Análise do comportamento de técnicas de correspondência binocular para imagens em alta definição

This work presents an analysis of the behavior of some algorithms usually available in stereo correspondence literature, with full HD images (1920x1080 pixels) to establish, within the precision dilemma versus runtime applications which these methods can be better used. The images are obtained by a system composed of a stereo camera coupled to a computer via a capture board. The OpenCV library is used for computer vision operations and processing images involved. The algorithms discussed are an overall method of search for matching blocks with the Sum of the Absolute Value of the difference (Sum of Absolute Differences - SAD), a global technique based on cutting energy graph cuts, and a so-called matching technique semi -global. The criteria for analysis are processing time, the consumption of heap memory and the mean absolute error of disparity maps generated.

Foraminíferos, ostracodes e microfauna associada da plataforma continental equatorial norte-rio-grandense, NE Brasil: área Porto do Mangue a Galinhos

This study was conducted in the adjacent Brazilian equatorial inner shelf to Rio Grande do Norte, between the region of Porto do Mangue and Galinhos. The main objective is the characterization of biogenic sediments, especially foraminifera and ostracod collected on the surface of the seafloor. The methodology involved standard procedures including literature, surveys, processing of samples in the laboratory and identification of foraminifera and ostracods by genera or species under stereo microscopy and scanning electron microscopy (SEM). Multivariate statistical analyzes and study of ecological indexes were also applied to the study of foraminifera. Three transects, from inner shelf to slope were sampled: profile 01 (east, near Galos), profile 02 (center, near the city of Macau) and profile 03 (west, near Ponta do Mel). Results indicated the predominance of benthic foraminifera and little plankton occurrence. Benthic foraminifera genera observed in abundance were Quinqueloculina, Textularia, Globigerina and Pyrgo, Quinqueloculina, Textularia, Pyrgo, Ammonia, Elphidium, Pseudononion, Peneroplis, Bolivina and Poroeponides, occurred more frequently. Less frequently been described Amphistegina, Archaias, Bigenerina, Cibicides, Cassidulina, Amphicorina, Cornuspira, Paterina, Hopkunsina, Oolina, Uvigerina, Fusenkoina, Nonionella, Amphisorus, Wiesrella, Reussella, Reophax, Nodosaria, Marginulina and Cyclogyra. Six genera of ostracods were also identified: Puriana variabilis / P. convoluted?, Loxoconcha sp, Bairdiidae, Xestoleberis sp, Hemicytheridae and Ruggiericythere sp. Groups of organisms found in the studied shelf presented chemical composition of Ca, C, O, Na, Cl, Al, Mg, and Si. The proportions of chemical elements may vary according to the type of biogenic sediment, with the highest values identified as Ca, C, Cl, Na and O. The absolute dating by carbon 14 method indicated sediments of different colors (light and dark), correspond to a single age from 3000 to 6000 years BP, related to the Quaternary. These data intend to complement information about biogenic sediments in the Brazilian continental shelf, especially in the Northeast, where there is a lack of such studies.

Foraminíferos, ostracodes e microfauna associada da plataforma continental equatorial norte-rio-grandense, NE Brasil: área Porto do Mangue a Galinhos

This study was conducted in the adjacent Brazilian equatorial inner shelf to Rio Grande do Norte, between the region of Porto do Mangue and Galinhos. The main objective is the characterization of biogenic sediments, especially foraminifera and ostracod collected on the surface of the seafloor. The methodology involved standard procedures including literature, surveys, processing of samples in the laboratory and identification of foraminifera and ostracods by genera or species under stereo microscopy and scanning electron microscopy (SEM). Multivariate statistical analyzes and study of ecological indexes were also applied to the study of foraminifera. Three transects, from inner shelf to slope were sampled: profile 01 (east, near Galos), profile 02 (center, near the city of Macau) and profile 03 (west, near Ponta do Mel). Results indicated the predominance of benthic foraminifera and little plankton occurrence. Benthic foraminifera genera observed in abundance were Quinqueloculina, Textularia, Globigerina and Pyrgo, Quinqueloculina, Textularia, Pyrgo, Ammonia, Elphidium, Pseudononion, Peneroplis, Bolivina and Poroeponides, occurred more frequently. Less frequently been described Amphistegina, Archaias, Bigenerina, Cibicides, Cassidulina, Amphicorina, Cornuspira, Paterina, Hopkunsina, Oolina, Uvigerina, Fusenkoina, Nonionella, Amphisorus, Wiesrella, Reussella, Reophax, Nodosaria, Marginulina and Cyclogyra. Six genera of ostracods were also identified: Puriana variabilis / P. convoluted?, Loxoconcha sp, Bairdiidae, Xestoleberis sp, Hemicytheridae and Ruggiericythere sp. Groups of organisms found in the studied shelf presented chemical composition of Ca, C, O, Na, Cl, Al, Mg, and Si. The proportions of chemical elements may vary according to the type of biogenic sediment, with the highest values identified as Ca, C, Cl, Na and O. The absolute dating by carbon 14 method indicated sediments of different colors (light and dark), correspond to a single age from 3000 to 6000 years BP, related to the Quaternary. These data intend to complement information about biogenic sediments in the Brazilian continental shelf, especially in the Northeast, where there is a lack of such studies.

Incidência e fatores de risco da retinopatia diabética em pacientes do Hospital Universitário Onofre Lopes, Natal-RN

Estudar a incidência e fatores de risco (tempo de doença e presença de hipertensão arterial sistêmica) para retinopatia diabética em 1002 pacientes encaminhados pelo Programa de Diabetes do Hospital Universitário Onofre Lopes no período de 1992 – 1995. Métodos: Estudo retrospectivo de pacientes com diagnóstico de diabetes mellitus encaminhados ao Setor de Retina do Departamento de Oftalmologia pelo Programa de Diabetes do Hospital Universitário e submetido, sob a supervisão do autor, a exame oftalmológico, incluindo medida da acuidade visual corrigida (tabela de Snellen), biomicroscopia do segmento anterior e posterior, tonometria de aplanação e oftalmoscopia binocular indireta sob midríase(tropicamida 1% + fenilefrina 10%). Foi realizada análise dos prontuários referente ao tempo de doenças e diagnostico clínico de hipertensão arterial sistêmica. Resultados: Dos 1002 diabéticos examinados (em 24 deles a fundoscopia foi inviável), 978 foram separados em 4 grupos: sem retinopatia diabética (SRD), 675 casos (69,01%); com retinopatia diabética não proliferativa (RDNP), 207 casos (21,16%); com retinopatia diabética proliferativa (RDP), 70 casos (7,15%); e pacientes já fotocoagulados (JFC), 26 casos (2,65%). Do total, 291 eram do sexo masculino (29%) e 711 do sexo feminino (71%). Os 4 grupos foram ainda avaliados quanto ao sexo, a faixa etária, a acuidade visual, tempo de doença, presença de catarata e hipertensão arterial sistêmica e comparados entre si. Com relação ao tipo de diabetes, 95 eram do tipo I (9,4%), 870 pacientes eram do tipo II (86,8%), e em 37 casos(3,7%) o tipo de diabetes não foi determinado. Conclusões: Comprovou-se que os pacientes com maior tempo de doença tinham maior probabilidade de desenvolver retinopatia diabética, e que a hipertensão arterial sistêmica não constituiu fator de risco em relação à diminuição da acuidade visual nos pacientes hipertensos

Uso de renderização volumétrica e realidade virtual para problemas de percolação na engenharia

In the recovering process of oil, rock heterogeneity has a huge impact on how fluids move in the field, defining how much oil can be recovered. In order to study this variability, percolation theory, which describes phenomena involving geometry and connectivity are the bases, is a very useful model. Result of percolation is tridimensional data and have no physical meaning until visualized in form of images or animations. Although a lot of powerful and sophisticated visualization tools have been developed, they focus on generation of planar 2D images. In order to interpret data as they would be in the real world, virtual reality techniques using stereo images could be used. In this work we propose an interactive and helpful tool, named ZSweepVR, based on virtual reality techniques that allows a better comprehension of volumetric data generated by simulation of dynamic percolation. The developed system has the ability to render images using two different techniques: surface rendering and volume rendering. Surface rendering is accomplished by OpenGL directives and volume rendering is accomplished by the Zsweep direct volume rendering engine. In the case of volumetric rendering, we implemented an algorithm to generate stereo images. We also propose enhancements in the original percolation algorithm in order to get a better performance. We applied our developed tools to a mature field database, obtaining satisfactory results. The use of stereoscopic and volumetric images brought valuable contributions for the interpretation and clustering formation analysis in percolation, what certainly could lead to better decisions about the exploration and recovery process in oil fields

Um sistema de visão para navegação robusta de uma plataforma robótica semi-autônoma

Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case)

Mapeamento robótico 2,5-D com representação em grade de ocupação-elevação

This work introduces a new method for environment mapping with three-dimensional information from visual information for robotic accurate navigation. Many approaches of 3D mapping using occupancy grid typically requires high computacional effort to both build and store the map. We introduce an 2.5-D occupancy-elevation grid mapping, which is a discrete mapping approach, where each cell stores the occupancy probability, the height of the terrain at current place in the environment and the variance of this height. This 2.5-dimensional representation allows that a mobile robot to know whether a place in the environment is occupied by an obstacle and the height of this obstacle, thus, it can decide if is possible to traverse the obstacle. Sensorial informations necessary to construct the map is provided by a stereo vision system, which has been modeled with a robust probabilistic approach, considering the noise present in the stereo processing. The resulting maps favors the execution of tasks like decision making in the autonomous navigation, exploration, localization and path planning. Experiments carried out with a real mobile robots demonstrates that this proposed approach yields useful maps for robot autonomous navigation

Um método para determinação da profundidade combinando visão estéreo e autocalibração para aplicação em robótica móvel

This work proposes a method to determine the depth of objects in a scene using a combination between stereo vision and self-calibration techniques. Determining the rel- ative distance between visualized objects and a robot, with a stereo head, it is possible to navigate in unknown environments. Stereo vision techniques supply a depth measure by the combination of two or more images from the same scene. To achieve a depth estimates of the in scene objects a reconstruction of this scene geometry is necessary. For such reconstruction the relationship between the three-dimensional world coordi- nates and the two-dimensional images coordinates is necessary. Through the achievement of the cameras intrinsic parameters it is possible to make this coordinates systems relationship. These parameters can be gotten through geometric camera calibration, which, generally is made by a correlation between image characteristics of a calibration pattern with know dimensions. The cameras self-calibration allows the achievement of their intrinsic parameters without using a known calibration pattern, being possible their calculation and alteration during the displacement of the robot in an unknown environment. In this work a self-calibration method based in the three-dimensional polar coordinates to represent image features is presented. This representation is determined by the relationship between images features and horizontal and vertical opening cameras angles. Using the polar coordinates it is possible to geometrically reconstruct the scene. Through the proposed techniques combination it is possible to calculate a scene objects depth estimate, allowing the robot navigation in an unknown environment

Correspondência estéreo usando imagens em multiresolução com profundidade variável

We propose a multi-resolution, coarse-to-fine approach for stereo matching, where the first matching happens at a different depth for each pixel. The proposed technique has the potential of attenuating several problems faced by the constant depth algorithm, making it possible to reduce the number of errors or the number of comparations needed to get equivalent results. Several experiments were performed to demonstrate the method efficiency, including comparison with the traditional plain correlation technique, where the multi-resolution matching with variable depth, proposed here, generated better results with a smaller processing time

Uma proposição para o cálculo de mapas de disparidade de imagens estéreo usando um interpolador neural baseado em funções de base radial

This study aims to seek a more viable alternative for the calculation of differences in images of stereo vision, using a factor that reduces heel the amount of points that are considered on the captured image, and a network neural-based radial basis functions to interpolate the results. The objective to be achieved is to produce an approximate picture of disparities using algorithms with low computational cost, unlike the classical algorithms

Construção de mosaicos georreferenciados usando imagens aéreas de pequeno formato

In this work we propose a technique that uses uncontrolled small format aerial images, or SFAI, and stereohotogrammetry techniques to construct georeferenced mosaics. Images are obtained using a simple digital camera coupled with a radio controlled (RC) helicopter. Techniques for removing common distortions are applied and the relative orientation of the models are recovered using projective geometry. Ground truth points are used to get absolute orientation, plus a definition of scale and a coordinate system which relates image measures to the ground. The mosaic is read into a GIS system, providing useful information to different types of users, such as researchers, governmental agencies, employees, fishermen and tourism enterprises. Results are reported, illustrating the applicability of the system. The main contribution is the generation of georeferenced mosaics using SFAIs, which have not yet broadly explored in cartography projects. The proposed architecture presents a viable and much less expensive solution, when compared to systems using controlled pictures