Swarm intelligence in computer vision: an application to object tracking

Tesis en inglés. Eliminadas las páginas en blanco del pdf

Disparity in regional and systemic circulatory capacities: do they affect the regulation of the circulation?

[EN] In this review we integrate ideas about regional and systemic circulatory capacities and the balance between skeletal muscle blood flow and cardiac output during heavy exercise in humans. In the first part of the review we discuss issues related to the pumping capacity of the heart and the vasodilator capacity of skeletal muscle. The issue is that skeletal muscle has a vast capacity to vasodilate during exercise [approximately 300 mL (100 g)(-1) min(-1)], but the pumping capacity of the human heart is limited to 20-25 L min(-1) in untrained subjects and approximately 35 L min(-1) in elite endurance athletes. This means that when more than 7-10 kg of muscle is active during heavy exercise, perfusion of the contracting muscles must be limited or mean arterial pressure will fall. In the second part of the review we emphasize that there is an interplay between sympathetic vasoconstriction and metabolic vasodilation that limits blood flow to contracting muscles to maintain mean arterial pressure. Vasoconstriction in larger vessels continues while constriction in smaller vessels is blunted permitting total muscle blood flow to be limited but distributed more optimally. This interplay between sympathetic constriction and metabolic dilation during heavy whole-body exercise is likely responsible for the very high levels of oxygen extraction seen in contracting skeletal muscle. It also explains why infusing vasodilators in the contracting muscles does not increase oxygen uptake in the muscle. Finally, when approximately 80% of cardiac output is directed towards contracting skeletal muscle modest vasoconstriction in the active muscles can evoke marked changes in arterial pressure.

La vision de l'Espagne de la preimère moitié du XIXe siècle dans la Géographie Universelle de Conrad Malte-Brun

[FR] Grande figure de la géographie française —et européenne— du premier quart du XIXe siècle, Conrad Malte-Brun laisse une oeuvre scientifique écrite considérable, dont une vaste Géographie universelle qui marqua alors son époque, rééditée à de multiples reprises durant plus de 50 ans. Contrairement à Élisée Reclus, autre grande figure de la seconde moitié du XIXe siècle, les écrits de Malte-Brun demeurent mal connus, sinon mésestimés. Or, à travers le fil conducteur que représente le chapitre de sa Géographie universelle consacré à l’Espagne, nous avons pour objectif de montrer que son auteur a su dépasser la simple dimension descriptive caractérisant nombre de textes géographiques de son époque pour introduire une réelle dimension explicative. Rien que pour cela, il mérite très largement, à notre sens, d’être redécouvert…

A variational approach to 3D cylindrical geometry reconstruction from multiple views

[EN] In this paper we present a variational technique for the reconstruction of 3D cylindrical surfaces. Roughly speaking by a cylindrical surface we mean a surface that can be parameterized using the projection on a cylinder in terms of two coordinates, representing the displacement and angle in a cylindrical coordinate system respectively. The starting point for our method is a set of different views of a cylindrical surface, as well as a precomputed disparity map estimation between pair of images. The proposed variational technique is based on an energy minimization where we balance on the one hand the regularity of the cylindrical function given by the distance of the surface points to cylinder axis, and on the other hand, the distance between the projection of the surface points on the images and the expected location following the precomputed disparity map estimation between pair of images. One interesting advantage of this approach is that we regularize the 3D surface by means of a bi-dimensio al minimization problem. We show some experimental results for large stereo sequences.

Dense disparity map estimation respecting image discontinuities

[EN] We present an energy based approach to estimate a dense disparity map from a set of two weakly calibrated stereoscopic images while preserving its discontinuities resulting from image boundaries. We first derive a simplified expression for the disparity that allows us to estimate it from a stereo pair of images using an energy minimization approach. We assume that the epipolar geometry is known, and we include this information in the energy model. Discontinuities are preserved by means of a regularization term based on the Nagel-Enkelmann operator. We investigate the associated Euler-Lagrange equation of the energy functional, and we approach the solution of the underlying partial differential equation (PDE) using a gradient descent method The resulting parabolic problem has a unique solution. In order to reduce the risk to be trapped within some irrelevant local minima during the iterations, we use a focusing strategy based on a linear scalespace. Experimental results on both synthetic and real images arere presented to illustrate the capabilities of this PDE and scale-space based method.

A variational approach to 3D geometry reconstruction from two or multiple views

[EN] In the last years we have developed some methods for 3D reconstruction. First we began with the problem of reconstructing a 3D scene from a stereoscopic pair of images. We developed some methods based on energy functionals which produce dense disparity maps by preserving discontinuities from image boundaries. Then we passed to the problem of reconstructing a 3D scene from multiple views (more than 2). The method for multiple view reconstruction relies on the method for stereoscopic reconstruction. For every pair of consecutive images we estimate a disparity map and then we apply a robust method that searches for good correspondences through the sequence of images. Recently we have proposed several methods for 3D surface regularization. This is a postprocessing step necessary for smoothing the final surface, which could be afected by noise or mismatch correspondences. These regularization methods are interesting because they use the information from the reconstructing process and not only from the 3D surface. We have tackled all these problems from an energy minimization approach. We investigate the associated Euler-Lagrange equation of the energy functional, and we approach the solution of the underlying partial differential equation (PDE) using a gradient descent method.

Computer vision based eyewear selector

[EN]This paper describes a low-cost system that allows the user to visualize different glasses models in live video. The user can also move the glasses to adjust its position on the face. The system, which runs at 9.5 frames/s on general-purpose hardware, has a homeostatic module that keeps image parameters controlled. This is achieved by using a camera with motorized zoom, iris, white balance, etc. This feature can be specially useful in environments with changing illumination and shadows, like in an optical shop. The system also includes a face and eye detection module and a glasses management module.

Useful computer vision techniques for human-robot interaction

[ES]This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/dissaproval, understanding/disbelief head gestures.