenon in large, temperate lakes like Lake Ontario. Spring thermal bar formation reduces horizontal mixing, which in turn, inhibits the exchange of nutrients. Evolution of the spring thermal bar through Lake Ontario is simulated using the 3D hydrodynamic model Environmental Fluid Dynamics Code (EFDC). The model is forced with the hourly meteorological data from weather stations around the lake, flow data for Niagara and St. Lawrence rivers, and lake bathymetry. The simulation is performed from April to July, 2011; on a 2-km grid. The numerical model has been calibrated by specifying: appropriate initial temperature and solar radiation attenuation coefficients. The existing evaporation algorithm...

  18. Contaminant biotransport by Pacific Salmon in Lake Michigan: analysis of salmon and stream-resident fish in Great Lakes tributaries

    Gerig, B. S.; Chaloner, D. T.; Janetski, D. J.; Rediske, R. R.; Moerke, A. H.; McNair, J.; de Alwis Pitts, D. A.; Lamberti, G. A.
    Pacific salmon (Oncorhynchus spp.) can deliver a significant pulse of biomass, including its bioaccumulated contaminants, to tributaries during spawning runs. Thus, salmon transport contaminants accumulated in the Great Lakes (e.g., persistent organic pollutants [POPs], total mercury [THg]) to tributaries that otherwise lack point source pollution. We used a combination of observational surveys, experimental manipulations, and modeling, to (1) assess the extent of salmon-mediated biotransport across the upper Great Lakes; (2) determine pathways by which stream fish become contaminated by salmon; and (3) forecast areas at significant risk from salmon biotransport. Resident stream fish (e.g., brook trout Salvelinus fontinalis) in salmon...

  19. Investigating summer thermal stratification in Lake Ontario

    Arifin, R. R.; James, S. C.; de Alwis Pitts, D. A.; Hamlet, A.; Sharma, A,; Fernando, H. J. S.
    Summer thermal stratification in Lake Ontario is simulated using the 3D hydrodynamic model Environmental Fluid Dynamics Code (EFDC). Summer temperature differences establish strong vertical density gradients (thermocline) between the epilimnion and hypolimnion. Capturing the stratification and thermocline formation has been a challenge in modeling Great Lakes. Deviating from EFDC's original Mellor-Yamada (1982) vertical mixing scheme, we have implemented an unidimensional vertical model that uses different eddy diffusivity formulations above and below the thermocline (Vincon-Leite, 1991; Vincon-Leite et al., 2014). The model is forced with the hourly meteorological data from weather stations around the lake, flow data for Niagara and St. Lawrence rivers; and lake bathymetry is interpolated on a...

  20. 'My culture' as a constantly changing perception: vernacular built traditions in KwaZulu-Natal, South Africa

    Whelan, Deborah
    Whilst vernacular built traditions may have a strongly regional basis the generic culture as appropriated is not as fixed in stone as the contemporary assertions appear to be. This paper will discuss the ‘traditional’ Zulu dwelling, in the light of cultural change and urbanisation, and establish the boundaries of authenticity in environments which are no longer rural, but deeply circumscribed by western imposed materials, building forms and legislations. It will question whether heritage and authenticity in this instance relates to the tangible or the intangible, and use this conclusion as a means by which architectural heritages with limited material life...

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