Estudo de métodos para classificação e localização precisa de padrões usando um sistema de luz estruturada

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Envelhecimento, declínio cognitivo e plasticidade astroglial em ca3

Poucos estudos tem se dedicado a investigar em detalhe possíveis relações entre o declínio cognitivo associado ao envelhecimento e a plasticidade astroglial no hipocampo. No presente trabalho investigamos possíveis relações entre o desempenho em testes de memória de reconhecimento de objeto e o numero e a distribuição laminar dos astrocitos em CA3 em modelo murino. Para isso empregamos camundongos fêmeas adultas da linhagem C57Bl6 de 6 (n = 7) e 20 meses (n = 5) de idade, mantidos em gaiolas padrão desde o nascimento,comparando seus desempenhos em tarefas hipocampo-dependentes para reconhecimento da forma, do lugar e do momento em que os objetos selecionados lhes foram expostos. Apos os testes comportamentais todos os animais foram per fundidos com fixadores aldeidicos e tiveram seus cérebros removidos e processados para imunomarcação empregando anticorpo seletivo para detecção da proteína acida fibrilar dos astrocitos (GFAP). Para evitar possível viés amostral empregamos o fracionador óptico, um método estereológico que não e afetado pelo processamento histologico. Os resultados nos testes comportamentais isolados e integrados (memória episódica) revelaram que o envelhecimento compromete significativamente (teste T bi-caudal, p<0.05) o reconhecimento da forma, do lugar e do momento em que objetos selecionados são apresentados aos sujeitos. As análises estereologicas das estimativas do numero de astrocítos revelaram que o envelhecimento afetou a distribuicao laminar com aumento na proporção relativa daqueles na camada piramidal de CA3 dorsal e ventral e reducao no lacunoso molecular de CA3 dorsal. O número total de astrocitos em consequência apresentou significativa reorganização na distribuição laminar em função da idade com os animais senis mostrando redução no percentual daqueles localizados na camada oriens. Nenhuma diferenca significativa foi encontrada entre os volumes das camadas de CA3 sugerindo que as mudanças induzidas pelo envelhecimento alteram diretamente a plasticidade astroglial em CA3. Finalmente os estudos de correlação linear entre as estimativas do numero dos astrocitos da camada piramidal e os testes comportamentais demonstraram correlação inversa com os piores desempenhos estando associados a um maior número de astrocitos naquela camada. Evidencias diretas adicionais dessa correlação com os astrocitos alterados em CA3 e possíveis mecanismos moleculares para explicar o declinio cognitivo associado ao envelhecimento permanecem por ser investigados.

Influência do tamanho da ninhada sobre o declínio cognitivo e a morfologia microglial da camada molecular do giro denteado em rattus novergicus

Tem sido proposto que o envelhecimento está associado à alteração inflamatória no sistema nervoso central de roedores, mas não se sabe se as mudanças microgliais induzidas pelo envelhecimento são afetadas pelo ambiente pós-natal associado ao tamanho da ninhada. Por outro lado a camada molecular do giro denteado tem sido reconhecida como o alvo principal do input da via perfurante cuja integridade sináptica é essencial para formação de memória da identidade e da localização espacial de objetos. No presente trabalho investigamos se as mudanças morfológicas microgliais induzidas pelo envelhecimento são influenciadas por mudanças no tamanho da ninhada no início da vida. Para avaliar essas questões, ratos da variedade Wistar amamentados em ninhadas de 6 ou 12 filhotes por nutriz foram mantidos sedentários em grupos de 2-3 do 21o dia pós-natal em diante. Aos 4 (adulto) ou aos 23 (velho) meses de idade, os animais foram submetidos a testes de memória espacial e de reconhecimento da forma de objetos, sacrificados, perfundidos com fixador aldeídico e tiveram seus cérebros processados para imunomarcação seletiva para microglias/macrófagos com anticorpo anti Iba-1. A seguir uma fração representativa das células imunomarcadas da camada molecular do giro denteado foi reconstruída em três dimensões usando o programa Neurolucida e as características morfológicas de cada célula foram quantificadas com o software Neuroexplorer. Foi encontrado que os animais mantidos em gaiolas padrão de laboratório durante toda a vida apresentaram déficits de memória espacial independente da idade e não importando o tamanho da ninhada. Por outro lado todos os indivíduos idosos não importando o tamanho da ninhada tiveram sua memória de reconhecimento de objeto prejudicada. A análise da morfologia microglial revelou que a área e o perímetro do corpo celular e o volume dos ramos parecem ser afetados mais intensamente pelo envelhecimento e que essa alteração é mais acentuada nos animais de ninhada grande. Além disso, observou-se retração e espessamento dos ramos nos animais velhos em maior proporção nos animais de ninhadas grandes. Tomados em conjunto os resultados sugerem que a memória espacial parece ser mais suscetível ao processo de envelhecimento do que a memória de reconhecimento de objeto e que essas mudanças estão associadas a efeitos distintos sobre o soma e o padrão de ramificação das microglias da camada molecular dos animais maduros e idosos.

Influências do tamanho da ninhada e da atividade física sobre a plasticidade glial na formação hipocampal em modelo murino

Estudos anteriores demonstraram efeitos importantes do estresse perinatal no desempenho cognitivo na vida adulta e durante o envelhecimento. Entretanto permanece por ser estudado em detalhe como o exercício físico em diferentes fases da vida contribui para reduzir esses déficits. Isso é particularmente verdadeiro quando se trata de documentar as alterações da matriz extracelular e das células da glia, largamente ignoradas nesses estudos. Assim o objetivo geral do presente trabalho é o de investigar as possíveis influências do tamanho da ninhada e da atividade física sobre a memória de reconhecimento de objetos na vida adulta e possíveis alterações associadas à plasticidade glial e da matriz extracelular da formação hipocampal em modelo murino. Para alcançar esses objetivos alteramos o tamanho da ninhada de ratos Wistar de modo a acentuar o grau de competição entre os filhotes por tetas funcionais e diminuir a quantidade de cuidado materno por indivíduo. Durante o período de aleitamento quantificamos o cuidado materno em ninhadas de diferentes tamanhos. Em várias janelas temporais submetemos grupos selecionados de sujeitos ao exercício em esteira durante 5 semanas adotando o mesmo protocolo de treinamento. Após o exercício alguns grupos de animais adultos e senis foram submetidos ao teste de memória de reconhecimento de objetos que é dependente do hipocampo, sendo sacrificados e processados para imunohistoquímica seletiva para micróglia. Outros grupos de animais adultos não submetidos aos testes comportamentais foram igualmente sacrificados sendo um dos hemisférios empregado para registro de parâmetros difusionais no hipocampo enquanto que o outro foi empregado para imunohistoquímicas seletivas para astrócitos, células NG2 e reelina. Encontramos que o aumento do tamanho da ninhada está relacionado à redução do cuidado materno, ao declínio cognitivo, à proliferação e alteração da morfologia microglial, astrocitária e de células NG2 positivas, assim como às alterações nos padrões de difusão encontradas no tecido hipocampal. Além disso que tais alterações podem ser revertidas pelo menos de forma parcial pela atividade física e que esse efeito é tanto maior quanto mais jovem é o sujeito. O envelhecimento agrava as alterações morfológicas microgliais induzidas pelo aumento do tamanho da ninhada e reduz o desempenho nos testes de memória de reconhecimento de objeto. Os mecanismos moleculares associados a esses efeitos permanecem por ser investigados.

Enriquecimento ambiental reduz as alterações astrocitárias e a progressão da doença prion em modelo murino: ensaios morfométricos, estereológicos e comportamentais

Já está bem estabelecido que um estilo de vida sedentário é fator de risco para uma série de doenças crônicas, dentre elas a doença de Alzheimer. A neuropatologia da doença de Alzheimer é caracterizada por depósitos amilóides, perda neuronal, gliose reativa e vacuolização da neurópila. A doença príon tem sido amplamente utilizada como modelo experimental para estudar aspectos celulares e moleculares da neurodegeneração crônica em muito semelhante àquela descrita na doença de Alzheimer. O ambiente empobrecido das gaiolas padrão de laboratório tem sido usado para mimetizar um estilo de vida sedentário enquanto que o ambiente enriquecido tem sido empregado para mimetizar um estilo de vida ativo. Para testar a hipótese de que o ambiente enriquecido pode contribuir para desacelerar o curso temporal da neurodegeneração crônica associada à doença príon em modelo murino induzimos a doença príon em vinte camundongos fêmeas da variedade suíça albina que tinham sido alojadas aos seis meses de idade em ambiente enriquecido (EE) ou em ambiente padrão (SE) durante cinco meses. Após esse peródo foram realizadas cirurgias para injeção estereotáxica intracerebral bilateral de homogendao de cérebro de camundongo normal (NBH, n=10) ou de camundongo com sinais clínicos de doença príon terminal (ME7, n=10). Os animais foram devolvidos as suas gaiolas e condições de alojamento originais formando os seguintes grupos experimentais: NBH SE=5, NBH EE=5, ME7 SE=5, ME7 EE=5. Após três semanas foi iniciado teste semanal empregando o burrowing, uma tarefa sensível ao dano hipocampal e 18 semanas após as inoculações realizou-se os testes de memória de reconhecimento de objetos. Encerrados os testes sacrificou-se os animais realizando-se o processamento histológico do tecido nervoso visando a imunomarcação astrocítica das áreas de interesse. A redução progressiva da atividade de burrowing teve início na décima terceira semana pós injeção no grupo ME7 SE e somente na décima quinta semana no grupo ME7 EE. A habilidade de reconhecer o objeto deslocado no teste de memória espacial foi comprometida no grupo ME7 SE, mas se manteve normal nos demais grupos experimentais. O teste de discriminação entre o objeto novo e o familiar não revelou alterações. As análises quantitativas sem viés dos astrócitos imunomarcados para proteína fibrilar ácida (GFAP) foram realizadas no stratum radiatum de CA3 e na camada polimórfica do giro denteado dorsal. As estimativas estereológicas do número total de astrócitos e do volume do corpo celular revelaram que em CA3 somente ocorre hipertrofia dos corpos celulares em animais dos grupos ME7 SE e ME7 EE em relação aos respectivos controles, sendo o volume médio dos corpos celulares do grupo ME7 EE menor que aquele do grupo ME7 SE. Na camada polimórfica houve significativo aumento do número de astrócitos no grupo ME7 SE em relação ao NBH SE e do grupo NBH EE em relação ao NBH SE. O volume do corpo celular também foi significativamente maior nos grupos ME7 em relação aos respectivos controles dos grupos NBH. As análises morfométricas tridimensionais revelaram importante aumento de volume e área de superfície dos segmentos das árvores astrocíticas nos grupos doentes em comparação aos controles. O enriquecimento ambiental reduziu o aumento de volume dos ramos observado no grupo ME7 e aumentou o número de intersecções dos ramos distais no grupo NBH EE em relação ao NBH SE e nos ramos proximais no grupo ME7 EE em relação ao ME7 SE. O emprego da análise de cluster e discriminante permitiu a identificação dos parâmetros morfométricos que mais contribuíram para a distinção entre os grupos. Para testar a hipótese de existirem subfamílias de astrócitos morfologicamente distintos dentro de cada grupo experimental, foi realizada análise de conglomerados que resultou na formação de duas famílias distintas no grupo NBH SE, três famílias nos grupos NBH EE e ME7 EE e quatro famílias no grupo ME7 SE. As bases celulares e moleculares que conduzem a formação de novas famílias de astrócitos e a neuroproteção associada ao ambiente enriquecido que diminui a velocidade de progressão da doença permanecem por serem investigadas.

Reconhecimento de cores de objetos e de alimentos de cromaticidades opostas por pintos de corte

The aim of this research was to evaluate, by preference tests, the ability of perception of broiler chicks in the recognition of objects and foods of different colors. The survey was conducted in Brazil and consisted in the conditioning of 60 sexed one-day-old chicks using 30 male chicks and 30 female chicks for three days with blue balls and red food colors chosen for having opposed chromaticities. After the conditioning phase, a preference test was performed, in which the animals were placed individually in the center of an arena test with four options: red food, blue food, red balls and blue balls. Each bird was measured for 10 minutes. Latency to the first peck and the number of pecks, the number of sequential pecks at each object type or food, the total time the bird in each occupied compartment and the first occupied slot were recorded. According to the results, female chicks are less inhibited when in contact with a new situation when compared with males. However, males were able to establish a standard environment in the conditioning phase and opted for the compartment which was closer to that situation, associating the blue color to the ball and red color to the food. Overall, among the types of object colors and between types of food colors, the birds took less time for the decision on the choice of blue food and blue ball, showing a greater attraction, at first, to this color. Between the two ball colors, shorter latency period, greater number of interactions as well as more time spent on site were related to the blue sphere, verifying greater preference for this object. When evaluating the types of food colors, it was observed that the highest averages related to the number of pecks, and sequential pecks occurred with red food. Therefore, it is concluded that the birds recognized the red and blue food object, with the blue color having greater attractiveness for broiler chicks when compared to red.

The effects of acute and chronic administration of phosphatidylserine on cell proliferation and survival in the dentate gyms of adult and middle-aged rats

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

Memory-rescuing effects of cannabidiol in an animal model of cognitive impairment relevant to neurodegenerative disorders

Rationale Cannabidiol, the main nonpsychotropic constituent of Cannabis sativa, possesses a large number of pharmacological effects including anticonvulsive, sedative, hypnotic, anxiolytic, antipsychotic, anti-inflammatory, and neuroprotective, as demonstrated in clinical and preclinical studies. Many neurodegenerative disorders involve cognitive deficits, and this has led to interest in whether cannabidiol could be useful in the treatment of memory impairment associated to these diseases. Objectives We used an animal model of cognitive impairment induced by iron overload in order to test the effects of cannabidiol in memory-impaired rats. Methods Rats received vehicle or iron at postnatal days 12-14. At the age of 2 months, they received an acute intraperitoneal injection of vehicle or cannabidiol (5.0 or 10.0 mg/kg) immediately after the training session of the novel object recognition task. In order to investigate the effects of chronic cannabidiol, iron-treated rats received daily intraperitoneal injections of cannabidiol for 14 days. Twenty-four hours after the last injection, they were submitted to object recognition training. Retention tests were performed 24 h after training. Results A single acute injection of cannabidiol at the highest dose was able to recover memory in iron-treated rats. Chronic cannabidiol improved recognition memory in iron-treated rats. Acute or chronic cannabidiol does not affect memory in control rats. Conclusions The present findings provide evidence suggesting the potential use of cannabidiol for the treatment of cognitive decline associated with neurodegenerative disorders. Further studies, including clinical trials, are warranted to determine the usefulness of cannabidiol in humans suffering from neurodegenerative disorders.

EDGE-PRESERVING SPECKLE TEXTURE REMOVAL BY INTERFERENCE-BASED SPECKLE FILTERING FOLLOWED BY ANISOTROPIC DIFFUSION

Ultrasonography has an inherent noise pattern, called speckle, which is known to hamper object recognition for both humans and computers. Speckle noise is produced by the mutual interference of a set of scattered wavefronts. Depending on the phase of the wavefronts, the interference may be constructive or destructive, which results in brighter or darker pixels, respectively. We propose a filter that minimizes noise fluctuation while simultaneously preserving local gray level information. It is based on steps to attenuate the destructive and constructive interference present in ultrasound images. This filter, called interference-based speckle filter followed by anisotropic diffusion (ISFAD), was developed to remove speckle texture from B-mode ultrasound images, while preserving the edges and the gray level of the region. The ISFAD performance was compared with 10 other filters. The evaluation was based on their application to images simulated by Field II (developed by Jensen et al.) and the proposed filter presented the greatest structural similarity, 0.95. Functional improvement of the segmentation task was also measured, comparing rates of true positive, false positive and accuracy. Using three different segmentation techniques, ISFAD also presented the best accuracy rate (greater than 90% for structures with well-defined borders). (E-mail: fernando.okara@gmail.com) (C) 2012 World Federation for Ultrasound in Medicine & Biology.

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.

Mathematical models of cognitive processes

The research activity carried out during the PhD course was focused on the development of mathematical models of some cognitive processes and their validation by means of data present in literature, with a double aim: i) to achieve a better interpretation and explanation of the great amount of data obtained on these processes from different methodologies (electrophysiological recordings on animals, neuropsychological, psychophysical and neuroimaging studies in humans), ii) to exploit model predictions and results to guide future research and experiments. In particular, the research activity has been focused on two different projects: 1) the first one concerns the development of neural oscillators networks, in order to investigate the mechanisms of synchronization of the neural oscillatory activity during cognitive processes, such as object recognition, memory, language, attention; 2) the second one concerns the mathematical modelling of multisensory integration processes (e.g. visual-acoustic), which occur in several cortical and subcortical regions (in particular in a subcortical structure named Superior Colliculus (SC)), and which are fundamental for orienting motor and attentive responses to external world stimuli. This activity has been realized in collaboration with the Center for Studies and Researches in Cognitive Neuroscience of the University of Bologna (in Cesena) and the Department of Neurobiology and Anatomy of the Wake Forest University School of Medicine (NC, USA). PART 1. Objects representation in a number of cognitive functions, like perception and recognition, foresees distribute processes in different cortical areas. One of the main neurophysiological question concerns how the correlation between these disparate areas is realized, in order to succeed in grouping together the characteristics of the same object (binding problem) and in maintaining segregated the properties belonging to different objects simultaneously present (segmentation problem). Different theories have been proposed to address these questions (Barlow, 1972). One of the most influential theory is the so called “assembly coding”, postulated by Singer (2003), according to which 1) an object is well described by a few fundamental properties, processing in different and distributed cortical areas; 2) the recognition of the object would be realized by means of the simultaneously activation of the cortical areas representing its different features; 3) groups of properties belonging to different objects would be kept separated in the time domain. In Chapter 1.1 and in Chapter 1.2 we present two neural network models for object recognition, based on the “assembly coding” hypothesis. These models are networks of Wilson-Cowan oscillators which exploit: i) two high-level “Gestalt Rules” (the similarity and previous knowledge rules), to realize the functional link between elements of different cortical areas representing properties of the same object (binding problem); 2) the synchronization of the neural oscillatory activity in the γ-band (30-100Hz), to segregate in time the representations of different objects simultaneously present (segmentation problem). These models are able to recognize and reconstruct multiple simultaneous external objects, even in difficult case (some wrong or lacking features, shared features, superimposed noise). In Chapter 1.3 the previous models are extended to realize a semantic memory, in which sensory-motor representations of objects are linked with words. To this aim, the network, previously developed, devoted to the representation of objects as a collection of sensory-motor features, is reciprocally linked with a second network devoted to the representation of words (lexical network) Synapses linking the two networks are trained via a time-dependent Hebbian rule, during a training period in which individual objects are presented together with the corresponding words. Simulation results demonstrate that, during the retrieval phase, the network can deal with the simultaneous presence of objects (from sensory-motor inputs) and words (from linguistic inputs), can correctly associate objects with words and segment objects even in the presence of incomplete information. Moreover, the network can realize some semantic links among words representing objects with some shared features. These results support the idea that semantic memory can be described as an integrated process, whose content is retrieved by the co-activation of different multimodal regions. In perspective, extended versions of this model may be used to test conceptual theories, and to provide a quantitative assessment of existing data (for instance concerning patients with neural deficits). PART 2. The ability of the brain to integrate information from different sensory channels is fundamental to perception of the external world (Stein et al, 1993). It is well documented that a number of extraprimary areas have neurons capable of such a task; one of the best known of these is the superior colliculus (SC). This midbrain structure receives auditory, visual and somatosensory inputs from different subcortical and cortical areas, and is involved in the control of orientation to external events (Wallace et al, 1993). SC neurons respond to each of these sensory inputs separately, but is also capable of integrating them (Stein et al, 1993) so that the response to the combined multisensory stimuli is greater than that to the individual component stimuli (enhancement). This enhancement is proportionately greater if the modality-specific paired stimuli are weaker (the principle of inverse effectiveness). Several studies have shown that the capability of SC neurons to engage in multisensory integration requires inputs from cortex; primarily the anterior ectosylvian sulcus (AES), but also the rostral lateral suprasylvian sulcus (rLS). If these cortical inputs are deactivated the response of SC neurons to cross-modal stimulation is no different from that evoked by the most effective of its individual component stimuli (Jiang et al 2001). This phenomenon can be better understood through mathematical models. The use of mathematical models and neural networks can place the mass of data that has been accumulated about this phenomenon and its underlying circuitry into a coherent theoretical structure. In Chapter 2.1 a simple neural network model of this structure is presented; this model is able to reproduce a large number of SC behaviours like multisensory enhancement, multisensory and unisensory depression, inverse effectiveness. In Chapter 2.2 this model was improved by incorporating more neurophysiological knowledge about the neural circuitry underlying SC multisensory integration, in order to suggest possible physiological mechanisms through which it is effected. This endeavour was realized in collaboration with Professor B.E. Stein and Doctor B. Rowland during the 6 months-period spent at the Department of Neurobiology and Anatomy of the Wake Forest University School of Medicine (NC, USA), within the Marco Polo Project. The model includes four distinct unisensory areas that are devoted to a topological representation of external stimuli. Two of them represent subregions of the AES (i.e., FAES, an auditory area, and AEV, a visual area) and send descending inputs to the ipsilateral SC; the other two represent subcortical areas (one auditory and one visual) projecting ascending inputs to the same SC. Different competitive mechanisms, realized by means of population of interneurons, are used in the model to reproduce the different behaviour of SC neurons in conditions of cortical activation and deactivation. The model, with a single set of parameters, is able to mimic the behaviour of SC multisensory neurons in response to very different stimulus conditions (multisensory enhancement, inverse effectiveness, within- and cross-modal suppression of spatially disparate stimuli), with cortex functional and cortex deactivated, and with a particular type of membrane receptors (NMDA receptors) active or inhibited. All these results agree with the data reported in Jiang et al. (2001) and in Binns and Salt (1996). The model suggests that non-linearities in neural responses and synaptic (excitatory and inhibitory) connections can explain the fundamental aspects of multisensory integration, and provides a biologically plausible hypothesis about the underlying circuitry.

Sistemi riconfigurabili a basso consumo per applicazioni di monitoraggio distribuito

The term Ambient Intelligence (AmI) refers to a vision on the future of the information society where smart, electronic environment are sensitive and responsive to the presence of people and their activities (Context awareness). In an ambient intelligence world, devices work in concert to support people in carrying out their everyday life activities, tasks and rituals in an easy, natural way using information and intelligence that is hidden in the network connecting these devices. This promotes the creation of pervasive environments improving the quality of life of the occupants and enhancing the human experience. AmI stems from the convergence of three key technologies: ubiquitous computing, ubiquitous communication and natural interfaces. Ambient intelligent systems are heterogeneous and require an excellent cooperation between several hardware/software technologies and disciplines, including signal processing, networking and protocols, embedded systems, information management, and distributed algorithms. Since a large amount of fixed and mobile sensors embedded is deployed into the environment, the Wireless Sensor Networks is one of the most relevant enabling technologies for AmI. WSN are complex systems made up of a number of sensor nodes which can be deployed in a target area to sense physical phenomena and communicate with other nodes and base stations. These simple devices typically embed a low power computational unit (microcontrollers, FPGAs etc.), a wireless communication unit, one or more sensors and a some form of energy supply (either batteries or energy scavenger modules). WNS promises of revolutionizing the interactions between the real physical worlds and human beings. Low-cost, low-computational power, low energy consumption and small size are characteristics that must be taken into consideration when designing and dealing with WSNs. To fully exploit the potential of distributed sensing approaches, a set of challengesmust be addressed. Sensor nodes are inherently resource-constrained systems with very low power consumption and small size requirements which enables than to reduce the interference on the physical phenomena sensed and to allow easy and low-cost deployment. They have limited processing speed,storage capacity and communication bandwidth that must be efficiently used to increase the degree of local ”understanding” of the observed phenomena. A particular case of sensor nodes are video sensors. This topic holds strong interest for a wide range of contexts such as military, security, robotics and most recently consumer applications. Vision sensors are extremely effective for medium to long-range sensing because vision provides rich information to human operators. However, image sensors generate a huge amount of data, whichmust be heavily processed before it is transmitted due to the scarce bandwidth capability of radio interfaces. In particular, in video-surveillance, it has been shown that source-side compression is mandatory due to limited bandwidth and delay constraints. Moreover, there is an ample opportunity for performing higher-level processing functions, such as object recognition that has the potential to drastically reduce the required bandwidth (e.g. by transmitting compressed images only when something ‘interesting‘ is detected). The energy cost of image processing must however be carefully minimized. Imaging could play and plays an important role in sensing devices for ambient intelligence. Computer vision can for instance be used for recognising persons and objects and recognising behaviour such as illness and rioting. Having a wireless camera as a camera mote opens the way for distributed scene analysis. More eyes see more than one and a camera system that can observe a scene from multiple directions would be able to overcome occlusion problems and could describe objects in their true 3D appearance. In real-time, these approaches are a recently opened field of research. In this thesis we pay attention to the realities of hardware/software technologies and the design needed to realize systems for distributed monitoring, attempting to propose solutions on open issues and filling the gap between AmI scenarios and hardware reality. The physical implementation of an individual wireless node is constrained by three important metrics which are outlined below. Despite that the design of the sensor network and its sensor nodes is strictly application dependent, a number of constraints should almost always be considered. Among them: • Small form factor to reduce nodes intrusiveness. • Low power consumption to reduce battery size and to extend nodes lifetime. • Low cost for a widespread diffusion. These limitations typically result in the adoption of low power, low cost devices such as low powermicrocontrollers with few kilobytes of RAMand tenth of kilobytes of program memory with whomonly simple data processing algorithms can be implemented. However the overall computational power of the WNS can be very large since the network presents a high degree of parallelism that can be exploited through the adoption of ad-hoc techniques. Furthermore through the fusion of information from the dense mesh of sensors even complex phenomena can be monitored. In this dissertation we present our results in building several AmI applications suitable for a WSN implementation. The work can be divided into two main areas:Low Power Video Sensor Node and Video Processing Alghoritm and Multimodal Surveillance . Low Power Video Sensor Nodes and Video Processing Alghoritms In comparison to scalar sensors, such as temperature, pressure, humidity, velocity, and acceleration sensors, vision sensors generate much higher bandwidth data due to the two-dimensional nature of their pixel array. We have tackled all the constraints listed above and have proposed solutions to overcome the current WSNlimits for Video sensor node. We have designed and developed wireless video sensor nodes focusing on the small size and the flexibility of reuse in different applications. The video nodes target a different design point: the portability (on-board power supply, wireless communication), a scanty power budget (500mW),while still providing a prominent level of intelligence, namely sophisticated classification algorithmand high level of reconfigurability. We developed two different video sensor node: The device architecture of the first one is based on a low-cost low-power FPGA+microcontroller system-on-chip. The second one is based on ARM9 processor. Both systems designed within the above mentioned power envelope could operate in a continuous fashion with Li-Polymer battery pack and solar panel. Novel low power low cost video sensor nodes which, in contrast to sensors that just watch the world, are capable of comprehending the perceived information in order to interpret it locally, are presented. Featuring such intelligence, these nodes would be able to cope with such tasks as recognition of unattended bags in airports, persons carrying potentially dangerous objects, etc.,which normally require a human operator. Vision algorithms for object detection, acquisition like human detection with Support Vector Machine (SVM) classification and abandoned/removed object detection are implemented, described and illustrated on real world data. Multimodal surveillance: In several setup the use of wired video cameras may not be possible. For this reason building an energy efficient wireless vision network for monitoring and surveillance is one of the major efforts in the sensor network community. Energy efficiency for wireless smart camera networks is one of the major efforts in distributed monitoring and surveillance community. For this reason, building an energy efficient wireless vision network for monitoring and surveillance is one of the major efforts in the sensor network community. The Pyroelectric Infra-Red (PIR) sensors have been used to extend the lifetime of a solar-powered video sensor node by providing an energy level dependent trigger to the video camera and the wireless module. Such approach has shown to be able to extend node lifetime and possibly result in continuous operation of the node.Being low-cost, passive (thus low-power) and presenting a limited form factor, PIR sensors are well suited for WSN applications. Moreover techniques to have aggressive power management policies are essential for achieving long-termoperating on standalone distributed cameras needed to improve the power consumption. We have used an adaptive controller like Model Predictive Control (MPC) to help the system to improve the performances outperforming naive power management policies.

Individuazione di punti salienti in dati 3D mediante rappresentazioni strutturate

Questa tesi si inserisce nel filone di ricerca dell'elaborazione di dati 3D, e in particolare nella 3D Object Recognition, e delinea in primo luogo una panoramica sulle principali rappresentazioni strutturate di dati 3D, le quali rappresentano una prerogativa necessaria per implementare in modo efficiente algoritmi di processing di dati 3D, per poi presentare un nuovo algoritmo di 3D Keypoint Detection che è stato sviluppato e proposto dal Computer Vision Laboratory dell'Università di Bologna presso il quale ho effettuato la mia attività di tesi.

Localizzazione e riconoscimento di oggetti mediante descrittori locali

La tesi presenta un lavoro svolto nell'ambito dell'object recognition, in particolare riguardante l'analisi dei descrittori locali SIFT e BRIEF. Dopo aver implementato BRIEF, sono stati realizzati numerosi test al fine di presentare un esauriente confronto prestazionale tra i due descrittori. Infine, è stato realizzato un applicativo per la localizzazione e il riconoscimento di oggetti su ripiani.

Contour integration and principles of perceptual grouping

Ziel der Arbeit ist die Analyse von Prinzipien der Konturintegration im menschlichen visuellen System. Die perzeptuelle Verbindung benachbarter Teile in einer visuellen Szene zu einem Ganzen wird durch zwei gestalttheoretisch begründete Propositionen gekennzeichnet, die komplementäre lokale Mechanismen der Konturintegration beschreiben. Das erste Prinzip der Konturintegration fordert, dass lokale Ähnlichkeit von Elementen in einem anderen Merkmal als Orientierung nicht hinreicht für die Entdeckung von Konturen, sondern ein zusätzlicher statistischer Merkmalsunterschied von Konturelementen und Umgebung vorliegen muss, um Konturentdeckung zu ermöglichen. Das zweite Prinzip der Konturintegration behauptet, dass eine kollineare Ausrichtung von Konturelementen für Konturintegration hinreicht, und es bei deren Vorliegen zu robuster Konturintegrationsleistung kommt, auch wenn die lokalen merkmalstragenden Elemente in anderen Merkmalen in hohem Maße zufällig variieren und damit keine nachbarschaftliche Ähnlichkeitsbeziehung entlang der Kontur aufweisen. Als empirische Grundlage für die beiden vorgeschlagenen Prinzipien der Konturintegration werden drei Experimente berichtet, die zunächst die untergeordnete Rolle globaler Konturmerkmale wie Geschlossenheit bei der Konturentdeckung aufweisen und daraufhin die Bedeutung lokaler Mechanismen für die Konturintegration anhand der Merkmale Kollinearität, Ortsfrequenz sowie der spezifischen Art der Interaktion zwischen beiden Merkmalen beleuchten. Im ersten Experiment wird das globale Merkmal der Geschlossenheit untersucht und gezeigt, dass geschlossene Konturen nicht effektiver entdeckt werden als offene Konturen. Das zweite Experiment zeigt die Robustheit von über Kollinearität definierten Konturen über die zufällige Variation im Merkmal Ortsfrequenz entlang der Kontur und im Hintergrund, sowie die Unmöglichkeit der Konturintegration bei nachbarschaftlicher Ähnlichkeit der Konturelemente, wenn Ähnlichkeit statt über kollineare Orientierung über gleiche Ortsfrequenzen realisiert ist. Im dritten Experiment wird gezeigt, dass eine redundante Kombination von kollinearer Orientierung mit einem statistischen Unterschied im Merkmal Ortsfrequenz zu erheblichen Sichtbarkeitsgewinnen bei der Konturentdeckung führt. Aufgrund der Stärke der Summationswirkung wird vorgeschlagen, dass durch die Kombination mehrerer Hinweisreize neue kortikale Mechanismen angesprochen werden, die die Konturentdeckung unterstützen. Die Resultate der drei Experimente werden in den Kontext aktueller Forschung zur Objektwahrnehmung gestellt und ihre Bedeutung für die postulierten allgemeinen Prinzipien visueller Gruppierung in der Konturintegration diskutiert. Anhand phänomenologischer Beispiele mit anderen Merkmalen als Orientierung und Ortsfrequenz wird gezeigt, dass die gefundenen Prinzipien Generalisierbarkeit für die Verarbeitung von Konturen im visuellen System beanspruchen können.