3D Maps Representation Using GNG

Current RGB-D sensors provide a big amount of valuable information for mobile robotics tasks like 3D map reconstruction, but the storage and processing of the incremental data provided by the different sensors through time quickly become unmanageable. In this work, we focus on 3D maps representation and propose the use of the Growing Neural Gas (GNG) network as a model to represent 3D input data. GNG method is able to represent the input data with a desired amount of neurons or resolution while preserving the topology of the input space. Experiments show how GNG method yields a better input space adaptation than other state-of-the-art 3D map representation methods.

Orbscan Topography in Primary Open-Angle Glaucoma

Purpose: To compare anterior and posterior corneal curvatures between eyes with primary open-angle glaucoma (POAG) and healthy eyes. Methods: This is a prospective, cross-sectional, observer-masked study. A total of 138 white subjects (one eye per patient) were consecutively recruited; 69 eyes had POAG (study group), and the other 69 comprised a group of healthy control eyes matched for age and central corneal pachymetry with the study ones. Exclusion criteria included any corneal or ocular inflammatory disease, previous ocular surgery, or treatment with carbonic anhydrase inhibitors. The same masked observer performed Goldmann applanation tonometry, ultrasound pachymetry, and Orbscan II topography in all cases. Central corneal thickness, intraocular pressure, and anterior and posterior topographic elevation maps were analyzed and compared between both groups. Results: Patients with POAG had greater forward shifting of the posterior corneal surface than that in healthy control eyes (p < 0.01). Significant differences in anterior corneal elevation between controls and POAG eyes were also found (p < 0.01). Conclusions: Primary open-angle glaucoma eyes have a higher elevation of the posterior corneal surface than that in central corneal thickness–matched nonglaucomatous eyes.