Monocular 3D scene reconstruction at absolute scale

In this article we propose a method for combining geometric and real-aperture methods for monocular three-dimensional (3D) reconstruction of static scenes at absolute scale. Our algorithm relies on a sequence of images of the object acquired by a monocular camera of fixed focal setting from different viewpoints. Object features are tracked over a range of distances from the camera with a small depth of field, leading to a varying degree of defocus for each feature. Information on absolute depth is obtained based on a Depth-from-Defocus approach. The parameters of the point spread functions estimated by Depth-from-Defocus are used as a regularisation term for Structure-from-Motion. The reprojection error obtained from bundle adjustment and the absolute depth error obtained from Depth-from-Defocus are simultaneously minimised for all tracked object features. The proposed method yields absolutely scaled 3D coordinates of the scene points without any prior knowledge about scene structure and camera motion. We describe the implementation of the proposed method both as an offline and as an online algorithm. Evaluating the algorithm on real-world data, we demonstrate that it yields typical relative scale errors of a few per cent. We examine the influence of random effects, i.e. the noise of the pixel grey values, and systematic effects, caused by thermal expansion of the optical system or by inclusion of strongly blurred images, on the accuracy of the 3D reconstruction result. Possible applications of our approach are in the field of industrial quality inspection; in particular, it is preferable to stereo cameras in industrial vision systems with space limitations or where strong vibrations occur.     

Evidence for current-controlled morphology along the western slope of Hatton Bank (Rockall Plateau, NE Atlantic Ocean)

A multibeam bathymetric and high- (airgun and sparker) to very high-resolution (Topas) seismic study of the western slope of Hatton Bank (NE Atlantic), located between 600 m and 2,000 m water depth, has revealed a highly variable range of current-controlled morphological features. Two major seabed areas can be distinguished: (1) a non-depositional area corresponding to the top of the bank and (2) a depositional area in which the Hatton Drift has developed. Both areas are characterised by distinct morphologies associated either with rock outcrops and rocky ridges or with smooth surfaces, slides and bedforms controlled mainly by bottom currents interacting with the topography of the bank. The water depth separating the morphological areas probably coincides with the boundary of the Labrador Sea Water and the Lower Deep Water. Morphological features identified in the study area include contourite channels (moats, furrows and scours), fields of sediment waves, edges of contourite deposits, ponded deposits, scarps, gullies, ridges, depressions, slides and slide scars. These morphological features do not necessarily reflect present-day conditions but may have been associated with past current events, consistent with earlier interpretations.     

Tropical land savannization: impact of global warming

This study investigates the impact of global warming on the savannization of the tropical land region and also examines the relative roles of the impact of the increase of greenhouse gas concentration and future changes in land cover on the tropical climate. For this purpose, a mechanistic–statistical–dynamical climate model with a bidirectional interaction between vegetation and climate is used. The results showed that climate change due to deforestation is more than that due to greenhouse gases in the tropical region. The warming due to deforestation corresponds to around 60% of the warming in the tropical region when the increase of CO₂ concentration is included together. However, the global warming due to deforestation is negligible. On the other hand, with the increase of CO₂ concentration projected for 2100, there is a lower decrease of evapotranspiration, precipitation and net surface radiation in the tropical region compared with the case with only deforestation. Differently from the case with only deforestation, the effect of the changes in the net surface radiation overcomes that due to the evapotranspiration, so that the warming in the tropical land region is increased. The impact of the increase of CO₂ concentration on a deforestation scenario is to increase the reduction of the areas covered by tropical forest (and a corresponding increase in the areas covered by savanna) which may reach 7.5% in future compared with the present climate. Compared with the case with only deforestation, drying may increase by 66.7%. This corroborates with the hypothesis that the process of savannization of the tropical forest can be accelerated in future due to global warming.     

How do mineral coatings affect dissolution rates? An experimental study of coupled CaCO3 dissolution—CdCO3 precipitation

Coupled CaCO₃ dissolution-otavite (CdCO₃) precipitation experiments have been performed to 1) quantify the effect of mineral coatings on dissolution rates, and 2) to explore the possible application of this coupled process to the remediation of polluted waters. All experiments were performed at 25°C in mixed-flow reactors. Various CaCO₃ solids were used in the experiments including calcite, aragonite, and ground clam, mussel, and cockle shells. Precipitation was induced by the presence of Cd(NO₃)₂ in the inlet solution, which combined with aqueous carbonate liberated by CaCO₃ dissolution to supersaturate otavite. The precipitation of an otavite layer of less than 0.01 μm in thickness on calcite surfaces decreases its dissolution rate by close to two orders of magnitude. This decrease in calcite dissolution rates lowers aqueous carbonate concentrations in the reactor such that the mixed-flow reactor experiments attain a steady-state where the reactive fluid is approximately in equilibrium with otavite, arresting its precipitation. In contrast, otavite coatings are far less efficient in lowering aragonite, and ground clam, mussel, and cockle shell dissolution rates, which are comprised primarily of aragonite. A steady-state is only attained after the precipitation of an otavite layer of 3-10 μm thick; the steady state CaCO₃ dissolution rate is 1-2 orders of magnitude lower than that in the absence of otavite coatings. The difference in behavior is interpreted to stem from the relative crystallographic structures of the dissolving and precipitating minerals. As otavite is isostructural with respect to calcite, it precipitates by epitaxial growth directly on the calcite, efficiently slowing dissolution. In contrast, otavite’s structure is appreciably different from that of aragonite. Thus, it will precipitate by random three dimensional heterogeneous nucleation, leaving some pore space at the otavite-aragonite interface. This pore space allows aragonite dissolution to continue relatively unaffected by thin layers of precipitated otavite. Due to the inefficiency of otavite coatings to slow aragonite and ground aragonite shell dissolution, aragonite appears to be a far better Cd scavenging material for cleaning polluted waste waters.     

Escaped introduced sea bass (Dicentrarchus labrax) infected by Sphaerospora testicularis (Myxozoa) reach maturity in coastal habitats off Canary Islands

Aquaculture activities have introduced European sea bass (Dicentrarchus labrax) along the coasts of some of the Canary Islands. We present the first record of simultaneous male and female gonad maturation of escaped sea bass in the wild, indicating that this species is finding its essential fish habitat (EFH). Individuals with ripe gonads were only caught during January and February 2009, although the maturation and spawning season may last from November to February in the studied area (Tenerife island). Bass infected by Sphaerospora testicularis were found and the incidence of the parasite was checked. This represents the southernmost record of the parasite, probably introduced together with sea bass stock. The results are discussed from the point of view of risk assessment and the ecology of invasions being valuable for aquaculture management in Central North Atlantic and Mediterranean areas.     

Fluid modern ethnic spaces: contesting the spatial ordering of the State in Bolivia

Relationships between the Bolivian State and the emerging indigenous and peasant social movements have become increasingly fluid since the end of the 1970s. Although this process could be traced back to the 1953 Agrarian Reform, it was not until the world crisis of the 1970s and the surge in globalisation that it led to radical changes in the relationship between State and indigenous peoples. Seen from the point of view of the State, our case study of a group of Quechua communities seems to illustrate a process of fragmentation leading to ungovernability and disorder. This understanding has to do with a lack of 'legibility'. However here I replace that 'image' of disorder with another 'feeling' of cultural ordering, one that emerges from indigenous people's livelihoods, strategies and governance from below. I argue for understanding the apparent lack of governance as the expression of an autonomous reorganising process that leads to the regrouping and expansion of indigenous localities linked into new forms of regionalisation.