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Cette thèse concerne l'étude et le développement d'une architecture logicielle d'un système de vision pour le guidage d'un robot mobile dans un milieu extérieur. Ce système est composé de différents modules assurant chacun une tache spécifique, et l'ensemble des taches est coordonné par un module central jouant le rôle de superviseur. Dans cette étude, l'accent est principalement mis sur le module d'analyse de scène qui est basé sur un algorithme de détection des éléments linéaires dans l'image numérique. Ce module est fonctionnel sous deux modes différents: la phase initiale qui consiste en un traitement de l'image entière pour initialiser la navigation, et la phase de suivi continu qui assure le traitement sur des fenêtres extraites des images prises périodiquement. Pour diminuer le risque d'erreur lié à ce type de technique, une carte détaillée de l'environnement à été établie dans le but de réaliser une prédiction de scène à partir de données visuelles. La scène est utilisée pour valider les éléments détectés au niveau du module de la base de connaissance. Ce dernier établit un raisonnement à partir des informations acquises et prédites pour construire un modèle de la scène. Le module de pilotage génère à partir de ce modèle une trajectoire constituée d'une suite de segments de droite qui sont ensuite interprétés séquentiellement par le dispositif de navigation
Les travaux présentés dans cette thèse concernent la reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle, pour la préparation d'interventions. Nous nous intéressons dans un premier temps à la conception d'une architecture matérielle adaptée aux problématiques de la reconstruction 3D et de la navigation autonome. Le calibrage d'un système de vision est une étape indispensable dès lors que celui-ci est destiné à effectuer des mesures sur son environnement. Cette phase consiste à modéliser le système pour établir la relation mathématique liant les points 3D et leurs projections dans les images. Après une discussion sur le choix du modèle, nous présentons une méthodologie pour estimer les paramètres du modèle retenu. La structure stéréoscopique du capteur que nous avons développé rend possible la reconstruction tridimensionnelle de l'environnement sans déplacement. Nous proposons donc des algorithmes permettant la reconstruction dense de l'environnement, ainsi que des algorithmes de détection de primitives dans les images omnidirectionnelles. Lorsque le capteur est en mouvement, nous exploitons ses déplacements pour enrichir le modèle 3D. Notre principale contribution porte sur le développement d'un algorithme d'ajustement de faisceaux pour les capteurs stéréoscopiques omnidirectionnels qui permet d'obtenir une estimation des déplacements en ne nécessitant que des données visuelles.
The Cambridge Handbook of Engineering Education Research is the critical reference source for the growing field of engineering education research, featuring the work of world luminaries writing to define and inform this emerging field. The Handbook draws extensively on contemporary research in the learning sciences, examining how technology affects learners and learning environments, and the role of social context in learning. Since a landmark issue of the Journal of Engineering Education (2005), in which senior scholars argued for a stronger theoretical and empirically driven agenda, engineering education has quickly emerged as a research-driven field increasing in both theoretical and empirical work drawing on many social science disciplines, disciplinary engineering knowledge, and computing. The Handbook is based on the research agenda from a series of interdisciplinary colloquia funded by the US National Science Foundation and published in the Journal of Engineering Education in October 2006.
This report reviews engineering's importance to human, economic, social and cultural development and in addressing the UN Millennium Development Goals. Engineering tends to be viewed as a national issue, but engineering knowledge, companies, conferences and journals, all demonstrate that it is as international as science. The report reviews the role of engineering in development, and covers issues including poverty reduction, sustainable development, climate change mitigation and adaptation. It presents the various fields of engineering around the world and is intended to identify issues and challenges facing engineering, promote better understanding of engineering and its role, and highlight ways of making engineering more attractive to young people, especially women.--Publisher's description.
The report highlights the crucial role of engineering in achieving each of the 17 SDGs. It shows how equal opportunities for all is key to ensuring an inclusive and gender balanced profession that can better respond to the shortage of engineers for implementing the SDGs. It provides a snapshot of the engineering innovations that are shaping our world, especially emerging technologies such as big data and AI, which are crucial for addressing the pressing challenges facing humankind and the planet. It analyses the transformation of engineering education and capacity-building at the dawn of the Fourth Industrial Revolution that will enable engineers to tackle the challenges ahead. It highlights the global effort needed to address the specific regional disparities, while summarizing the trends of engineering across the different regions of the world.
This book offers, for the first time in English, the proceedings and decisions of the last congress of the Communist International held in Lenin’s lifetime. With an analytic introduction, detailed footnotes, 500 biographic notes, glossary, chronology, and index.
***NOW THE SUBJECT OF THE MAJOR BBC TV SERIES *** DISCOVER THE INCREDIBLE TRUE CRIME STORY OF SERIAL KILLER, CHARLES SOBHRAJ, AND THE RACE TO BRING HIM TO JUSTICE Charles Sobhraj remains one of the world's great con men, and as a serial killer, the story of his life and capture endures as legend. Born in Vietnam to a Vietnamese mother and Indian father, Sobhraj grew up with a fluid sense of identity, moving to France before being imprisoned and stripped of his multiple nationalities. Driven to floating from country to country, continent to continent, he became the consummate con artist, stealing passports, smuggling drugs and guns across Asia, busting out of prisons and robbing wealthy associates. But as his situation grew more perilous, he turned to murder, preying on Western tourists dropping out across the 1970s hippie route, leaving a trail of dead bodies and gruesome crime scenes in his wake. First published in 1979, but updated here to include new material, On the Trail of the Serpent draws its readers into the story of Sobhraj's life as told exclusively to journalists Richard Neville and Julie Clarke. Blurring the boundaries between true crime and novelisation, this remains the definitive book about Sobhraj - riveting tale of sex, drugs, adventure and murder.
Ubiquitous computing--almost imperceptible, but everywhere around us--is rapidly becoming a reality. How will it change us? how can we shape its emergence? Smart buildings, smart furniture, smart clothing... even smart bathtubs. networked street signs and self-describing soda cans. Gestural interfaces like those seen in Minority Report. The RFID tags now embedded in everything from credit cards to the family pet. All of these are facets of the ubiquitous computing author Adam Greenfield calls "everyware." In a series of brief, thoughtful meditations, Greenfield explains how everyware is already reshaping our lives, transforming our understanding of the cities we live in, the communities we belong to--and the way we see ourselves. What are people saying about the book? "Adam Greenfield is intense, engaged, intelligent and caring. I pay attention to him. I counsel you to do the same." --HOWARD RHEINGOLD, AUTHOR, SMART MOBS: THE NEXT SOCIAL REVOLUTION "A gracefully written, fascinating, and deeply wise book on one of the most powerful ideas of the digital age--and the obstacles we must overcome before we can make ubiquitous computing a reality."--STEVE SILBERMAN, EDITOR, WIRED MAGAZINE "Adam is a visionary. he has true compassion and respect for ordinary users like me who are struggling to use and understand the new technology being thrust on us at overwhelming speed."--REBECCA MACKINNON, BERKMAN CENTER FOR INTERNET AND SOCIETY, HARVARD UNIVERSITY Everyware is an AIGA Design Press book, published under Peachpit's New Riders imprint in partnership with AIGA.