Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Enhanced Model Selection for motion segmentation

In this paper a novel rank estimation technique for trajectories motion segmentation within the Local Subspace Affinity (LSA) framework is presented. This technique, called Enhanced Model Selection (EMS), is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built by LSA. The results on synthetic and real data show that without any a priori knowledge, EMS automatically provides an accurate and robust rank estimation, improving the accuracy of the final motion segmentation

Rank estimation of trajectory matrix in motion segmentation

A novel technique for estimating the rank of the trajectory matrix in the local subspace affinity (LSA) motion segmentation framework is presented. This new rank estimation is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built with LSA. The result is an enhanced model selection technique for trajectory matrix rank estimation by which it is possible to automate LSA, without requiring any a priori knowledge, and to improve the final segmentation

Multilevel Training of Binary Morphological Operators

The design of binary morphological operators that are translation-invariant and locally defined by a finite neighborhood window corresponds to the problem of designing Boolean functions. As in any supervised classification problem, morphological operators designed from a training sample also suffer from overfitting. Large neighborhood tends to lead to performance degradation of the designed operator. This work proposes a multilevel design approach to deal with the issue of designing large neighborhood-based operators. The main idea is inspired by stacked generalization (a multilevel classifier design approach) and consists of, at each training level, combining the outcomes of the previous level operators. The final operator is a multilevel operator that ultimately depends on a larger neighborhood than of the individual operators that have been combined. Experimental results show that two-level operators obtained by combining operators designed on subwindows of a large window consistently outperform the single-level operators designed on the full window. They also show that iterating two-level operators is an effective multilevel approach to obtain better results.

Keratinocyte growth factor: a new mesothelial targeted therapy to reduce postoperative pericardial adhesions

Background: Several methods have been utilized to prevent pericardial and retrosternal adhesions, but none of them evaluated the mesothelial regenerative hypothesis. There are evidences that the mesothelial trauma reduces pericardial fibrinolytic capability and induces an adhesion process. Keratinocyte growth factor (KGF) has proven to improve mesothelial cells proliferation. This study investigated the influence of keratinocyte growth factor in reducing post-surgical adhesions. Methods: Twelve pigs were operated and an adhesion protocol was employed. Following a stratified randomization, the animals received a topical application of KGF or saline. At 8 weeks, intrapericardial adhesions were evaluated and a severity score was established. The time spent to dissect the adhesions and the amount of sharp dissection used, were recorded. Histological sections were stained with sirius red and morphometric analyses were assessed with a computer-assisted image analysis system. Results: The severity score was lower in the KGF group than in the control group (11.5 vs 17, p = 0.005). The dissection time was lower in the KGF group (9.2 +/- 1.4 min vs 33.9 +/- 9.2 min, p = 0.004) and presented a significant correlation with the severity score (r = 0.83, p = 0.001). A significantly less sharp dissection was also required in the KGF group. Also, adhesion area and adhesion collagen were significantly tower in the KGF group than in the control group. Conclusion: The simulation of pericardial cells with KGF reduced the intensity of postoperative adhesions and facilitated the re-operation. This study suggests that the mesothelial regeneration is the new horizon in anti-adhesion therapies. (C) 2008 European Association for Cardio-Thoracic Surgery. Published by Elsevier B.V. All rights reserved.

Synergism Between Keratinocyte Growth Factor and Carboxymethyl Chitosan Reduces Pericardial Adhesions

Background. Mesothelial injury is the pivot in the development of adhesions. An increase in the proliferation of mesothelial cells was verified by in vitro studies with the use of keratinocyte growth factor (KGF). This study investigated the influence of KGF associated with thermo-sterilized carboxymethyl chitosan (NOCCts) in the reduction of pericardial adhesions. Methods. An induction model of pericardial adhesion was carried out in 24 pigs. Animals were randomly allocated to receive topical application of KGF, KGF + NOCCts, NOCCts, or saline (control). At 8 weeks, intra-pericardial adhesions were evaluated and a severity score was established. The time spent to dissect the adhesions and the amount of sharp dissection used, were recorded. Histologic sections were stained with sirius red for a morphometric evaluation using a computer-assisted image analysis system. Cytokeratin AE1/AE3 immunostaining were employed to identify mesothelial cells. Results. The severity score expressed in median (minimum to maximum), in relation to the control group (17 [15 to 18]), was lower in the KGF + NOCCts group (7 [6 to 9], p < 0.01) followed by the KGF group (11.5 [9 to 12], 0.01 < p < 0.05) and the NOCCts group (12 [9 to 14], p > 0.05). The dissection time was significantly lower in the KGF + NOCCts group (7.1 +/- 0.6 vs 33.9 +/- 9.2 minutes, p < 0.001). A significantly less sharp dissection was also required in the KGF + NOCCts group. In the adhesion segment, a decreased collagen proportion was found in the KGF + NOCCts group (p < 0.05). Mesothelial cells were present more extensively in groups in which KGF was delivered (p = 0.01). Conclusions. The use of KGF associated with NOCCts resulted in a synergic action that decreases postoperative pericardial adhesions in a highly significant way. (Ann Thorac Surg 2010; 90: 566-72) (C) 2010 by The Society of Thoracic Surgeons

Efficacy evaluation of a commercial neem cake for control of Haematobia irritans on Nelore cattle

Muita atenção tem sido dada ao desenvolvimento de inseticidas vegetais buscando-se um efetivo controle de ectoparasitas de bovinos, sem prejudicar animais, consumidores e meio ambiente. Este estudo, realizado de abril a julho de 2008, na Empresa Brasileira de Pesquisa Agropecuária (EMBRAPA) Pecuária Sudeste, em São Carlos, SP, Brasil, avaliou a eficácia de uma torta comercial de nim (Azadirachta indica) no controle da mosca-dos-chifres (Haematobia irritans) em bovinos. A torta de nim, misturada ao sal mineral na concentração de 2%, foi fornecida a 20 vacas Nelore, durante nove semanas, e sua eficácia foi monitorada através de contagens semanais nos grupos tratado e controle. Infestações individuais foram registradas por meio de fotos digitais em todos os animais de ambos os grupos, e o número de moscas foi, posteriormente, quantificado com o auxílio de um sistema de análise de imagem computadorizado. A quantificação dos componentes da torta de nim, por cromatografia líquida, revelou a presença de azadiractina (421 mg.kg-1) e 3-tigloyl-azadirachtol (151 mg.kg-1). A adição da torta de nim a 2% reduziu o consumo de sal mineral em cerca de 22%. O tratamento com torta de nim a 2% não reduziu as infestações por mosca-dos-chifres em bovinos durante as nove semanas do estudo.

Análise radiográfica computadorizada da reabsorção radicular apical após a utilização de duas mecânicas ortodônticas

OBJETIVO: a reabsorção radicular apical é uma condição comumente observada durante e após o tratamento ortodôntico e fatores como tipo de aparelhagem ortodôntica utilizada, magnitude das forças aplicadas e duração do tratamento podem estar relacionados ao processo de arredondamento do ápice radicular. Buscou-se avaliar, por meio de imagens radiográficas computadorizadas, a quantidade de reabsorção no ápice radicular, quando da utilização de duas diferentes técnicas de mecânica ortodôntica fixa: Edgewise com acessórios padrão e Edgewise com acessórios totalmente programados. METODOLOGIA: a amostra constituiu-se de 20 pacientes tratados pelo mesmo profissional na Clínica de Ortodontia da Faculdade de Odontologia de Araçatuba - UNESP. Os pacientes foram divididos em dois grupos: grupo 1 (Tratados com Edgewise com acessórios padrão e fios de aço) e grupo 2 (Tratados com Edgewise com acessórios totalmente programados e fios de níquel-titânio). A avaliação radiográfica digital foi realizada por um único operador por meio de exposições radiográficas digitais feitas no início do tratamento ortodôntico, após retração de caninos e final de tratamento, utilizando o sistema de escores proposto por Levander e Malmgren (1988). RESULTADOS E CONCLUSÕES: a análise dos escores permitiu concluir que o tratamento ortodôntico empregando a técnica Edgewise com acessórios totalmente programados e fios de níquel-titânio apresentou menores graus de reabsorção radicular apical, em comparação à técnica Edgewise com acessórios padrão e fios de aço. Observou-se que, independentemente da técnica empregada, o tratamento ortodôntico como um todo apresentou um grau moderado de reabsorção radicular apical.

Primary tooth length determination in direct digital radiography: An in vivo study

Purpose: the purpose of this in vivo study was to compare the accuracy of primary incisor length determined by direct digital radiography (straight-line measurement and grid superimposition) and measurement of the actual tooth length. Methods. Twenty-two primary maxillary incisors that required extractions were selected from 3- to 5-year-old children. The teeth were radiographed with an intraoral sensor using the long cone technique and a sensor holder (30-cm focus-to-sensor distance). The exposure time was 03 seconds. Tooth length was estimated by using straight-line and grid measurements provided by the distance measurement feature of the Computed Dental Radiography digital dental imaging system. The actual tooth length was obtained by measuring the extracted tooth with G digital caliper. Data were analyzed statistically by Pearson's correlation coefficient and a paired t test. Results: There were statistically significant differences (P=.007) between the 2 measurement techniques and between the actual tooth lengths and grid measurements. There was no statistically significant difference (P=38) between straight-line measurements and actual tooth lengths, showing that the straight-line measurements were more accurate. Underestimation of the actual tooth length, however, occurred in 45% of the straight-line measurements and in 73% of the grid measurements. Conclusion: It is possible to determine primary tooth length in digital radiographs using onscreen measurements with 0 reasonable degree of accuracy.

On the efficacy of texture analysis for crowd monitoring

The goal of this work is to assess the efficacy of texture measures for estimating levels of crowd densities ill images. This estimation is crucial for the problem of crowd monitoring. and control. The assessment is carried out oil a set of nearly 300 real images captured from Liverpool Street Train Station. London, UK using texture measures extracted from the images through the following four different methods: gray level dependence matrices, straight lille segments. Fourier analysis. and fractal dimensions. The estimations of dowel densities are given in terms of the classification of the input images ill five classes of densities (very low, low. moderate. high and very high). Three types of classifiers are used: neural (implemented according to the Kohonen model). Bayesian. and an approach based on fitting functions. The results obtained by these three classifiers. using the four texture measures. allowed the conclusion that, for the problem of crowd density estimation. texture analysis is very effective.

Ultrasonographic analysis of senile cataractous lens of dogs and its correlation to phacoemulsification

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

Automatic absolute orientation of scanned aerial photographs

Image orientation is a basic problem in Digital Photogrammetry. While interior and relative orientations were succesfully automated, the same can not be said about absolute orientation. This process can be automated by using an approach based on relational matching and a heuristic that uses the analytical relation between straight features in the object space and its homologous in the image space. A build-in self-diagnosis is also used in this method, that is based on the implementation of data snooping statistic test in the process of spatial resection, using the Iterated Extended Kalman Filtering (IEKF). The aim of this paper is to present the basic principles of the proposed approach and results based on real data.

Accuracy assessment of a photogrammetric close-range reconstruction system

Geometric accuracy of a close-range photogrammetric system is assessed in this paper considering surface reconstruction with structured light as its main purpose. The system is based on an off-the-shelf digital camera and a pattern projector. The mathematical model for reconstruction is based on the parametric equation of the projected straight line combined with collinearity equations. A sequential approach for system calibration was developed and is presented. Results obtained from real data are also presented and discussed. Experiments with real data using a prototype have indicated 0.5mm of accuracy in height determination and 0.2mm in the XY plane considering an application where the object was 1630mm distant from the camera.

Real-time crowd density estimation using images

This paper presents a technique for real-time crowd density estimation based on textures of crowd images. In this technique, the current image from a sequence of input images is classified into a crowd density class. Then, the classification is corrected by a low-pass filter based on the crowd density classification of the last n images of the input sequence. The technique obtained 73.89% of correct classification in a real-time application on a sequence of 9892 crowd images. Distributed processing was used in order to obtain real-time performance. © Springer-Verlag Berlin Heidelberg 2005.