Combining sparse and dense methods in 6D Visual Odometry

13th International Conference on Autonomous Robot Systems (Robotica), 2013, Lisboa

Real-Time Visual Ground-Truth System for Indoor Robotic Applications

The robotics community is concerned with the ability to infer and compare the results from researchers in areas such as vision perception and multi-robot cooperative behavior. To accomplish that task, this paper proposes a real-time indoor visual ground truth system capable of providing accuracy with at least more magnitude than the precision of the algorithm to be evaluated. A multi-camera architecture is proposed under the ROS (Robot Operating System) framework to estimate the 3D position of objects and the implementation and results were contextualized to the Robocup Middle Size League scenario.

HIV Voluntary Testing among Portuguese Women Attending Family Planning Clinics: Implications for HIV Prevention Education and Testing

Objectives: The aim of this article is to analyze the factors associated with HIV testing among 767 sexually active women. Methods: Participants were administered several self-report questionnaires that assessed behavioral and psychosocial measures. Results: Overall, 59.8% of the participants reported ever having tested for HIV. Results show that higher levels of education, being pregnant or having been pregnant, concern about AIDS, AIDS knowledge, self-efficacy in condom negotiation and perception of no risk in partner significantly predicted the likelihood of testing among women. Attending the mass was negatively associated with HIV testing. Conclusions: These findings provide information that can be used in the development of a focused gender sensitive HIV prevention program to increase HIV testing.

Alterações da função visual e da qualidade de vida relacionada com a saúde em indivíduos idosos

RESUMO: Introdução: A visão é um sentido fundamental na relação do indivíduo com os mais variados ambientes, sendo elemento central na funcionalidade e independência do idoso, qualquer perturbação da função visual provoca limitações na qualidade de vida. As alterações demográficas em curso caracterizam-se pelo envelhecimento progressivo da população, paralelamente constata-se um aumento da prevalência de perturbações do sistema visual com alteração da função e do funcionamento visual. Considerando que os indivíduos idosos são mais dependentes da visão, e que não existem para esta área estudos desenvolvidos em Portugal, esta investigação tem como fundamento analisar a influência que a perturbação da função visual em indivíduos com 65 ou mais anos tem na qualidade de vida relacionada com a saúde. Estudaram-se também as características sócio-demográficas dos indivíduos participantes, da saúde visual e a percepção da saúde geral, bem como identificaram se junto dos idosos participantes e de Médicos especialistas em Medicina Geral e Familiar perspectivas sobre perturbações da função visual e envelhecimento. Desenho de estudo: Estudo transversal, caso-controlo e descritivo-exploratório. Materiais e Métodos: A partir de uma população de 112 indivíduos com 65 ou mais anos, frequentadores de várias instituições de apoio social do Concelho de Loures e de idosos frequentadores/institucionalizados da Mansão de Santa Maria de Marvila, unidade orgânica da Fundação D. Pedro IV, foram incluídos no estudo 90 (80,4%). Após consentimento informado, procedeu-se à avaliação da função visual nos Laboratórios de Ortóptica da Escola Superior de Tecnologia de Saúde de Lisboa, onde também se aplicaram o Questionário de Funcionamento Visual VFQ-25 e uma questão aberta para o tipo de dificuldades de visão sentidas durante o último ano. Aplicou-se ainda, em ambiente virtual, uma pergunta aberta a Médicos especialistas em Medicina Geral e Familiar para aspectos relacionados com o diagnóstico/suspeita relativamente tardio de perturbações da função visual. Procedeu-se ao tratamento descritivo das características sócio-demográficas, da percepção de saúde geral e da saúde visual e das respostas dos idosos e dos médicos. Analisou-se a relação entre função visual e qualidade de vida relacionada com a saúde aplicando o teste não-paramétrico de Mann-Whitney. Resultados: Constatou-se que os indivíduos da amostra são maioritariamente do género feminino (71,1%), casados (41,1%), detentores de baixos níveis de escolaridade em que 63,3% apenas frequentou/concluiu o 1º ciclo do ensino básico e quase na sua totalidade reformados (88,9%). Verifica-se que 77,8% dos idosos percepciona a sua saúde geral como razoável ou boa. Da mesma forma, 86,7% dos indivíduos têm a função visual alterada devido principalmente à alteração da acuidade visual para longe (86,7%), registando-se que 65,5% dos olhos tinham uma acuidade visual igual ou superior a 5/10. Outras dimensões que contribuíram para a alteração da função visual contam-se a sensibilidade ao contraste (63,3%), estereopsia (51,1%), visão cromática (38,9%) e a motilidade ocular (25,6%). Obtiveram-se assim maiores pontuações para as diversas escalas do questionário VFQ-25 em indivíduos com função visual alterada exceptuando nas escalas actividades de perto, condução e dependência. Verificou-se portanto existir relação entre alteração da função visual e perturbação da qualidade de vida relacionada com a saúde. À questão colocada aos idosos, 42,6% não manifestou qualquer razão para que visse mal/sentisse dificuldades de visão durante o último ano. A diminuição da acuidade visual para longe/perto foi referida por 20,5% dos indivíduos, seguido pela deterioração do estado de saúde geral e ocular por 15%. As respostas do Médicos especialistas em Medicina Geral e Familiar sobre razões para a suspeita/diagnóstico relativamente tardia das perturbações da função visual, indicam a iliteracia dos idosos para a saúde da visão e semiologia ocular (34%), a baixa formação/informação dos Médicos de Medicina Geral e Familiar na área da saúde da visão (22%) e a pouca acessibilidade e resposta demorada/ineficaz dos serviços de oftalmologia do SNS (20%) como principais motivos para os assuntos questionados.Conclusões: As alterações do sistema visual com impacto na função e no funcionamento visual alteram a qualidade de vida relacionada com a saúde, devido principalmente à alteração da acuidade visual para longe. Os idosos do estudo não valorizam a saúde visual ao percepcionarem positivamente a saúde geral e a saúde visual relativamente à avaliação da função visual. É fundamental definir estratégias e programas de literacia para a saúde da visão para toda a população, não apenas destinados a idosos. Sugere-se repensar o modelo de formação base dos Médicos com especial incidência na área da saúde da visão, com necessidades sentidas de formação/informação. As respostas obtidas dos idosos e dos Médicos indicaram existir fragilidades na saúde da visão, necessário repensar o modelo de prestação de cuidados de saúde nesta área. Esta investigação permitiu ao autor uma reflexão sobre as temáticas relacionadas com o envelhecimento levando a uma mudança de atitudes e comportamento na abordagem profissional a indivíduos idosos, promovendo autonomia nas escolhas e decisões em questões de saúde, na criação de estratégias para lidar com o problema de visão e na adaptação à nova condição de saúde da visão.---------------ABSTRACT:Purpose: The vision is a fundamental sense in the individual's relationship with the most varied environments, a central element in the functionality and independence of the elderly, any disturbance of visual function causes limitations in quality of life. The current demographic changes are characterized by progressive aging of population, there has been a parallel increase in the prevalence of disorders of the visual system by changing the visual function and functioning. Whereas the elderly are more dependent on vision, and there are no studies in this area developed in Portugal, this research is based analyze the influence that the disturbance of visual function in subjects aged 65 years or more has on the health related quality of life. We studied also the socio-demographic characteristics of the subjects, the eye health and general health perception, and identified themselves with the elderly participants and medical specialists in Family General Medicine perspective on disorders of visual function and aging. Design: Cross-sectional study, case control, descriptive and exploratory. Methods: From a population of 112 people with 65 or more years, regulars of various social welfare institutions of the Municipality of Loures and elderly regulars/institutionalized the Mansion of Santa Maria de Marvila, organic unity of the Foundation D. Pedro IV, were included 90 (80.4%). After informed consent, proceeded to the assessment of visual function in the Laboratories of Orthopticsof the School of Health Technology of Lisbon, where he also applied the Visual Functioning Questionnaire VFQ-25 and an open question for the type of vision difficulties experienced during the last year. Was applied also in a virtual environment, an open question to Doctors specialists in family general medicine related to the diagnosis/suspected relatively late disturbance of visual function. We carried out the descriptive treatment of socio-demographic characteristics, perception of general health and eye health and the responses of older people and doctors. We analyzed the relationship between visual function and quality of life related to health by applying the nonparametric Mann-Whitney test. Results: We found that individuals in the sample are mostly female (71.1%), married (41.1%), holders of low levels of education in which only 63.3% frequented / completed the 1st cycle of primary and almost entirely retired (88.9%). It is found that 77.8% of the elderly perceive their general health as fair or good. Likewise, 86.7% of individuals have altered vision mainly due to the change in visual acuity away (86.7%),up to 65.5% of eyes had a visual acuity of 5/10 or greater. Other dimensions that contributed to the alteration of visual function include contrast sensitivity (63.3%), stereopsis (51.1%), color vision (38.9%) and ocular motility (25.6%). There was thus obtained the highest scores for different scales of the questionnaire VFQ-25 in patients with altered vision except for scales related to near activities, driving and dependence. It is therefore a relationship between alteration in visual function and disturbance of quality of life related to health. To question for the elderly, 42.6% expressed no reason to see evil/feel difficulty seeing over the last year. The decrease in visual acuity for distance/near was reported by 20.5% of subjects, followed by the deterioration of general health and eye for 15%. The responses of medical specialists in general practice about reasons for the suspicion/diagnosis relatively late disturbance of visual function, indicate the illiteracy of the elderly for healthy vision and ocular semiology (34%), low education/information for Doctors in the health of vision (22%) and poor accessibility and response timeconsuming/ inefficient NHS ophthalmology services (20%) as main reasons for the subjects questioned. Conclusion: Changes in the visual system with an impact on visual function and the functioning change the health related quality of life, mainly due to the change in distance visual acuity. Older people do not value the visual health perceiving the general health and eye health positively relatively of visual function. It is essential to define strategies and literacy programs for eye health for the entire population, not just for the elderly. It is suggested reconsider the model of basic training of Doctors with special focus on the health of the vision, with special needs sensed training/information. The responses of older people and doctors have indicated there is weakness in eye health, need to rethink the model of health care in this area. This research allowed the author to reflect on issues related to aging leading to a change in attitudes and behavior in professional approach to the elderly, promoting autonomy in choices and decisions in health issues, creating strategies to deal with the problem of vision and adaptation to new conditions of eye health.

How can packaging change children's eating habits from un-healthy food towards healthier options?

Field Lab: Children consumer behaviour

Distance perception in immersive environments: the role of photorealism

Immersive environments (IE) are being increasingly used in order to perform psychophysical experiments. The versatility in terms of stimuli presentation and control and the less time-consuming procedures are their greatest strengths. However, to ensure that IE results can be generalized to real world scenarios we must first provide evidence that performance in IE is quantitatively indistinguishable from performance in real-world. Our goal was to perceptually validate distance perception for CAVE-like IEs. Participants performed a Frontal Matching Distance Task (Durgin & Li, 2011) in three different conditions: real-world scenario (RWS); photorealistic IE (IEPH) and non-photorealistic IE (IENPH). Underestimation of distance was found across all the conditions, with a significant difference between the three conditions (Wilks’ Lambda = .38, F(2,134)= 110.8, p<.01, significant pairwise differences with p<.01). We found a mean error of 2.3 meters for the RWS, 5 meters for the IEPH, and of 6 meters for the IENPH in a pooled data set of 5 participants. Results indicate that while having a photorealistic IE with perspective and stereoscopic depth cues might not be enough to elicit a real-world performance in distance judgment tasks, nevertheless this type of environment minimizes the discrepancy between simulation and real-world when compared with non-photorealistic IEs.

Avaliação de vigas de madeira de Castanho tendo por base a classificação visual e ensaios não destrutivos

Dissertação de mestrado Internacional em Sustentabilidade do Ambiente Construído

Percepción y uso de flora y fauna por parte de los pobladores del sistema Laguna Mar Chiquita - Bañados del Río Dulce y área de influencia: diagnóstico e implicaciones para la conservación. Perception and use of flora and fauna by people of the system "Laguna Mar Chiquita - Bañados del Río Dulce" and it influence area: diagnosis and conservation implications.

La percepción, consumo y manejo de recursos naturales forma parte del conocimiento tradicional de distintas poblaciones humanas e involucra diversidad de actividades (recolección de plantas, caza y pesca, etc). Entre los vegetales, el uso de plantas medicinales se destaca por su persistencia y ubicuidad. El recurso animal, a través de la caza y la pesca, es fundamental como fuente de alimento y empleo. El sistema Mar Chiquita-Bañados del Río Dulce se destaca por su biodiversidad y la existencia de prácticas tradicionales de uso. La presión por conversión de ambientes naturales a tierras dedicadas al cultivo es fuerte, afectando principalmente a los bosques autóctonos, y las especies animales que en él habitan. Además, la desaparición de ambientes naturales conlleva la pérdida de prácticas tradicionales de uso, con la consiguiente deculturación. El presente trabajo evaluará la percepción y utilización de recursos naturales por los pobladores del área de influencia de Bañados del Río Dulce y Laguna Mar Chiquita, centrándose en plantas medicinales, peces, aves y mamíferos, a la vez de indagar sobre la diversidad de percepciones y conductas de apropiación de los recursos, dado que en la región coexisten diferentes pautas socio-culturales de acuerdo al grupo de procedencia. Como metodología básica para la recolección de datos de percepción y uso se utilizarán encuestas semi-estructuradas. Sobre el origen étnico y lazos sociales se relevarán de fuentes escritas sobre procedencia, pautas de elección de pareja y formas de residencia. Los muestreos de fauna a campo se realizarán al azar estratificados en pastizal, bosque, y áreas relacionadas a humedales en busca de huellas, heces y señales de la presencia de especies animales focales, a la vez de prospección visual y auditiva. Los datos obtenidos acerca del conocimiento y uso del ambiente se presentarán y analizarán mediante técnicas específicas para análisis de datos antropológicos cualitativos y madiante ANOVA. Los datos sobre origen y lazos serán analizados según indicadores de endogamia geográfica e indicadores de endogamia reproductiva. Los datos de presencia de las especies se utilizarán para desarrollar modelos de distribución regional y de nicho ecológico. Se espera caracterizar en forma diferencial la percepción y uso del ambiente de acuerdo al origen o área de residencia, a la vez de generar mapas de distribución de especies focales. Asimismo, se propondrán acciones de conservación de la biodiversidad, tales como cartillas o talleres tendientes a reforzar y re-significar los conocimientos locales sobre el uso de flora y fauna.

Exploration of the visual system : Part 2. In vivo analysis methods : virtual-reality optomotor system, fundus examination and fluorescent angiography

The mouse has emerged as an animal model for many diseases. At IRO, we have used this animal to understand the development of many eye diseases and treatment of some of them. Precise evaluation of vision is a prerequisite for both these approaches. In this unit we describe three ways to measure vision: testing the optokinetic response, and evaluating the fundus by direct observation and by fluorescent angiography.

Bihippocampal damage with emotional dysfunction: impaired auditory recognition of fear.

A right-handed man developed a sudden transient, amnestic syndrome associated with bilateral hemorrhage of the hippocampi, probably due to Urbach-Wiethe disease. In the 3rd month, despite significant hippocampal structural damage on imaging, only a milder degree of retrograde and anterograde amnesia persisted on detailed neuropsychological examination. On systematic testing of recognition of facial and vocal expression of emotion, we found an impairment of the vocal perception of fear, but not that of other emotions, such as joy, sadness and anger. Such selective impairment of fear perception was not present in the recognition of facial expression of emotion. Thus emotional perception varies according to the different aspects of emotions and the different modality of presentation (faces versus voices). This is consistent with the idea that there may be multiple emotion systems. The study of emotional perception in this unique case of bilateral involvement of hippocampus suggests that this structure may play a critical role in the recognition of fear in vocal expression, possibly dissociated from that of other emotions and from that of fear in facial expression. In regard of recent data suggesting that the amygdala is playing a role in the recognition of fear in the auditory as well as in the visual modality this could suggest that the hippocampus may be part of the auditory pathway of fear recognition.

Impaired early visual response modulations to spatial information in chronic schizophrenia.

Early visual processing stages have been demonstrated to be impaired in schizophrenia patients and their first-degree relatives. The amplitude and topography of the P1 component of the visual evoked potential (VEP) are both affected; the latter of which indicates alterations in active brain networks between populations. At least two issues remain unresolved. First, the specificity of this deficit (and suitability as an endophenotype) has yet to be established, with evidence for impaired P1 responses in other clinical populations. Second, it remains unknown whether schizophrenia patients exhibit intact functional modulation of the P1 VEP component; an aspect that may assist in distinguishing effects specific to schizophrenia. We applied electrical neuroimaging analyses to VEPs from chronic schizophrenia patients and healthy controls in response to variation in the parafoveal spatial extent of stimuli. Healthy controls demonstrated robust modulation of the VEP strength and topography as a function of the spatial extent of stimuli during the P1 component. By contrast, no such modulations were evident at early latencies in the responses from patients with schizophrenia. Source estimations localized these deficits to the left precuneus and medial inferior parietal cortex. These findings provide insights on potential underlying low-level impairments in schizophrenia.

In vivo testing of a novel adjustable glaucoma drainage device.

PURPOSE: We report on the in vivo testing of a novel noninvasively adjustable glaucoma drainage device (AGDD), which features an adjustable outflow resistance, and assess the safety and efficiency of this implant. METHODS: Under general anesthesia, the AGDD was implanted on seven white New Zealand rabbits for a duration of 4 months under a scleral flap in a way analogous to the Ex-PRESS device and set in an operationally closed position. The IOP was measured on a regular basis on the operated and control eyes using a rebound tonometer. Once a month the AGDD was adjusted noninvasively from its fully closed to its fully open position and the resulting pressure drop was measured. The contralateral eye was not operated and served as control. After euthanization, the eyes were collected for histology evaluation. RESULTS: The mean preoperative IOP was 11.1 ± 2.4 mm Hg. The IOP was significantly lower for the operated eye (6.8 ± 2 mm Hg) compared to the nonoperated eye (13.1 ± 1.6 mm Hg) during the first 8 days after surgery. When opening the AGDD from its fully closed to fully open position, the IOP dropped significantly from 11.2 ± 2.9 to 4.8 ± 0.9 mm Hg (P < 0.05). CONCLUSIONS: Implanting the AGDD is a safe and uncomplicated surgical procedure. The fluidic resistance was noninvasively adjustable during the postoperative period with the AGDD between its fully closed and fully open positions.

Dynamic visual information plays a critical role for spatial navigation in water but not on solid ground.

In the Morris water maze (MWM) task, proprioceptive information is likely to have a poor accuracy due to movement inertia. Hence, in this condition, dynamic visual information providing information on linear and angular acceleration would play a critical role in spatial navigation. To investigate this assumption we compared rat's spatial performance in the MWM and in the homing hole board (HB) tasks using a 1.5 Hz stroboscopic illumination. In the MWM, rats trained in the stroboscopic condition needed more time than those trained in a continuous light condition to reach the hidden platform. They expressed also little accuracy during the probe trial. In the HB task, in contrast, place learning remained unaffected by the stroboscopic light condition. The deficit in the MWM was thus complete, affecting both escape latency and discrimination of the reinforced area, and was thus task specific. This dissociation confirms that dynamic visual information is crucial to spatial navigation in the MWM whereas spatial navigation on solid ground is mediated by a multisensory integration, and thus less dependent on visual information.

Visual search in spatial neglect studied with a preview paradigm.

Impaired visual search is a hallmark of spatial neglect. When searching for an unique feature (e.g., color) neglect patients often show only slight visual field asymmetries. In contrast, when the target is defined by a combination of features (e.g., color and form) they exhibit a severe deficit of contralesional search. This finding suggests a selective impairment of the serial deployment of spatial attention. Here, we examined this deficit with a preview paradigm. Neglect patients searched for a target defined by the conjunction of shape and color, presented together with varying numbers of distracters. The presentation time was varied such that on some trials participants previewed the target together with same-shape/different-color distracters, for 300 or 600 ms prior to the appearance of additional different-shape/same-color distracters. On the remaining trials the target and all distracters were shown simultaneously. Healthy participants exhibited a serial search strategy only when all items were presented simultaneously, whereas in both preview conditions a pop-out effect was observed. Neglect patients showed a similar pattern when the target was presented in the right hemifield. In contrast, when searching for a target in the left hemifield they showed serial search in the no-preview condition, as well as with a preview of 300 ms, and partly even at 600 ms. A control experiment suggested that the failure to fully benefit from item preview was probably independent of accurate perception of time. Our results, when viewed in the context of existing literature, lead us to conclude that the visual search deficit in neglect reflects two additive factors: a biased representation of attentional priority in favor of ipsilesional information and exaggerated capture of attention by ipsilesional abrupt onsets.

Copwatching et perception publique de la police. L'intervention policière comme performance sous surveillance

Envisagée comme une situation sociale de rassemblement en rue, l'intervention policière se caractérise par sa nature publique et observable. Le « copwatching », en tant que pratique amateur de captation vidéo des interventions de police, problématise la visibilité des agents sur la voie publique en les soumettant à une surveillance médiatique. M'appuyant sur des exemples vidéos, j'explore les dimensions visuelles et symboliques du travail policier. De la performance policière en rue à la figuration médiatique du policier, l'étude des médiations entre action et image permet d'interroger la perception publique de la police engagée dans les rassemblements. Abstract Cop-watching and the public perception of the police. Police intervention as performance under surveillance. This paper deals with police work as a public performance on the street. Cop-watching, a way of publicly observing and documenting police activities, reveals the complex relationship between public perceptions of law enforcement and the visual nature of much police work. Three methodological approaches to cop-watching videos allow us to highlight the visual dimensions of police work : the study of mass-media images of cops, the study of street performance by real cops, and the study of the ways people make sense of the visual symbolic environment present in everyday police work.