Estudi i implementació d’un mètode de reconstrucció 3D basat en SfM i registre de vistes 3D parcials

Aquest projecte es basarà en reconstruir una imatge 3D gran a partir d’una seqüència d’imatges 2D capturades per una càmera. Ens centrem en l’estudi de les bases matemàtiques de la visió per computador així com en diferents mètodes emprats en la reconstrucció 3D d’imatges. Per portar a terme aquest estudi s’utilitza la plataforma de desenvolupament MatLab ja que permet tractar operacions matemàtiques, imatges i matrius de gran tamany amb molta senzillesa, rapidesa i eficiència, per aquesta raó s’usa en moltes recerques sobre aquest tema. El projecte aprofundeix en el tema descrit anteriorment estudiant i implementant un mètode que consisteix en aplicar Structure From Motion (SFM) a pocs frames seguits obtinguts d’una seqüència d’imatges 2D per crear una reconstrucció 3D. Quan s’han creat dues reconstruccions 3D consecutives i fent servir un frame com a mínim en comú entre elles, s’aplica un mètode de registre d’estructures 3D, l’Iterative Closest Point (ICP), per crear una reconstrucció 3D més gran a través d’unir les diferents reconstruccions obtingudes a partir de SfM. El mètode consisteix en anar repetint aquestes operacions fins al final dels frames per poder aconseguir una reconstrucció 3D més gran que les petites imatges que s’aconsegueixen a través de SfM. A la Figura 1 es pot veure un esquema del procés que es segueix. Per avaluar el comportament del mètode, utilitzem un conjunt de seqüències sintètiques i un conjunt de seqüències reals obtingudes a partir d’una càmera. L’objectiu final d’aquest projecte és construir una nova toolbox de MatLab amb tots els mètodes per crear reconstruccions 3D grans per tal que sigui possible tractar amb facilitat aquest problema i seguir-lo desenvolupant en un futur

Comparison of Roadway Roughness Derived from LIDAR and SFM 3D Point Clouds, HR-3001, 2015

This report describes a short-term study undertaken to investigate the potential for using dense three-dimensional (3D) point clouds generated from light detection and ranging (LIDAR) and photogrammetry to assess roadway roughness. Spatially continuous roughness maps have potential for the identification of localized roughness features, which would be a significant improvement over traditional profiling methods. This report specifically illustrates the use of terrestrial laser scanning (TLS) and photogrammetry using a process known as structure from motion (SFM) to acquire point clouds and illustrates the use of these point clouds in evaluating road roughness. Five roadway sections were chosen for scanning and testing: three gravel road sections, one portland cement concrete (PCC) section, and one asphalt concrete (AC) section. To compare clouds obtained from terrestrial laser scanning and photogrammetry, the coordinates of the clouds for the same section on the same date were matched using open source computer code. The research indicates that the technologies described are very promising for evaluating road roughness. The major advantage of both technologies is the large amount of data collected, which allows the evaluation of the full surface. Additional research is needed to further develop the use of dense 3D point clouds for roadway assessment.

Estudi i implementació d’un mètode de reconstrucció 3D basat en SfM i registre de vistes 3D parcials

Aquest projecte es basarà en reconstruir una imatge 3D gran a partir d’una seqüència d’imatges 2D capturades per una càmera. Ens centrem en l’estudi de les bases matemàtiques de la visió per computador així com en diferents mètodes emprats en la reconstrucció 3D d’imatges. Per portar a terme aquest estudi s’utilitza la plataforma de desenvolupament MatLab ja que permet tractar operacions matemàtiques, imatges i matrius de gran tamany amb molta senzillesa, rapidesa i eficiència, per aquesta raó s’usa en moltes recerques sobre aquest tema. El projecte aprofundeix en el tema descrit anteriorment estudiant i implementant un mètode que consisteix en aplicar Structure From Motion (SFM) a pocs frames seguits obtinguts d’una seqüència d’imatges 2D per crear una reconstrucció 3D. Quan s’han creat dues reconstruccions 3D consecutives i fent servir un frame com a mínim en comú entre elles, s’aplica un mètode de registre d’estructures 3D, l’Iterative Closest Point (ICP), per crear una reconstrucció 3D més gran a través d’unir les diferents reconstruccions obtingudes a partir de SfM. El mètode consisteix en anar repetint aquestes operacions fins al final dels frames per poder aconseguir una reconstrucció 3D més gran que les petites imatges que s’aconsegueixen a través de SfM. A la Figura 1 es pot veure un esquema del procés que es segueix. Per avaluar el comportament del mètode, utilitzem un conjunt de seqüències sintètiques i un conjunt de seqüències reals obtingudes a partir d’una càmera. L’objectiu final d’aquest projecte és construir una nova toolbox de MatLab amb tots els mètodes per crear reconstruccions 3D grans per tal que sigui possible tractar amb facilitat aquest problema i seguir-lo desenvolupant en un futur

Calculating the Uncertainty of a Structure from Motion (SfM) Model, Cadman Quarry, Monroe, Washington

Structure from Motion (SfM) is a new form of photogrammetry that automates the rendering of georeferenced 3D models of objects using digital photographs and independently surveyed Ground Control Points (GCPs). This project seeks to quantify the error found in Digital Elevation Models (DEMs) produced using SfM. I modeled a rockslide found at the Cadman Quarry (Monroe, Washington) because the surface is vegetation-free, which is ideal for SfM and Terrestrial LiDAR Scanner (TLS) surveys. By using SfM, TLS, and GPS positioning at the same time, I attempted to find the deviation in the SfM model from the TLS model and GPS points. Using the deviation, I found the Root-Mean-Square Error (RMSE) between the SfM DEM and GPS positions. The RMSE of the SfM model when compared to surveyed GPS points is 17cm. I propagated the uncertainty of the GPS points with the RMSE of the SfM model to find the uncertainty of the SfM model compared to the NAD 1984 datum. The uncertainty of the SfM model compared to the NAD 1984 is 27cm. This study did not produce a model from the TLS that had sufficient resolution on horizontal surfaces to compare to surveyed GPS points.

An Efficient Protocol For The Generation Of Monocyte Derived Dendritic Cells Using Serum-free Media For Clinical Applications In Post Remission Aml Patients.

Protocols for the generation of dendritic cells (DCs) using serum as a supplementation of culture media leads to reactions due to animal proteins and disease transmissions. Several types of serum-free media (SFM), based on good manufacture practices (GMP), have recently been used and seem to be a viable option. The aim of this study was to evaluate the results of the differentiation, maturation, and function of DCs from Acute Myeloid Leukemia patients (AML), generated in SFM and medium supplemented with autologous serum (AS). DCs were analyzed by phenotype characteristics, viability, and functionality. The results showed the possibility of generating viable DCs in all the conditions tested. In patients, the X-VIVO 15 medium was more efficient than the other media tested in the generation of DCs producing IL-12p70 (p=0.05). Moreover, the presence of AS led to a significant increase of IL-10 by DCs as compared with CellGro (p=0.05) and X-Vivo15 (p=0.05) media, both in patients and donors. We concluded that SFM was efficient in the production of DCs for immunotherapy in AML patients. However, the use of AS appears to interfere with the functional capacity of the generated DCs.

Regulating industrial forest concessions in Central Africa and South America

Tropical countries face special specific problems in implementing sustainable forest management (SFM). In many countries, questions are raised on whether tropical forests should be publicly, commonly or privately owned and managed in order to enhance sustainability. Other debates also focus on whether small-scale enterprises are better positioned than large-scale industrial concessions to reduce poverty and attain sustainable management. In countries where large tracts of forest are state-owned, concessions are viewed as a means of delivering services of public and collective interest through an association of private investment and public regulation. However, the success of an industrial concession model in countries with large forest resource endowment to achieve multiple goals such as sustainable forest management and local/regional development depends on two critical assumptions. First, forest functions and services should be managed and maintained as public goods. In many cases, additional uses - and corresponding rights - can take place alongside logging activities. Industrial concessions can be more efficient than other tenure models (such as community-based forest management and small-scale enterprises) in achieving SFM, add value to raw material and comply with growing environmental norms. This is especially the case in market-remote areas with low population density and poor infrastructure. Secondly, to achieve these different outcomes, any concession system needs to be monitored and regulated, especially in contexts dominated by asymmetrical information between regulating authorities and concessionaires. New institutional responses have recently been put forward in several countries, providing valuable materials to design a renewed policy mix which associates public and private incentives. This paper provides a survey of the experience of forest concessions in several Central African and South American countries. The concession system is examined in order to clarify the issues involved, the problems encountered, and what can be learned from the shared experience of these countries in the last decade. This paper argues that despite a sometimes patchy record, concessions can help promote SFM so long as they are packaged with a certain number of specific measures. (C) 2008 Elsevier B.V. All rights reserved.

Ocorrência e diversidade de leveduras no filoplano de plantas seleccionadas do Parque Natural da Serra da Arrábida

Dissertação apresentada para obtenção do Grau de Doutor em Biologia (especialidade Microbiologia), pela Universidade Nova de Lisboa, Faculdade de Ciências e Tecnologia

Estrutura a partir do Movimento em Sistemas Autónomos

Mestrado em Engenharia Electrotécnica e de Computadores - Ramo de Sistemas Autónomos

Occurrence of Giardia cysts and Cryptosporidium oocysts in activated sludge samples in Campinas, SP, Brazil

Giardia and Cryptosporidium have caused several outbreaks of gastroenteritis in humans associated with drinking water. Contaminated sewage effluents are recognized as a potential source of waterborne protozoa. Due to the lack of studies about the occurrence of these parasites in sewage samples in Brazil, we compared the efficiency of two procedures for concentrating cysts and oocysts in activated sludge samples of one sewage treatment plant. For this, the samples were submitted to i) concentration by the ether clarification procedure (ECP) and to ii) purification by sucrose flotation method (SFM) and aliquots of the pellets were examined by immunofluorescence. Giardia cysts were present in all samples (100.0%; n = 8) when using ECP and kit 1 reagents, while kit 2 resulted in six positive samples (85.7%; n = 7). As for SFM, cysts were detected in 75.0% and 100.0% of these samples (for kit 1 and 2, respectively). Regarding Cryptosporidium, two samples (25.0%; kit 1 and 28.5% for kit 2) were detected positive by using ECP, while for SFM, only one sample (examined by kit 1) was positive (12.5%). The results of the control trial revealed Giardia and Cryptosporidium recovery efficiency rates for ECP of 54.5% and 9.6%, while SFM was 10.5% and 3.2%, respectively. Considering the high concentration detected, a previous evaluation of the activated sludge before its application in agriculture is recommended and with some improvement, ECP would be an appropriate simple technique for protozoa detection in sewage samples.

Recovering Euclidean deformable models from stereo-motion

In this paper we present a novel structure from motion (SfM) approach able to infer 3D deformable models from uncalibrated stereo images. Using a stereo setup dramatically improves the 3D model estimation when the observed 3D shape is mostly deforming without undergoing strong rigid motion. Our approach first calibrates the stereo system automatically and then computes a single metric rigid structure for each frame. Afterwards, these 3D shapes are aligned to a reference view using a RANSAC method in order to compute the mean shape of the object and to select the subset of points on the object which have remained rigid throughout the sequence without deforming. The selected rigid points are then used to compute frame-wise shape registration and to extract the motion parameters robustly from frame to frame. Finally, all this information is used in a global optimization stage with bundle adjustment which allows to refine the frame-wise initial solution and also to recover the non-rigid 3D model. We show results on synthetic and real data that prove the performance of the proposed method even when there is no rigid motion in the original sequence

Economic evaluation of the levonorgestrel-releasing intrauterine system for the treatment of dysfunctional uterine bleeding in Spain

To compare the cost and effectiveness of the levonorgestrel-releasing intrauterine system (LNG-IUS) versus combined oral contraception (COC) and progestogens (PROG) in first-line treatment of dysfunctional uterine bleeding (DUB) in Spain. STUDY DESIGN: A cost-effectiveness and cost-utility analysis of LNG-IUS, COC and PROG was carried out using a Markov model based on clinical data from the literature and expert opinion. The population studied were women with a previous diagnosis of idiopathic heavy menstrual bleeding. The analysis was performed from the National Health System perspective, discounting both costs and future effects at 3%. In addition, a sensitivity analysis (univariate and probabilistic) was conducted. RESULTS: The results show that the greater efficacy of LNG-IUS translates into a gain of 1.92 and 3.89 symptom-free months (SFM) after six months of treatment versus COC and PROG, respectively (which represents an increase of 33% and 60% of symptom-free time). Regarding costs, LNG-IUS produces savings of 174.2-309.95 and 230.54-577.61 versus COC and PROG, respectively, after 6 months-5 years. Apart from cost savings and gains in SFM, quality-adjusted life months (QALM) are also favourable to LNG-IUS in all scenarios, with a range of gains between 1 and 2 QALM compared to COC and PROG. CONCLUSIONS: The results indicate that first-line use of the LNG-IUS is the dominant therapeutic option (less costly and more effective) in comparison with first-line use of COC or PROG for the treatment of DUB in Spain. LNG-IUS as first line is also the option that provides greatest health-related quality of life to patients.

Neuropsicología de los pacientes con síndrome de fibromialgia: relación con dolor y ansiedad

Estudios previos han mostrado la presencia de alteraciones cognitivas en los pacientes con síndrome de fibromialgia (SFM), sin embargo, no han determinado la posible influencia de las distintas variables clínicas en estas alteraciones. El primer objetivo de nuestro estudio es determinar las diferencias en la función cognitiva entre 81 pacientes con SFM y 35 controles sanos mediante una batería de tests neuropsicológicos. El segundo objetivo es determinar la influencia de la ansiedad y el dolor en la función cognitiva en pacientes con SFM. Los resultados de nuestro estudio muestran que las pacientes con SFM desarrollan un rendimiento cognitivo significativamente inferior a los controles sanos en todos los parámetros valorados. El rendimiento neuropsicológico en pacientes con SFM está asociado al dolor, siendo esta relación independiente del nivel de ansiedad. La relación entre el rendimiento cognitivo y la ansiedad también es significativa. Por esta razón, concluimos que el rendimiento cognitivo está principalmente afectado por el dolor, pero además, el nivel de ansiedad explica parte de la variabilidad en los tests neuropsicológicos que no es explicada por el dolor.