Differential epipolar constraint in mobile robot egomotion estimation

The estimation of camera egomotion is a well established problem in computer vision. Many approaches have been proposed based on both the discrete and the differential epipolar constraint. The discrete case is mainly used in self-calibrated stereoscopic systems, whereas the differential case deals with a unique moving camera. The article surveys several methods for mobile robot egomotion estimation covering more than 0.5 million samples using synthetic data. Results from real data are also given

A new optimised De Bruijn coding strategy for structured light patterns

Coded structured light is an optical technique based on active stereovision that obtains the shape of objects. One shot techniques are based on projecting a unique light pattern with an LCD projector so that grabbing an image with a camera, a large number of correspondences can be obtained. Then, a 3D reconstruction of the illuminated object can be recovered by means of triangulation. The most used strategy to encode one-shot patterns is based on De Bruijn sequences. In This work a new way to design patterns using this type of sequences is presented. The new coding strategy minimises the number of required colours and maximises both the resolution and the accuracy

Implementation of a robust coded structured light technique for dynamic 3D measurements

This paper presents the implementation details of a coded structured light system for rapid shape acquisition of unknown surfaces. Such techniques are based on the projection of patterns onto a measuring surface and grabbing images of every projection with a camera. Analyzing the pattern deformations that appear in the images, 3D information of the surface can be calculated. The implemented technique projects a unique pattern so that it can be used to measure moving surfaces. The structure of the pattern is a grid where the color of the slits are selected using a De Bruijn sequence. Moreover, since both axis of the pattern are coded, the cross points of the grid have two codewords (which permits to reconstruct them very precisely), while pixels belonging to horizontal and vertical slits have also a codeword. Different sets of colors are used for horizontal and vertical slits, so the resulting pattern is invariant to rotation. Therefore, the alignment constraint between camera and projector considered by a lot of authors is not necessary

External morphology of immature stages of Zaretis strigosus (Gmelin) and Siderone galanthis catarina Dottax and Pierre comb. nov., with taxonomic notes on Siderone (Lepidoptera: Nymphalidae: Charaxinae)

ABSTRACT The external morphology of immature stages of Zaretis strigosus (Gmelin, [1790]) and Siderone galanthis catarina Dottax and Pierre, 2009 comb. nov. from southern Brazil are described. Additionally, morphology of the adults and sequences of the mitochondrial gene cytochrome oxidase, subunit I, were analyzed in order to evaluate the taxonomy of Siderone galanthis Hübner, [1823]. Immatures were collected on Casearia sylvestris (Salicaceae) in Curitiba, Paraná, and Balneário Barra do Sul, Santa Catarina, Brazil, and reared at the laboratory. Morphological descriptions and illustrations are provided, based on observations through stereoscopic and optic microscopes attached to camera lucida; results are compared and discussed and immature stages of some other species of Charaxinae. The results indicates that the morphology of the immature stages of the studied species differ greatly from other Anaeini, representing a distinct lineage of leafwings butterflies. Morphology and molecular evidence indicate that S. nemesis mexicana Dottax and Pierre, 2009 and S. nemesis catarina Dottax and Pierre, 2009 are conspecific with S. galanthis (Cramer, 1775); additionally, S. thebais C. Felder and R. Felder 1862, S. nemesis var. confluens Staudinger, 1887, S. nemesis f. leonora Bargmann, 1928 and S. nemesis f. exacta Bargmann, 1929 are synonymized with S. galanthis galanthis (Cramer, 1775).

Anàlisi d'imatges estereoscòpiques utilitzant mètodes de baixa càrrega computacional

 Mitjançant imatges estereoscòpiques es poden detectar la posició respecte dela càmera dels objectes que apareixen en una escena. A partir de lesdiferències entre les imatges captades pels dos objectius es pot determinar laprofunditat dels objectes. Existeixen diversitat de tècniques de visió artificialque permeten calcular la localització dels objectes, habitualment amb l’objectiude reconstruir l’escena en 3D. Aquestes tècniques necessiten una gran càrregacomputacional, ja que utilitzen mètodes de comparació bidimensionals, i pertant, no es poden utilitzar per aplicacions en temps real.En aquest treball proposem un nou mètode d’anàlisi de les imatgesestereoscòpiques que ens permeti obtenir la profunditat dels objectes d’unaescena amb uns resultats acceptables. Aquest nou mètode es basa entransformar la informació bidimensional de la imatge en una informacióunidimensional per tal de poder fer la comparació de les imatges amb un baixcost computacional, i dels resultats de la comparació extreure’n la profunditatdels objectes dins l’escena. Això ha de permetre, per exemple, que aquestmètode es pugui implementar en un dispositiu autònom i li permeti realitzaroperacions de guiatge a través d’espais interiors i exteriors.

Morphometric comparison between hatchery-reared and wild-caught megalopae of the mangrove crab

The objective of this work was to compare the morphometry of hatchery-reared and wild-caught mangrove crab (Ucides cordatus) megalopae. Ten U. cordatus megalopae of each group (hatchery-reared and wild-caught) were individually analyzed using a stereoscopic microscope equipped with an ocular micrometer. Length, width, and height of all megalopae were measured, and the size of body appendices was determined. The results indicate that the hatchery-reared megalopae are more robust than the wild ones. Furthermore, some significant differences in the size of certain appendices can be cues of the kind of alterations that hatchery-reared individuals experience.

Mites fluctuation population on peach tree (Prunus persica (L.) Batsch) and in associated plants

Despite the importance of peach (Prunus persica (L.) Batsch) in Rio Grande do Sul, little is known about mites fluctuation population considered important to this crop. The objective of this study was to know the population diversity and fluctuation of mite species associated with Premier and Eldorado varieties in Roca Sales and Venâncio Aires counties, Rio Grande do Sul. The study was conducted from July 2008 to June 2009 when 15 plants were randomly chosen in each area. The plants were divided in quadrants and from each one a branch was chosen from which three leaves were removed: one collected in the apical region, another in the medium and the other in the basal region, totalizing 180 leaves/area. Five of the most abundant associated plants were collected monthly in enough amounts for the screening under the stereoscopic microscope during an hour. A total of 1,124 mites were found belonging to 14 families and 28 species. Tetranychus ludeni Zacher, 1913, Panonychus ulmi (Koch, 1836) and Mononychellus planki (McGregor, 1950) were the most abundant phytophagous mites, whereas Typhlodromalus aripo Deleon, 1967 and Phytoseiulus macropilis (Banks, 1904) the most common predatory mites. The period of one hour under stereoscopic microscope was enough to get a representative sample. In both places evaluated the ecologic indices were low, but little higherin Premier (H' 0.56; EqJ: 0.43) when compared to Eldorado (H' 0.53; EqJ 0.40). In Premier constant species were not observed and accessory only Brevipalpus phoenicis (Geijskes, 1939), T. ludeni and T. aripo. Higher abundance was observed in December and January and bigger amount in April. Already in Eldorado, T. ludeni and P. ulmi were constants. Greater abundance was observed in November and December, whereas grater richness in December and January. In both orchards were not found mites in buds. Tetranychus ludeni is the most abundant phytophagous mites with outbreak population in November, December and January and high predator diversity was observed on associated plants and on peach plants, indicating the existence of species mobility in peach orchard.

Optimized dark matter searches in deep observations of Segue 1 with MAGIC

We present the results of stereoscopic observations of the satellite galaxy Segue 1 with the MAGIC Telescopes, carried out between 2011 and 2013. With almost 160 hours of good-quality data, this is the deepest observational campaign on any dwarf galaxy performed so far in the very high energy range of the electromagnetic spectrum. We search this large data sample for signals of dark matter particles in the mass range between 100 GeV and 20 TeV. For this we use the full likelihood analysis method, which provides optimal sensitivity to characteristic gamma-ray spectral features, like those expected from dark matter annihilation or decay. In particular, we focus our search on gamma-rays produced from different final state Standard Model particles, annihilation with internal bremsstrahlung, monochromatic lines and box-shaped signals. Our results represent the most stringent constraints to the annihilation cross-section or decay lifetime obtained from observations of satellite galaxies, for masses above few hundred GeV. In particular, our strongest limit (95% confidence level) corresponds to a ~ 500 GeV dark matter particle annihilating into τ+τ−, and is of order langleσannvrangle simeq 1.2 × 10−24 cm3 s−1 a factor ~ 40 above the langleσannvrangle simeq thermal value.

Extended Endoscopic Endonasal Approaches for Cerebral Aneurysms: Anatomical, Virtual Reality and Morphometric Study

Introduction. The purpose of the present contribution is to perform a detailed anatomic and virtual reality three-dimensional stereoscopic study in order to test the effectiveness of the extended endoscopic endonasal approaches for selected anterior and posterior circulation aneurysms. Methods. The study was divided in two main steps: (1) simulation step, using a dedicated Virtual Reality System (Dextroscope, Volume Interactions); (2) dissection step, in which the feasibility to reach specific vascular territory via the nose was verified in the anatomical laboratory. Results. Good visualization and proximal and distal vascular control of the main midline anterior and posterior circulation territory were achieved during the simulation step as well as in the dissection step (anterior communicating complex, internal carotid, ophthalmic, superior hypophyseal, posterior cerebral and posterior communicating, basilar, superior cerebellar, anterior inferior cerebellar, vertebral, and posterior inferior cerebellar arteries). Conclusion. The present contribution is intended as strictly anatomic study in which we highlighted some specific anterior and posterior circulation aneurysms that can be reached via the nose. For clinical applications of these approaches, some relevant complications, mainly related to the endonasal route, such as proximal and distal vascular control, major arterial bleeding, postoperative cerebrospinal fluid leak, and olfactory disturbances must be considered

Anàlisi d'imatges estereoscòpiques utilitzant mètodes de baixa càrrega computacional

Mitjançant imatges estereoscòpiques es poden detectar la posició respecte de la càmera dels objectes que apareixen en una escena. A partir de les diferències entre les imatges captades pels dos objectius es pot determinar la profunditat dels objectes. Existeixen diversitat de tècniques de visió artificial que permeten calcular la localització dels objectes, habitualment amb l’objectiu de reconstruir l’escena en 3D. Aquestes tècniques necessiten una gran càrrega computacional, ja que utilitzen mètodes de comparació bidimensionals, i per tant, no es poden utilitzar per aplicacions en temps real. En aquest treball proposem un nou mètode d’anàlisi de les imatges estereoscòpiques que ens permeti obtenir la profunditat dels objectes d’una escena amb uns resultats acceptables. Aquest nou mètode es basa en transformar la informació bidimensional de la imatge en una informació unidimensional per tal de poder fer la comparació de les imatges amb un baix cost computacional, i dels resultats de la comparació extreure’n la profunditat dels objectes dins l’escena. Això ha de permetre, per exemple, que aquest mètode es pugui implementar en un dispositiu autònom i li permeti realitzar operacions de guiatge a través d’espais interiors i exteriors.

AFLP markers differentiate isolates of Colletotrichum gossypii from C. gossypii var. cephalosporioides

Fungal diseases in cotton (Gossypium hirsutum), such as anthracnose caused by Colletotrichum gossypii and ramulose caused by C. gossypii var. cephalosporioides, are responsible for large yield losses. These pathogens are seed borne and morphologically similar although they induce different symptoms, which can lead to misdiagnosis using the blotter testing method. The present study was carried out to assess the viability of using Amplified Fragment Length Polymorphism (AFLP) markers to differentiate these pathogens. Five isolates, for each pathogen, were classified according to pathogenicity on cotton plants, and mycelial growth morphology. Conidial suspensions were sprayed on 30-day-old cotton plants and the symptoms assessed ten and 40 days after inoculation. For growth morphology 200 cottonseeds were inoculated with seven-day-old pure cultures, and the mycelial traits observed under a stereoscopic microscope seven days after inoculation. The DNA for AFLP analysis was obtained from seven-day-old fungal mycelia grown in liquid medium, using the Dneasy Qiagen protocol. Using the AFLP technique 318 polymorphic bands were selected to estimate similarities using Dice's Coefficient. The results clearly distinguished between ramulose and anthracnose isolates, which agreed with morphological and pathogenicity testing.

Factors associated with the prevalence of Otodectes cynotis in an ambulatory population of dogs

The objective was to evaluate the factors associated with the prevalence of Otodectes cynotis infestations in dogs assisted at the Dermatology Service of the Veterinary Hospital, Universidade Federal Rural do Rio de Janeiro. A total of 250 dogs were examined through direct smear of ear samples using a stereoscopic microscope, for the parasitological diagnostic. All dog owners were interviewed and data regarding the animals and their environments were individually recorded. Mite infestation was observed in 15 animals, with a prevalence of 6%. The variables were tested regarding their association with the mites, using the χ2 test and, when appropriate, the Fisher exact test. There were no evidences that age (p = 0,20), sex (p = 0,31), breed (p = 0,50), shape of ear (p = 0,66), type (p = 0,19) and length of hair (p = 0,14) and contact with other animals (p = 0,06) could act as potential risk factors for O. cynotis infestation. However, living environment (p = 0,03) and frequency of environmental cleaning (p = 0,005) may facilitate the infestation. The occurrence of pruritus was associated to the presence of mites (p<0,001), suggesting to be an effect of the parasitism.

First identification of natural infection of Rickettsia rickettsii in the Rhipicephalus sanguineus tick, in the State of Rio de Janeiro

The Brazilian Spotted Fever (BSF) is a zoonotic disease caused by Rickettsia rickettsii and transmitted by ticks of the genus Amblyomma, more frequently, Amblyomma cajennense. The aim of this paper was to report the first molecular detection of R. rickettsii on R. sanguineus naturally infected in Rio de Janeiro, Brazil. Ticks were collected from dogs in a rural region of Resende municipality, Rio de Janeiro State, Brazil (22º30'9.46"S, 44º42'44.29"WO), where occurred five human cases of BSF in 2006. The ticks were identified under a stereoscopic microscope and separated in pools by stages, species and sex. DNA extraction was carried out using QIAamp DNA Mini Kit (QIAGEN®). The DNA was submitted to PCR amplification using 04 set of primers: Rr190.70p/Rr190.602n (OmpA, 532bp), BG1-21/BG2-20 (OmpB, 650bp), Tz15/Tz16 (17 kDa protein-encoding gene, 246bp) and RpCS.877p/RpCS.1258n (gltA, 381bp). PCR products were separated by electrophoresis on 1% agarose gels and visualized under ultraviolet light with ethidium bromide. PCR products of the expected sizes were purified by QIAquick® and sequenced by ABI PRISM®. The generated nucleotide sequences were edited with using Bioedit® software and compared with the corresponding homologous sequences available through GenBank, using Discontiguous Mega Blast (http://www.ncbi.nlm.nih.gov). It was confirmed R. rickettsii by sequencing of the material (GenBank FJ356230). The molecular characterization of R. rickettsii in the tick R. sanguineus emphasizes the role of dogs as carriers of ticks from the environment to home. Moreover, this result suggests that there is a considerable chance for active participation of R. sanguineus as one of tick species in the transmission of R. ricketsii to human being in the Brazilian territory.

Proliferative diabetic retinopathy is associated with microalbuminuria in patients with type 2 diabetes

Diabetic retinopathy is one of the leading causes of blindness in working-age individuals. Diabetic patients with proteinuria or those on dialysis usually present severe forms of diabetic retinopathy, but the association of diabetic retinopathy with early stages of diabetic nephropathy has not been entirely established. A cross-sectional study was conducted on 1214 type 2 diabetic patients to determine whether microalbuminuria is associated with proliferative diabetic retinopathy in these patients. Patients were evaluated by direct and indirect ophthalmoscopy and grouped according to the presence or absence of proliferative diabetic retinopathy. The agreement of diabetic retinopathy classification performed by ophthalmoscopy and by stereoscopic color fundus photographs was 95.1% (kappa = 0.735; P < 0.001). Demographic information, smoking history, anthropometric and blood pressure measurements, glycemic and lipid profile, and urinary albumin were evaluated. On multiple regression analysis, diabetic nephropathy (OR = 5.18, 95% CI = 2.91-9.22, P < 0.001), insulin use (OR = 2.52, 95% CI = 1.47-4.31, P = 0.001) and diabetes duration (OR = 1.04, 95% CI = 1.01-1.07, P = 0.011) were positively associated with proliferative diabetic retinopathy, and body mass index (OR = 0.90, 95% CI = 0.86-0.96, P < 0.001) was negatively associated with it. When patients with macroalbuminuria and on dialysis were excluded, microalbuminuria (OR = 3.3, 95% CI = 1.56-6.98, P = 0.002) remained associated with proliferative diabetic retinopathy. Therefore, type 2 diabetic patients with proliferative diabetic retinopathy more often presented renal involvement, including urinary albumin excretion within the microalbuminuria range. Therefore, all patients with proliferative diabetic retinopathy should undergo an evaluation of renal function including urinary albumin measurements.

Morphological characterization with image analysis of cocoa beverage powder agglomerated with steam

In this study, the morphological characteristics of cocoa beverage powder granules under minimal, average, and maximal process conditions of a steam agglomerator were studied. a stereoscopic microscope coupled to a digital camera was used for the morphological analysis. The images were analyzed to obtain shape and size descriptors. aiming to evaluate the descriptors, 150 particles were analyzed. The results showed that there was no difference between the shape descriptors - compacity, circularity, roughness, and aspect ratio - in the operating conditions evaluated. It was observed that the cocoa beverage powder granules are elongated in shape. The size descriptors, area, perimeter, perimeter of convex bounding polygon, minimal and maximal Feret diameter, were different in the process conditions for the granules of size above 600 μm. as for the minimal process conditions, especially due to low solid feed rates, there is an increase in the size descriptor values. In addition, under the minimum process conditions, in which there is low solid feed rate (400g/min) for a steam pressure of 1.0 bar, it was obtained a good granular condition with retention of 81.1% of granules on sieves with aperture size between 300 and 1190 μm.