Abstract: L’anàlisi de documents té com a objectiu la interpretació automàtica de documents impresos sobre paper, amb la finalitat d’obtenir una descripció simbòlica d’aquests, que permeti el seu emmagatzemament i posterior tractament computacional. Les tècniques basades en grafs relacionals d’atributs permeten representar de manera compacta la informació continguda en dibuixos lineals i mitjançant mecanismes d’isomorfisme entre grafs, reconèixer-hi certes estructures i d’aquesta manera, interpretar el document. En aquest treball es dóna una visió general de les tènciques de grafs aplicades al reconeixement visual d’objectes en problemes d’anàlisi de documents. Aquestes tècniques s’il·lustren amb un exemple de reconeixement de plànols dibuixats a mà alçada. Finalment es proposa la utilització de tècniques de Hough com a mecanisme per accelerar el procés de reconeixement aplicant un cert coneixement sobre el domini en el que es treballa

Abstract: This paper deals with the recognition of symbols and struc- tural textures in architectural plans using string matching techniques. A plan is represented by an attributed graph whose nodes represent characteristic points and whose edges represent segments. Symbols and textures can be seen as a set of regions, i.e. closed loops in the graph, with a particular arrangement. The search for a symbol involves a graph matching between the regions of a model graph and the regions of the graph representing the document. Discriminating a texture means a clus- tering of neighbouring regions of this graph. Both procedures involve a similarity measure between graph regions. A string codification is used to represent the sequence of outlining edges of a region. Thus, the simila- rity between two regions is defined in terms of the string edit distance between their boundary strings. The use of string matching allows the recognition method to work also under presence of distortion.

Abstract: Obstacle avoidance remains a challenging task for Micro Aerial Vehicles (MAV), due to their limited payload capacity to carry advanced sensors. Unlike larger vehicles, MAV can only carry light weight sensors, for instance a camera, which is our main assumption in this work. We explore passive monocular depth estimation and propose a novel method Position Aided Depth Estimation
(PADE). We analyse PADE performance and compare it against the extensively used Time To Collision (TTC). We evaluate the accuracy, robustness to noise and speed of three Optical Flow (OF) techniques, combined with both depth estimation methods. Our results show PADE is more accurate than TTC at depths between 0-12 meters and is less sensitive to noise. Our findings highlight the potential application of PADE for MAV to perform safe autonomous navigation in
unknown and unstructured environments.