On Camera Calibration with Linear Programming and Loop Constraint Linearization

A technique for calibrating a network of perspective cameras based on their graph of trifocal tensors is presented. After estimating a set of reliable epipolar geometries, a parameterization of the graph of trifocal tensors is proposed in which each trifocal tensor is linearly encoded by a 4-vector. The strength of this parameterization is that the homographies relating two adjacent trifocal tensors, as well as the projection matrices depend linearly on the parameters. Two methods for estimating these parameters in a global way taking into account loops in the graph are developed. Both methods are based on sequential linear programming: the first relies on a locally linear approximation of the polynomials involved in the loop constraints whereas the second uses alternating minimization. Both methods have the advantage of being non-incremental and of uniformly distributing the error across all the cameras. Experiments carried out on several real data sets demonstrate the accuracy of the proposed approach and its efficiency in distributing errors over the whole set of cameras.     

Nonholonomic Mobile Manipulators: Kinematics, Velocities and Redundancies

We consider nonholonomic mobile manipulators built from an n _a joint robotic arm and a nonholonomic mobile platform with two independently driven wheels. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Whereas kinematic redundancy is well known in the holonomic case, it is pointed out that it is necessary to define velocity redundancy in the case of nonholonomic systems. Reduced velocity kinematics based on quasi-velocities are shown to provide an efficient formalism. Two examples of mobile manipulators are presented. Finally, reduced velocity kinematics and velocity redundancy are shown to be adequate tools in order to realize operational task while optimizing criteria such as manipulability.     

Facial animation retargeting and control based on a human appearance space

Expressive facial animations are essential to enhance the realism and the credibility of virtual characters. Parameter‐based animation methods offer a precise control over facial configurations while performance‐based animation benefits from the naturalness of captured human motion. In this paper, we propose an animation system that gathers the advantages of both approaches. By analyzing a database of facial motion, we create the human appearance space. The appearance space provides a coherent and continuous parameterization of human facial movements, while encapsulating the coherence of real facial deformations. We present a method to optimally construct an analogous appearance face for a synthetic character. The link between both appearance spaces makes it possible to retarget facial animation on a synthetic face from a video source. Moreover, the topological characteristics of the appearance space allow us to detect the principal variation patterns of a face and automatically reorganize them on a low‐dimensional control space. The control space acts as an interactive user‐interface to manipulate the facial expressions of any synthetic face. This interface makes it simple and intuitive to generate still facial configurations for keyframe animation, as well as complete temporal sequences of facial movements. The resulting animations combine the flexibility of a parameter‐based system and the realism of real human motion. Copyright © 2010 John Wiley & Sons, Ltd.     

An interior-point sequential approximate optimization methodology

The use of optimization in a simulation-based design environment has become a common trend in industry today. Computer simulation tools are commonplace in many engineering disciplines, providing the designers with tools to evaluate a designs performance without building a physical prototype. This has triggered the development of optimization techniques suitable for dealing with such simulations. One of these approaches is known as sequential approximate optimization. In sequential approximate minimization a sequence of optimizations are performed over local response surface approximations of the system. This paper details the development of an interior-point approach for trust-region-managed sequential approximate optimization. The interior-point approach will ensure that approximate feasibility is maintained throughout the optimization process. This facilitates the delivery of a usable design at each iteration when subject to reduced design cycle time constraints. In order to deal with infeasible starting points, homotopy methods are used to relax constraints and push designs toward feasibility. Results of application studies are presented, illustrating the applicability of the proposed algorithm.     

Deriving tabular event-based specifications from goal-oriented requirements models

Goal-oriented methods are increasingly popular for elaborating software requirements. They offer systematic support for incrementally building intentional, structural and operational models of the software and its environment. They also provide various techniques for early analysis, notably, to manage conflicting goals or to anticipate abnormal environment behaviours that prevent goals from being achieved. On the other hand, tabular event-based methods are well-established for specifying operational requirements for control software. They provide sophisticated techniques and tools for late analysis of software behaviour models through simulation, model checking or table exhaustiveness checks. The paper proposes to take the best out of these two worlds to engineer requirements for control software. It presents a technique for deriving event-based specifications, written in the SCR tabular language, from operational specifications built according to the KAOS goal-oriented method. The technique consists of a series of transformation steps each of which resolves semantic, structural or syntactic differences between the KAOS source language and the SCR target language. Some of these steps need human intervention and illustrate the kind of semantic subtleties that need to be taken into account when integrating multiple formalisms. As a result of our technique SCR specifiers may use upstream goal-based processes à la KAOS for the incremental elaboration, early analysis, organization and documentation of their tables, while KAOS modelers may use downstream tables à la SCR for later analysis of the behaviour models derived from goal specifications.     

To Be or Not to Be Electronic Money, That's the Question

The European Electronic Money Directive contains a definition of electronic money. However, determining which systems involving the use of electronic value fall under its scope can be more complicated than one might think. This issue is explored in this article through consideration of the question of whether prepaid mobile phone credits qualify as electronic money—a question that is currently being debated by telecommunications operators and regulators.     

Origins of adolescents' ideal self: An intergenerational perspective.

The present longitudinal study traced the ideal self of 120 adolescents to the ideals that parents hold for themselves and for their children. Ideals were assessed using Q sorts for personality attributes and life goals. After permutation analysis was used to control for random similarity, moderate parent-child ideal-self similarity was evident. Three intermediate transmission steps accounted for this intergenerational similarity: (a) transfer of parents' ideal self to ideals for their children, (b) children's perception, and (c) acceptance of these parental ideals. The last 2 processes related to parenting practices, with parental warmth augmenting parent-child concordance and restrictiveness reducing it. Compared with boys' ideal self, that of girls was more similar to the ideals that parents hold for their children and for themselves. Analyses of patterns over time suggested a growth of ideal-self stability across adolescence. (PsycINFO Database Record (c) 2010 APA, all rights reserved)