Structure from Stereo and Motion

Stereopsis and motion parallax are two methods for recovering three dimensional shape. Theoretical analyses of each method show that neither alone can recover rigid 3D shapes correctly unless other information, such as perspective, is included. The solutions for recovering rigid structure from motion have a reflection ambiguity; the depth scale of the stereoscopic solution will not be known unless the fixation distance is specified in units of interpupil separation. (Hence the configuration will appear distorted.) However, the correct configuration and the disposition of a rigid 3D shape can be recovered if stereopsis and motion are integrated, for then a unique solution follows from a set of linear equations. The correct interpretation requires only three points and two stereo views.

The Role of Fixation and Visual Attention in Object Recognition

This research project is a study of the role of fixation and visual attention in object recognition. In this project, we build an active vision system which can recognize a target object in a cluttered scene efficiently and reliably. Our system integrates visual cues like color and stereo to perform figure/ground separation, yielding candidate regions on which to focus attention. Within each image region, we use stereo to extract features that lie within a narrow disparity range about the fixation position. These selected features are then used as input to an alignment-style recognition system. We show that visual attention and fixation significantly reduce the complexity and the false identifications in model-based recognition using Alignment methods. We also demonstrate that stereo can be used effectively as a figure/ground separator without the need for accurate camera calibration.

Mid-Level Vision and Recognition of Non-Rigid Objects

We address mid-level vision for the recognition of non-rigid objects. We align model and image using frame curves - which are object or "figure/ground" skeletons. Frame curves are computed, without discontinuities, using Curved Inertia Frames, a provably global scheme implemented on the Connection Machine, based on: non-cartisean networks; a definition of curved axis of inertia; and a ridge detector. I present evidence against frame alignment in human perception. This suggests: frame curves have a role in figure/ground segregation and in fuzzy boundaries; their outside/near/top/ incoming regions are more salient; and that perception begins by setting a reference frame (prior to early vision), and proceeds by processing convex structures.

Dynamic response of a geotechnical rigid model container with absorbing boundaries.

One of the major challenges encountered in earthquake geotechnical physical modelling is to determine the effects induced by the artificial boundaries of the soil container on the dynamic response of the soil deposit. Over the past years, the use of absorbing material for minimising boundaries effects has become an increasing alternative solution, yet little systematic research has been carried out to quantify the dynamic performance of the absorbing material and the amount of energy dissipated by it. This paper aims to examine the effects induced by the absorbing material on the dynamic response of the soil, and estimate the amount of energy reduced by the absorbing boundaries. The absorbent material consisted of panels made of commercially available foams, which were placed on both inner sides of end-walls of the soil container. These walls are perpendicular to the shaking direction. Three types of foam with different mechanical properties were used in this study. The results were obtained from tests carried out using a shaking table and Redhill 110 sand for the soil deposit. It was found that a considerably amount of energy was dissipated, in particular within the frequency range close to the resonance of the soil deposit. This feature suggests that the presence of foams provides a significant influence to the dynamic response of the soil. The energy absorbed by the boundaries was also quantified from integrals of the Power Spectral Density of the accelerations. It was found that the absorbed energy ranged between a minimum of 41% to a maximum of 92% of the input levels, depending mainly on the foam used in the test. The effects provided by the acceleration levels and depth at which the energy was evaluated were practically negligible. Finally, practical guidelines for the selection of the absorbing material are provided.

Physically-Based Combinations of Views: Representing Rigid and Nonrigid Motion

Nonrigid motion can be described as morphing or blending between extremal shapes, e.g., heart motion can be described as transitioning between the systole and diastole states. Using physically-based modeling techniques, shape similarity can be measured in terms of forces and strain. This provides a physically-based coordinate system in which motion is characterized in terms of physical similarity to a set of extremal shapes. Having such a low-dimensional characterization of nonrigid motion allows for the recognition and the comparison of different types of nonrigid motion.

Non-Rigid Shape from Image Streams

We present a framework for estimating 3D relative structure (shape) and motion given objects undergoing nonrigid deformation as observed from a fixed camera, under perspective projection. Deforming surfaces are approximated as piece-wise planar, and piece-wise rigid. Robust registration methods allow tracking of corresponding image patches from view to view and recovery of 3D shape despite occlusions, discontinuities, and varying illumination conditions. Many relatively small planar/rigid image patch trackers are scattered throughout the image; resulting estimates of structure and motion at each patch are combined over local neighborhoods via an oriented particle systems formulation. Preliminary experiments have been conducted on real image sequences of deforming objects and on synthetic sequences where ground truth is known.

Optimizing perioperative analgesia for patients undergoing operative fixation of hip fractures

This PhD thesis describes work carried out on investigation of various interventions with the aim to optimise the anaesthetic management of patients scheduled to undergo operative fixation of hip fractures. We analysed the perioperative effects of continuous femoral nerve block, single preoperative dose of i.v. dexamethasone, the intention to deposit local anaesthetic in different locations around the femoral nerve during ultrasound guided femoral nerve block, continuous spinal anaesthesia and peri-surgical site infiltration with local anaesthetic after surgical fixation of hip fractures. Continuous femoral nerve block provided more effective preoperative analgesia six hours after the insertion of the perineural catheter compared to a standard opiate-based regimen in patients undergoing operative fixation of fractured hip. A single low dose of preoperative dexamethasone in the intervention group decreased pain scores by 75% six hours after the surgery. Both interventions had no major effect on the functional recovery in the first year after the surgical fixation of fractured hip. The results of the ultrasound guided femoral nerve block trial showed no clinical advantage of intending to deposit local anaesthetic circumferentially during performing femoral nerve block. Using the Dixon and Massey’s “up- and-down” method, we demonstrated that intrathecal 0.26 ml of 0.5% bupivacaine provided adequate surgical anaesthesia within 15 minutes in 50% of patients undergoing operative fixation of hip fracture. Finally, we demonstrated that local anaesthetic infiltration had no effect on pain scores 12 hours after the surgical fixation of fractured neck of femur. In addition to this original body of work, a review article was published on femoral nerve block highlighting the use of ultrasound guidance. In conclusion, the results of this thesis offer an insight into interventions aimed at optimising perioperative analgesia in patients scheduled to undergo operative fixation of hip fractures.

Plantar Loading During Cutting While Wearing a Rigid Carbon Fiber Insert.

Context : Stress fractures are one of the most common injuries in sports, accounting for approximately 10% of all overuse injuries. Treatment of fifth metatarsal stress fractures involves both surgical and nonsurgical interventions. Fifth metatarsal stress fractures are difficult to treat because of the risks of delayed union, nonunion, and recurrent injuries. Most of these injuries occur during agility tasks, such as those performed in soccer, basketball, and lacrosse. Objective : To examine the effect of a rigid carbon graphite footplate on plantar loading during 2 agility tasks. Design :  Crossover study. Setting : Laboratory. Patients or Other Participants : A total of 19 recreational male athletes with no history of lower extremity injury in the past 6 months and no previous metatarsal stress fractures were tested. Main Outcome Measure(s) :  Seven 45° side-cut and crossover-cut tasks were completed in a shoe with or without a full-length rigid carbon plate. Testing order between the shoe conditions and the 2 cutting tasks was randomized. Plantar-loading data were recorded using instrumented insoles. Peak pressure, maximum force, force-time integral, and contact area beneath the total foot, the medial and lateral midfoot, and the medial, middle, and lateral forefoot were analyzed. A series of paired t tests was used to examine differences between the footwear conditions (carbon graphite footplate, shod) for both cutting tasks independently (α = .05). Results : During the side-cut task, the footplate increased total foot and lateral midfoot peak pressures while decreasing contact area and lateral midfoot force-time integral. During the crossover-cut task, the footplate increased total foot and lateral midfoot peak pressure and lateral forefoot force-time integral while decreasing total and lateral forefoot contact area. Conclusions : Although a rigid carbon graphite footplate altered some aspects of the plantar- pressure profile during cutting in uninjured participants, it was ineffective in reducing plantar loading beneath the fifth metatarsal.

Bioburden after Staphylococcus aureus inoculation in type 1 diabetic rats undergoing internal fixation.

SUMMARY: Fracture stabilization in the diabetic patient is associated with higher complication rates, particularly infection and impaired wound healing, which can lead to major tissue damage, osteomyelitis, and higher amputation rates. With an increasing prevalence of diabetes and an aging population, the risks of infection of internal fixation devices are expected to grow. Although numerous retrospective clinical studies have identified a relationship between diabetes and infection, currently there are few animal models that have been used to investigate postoperative surgical-site infections associated with internal fixator implantation and diabetes. The authors therefore refined the protocol for inducing hyperglycemia and compared the bacterial burden in controls to pharmacologically induced type 1 diabetic rats after undergoing internal fracture plate fixation and Staphylococcus aureus surgical-site inoculation. Using an initial series of streptozotocin doses, followed by optional additional doses to reach a target blood glucose range of 300 to 600 mg/dl, the authors reliably induced diabetes in 100 percent of the rats (n = 16), in which a narrow hyperglycemic range was maintained 14 days after onset of diabetes (mean ± SEM, 466 ± 16 mg/dl; coefficient of variation, 0.15). With respect to their primary endpoint, the authors quantified a significantly higher infectious burden in inoculated diabetic animals (median, 3.2 × 10 colony-forming units/mg dry tissue) compared with inoculated nondiabetic animals (7.2 × 10 colony-forming units/mg dry tissue). These data support the authors' hypothesis that uncontrolled diabetes adversely affects the immune system's ability to clear Staphylococcus aureus associated with internal hardware.

Phytoplankton carbon fixation chlorophyll-biomass and diagnostic pigments in the Atlantic Ocean

We have made daily measurements of phytoplankton pigments, size-fractionated (<2 and >2-μm) carbon fixation and chlorophyll-a concentration during four Atlantic Meridional Transect (AMT) cruises in 2003–04. Surface rates of carbon fixation ranged from <0.2-mmol C m−3 d−1 in the subtropical gyres to 0.2–0.5-mmol C m−3 d−1 in the tropical equatorial Atlantic. Significant intercruise variability was restricted to the subtropical gyres, with higher chlorophyll-a concentrations and carbon fixation in the subsurface chlorophyll maximum during spring in either hemisphere. In surface waters, although picoplankton (<2-μm) represented the dominant fraction in terms of both carbon fixation (50–70%) and chlorophyll-a (80–90%), nanoplankton (>2-μm) contributions to total carbon fixation (30–50%) were higher than to total chlorophyll-a (10–20%). However, in the subsurface chlorophyll maximum picoplankton dominated both carbon fixation (70–90%) and chlorophyll-a (70–90%). Thus, in surface waters chlorophyll-normalised carbon fixation was 2–3 times higher for nanoplankton and differences in picoplankton and nanoplankton carbon to chlorophyll-a ratios may lead to either higher or similar growth rates. These low chlorophyll-normalised carbon fixation rates for picoplankton may also reflect losses of fixed carbon (cell leakage or respiration), decreases in photosynthetic efficiency, grazing losses during the incubations, or some combination of all these. Comparison of nitrate concentrations in the subsurface chlorophyll maximum with estimates of those required to support the observed rates of carbon fixation (assuming Redfield stoichiometry) indicate that primary production in the chlorophyll maximum may be light rather than nutrient limited.