Advantages of exploiting projection structure for segmenting dense 3D point clouds

Timely and comprehensive scene segmentation is often a critical step for many high level mobile robotic tasks. This paper examines a projected area based neighbourhood lookup approach with the motivation towards faster unsupervised segmentation of dense 3D point clouds. The proposed algorithm exploits the projection geometry of a depth camera to find nearest neighbours which is time independent of the input data size. Points near depth discontinuations are also detected to reinforce object boundaries in the clustering process. The search method presented is evaluated using both indoor and outdoor dense depth images and demonstrates significant improvements in speed and precision compared to the commonly used Fast library for approximate nearest neighbour (FLANN) [Muja and Lowe, 2009].

A Human identification technique using images of the iris and wavelet transform

A new approach for recognizing the iris of the human eye is presented. Zero-crossings of the wavelet transform at various resolution levels are calculated over concentric circles on the iris, and the resulting one-dimensional (1-D) signals are compared with model features using different dissimilarity functions.

Evaluation of two-view geometry methods with automatic ground-truth generation

A large number of methods have been published that aim to evaluate various components of multi-view geometry systems. Most of these have focused on the feature extraction, description and matching stages (the visual front end), since geometry computation can be evaluated through simulation. Many data sets are constrained to small scale scenes or planar scenes that are not challenging to new algorithms, or require special equipment. This paper presents a method for automatically generating geometry ground truth and challenging test cases from high spatio-temporal resolution video. The objective of the system is to enable data collection at any physical scale, in any location and in various parts of the electromagnetic spectrum. The data generation process consists of collecting high resolution video, computing accurate sparse 3D reconstruction, video frame culling and down sampling, and test case selection. The evaluation process consists of applying a test 2-view geometry method to every test case and comparing the results to the ground truth. This system facilitates the evaluation of the whole geometry computation process or any part thereof against data compatible with a realistic application. A collection of example data sets and evaluations is included to demonstrate the range of applications of the proposed system.

Analysis of terrain geometry representations for traversability of a Mars rover

For a planetary rover to successfully traverse across unstructured terrain autonomously, one of the major challenges is to assess its local traversability such that it can plan a trajectory to achieve its mission goals efficiently while minimising risk to the vehicle itself. This paper aims to provide a comparative study on different approaches for representing the geometry of Martian terrain for the purpose of evaluating terrain traversability. An accurate representation of the geometric properties of the terrain is essential as it can directly affect the determination of traversability for a ground vehicle. We explore current state-of-the-art techniques for terrain estimation, in particular Gaussian Processes (GP) in various forms, and discuss the suitability of each technique in the context of an unstructured Martian terrain. Furthermore, we present the limitations of regression techniques in terms of spatial correlation and continuity assumptions, and the impact on traversability analysis of a planetary rover across unstructured terrain. The analysis was performed on datasets of the Mars Yard at the Powerhouse Museum in Sydney, obtained using the onboard RGB-D camera.

Sensationalizing death? Graphic disaster images in the tabloid and broadsheet press

Debates over the extent of graphic imagery of death in newspapers often suffer from generalized assertions that are based on inadequate or incomplete empirical evidence. Newspapers are believed to display death in very graphic ways, with particularly the tabloid press assumedly leading a race to the bottom. This article reports the results of a study of tabloid and broadsheet images of death from the 2010 Haiti earthquake in eight Western European and North American countries. It shows that, far from omnipresent, graphic images of death are relatively rare. While tabloids overall display a larger percentage of graphic images, this was not the case everywhere, with particularly the UK, Canada and the US displaying strong similarities between tabloids and broadsheets. In Austria, Germany, Norway and Switzerland, on the other hand, there were distinct differences between the two types. The article argues that different extents of tabloidization may account for these differences.

Detecting and Analyzing Linear Structures in Biomedical Images : A Case Study Using Corneal Nerve Fibers

Diabetic peripheral neuropathy (DPN) is one of the most common long-term complications of diabetes. The accurate detection and quantification of DPN are important for defining at-risk patients, anticipating deterioration, and assessing new therapies. Current methods of detecting and quantifying DPN, such as neurophysiology, lack sensitivity, require expert assessment and focus primarily on large nerve fibers. However, the earliest damage to nerve fibers in diabetic neuropathy is to the small nerve fibers. At present, small nerve fiber damage is currently assessed using skin/nerve biopsy; both are invasive technique and are not suitable for repeated investigations.

The visibility of disaster deaths in news images : a comparison of newspapers from 15 countries

The extent to which newspapers display graphic images of death has rarely been studied in relation to the degree of the visibility of bodies, nor do many comparative analyses exist. This has led to a narrow understanding of how and why audiences are exposed to human suffering around the world. In examining newspaper images of the dead from the 2010 Haiti earthquake across 15 countries, this study develops a graphic image content scale to measure such visualizations. It finds significant differences in graphic images across the studied sample, both in terms of the amount of images and the degree of visibility of death. The study argues that major sociocultural influences, such as different religious traditions and societal levels of violence are part of the reason for the differences.

Knitted images : corporeal theorising

Feeling the wool and needles and constructing the knitting is very different to looking at knitting or thinking about knitting. Creating with the material slows everything down enough to enable significant connection with the process. Knitting as a mode for researching involves corporeal activity/philosophy that foregrounds a physical rationality, and this offers critical investigation of knowledge conventions that hierarchize intellectual activity as something that seeks to justify or clarify via a cerebral mode of presenting reasonable and rational arguments...

Knitted images : specimens

Knitting, as a conduit for multiple literacies takes on embodied practice and becomes research, investigation, theorization, and brings about physical and metaphysical theorizing on Deleuzian and Guattarian (1980/1987) concepts of the rhizome: the looping and constructing of the knitted planes prompt thoughts about the project that seem just ‘beyond the level of consciousness’ (Semetsky 2007, p. 200)...

Knitted images : interception

Feeling the wool and needles and constructing the knitting is very different to looking at knitting or thinking about knitting. Creating with the material slows everything down enough to enable significant connection with the process. Knitting as a mode for researching involves corporeal activity/philosophy that foregrounds a physical rationality, and this offers critical investigation of knowledge conventions that hierarchize intellectual activity as something that seeks to justify or clarify via a cerebral mode of presenting reasonable and rational arguments...

Knitted images : drawing patterns

This Arts Based Education Research (Eisner 2008) work provides potent opportunity to consider different problems and challenges that impact on the progress of research (art as data making) and the theories being explored. It provides opportunity to transport ideas across between research activity, and teaching practices...

Knitted images : cartographies

Through the making of these works I research teachers. Here, I push a/r/tography (Irwin & Springgay 2008) into ca/r/tography - a process of mapping that is multitexural, mutable; moving between theorization, creation, process, research, and mapped by me as I wander between artist, researcher, teacher...

Are in vitro estimates of cell diffusivity and cell proliferation rate sensitive to assay geometry?

Cells respond to various biochemical and physical cues during wound–healing and tumour progression. In vitro assays used to study these processes are typically conducted in one particular geometry and it is unclear how the assay geometry affects the capacity of cell populations to spread, or whether the relevant mechanisms, such as cell motility and cell proliferation, are somehow sensitive to the geometry of the assay. In this work we use a circular barrier assay to characterise the spreading of cell populations in two different geometries. Assay 1 describes a tumour–like geometry where a cell population spreads outwards into an open space. Assay 2 describes a wound–like geometry where a cell population spreads inwards to close a void. We use a combination of discrete and continuum mathematical models and automated image processing methods to obtain independent estimates of the effective cell diffusivity, D, and the effective cell proliferation rate, λ. Using our parameterised mathematical model we confirm that our estimates of D and λ accurately predict the time–evolution of the location of the leading edge and the cell density profiles for both assay 1 and assay 2. Our work suggests that the effective cell diffusivity is up to 50% lower for assay 2 compared to assay 1, whereas the effective cell proliferation rate is up to 30% lower for assay 2 compared to assay 1.

Random Gabor based templates for facial expression recognition in images with facial occlusion

Robust facial expression recognition (FER) under occluded face conditions is challenging. It requires robust algorithms of feature extraction and investigations into the effects of different types of occlusion on the recognition performance to gain insight. Previous FER studies in this area have been limited. They have spanned recovery strategies for loss of local texture information and testing limited to only a few types of occlusion and predominantly a matched train-test strategy. This paper proposes a robust approach that employs a Monte Carlo algorithm to extract a set of Gabor based part-face templates from gallery images and converts these templates into template match distance features. The resulting feature vectors are robust to occlusion because occluded parts are covered by some but not all of the random templates. The method is evaluated using facial images with occluded regions around the eyes and the mouth, randomly placed occlusion patches of different sizes, and near-realistic occlusion of eyes with clear and solid glasses. Both matched and mis-matched train and test strategies are adopted to analyze the effects of such occlusion. Overall recognition performance and the performance for each facial expression are investigated. Experimental results on the Cohn-Kanade and JAFFE databases demonstrate the high robustness and fast processing speed of our approach, and provide useful insight into the effects of occlusion on FER. The results on the parameter sensitivity demonstrate a certain level of robustness of the approach to changes in the orientation and scale of Gabor filters, the size of templates, and occlusions ratios. Performance comparisons with previous approaches show that the proposed method is more robust to occlusion with lower reductions in accuracy from occlusion of eyes or mouth.