Laser stripe peak detector for 3D scanners: a FIR filter approach

The accuracy of a 3D reconstruction using laser scanners is significantly determined by the detection of the laser stripe. Since the energy pattern of such a stripe corresponds to a Gaussian profile, it makes sense to detect the point of maximum light intensity (or peak) by computing the zero-crossing point of the first derivative of such Gaussian profile. However, because noise is present in every physical process, such as electronic image formation, it is not sensitive to perform the derivative of the image of the stripe in almost any situation, unless a previous filtering stage is done. Considering that stripe scanning is an inherently row-parallel process, every row of a given image must be processed independently in order to compute its corresponding peak position in the row. This paper reports on the use of digital filtering techniques in order to cope with the scanning of different surfaces with different optical properties and different noise levels, leading to the proposal of a more accurate numerical peak detector, even at very low signal-to-noise ratios

Use of decision trees in colour feature selection: application to object recognition in outdoor scenes

A new method for the automated selection of colour features is described. The algorithm consists of two stages of processing. In the first, a complete set of colour features is calculated for every object of interest in an image. In the second stage, each object is mapped into several n-dimensional feature spaces in order to select the feature set with the smallest variables able to discriminate the remaining objects. The evaluation of the discrimination power for each concrete subset of features is performed by means of decision trees composed of linear discrimination functions. This method can provide valuable help in outdoor scene analysis where no colour space has been demonstrated as being the most suitable. Experiment results recognizing objects in outdoor scenes are reported

Biofilm formation as a novel phenotypic feature of adherent-invasive Escherichia coli (AIEC)

Crohn's disease (CD) is a high morbidity chronic inflammatory disorder of unknown aetiology. Adherent-invasive Escherichia coli (AIEC) has been recently implicated in the origin and perpetuation of CD. Because bacterial biofilms in the gut mucosa are suspected to play a role in CD and biofilm formation is a feature of certain pathogenic E. coli strains, we compared the biofilmformation capacity of 27 AIEC and 38 non-AIEC strains isolated from the intestinal mucosa. Biofilmformation capacity was then contrasted with the AIEC phenotype, the serotype, the phylotype, andthe presence of virulence genes. Results: Specific biofilm formation (SBF) indices were higher amongst AIEC than non-AIEC strains(P = 0.012). In addition, 65.4% of moderate to strong biofilms producers were AIEC, whereas74.4% of weak biofilm producers were non-AIEC (P = 0.002). These data indicate that AIEC strainswere more efficient biofilm producers than non-AIEC strains. Moreover, adhesion (P = 0.009) andinvasion (P = 0.003) indices correlated positively with higher SBF indices. Additionally, motility(100%, P < 0.001), H1 type flagellin (53.8%, P < 0.001), serogroups O83 (19.2%, P = 0.008) and O22(26.9%, P = 0.001), the presence of virulence genes such as sfa/focDE (38.5%, P = 0.003) and ibeA(26.9%, P = 0.017), and B2 phylotype (80.8%, P < 0.001) were frequent characteristics amongstbiofilm producers.Conclusion: The principal contribution of the present work is the finding that biofilm formationcapacity is a novel, complementary pathogenic feature of the recently described AIEC pathovar. Characterization of AIEC specific genetic determinants, and the regulatory pathways, involved in biofilm formation will likely bring new insights into AIEC pathogenesis

A proposal to estimate the motion of an underwater vehicle through visual mosaicking

This thesis proposes a solution to the problem of estimating the motion of an Unmanned Underwater Vehicle (UUV). Our approach is based on the integration of the incremental measurements which are provided by a vision system. When the vehicle is close to the underwater terrain, it constructs a visual map (so called "mosaic") of the area where the mission takes place while, at the same time, it localizes itself on this map, following the Concurrent Mapping and Localization strategy. The proposed methodology to achieve this goal is based on a feature-based mosaicking algorithm. A down-looking camera is attached to the underwater vehicle. As the vehicle moves, a sequence of images of the sea-floor is acquired by the camera. For every image of the sequence, a set of characteristic features is detected by means of a corner detector. Then, their correspondences are found in the next image of the sequence. Solving the correspondence problem in an accurate and reliable way is a difficult task in computer vision. We consider different alternatives to solve this problem by introducing a detailed analysis of the textural characteristics of the image. This is done in two phases: first comparing different texture operators individually, and next selecting those that best characterize the point/matching pair and using them together to obtain a more robust characterization. Various alternatives are also studied to merge the information provided by the individual texture operators. Finally, the best approach in terms of robustness and efficiency is proposed. After the correspondences have been solved, for every pair of consecutive images we obtain a list of image features in the first image and their matchings in the next frame. Our aim is now to recover the apparent motion of the camera from these features. Although an accurate texture analysis is devoted to the matching pro-cedure, some false matches (known as outliers) could still appear among the right correspon-dences. For this reason, a robust estimation technique is used to estimate the planar transformation (homography) which explains the dominant motion of the image. Next, this homography is used to warp the processed image to the common mosaic frame, constructing a composite image formed by every frame of the sequence. With the aim of estimating the position of the vehicle as the mosaic is being constructed, the 3D motion of the vehicle can be computed from the measurements obtained by a sonar altimeter and the incremental motion computed from the homography. Unfortunately, as the mosaic increases in size, image local alignment errors increase the inaccuracies associated to the position of the vehicle. Occasionally, the trajectory described by the vehicle may cross over itself. In this situation new information is available, and the system can readjust the position estimates. Our proposal consists not only in localizing the vehicle, but also in readjusting the trajectory described by the vehicle when crossover information is obtained. This is achieved by implementing an Augmented State Kalman Filter (ASKF). Kalman filtering appears as an adequate framework to deal with position estimates and their associated covariances. Finally, some experimental results are shown. A laboratory setup has been used to analyze and evaluate the accuracy of the mosaicking system. This setup enables a quantitative measurement of the accumulated errors of the mosaics created in the lab. Then, the results obtained from real sea trials using the URIS underwater vehicle are shown.