Odometria visual baseada em técnicas de structure from motion

Visual Odometry is the process that estimates camera position and orientation based solely on images and in features (projections of visual landmarks present in the scene) extraced from them. With the increasing advance of Computer Vision algorithms and computer processing power, the subarea known as Structure from Motion (SFM) started to supply mathematical tools composing localization systems for robotics and Augmented Reality applications, in contrast with its initial purpose of being used in inherently offline solutions aiming 3D reconstruction and image based modelling. In that way, this work proposes a pipeline to obtain relative position featuring a previously calibrated camera as positional sensor and based entirely on models and algorithms from SFM. Techniques usually applied in camera localization systems such as Kalman filters and particle filters are not used, making unnecessary additional information like probabilistic models for camera state transition. Experiments assessing both 3D reconstruction quality and camera position estimated by the system were performed, in which image sequences captured in reallistic scenarios were processed and compared to localization data gathered from a mobile robotic platform

Development and applications of three-dimensional gamma ray tomography system using ray casting volume rendering techniques

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Classificação automática de padrões projetados por um sistema de luz estruturada

One of the main problems in Computer Vision and Close Range Digital Photogrammetry is 3D reconstruction. 3D reconstruction with structured light is one of the existing techniques and which still has several problems, one of them the identification or classification of the projected targets. Approaching this problem is the goal of this paper. An area based method called template matching was used for target classification. This method performs detection of area similarity by correlation, which measures the similarity between the reference and search windows, using a suitable correlation function. In this paper the modified cross covariance function was used, which presented the best results. A strategy was developed for adaptative resampling of the patterns, which solved the problem of deformation of the targets due to object surface inclination. Experiments with simulated and real data were performed in order to assess the efficiency of the proposed methodology for target detection. The results showed that the proposed classification strategy works properly, identifying 98% of targets in plane surfaces and 93% in oblique surfaces.

The influence of subpixel measurement on digital camera calibration

The aim of this work is to evaluate the influence of point measurements in images, with subpixel accuracy, and its contribution in the calibration of digital cameras. Also, the effect of subpixel measurements in 3D coordinates of check points in the object space will be evaluated. With this purpose, an algorithm that allows subpixel accuracy was implemented for semi-automatic determination of points of interest, based on Fõrstner operator. Experiments were accomplished with a block of images acquired with the multispectral camera DuncanTech MS3100-CIR. The influence of subpixel measurements in the adjustment by Least Square Method (LSM) was evaluated by the comparison of estimated standard deviation of parameters in both situations, with manual measurement (pixel accuracy) and with subpixel estimation. Additionally, the influence of subpixel measurements in the 3D reconstruction was also analyzed. Based on the obtained results, i.e., on the quantification of the standard deviation reduction in the Inner Orientation Parameters (IOP) and also in the relative error of the 3D reconstruction, it was shown that measurements with subpixel accuracy are relevant for some tasks in Photogrammetry, mainly for those in which the metric quality is of great relevance, as Camera Calibration.

Correlative light-electron fractography for fatigue striations characterization in metallic alloys

The correlative light-electron fractography technique combines correlative microscopy concepts to the extended depth-from-focus reconstruction method, associating the reliable topographic information of 3-D maps from light microscopy ordered Z-stacks to the finest lateral resolution and large focus depth from scanning electron microscopy. Fatigue striations spacing analysis can be precisely measured, by correcting the mean surface tilting with the knowledge of local elevation data from elevation maps. This new technique aims to improve the accuracy of quantitative fractography in fatigue fracture investigations. Microsc. Res. Tech. 76:909-913, 2013. © 2013 Wiley Periodicals, Inc.

Um sistema para extração automática de keyframes a partir de fluxos de vídeo direcionado à reconstrução tridimensional de cenários virtuais

Pós-graduação em Televisão Digital: Informação e Conhecimento - FAAC

Dacriocistografia em cães com o emprego da ressonância magnética (DCG-RM) e da tomografia computadorizada (DCG-TC)

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Lanfrediella amphicirrus gen. nov. sp. nov. Nematotaeniidae (Cestoda: Cyclophyllidea), a tapeworm parasite of Rhinella marina (Linnaeus, 1758) (Amphibia: Bufonidae)

The family Nematotaeniidae, tapeworms commonly found in the small intestines of amphibians and reptiles, includes 27 recognised species distributed among four genera: Bitegmen Jones, Cylindrotaenia Jewell, Distoichometra Dickey and Nematotaenia Lühe. The taxonomy of these cestodes is poorly defined, due in part to the difficulties of observing many anatomical traits. This study presents and describes a new genus and species of nematotaeniid parasite found in cane toads (Rhinella marina) from eastern Brazilian Amazonia. The cestodes were collected during the necropsy of 20 hosts captured in the urban area of Belém, Pará. The specimens were fixed and processed for light microscopy, scanning electron microscopy (SEM) and three-dimensional (3D) reconstruction. Samples were also collected for molecular analyses. The specimens presented a cylindrical body, two testes and paruterine organs. However, they could not be allocated to any of the four existing nematotaeniid genera due to the presence of two each of dorsal compact medullary testes, cirri, cirrus pouches, genital pores, ovaries and vitelline glands per mature segment. Lanfrediella amphicirrus gen. nov. sp. nov. is the first nematotaeniid studied using Historesin analysis, SEM and 3D reconstruction, and it is the second taxon for which molecular data have been deposited in GenBank.

Análise taxonômica e molecular de Cestoda nematotaeniidae parasito de intestino delgado de Rhinella marina (Linnaeus, 1758) (Amphibia: Bufonidae) de Belém-Pa

Os anfíbios da espécie Rhinella marina também conhecidos como Sapo-Cururu e possuem distribuição mundial. Possuem hábitos noturnos, e devido a sua alimentação bem diversificada vivem em diferentes habitats. Assim podem estar parasitados com uma variedade de helmintos. Dentre os helmintos, os cestodas são o objeto de estudo deste trabalho. Os membros da Família Nematotaennidae são comumente encontrados parasitando o intestino delgado de anfíbios e répteis. O presente trabalho tem como objetivo identificar e caracterizar morfologicamente e molecularmente um cestoda parasito de R. marina da cidade de Belém-PA. Para isso vinte hospedeiros foram capturados em domicílios da região metropolitana de Belém-PA e, após necropsia, os cestoda foram retirados do intestino delgado, alguns exemplares foram fixados em A.F.A, alguns fixados em Glutaraldeído a 2% em tampão cacodilato, e outros em álcool absoluto para serem processados para diferentes técnicas. Parte da amostra foi desidratada em uma série etanólica, corados com Carmin®, clarificados com Salicilato de Metila®. Alguns exemplares foram desidratados e incluídos em parafina para realização de cortes transversais e longitudinais. Os exemplares fixados em glutaraldeído foram desidratados e incluídos em Historesina®. Os cestoda também foram processados para microscopia Eletrônica de Varredura. A identificação foi realizada por meio de desenhos realizados no microscópio Olympus BX 41 com câmara clara, fotografias feitas em microscópio MEDILUX, com sistema de captura de imagem e MEV. Os Cortes histológicos longitudinais foram fotografados e com o Software RECONSTRUCTTM foi realizada a reconstrução tridimensional do corpo do parasito. Helmintos fixados em álcool absoluto foram submetidos a extração de DNA, amplificação gênica pela técnica de PCR e seqüenciamento de nucleotídeos. Os cestoda possuem um corpo cilíndrico, filiforme e indistintamente segmentado, exceto na porção posterior. Escólice com quatro ventosas sem rostéolo ou órgão apical, os proglotes grávidos apresentam duas cápsulas piriformes, que se fundem na base, contendo os ovos. A partir das observações por microscopia eletrônica e luz dos cestoda encontrados no intestino delgado de R. marina, observou-se que estes cestoda pertencem à Família Nematotaeniidae, no entanto os outros caracteres morfológicos e moleculares por nós encontrados não encaixam este cestóide em nenhum gênero desta Família.

Application of two segmentation protocols during the processing of virtual images in rapid prototyping: ex vivo study with human dry mandibles

The aim of this study was to evaluate the accuracy of virtual three-dimensional (3D) reconstructions of human dry mandibles, produced from two segmentation protocols (outline only and all-boundary lines).Twenty virtual three-dimensional (3D) images were built from computed tomography exam (CT) of 10 dry mandibles, in which linear measurements between anatomical landmarks were obtained and compared to an error probability of 5 %.The results showed no statistically significant difference among the dry mandibles and the virtual 3D reconstructions produced from segmentation protocols tested (p = 0,24).During the designing of a virtual 3D reconstruction, both outline only and all-boundary lines segmentation protocols can be used.Virtual processing of CT images is the most complex stage during the manufacture of the biomodel. Establishing a better protocol during this phase allows the construction of a biomodel with characteristics that are closer to the original anatomical structures. This is essential to ensure a correct preoperative planning and a suitable treatment.

Tomographic imaging of lunulae in capybara knees

The lunulae, ossification of the meniscus, are found in several species of rodents. Some studies suggest that the lunulae may be anatomical features, because there are not any pathological findings in microscopy. The objective of this study was to investigate the presence of lunulae in capybara knees, the world's largest rodent, by simple tomographic scans and three-dimensional reconstruction. For this purpose, we used two adult capybaras, in which both knees were evaluated. The lunulae were visualized with three-dimensional images, and revealed a total of two cranially. With the presence of lunulae confirmed, the capybara may be included in the group of rodents that have this structural feature, which can also contribute to the distinction between pathological processes and normal anatomic structures on imaging tests.

Alterações na expressão do Hormônio Concentrador de Melanina (MCH) na área hipotalâmica lateral do rato ao longo do desenvolvimento pós-natal e envelhecimento

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

The noradrenergic projection from the locus coeruleus to the cochlear root neurons in rats

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Methodologies for visual correspondence

Visual correspondence is a key computer vision task that aims at identifying projections of the same 3D point into images taken either from different viewpoints or at different time instances. This task has been the subject of intense research activities in the last years in scenarios such as object recognition, motion detection, stereo vision, pattern matching, image registration. The approaches proposed in literature typically aim at improving the state of the art by increasing the reliability, the accuracy or the computational efficiency of visual correspondence algorithms. The research work carried out during the Ph.D. course and presented in this dissertation deals with three specific visual correspondence problems: fast pattern matching, stereo correspondence and robust image matching. The dissertation presents original contributions to the theory of visual correspondence, as well as applications dealing with 3D reconstruction and multi-view video surveillance.

Low-dimensional carbon allotropes: an electron microscopy investigation

The research reported in this manuscript concerns the structural characterization of graphene membranes and single-walled carbon nanotubes (SWCNTs). The experimental investigation was performed using a wide range of transmission electron microscopy (TEM) techniques, from conventional imaging and diffraction, to advanced interferometric methods, like electron holography and Geometric Phase Analysis (GPA), using a low-voltage optical set-up, to reduce radiation damage in the samples. Electron holography was used to successfully measure the mean electrostatic potential of an isolated SWCNT and that of a mono-atomically thin graphene crystal. The high accuracy achieved in the phase determination, made it possible to measure, for the first time, the valence-charge redistribution induced by the lattice curvature in an individual SWCNT. A novel methodology for the 3D reconstruction of the waviness of a 2D crystal membrane has been developed. Unlike other available TEM reconstruction techniques, like tomography, this new one requires processing of just a single HREM micrograph. The modulations of the inter-planar distances in the HREM image are measured using Geometric Phase Analysis, and used to recover the waviness of the crystal. The method was applied to the case of a folded FGC, and a height variation of 0.8 nm of the surface was successfully determined with nanometric lateral resolution. The adhesion of SWCNTs to the surface of graphene was studied, mixing shortened SWCNTs of different chiralities and FGC membranes. The spontaneous atomic match of the two lattices was directly imaged using HREM, and we found that graphene membranes act as tangential nano-sieves, preferentially grafting achiral tubes to their surface.