Probabilistic visual recognition of artificial landmarks for simultaneous localization and mapping

Probabilistic robotics, most often applied to the problem of simultaneous localisation and mapping (SLAM), requires measures of uncertainly to accompany observations of the environment. This paper describes how uncertainly can be characterised for a vision system that locates coloured landmark in a typical laboratory environment. The paper describes a model of the uncertainly in segmentation, the internal camera model and the mounting of the camera on the robot. It =plains the implementation of the system on a laboratory robot, and provides experimental results that show the coherence of the uncertainly model,

V2V/V2I augmented maps : state-of-the-art and contribution to real-time crash risk assessment

A number of advanced driver assistance systems (ADAS) are currently being released on the market, providing safety functions to the drivers such as collision avoidance, adaptive cruise control or enhanced night-vision. These systems however are inherently limited by their sensory range: they cannot gather information from outside this range, also called their “perceptive horizon”. Cooperative systems are a developing research avenue that aims at providing extended safety and comfort functionalities by introducing vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) wireless communications to the road actors. This paper presents the problematic of cooperative systems, their advantages and contributions to road safety and exposes some limitations related to market penetration, sensors accuracy and communications scalability. It explains the issues of how to implement extended perception, a central contribution of cooperative systems. The initial steps of an evaluation of data fusion architectures for extended perception are exposed.

Geometry vs appearance for discriminating between posed and spontaneous emotions

Spontaneous facial expressions differ from posed ones in appearance, timing and accompanying head movements. Still images cannot provide timing or head movement information directly. However, indirectly the distances between key points on a face extracted from a still image using active shape models can capture some movement and pose changes. This information is superposed on information about non-rigid facial movement that is also part of the expression. Does geometric information improve the discrimination between spontaneous and posed facial expressions arising from discrete emotions? We investigate the performance of a machine vision system for discrimination between posed and spontaneous versions of six basic emotions that uses SIFT appearance based features and FAP geometric features. Experimental results on the NVIE database demonstrate that fusion of geometric information leads only to marginal improvement over appearance features. Using fusion features, surprise is the easiest emotion (83.4% accuracy) to be distinguished, while disgust is the most difficult (76.1%). Our results find different important facial regions between discriminating posed versus spontaneous version of one emotion and classifying the same emotion versus other emotions. The distribution of the selected SIFT features shows that mouth is more important for sadness, while nose is more important for surprise, however, both the nose and mouth are important for disgust, fear, and happiness. Eyebrows, eyes, nose and mouth are important for anger.

Frame-rate stereopsis using non-parametric transforms and programmable logic

A frame-rate stereo vision system, based on non-parametric matching metrics, is described. Traditional metrics, such as normalized cross-correlation, are expensive in terms of logic. Non-parametric measures require only simple, parallelizable, functions such as comparators, counters and exclusive-or, and are thus very well suited to implementation in reprogrammable logic.

Towards persistent indoor appearance-based localization, mapping and navigation using CAT-Graph

The challenge of persistent appearance-based navigation and mapping is to develop an autonomous robotic vision system that can simultaneously localize, map and navigate over the lifetime of the robot. However, the computation time and memory requirements of current appearance-based methods typically scale not only with the size of the environment but also with the operation time of the platform; also, repeated revisits to locations will develop multiple competing representations which reduce recall performance. In this paper we present a solution to the persistent localization, mapping and global path planning problem in the context of a delivery robot in an office environment over a one-week period. Using a graphical appearance-based SLAM algorithm, CAT-Graph, we demonstrate constant time and memory loop closure detection with minimal degradation during repeated revisits to locations, along with topological path planning that improves over time without using a global metric representation. We compare the localization performance of CAT-Graph to openFABMAP, an appearance-only SLAM algorithm, and the path planning performance to occupancy-grid based metric SLAM. We discuss the limitations of the algorithm with regard to environment change over time and illustrate how the topological graph representation can be coupled with local movement behaviors for persistent autonomous robot navigation.

Predicting shot locations in tennis using spatiotemporal data

Over the past decade, vision-based tracking systems have been successfully deployed in professional sports such as tennis and cricket for enhanced broadcast visualizations as well as aiding umpiring decisions. Despite the high-level of accuracy of the tracking systems and the sheer volume of spatiotemporal data they generate, the use of this high quality data for quantitative player performance and prediction has been lacking. In this paper, we present a method which predicts the location of a future shot based on the spatiotemporal parameters of the incoming shots (i.e. shot speed, location, angle and feet location) from such a vision system. Having the ability to accurately predict future short-term events has enormous implications in the area of automatic sports broadcasting in addition to coaching and commentary domains. Using Hawk-Eye data from the 2012 Australian Open Men's draw, we utilize a Dynamic Bayesian Network to model player behaviors and use an online model adaptation method to match the player's behavior to enhance shot predictability. To show the utility of our approach, we analyze the shot predictability of the top 3 players seeds in the tournament (Djokovic, Federer and Nadal) as they played the most amounts of games.

Redundant sensing for localisation in outdoor industrial environments

We describe our experiences with automating a large fork-lift type vehicle that operates outdoors and in all weather. In particular, we focus on the use of independent and robust localisation systems for reliable navigation around the worksite. Two localisation systems are briefly described. The first is based on laser range finders and retro-reflective beacons, and the second uses a two camera vision system to estimate the vehicle’s pose relative to a known model of the surrounding buildings. We show the results from an experiment where the 20 tonne experimental vehicle, an autonomous Hot Metal Carrier, was conducting autonomous operations and one of the localisation systems was deliberately made to fail.

Comprehensive evaluation of dehydration impact on ocular tissue during Ramadan fasting

Purpose The present study aimed to review the effect of dehydration during Ramadan fasting on the health and ocular parameters leading to changes in eye function. Methods Articles included in the study were taken from PubMed, Ovid, Web of Science and Google Scholar up to 2014. Related articles were also obtained from scientific journals on fasting and vision system. Results Dehydration and nutrition changes in Ramadan cause an increase in tear osmolarity, ocular aberration, anterior chamber depth, IOL measurement, central corneal thickness, retinal and choroidal thicknesses, and also a decrease in IOP, tear secretion, and vitreous thickness. Conclusion Much research related to the effect of dehydration on ocular parameters during Ramadan fasting exists. The findings reveal association with significant changes on ocular parameters. Thus, it seems requisite to have a comprehensive study on "fasting and ocular parameters”, which will be helpful in making decisions and giving plan to the patients.

Impact of automatic region-of-interest coding on perceived quality in mobile video

At present, the most reliable method to obtain end-user perceived quality is through subjective tests. In this paper, the impact of automatic region-of-interest (ROI) coding on perceived quality of mobile video is investigated. The evidence, which is based on perceptual comparison analysis, shows that the coding strategy improves perceptual quality. This is particularly true in low bit rate situations. The ROI detection method used in this paper is based on two approaches: - (1) automatic ROI by analyzing the visual contents automatically, and; - (2) eye-tracking based ROI by aggregating eye-tracking data across many users, used to both evaluate the accuracy of automatic ROI detection and the subjective quality of automatic ROI encoded video. The perceptual comparison analysis is based on subjective assessments with 54 participants, across different content types, screen resolutions, and target bit rates while comparing the two ROI detection methods. The results from the user study demonstrate that ROI-based video encoding has higher perceived quality compared to normal video encoded at a similar bit rate, particularly in the lower bit rate range.

Näkövammaisten tietokoneavusteinen tiedon hankinta

The study examines various uses of computer technology in acquisition of information for visually impaired people. For this study 29 visually impaired persons took part in a survey about their experiences concerning acquisition of infomation and use of computers, especially with a screen magnification program, a speech synthesizer and a braille display. According to the responses, the evolution of computer technology offers an important possibility for visually impaired people to cope with everyday activities and interacting with the environment. Nevertheless, the functionality of assistive technology needs further development to become more usable and versatile. Since the challenges of independent observation of environment were emphasized in the survey, the study led into developing a portable text vision system called Tekstinäkö. Contrary to typical stand-alone applications, Tekstinäkö system was constructed by combining devices and programs that are readily available on consumer market. As the system operates, pictures are taken by a digital camera and instantly transmitted to a text recognition program in a laptop computer that talks out loud the text using a speech synthesizer. Visually impaired test users described that even unsure interpretations of the texts in the environment given by Tekstinäkö system are at least a welcome addition to complete perception of the environment. It became clear that even with a modest development work it is possible to bring new, useful and valuable methods to everyday life of disabled people. Unconventional production process of the system appeared to be efficient as well. Achieved results and the proposed working model offer one suggestion for giving enough attention to easily overlooked needs of the people with special abilities. ACM Computing Classification System (1998): K.4.2 Social Issues: Assistive technologies for persons with disabilities I.4.9 Image processing and computer vision: Applications Keywords: Visually impaired, computer-assisted, information, acquisition, assistive technology, computer, screen magnification program, speech synthesizer, braille display, survey, testing, text recognition, camera, text, perception, picture, environment, trasportation, guidance, independence, vision, disabled, blind, speech, synthesizer, braille, software engineering, programming, program, system, freeware, shareware, open source, Tekstinäkö, text vision, TopOCR, Autohotkey, computer engineering, computer science

Molecular genetics of X-linked cone-rod dystrophy and Åland Island eye disease

Inherited retinal diseases are the most common cause of vision loss among the working population in Western countries. It is estimated that ~1 of the people worldwide suffer from vision loss due to inherited retinal diseases. The severity of these diseases varies from partial vision loss to total blindness, and at the moment no effective cure exists. To date, nearly 200 mapped loci, including 140 cloned genes for inherited retinal diseases have been identified. By a rough estimation 50% of the retinal dystrophy genes still await discovery. In this thesis we aimed to study the genetic background of two inherited retinal diseases, X-linked cone-rod dystrophy and Åland Island eye disease. X-linked cone-rod dystrophy (CORDX) is characterized by progressive loss of visual function in school age or early adulthood. Affected males show reduced visual acuity, photophobia, myopia, color vision defects, central scotomas, and variable changes in fundus. The disease is genetically heterogeneous and two disease loci, CORDX1 and CORDX2, were known prior to the present thesis work. CORDX1, located on Xp21.1-11.4, is caused by mutations in the RPGR gene. CORDX2 is located on Xq27-28 but the causative gene is still unknown. Åland Island eye disease (AIED), originally described in a family living in Åland Islands, is a congenital retinal disease characterized by decreased visual acuity, fundus hypopigmentation, nystagmus, astigmatism, red color vision defect, myopia, and defective night vision. AIED shares similarities with another retinal disease, congenital stationary night blindness (CSNB2). Mutations in the L-type calcium channel α1F-subunit gene, CACNA1F, are known to cause CSNB2, as well as AIED-like disease. The disease locus of the original AIED family maps to the same genetic interval as the CACNA1F gene, but efforts to reveal CACNA1F mutations in patients of the original AIED family have been unsuccessful. The specific aims of this study were to map the disease gene in a large Finnish family with X-linked cone-rod dystrophy and to identify the disease-causing genes in the patients of the Finnish cone-rod dystrophy family and the original AIED family. With the help of linkage and haplotype analyses, we could localize the disease gene of the Finnish cone-rod dystrophy family to the Xp11.4-Xq13.1 region, and thus establish a new genetic X-linked cone-rod dystrophy locus, CORDX3. Mutation analyses of candidate genes revealed three novel CACNA1F gene mutations: IVS28-1 GCGTC>TGG in CORDX3 patients, a 425 bp deletion, comprising exon 30 and flanking intronic regions in AIED patients, and IVS16+2T>C in an additional Finnish patient with a CSNB2-like phenotype. All three novel mutations altered splice sites of the CACNA1F gene, and resulted in defective pre-mRNA splicing suggesting altered or absent channel function as a disease mechanism. The analyses of CACNA1F mRNA also revealed novel alternative wt splice variants, which may enhance channel diversity or regulate the overall expression level of the channel. The results of our studies may be utilized in genetic counseling of the families, and they provide a basis for studies on the pathogenesis of these diseases. In the future, the knowledge of the genetic defects may be used in the identification of specific therapies for the patients.

MEMS for Diabetic Retinopathy

As the worldwide prevalence of diabetes mellitus continues to increase, diabetic retinopathy remains the leading cause of visual impairment and blindness in many developed countries. Between 32 to 40 percent of about 246 million people with diabetes develop diabetic retinopathy. Approximately 4.1 million American adults 40 years and older are affected by diabetic retinopathy. This glucose-induced microvascular disease progressively damages the tiny blood vessels that nourish the retina, the light-sensitive tissue at the back of the eye, leading to retinal ischemia (i.e., inadequate blood flow), retinal hypoxia (i.e., oxygen deprivation), and retinal nerve cell degeneration or death. It is a most serious sight-threatening complication of diabetes, resulting in significant irreversible vision loss, and even total blindness.

Unfortunately, although current treatments of diabetic retinopathy (i.e., laser therapy, vitrectomy surgery and anti-VEGF therapy) can reduce vision loss, they only slow down but cannot stop the degradation of the retina. Patients require repeated treatment to protect their sight. The current treatments also have significant drawbacks. Laser therapy is focused on preserving the macula, the area of the retina that is responsible for sharp, clear, central vision, by sacrificing the peripheral retina since there is only limited oxygen supply. Therefore, laser therapy results in a constricted peripheral visual field, reduced color vision, delayed dark adaptation, and weakened night vision. Vitrectomy surgery increases the risk of neovascular glaucoma, another devastating ocular disease, characterized by the proliferation of fibrovascular tissue in the anterior chamber angle. Anti-VEGF agents have potential adverse effects, and currently there is insufficient evidence to recommend their routine use.

In this work, for the first time, a paradigm shift in the treatment of diabetic retinopathy is proposed: providing localized, supplemental oxygen to the ischemic tissue via an implantable MEMS device. The retinal architecture (e.g., thickness, cell densities, layered structure, etc.) of the rabbit eye exposed to ischemic hypoxic injuries was well preserved after targeted oxygen delivery to the hypoxic tissue, showing that the use of an external source of oxygen could improve the retinal oxygenation and prevent the progression of the ischemic cascade.

The proposed MEMS device transports oxygen from an oxygen-rich space to the oxygen-deficient vitreous, the gel-like fluid that fills the inside of the eye, and then to the ischemic retina. This oxygen transport process is purely passive and completely driven by the gradient of oxygen partial pressure (pO₂). Two types of devices were designed. For the first type, the oxygen-rich space is underneath the conjunctiva, a membrane covering the sclera (white part of the eye), beneath the eyelids and highly permeable to oxygen in the atmosphere when the eye is open. Therefore, sub-conjunctival pO₂ is very high during the daytime. For the second type, the oxygen-rich space is inside the device since pure oxygen is needle-injected into the device on a regular basis.

To prevent too fast or too slow permeation of oxygen through the device that is made of parylene and silicone (two widely used biocompatible polymers in medical devices), the material properties of the hybrid parylene/silicone were investigated, including mechanical behaviors, permeation rates, and adhesive forces. Then the thicknesses of parylene and silicone became important design parameters that were fine-tuned to reach the optimal oxygen permeation rate.

The passive MEMS oxygen transporter devices were designed, built, and tested in both bench-top artificial eye models and in-vitro porcine cadaver eyes. The 3D unsteady saccade-induced laminar flow of water inside the eye model was modeled by computational fluid dynamics to study the convective transport of oxygen inside the eye induced by saccade (rapid eye movement). The saccade-enhanced transport effect was also demonstrated experimentally. Acute in-vivo animal experiments were performed in rabbits and dogs to verify the surgical procedure and the device functionality. Various hypotheses were confirmed both experimentally and computationally, suggesting that both the two types of devices are very promising to cure diabetic retinopathy. The chronic implantation of devices in ischemic dog eyes is still underway.

The proposed MEMS oxygen transporter devices can be also applied to treat other ocular and systemic diseases accompanied by retinal ischemia, such as central retinal artery occlusion, carotid artery disease, and some form of glaucoma.

Etograma e orçamento temporal de um grupo de machos não pareados de Phyllostomus hastatus (Pallas 1767) (Phyllostomidae: Phyllostominae)

Embora exista uma enorme variação de histórias de vida e ecologia, a maioria das espécies de morcegos mostra-se, em algum nível, social. Os aspectos de ecologia comportamental de quirópteros tem sido estudados, embora a maior parte refira-se a colônias de maternidades em regiões de clima temperado. Repertórios comportamentais completos e orçamentos temporais são raros, especialmente para a região Neotropical. Para compreender melhor a sociabilidade neste grupo, mostra-se importante focar também em grupos neutros com relação a fatores associados à atividade reprodutiva. Neste sentido, o estudo de grupos de machos neotropicais pode apresentar respostas importantes. O comportamento de um grupo machos não pareados de Phyllostomus hastatus foi estudado dentro do seu abrigo por aproximadamente 100 horas entre os meses de janeiro e agosto de 2012. O grupo estava abrigado no forro de um telhado de uma casa em desuso da Vila Dois Rios, na Ilha Grande. Os comportamentos foram registrados com uma câmera sensível a infra-infravermelho Sony DCR-HC28 em modo night-vision. Quando necessário, utilizei uma luz de auxílio infravermelha. A partir dos vídeos eu elaborei primeiramente um etograma. Os comportamentos classificados como estados foram usados para fazer um orçamento temporal, usando metodologia de amostragem por varredura e amostragem instantânea. Adicionalmente, fiz algumas observações a respeito de horário de entrada e saída dos morcegos e do tamanho do grupo. Organizei os comportamentos em seis categorias, com um total de 24 comportamentos distintos. Os comportamentos descritos são consistentes com os publicados em outros etogramas de morcegos, inclusive de alguns megaquirópteros. Um comportamento mais notável foi ventilando, que parece raro entre os microquirópteros, mas provavelmente importante na termorregulação. Nos meses analisados os morcegos alocaram aproximadamente 50% do tempo ao estado dormindo; 14,6% ao estado parado; 15,3% ao estado ativo; 0,9% ao estado andando; 0,1% ao estado voando; 14,1% ao estado higiene; e 3,5% ao estado ventilando. O orçamento temporal foi semelhante aos descritos para outros microquirópteros no interior de abrigos, com uma maior prevalência do estado dormindo, e com picos de atividade (principalmente do estado higiene) antes e depois das saídas noturnas. A higiene parece ter um papel importante no controle de ectoparasitas, e talvez algum papel social, mas como a higiene de outros indivíduos só foi observada uma única vez, não pude concluir nada a respeito. O presente trabalho é o primeiro etograma para Phyllostomus hastatus e o primeiro etograma e orçamento temporal para um grupo de machos em Chiroptera. Observei algumas diferenças importantes do grupo estudado com trabalhos já publicados sobre essa espécie, e sugiro que essas diferenças sejam estudadas mais a fundo. Apesar desta dissertação trazer contribuições importantes, fica claro que ainda falta muito a ser examinado nesse campo.

Estudo de porosidade por processamento de imagens aplicada a patologias do concreto

A reação álcali-agregado - RAA é uma patologia de ação lenta que tem sido observada em construções de concreto capaz de comprometer suas estruturas. Sabe-se que a reação álcali-agregado é um fenômeno bastante complexo em virtude da grande variedade de rochas na natureza que são empregadas como agregados no preparo do concreto, podendo cada mineral utilizado afetar de forma distinta a reação ocorrida. Em função dos tipos de estrutura, das suas condições de exposição e dos materiais empregados, a RAA não se comporta sempre da mesma forma, em virtude disto a pesquisa constante neste tema é necessária para o meio técnico e a sociedade. Pesquisas laboratoriais, empíricas e experimentais tem sido rotina em muitos dos estudos da RAA dada ainda à carência de certas definições mais precisas a respeito dos métodos de ensaio, mas também em função da necessidade do melhor conhecimento dos materiais de uso em concretos como os agregados, cimentos, adições, aditivos entre outros e do comportamento da estrutura. Embora técnicas de prevenção possam reduzir significativamente a incidência da RAA, muitas estruturas foram construídas antes que tais medidas fossem conhecidas, havendo no Brasil vários casos de estruturas afetadas, sendo custosos os reparos dessas estruturas. Em estudos recentes sobre o tamanho das partículas de álcali-agregado e sua distribuição foi concluído que o tamanho do agregado está relacionado com o potencial danoso da RAA. Existem ainda indícios de que o tamanho e a distribuição dos poros do concreto também sejam capazes de influenciar o potencial reativo do concreto. Neste trabalho desenvolvemos um Sistema de Visão Artificial (SVA) que, com o uso de técnicas de Processamento de Imagens, é capaz de identificar em imagens de concreto, agregado e poros que atendam em sua forma, às especificações do usuário, possibilitando o cálculo da porosidade e produzindo imagens segmentadas à partir das quais será possível extrair dados relativos à geometria desses elementos. Serão feitas duas abordagens para a obtenção das imagens, uma por Escâner Comercial, que possui vantagens relacionadas à facilidade de aquisição do equipamento, e outra por micro tomógrafo. Uma vez obtidas informações sobre as amostras de concreto, estas podem ser utilizadas para pesquisar a RAA, comparar estruturas de risco com estruturas antigas de forma a melhorar a previsão de risco de ocorrência, bem como serem aplicadas a outras no estudo de outras patologias do concreto menos comuns no nosso país, como o efeito gelo/degelo.

基于主动视觉和超声的机器人目标跟踪系统

运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。