The role of binocular vision in primate locomotion.

Dissertation

Regio- and stereo-selective dioxygenase-catalysed cis-dihydroxylation of fjord-region polycyclic arenes

Bacterial dioxygenase-catalysed cis-dihydroxylation of the tetracyclic arenes benzo[c]phenanthrene 2, and the isosteric compounds benzo[b]naphtho[1,2-d]furan 8, and benzo[b]naphtho[1,2-d]thiophene 9, has been found to occur exclusively at fjord-region bonds. The resulting cis-dihydrodiols 7, 10 and 11 were found to be enantiopure and of similar absolute configuration. cis-Dihydroxylation was also observed in the pseudo-fjord region of the 8,9,10,11-tetrahydro-precursors (12 and 13) of benzo[b]naphtho[1,2-d]furan 8, and benzo[b]naphtho[1,2-d]thiophene 9, to yield the corresponding enantiopure hexahydro cis-diols 14 and 15. A novel tandem cis-dihydroxylation and bis-desaturation of the tetrahydro-substrate, tetrahydrobenzo[b]naphtho[1,2-d]thiophene 13, catalysed by biphenyl dioxygenase, was found to yield the fjord-region cis-dihydrodiol 17 of benzo[b]naphtho[1,2-d]thiophene 9.

Bioinformatics inspired algorithm for stereo correspondence

In this paper, we exploit the analogy between protein sequence alignment and image pair correspondence to design a bioinformatics-inspired framework for stereo matching based on dynamic programming. This approach also led to the creation of a meaningfulness graph, which helps to predict matching validity according to image overlap and pixel similarity. Finally, we propose an automatic procedure to estimate automatically all matching parameters. This work is evaluated qualitatively and quantitatively using a standard benchmarking dataset and by conducting stereo matching experiments between images captured at different resolutions. Results confirm the validity of the computer vision/bioinformatics analogy to develop a versatile and accurate low complexity stereo matching algorithm.

An optimized stereo vision implementation for embedded systems: application to RGB and Infra-Red images

The aim of this paper is to demonstrate the applicability and the effectiveness of a computationally demanding stereo matching algorithm in different lowcost and low-complexity embedded devices, by focusing on the analysis of timing and image quality performances. Various optimizations have been implemented to allow its deployment on specific hardware architectures while decreasing memory and processing time requirements: (1) reduction of color channel information and resolution for input images, (2) low-level software optimizations such as parallel computation, replacement of function calls or loop unrolling, (3) reduction of redundant data structures and internal data representation. The feasibility of a stereovision system on a low cost platform is evaluated by using standard datasets and images taken from Infra-Red (IR) cameras. Analysis of the resulting disparity map accuracy with respect to a full-size dataset is performed as well as the testing of suboptimal solutions

Reactions of nitrogen nucleophiles with enantiopure cyclohexenyl electrophiles:a stereo- and regio- selective study

The reactions of enantiopure cyclohexene epoxides and trans-1,2-bromoacetates, derived from the corresponding substituted benzene cis-dihydrodiol metabolites, with nitrogen nucleophiles, were examined and possible mechanisms proposed. An initial objective was the synthesis of new 1,2-aminoalcohol enantiomers as potential chiral ligands and synthetic scaffolds for library generation. These apparently simple substitution reactions proved to be more complex than initially anticipated and were found to involve a combination of different reaction mechanisms. Allylic trans-1,2-azidohydrins were prepared by Lewis acid-catalysed ring-opening of cyclic vinyl epoxides with sodium azide via an S(N)2 mechanism. On heating, these trans-1,2-azidohydrins isomerized to the corresponding trans-1,4-azidohydrins via a suprafacial allyl azide [3,3]-sigmatropic rearrangement mechanism. Conversion of a 1,2-azidohydrin to a 1,2-azidoacetate moved the equilibrium position in favour of the 1,4-substitution product. Allylic trans-1,2-bromoacetates reacted with sodium azide at room temperature to give C-2 and C-4 substituted products. A clean inversion of configuration at C-2 was found, as expected, from a concerted S(N)2-pathway. However, substitution at C-4 was not stereoselective and resulted in mixtures of 1,4-cis and 1,4-trans products. This observation can be rationalized in terms of competitive S(N)2 and S(N)2 reactions allied to a [3,3]-sigmatropic rearrangement. cis-1,2-Azidohydrins and cis-1,2-azidoacetates were much more prone to rearrange than the corresponding trans-isomers. Reaction of the softer tosamide nucleophile with trans-1,2-bromoacetates resulted, predominantly, in C-4 substitution via a syn-S(N)2 mechanism. One application of the reaction of secondary amines with allylic cyclohexene epoxides, to give trans-1,2-aminoalcohols, is in the synthesis of the anticholinergic drug vesamicol, via an S(N)2 mechanism. Copyright (c) 2013 John Wiley & Sons, Ltd.

Probabilistic Egomotion for Stereo Visual Odometry

We present a novel approach of Stereo Visual Odometry for vehicles equipped with calibrated stereo cameras. We combine a dense probabilistic 5D egomotion estimation method with a sparse keypoint based stereo approach to provide high quality estimates of vehicle’s angular and linear velocities. To validate our approach, we perform two sets of experiments with a well known benchmarking dataset. First, we assess the quality of the raw velocity estimates in comparison to classical pose estimation algorithms. Second, we added to our method’s instantaneous velocity estimates a Kalman Filter and compare its performance with a well known open source stereo Visual Odometry library. The presented results compare favorably with state-of-the-art approaches, mainly in the estimation of the angular velocities, where significant improvements are achieved.

Probabilistic Stereo Egomotion Transform

In this paper we propose a novel fully probabilistic solution to the stereo egomotion estimation problem. We extend the notion of probabilistic correspondence to the stereo case which allow us to compute the whole 6D motion information in a probabilistic way. We compare the developed approach against other known state-of-the-art methods for stereo egomotion estimation, and the obtained results compare favorably both for the linear and angular velocities estimation.

Niagara Falls Stereo Cards collection, 1885-1903, n.d.

This collection contains 40 stereo cards of Niagara Falls and the Niagara River. Images include Niagara Falls in winter (the ice bridge); Prospect Point; the Whirlpool Rapids and the Whirlpool; the Upper River rapids; the Maid of the Mist; and Dixon crossing the Niagara River on a tightrope below the Great Cantilever Bridge. Twenty of the cards were published by Underwood & Underwood. The remaining cards are from various publishers including Keystone View Company, American Stereoscopic, Griffith & Griffith, H.C. White Company, E. & H.T. Anthony & Company, and Realistic Travels Publisher. George E. Curtis and Geo. Barker are listed as photographers on a few of the cards.

L’impact de la stéréoscopie dans la reconnaissance, la perception et la constance de forme 3D

Les buts des recherches présentées dans cette thèse étaient d’évaluer le rôle de la stéréoscopie dans la reconnaissance de forme, dans la perception du relief et dans la constance de forme. La première étude a examiné le rôle de la stéréoscopie dans la perception des formes visuelles en utilisant une tâche de reconnaissance de formes. Les stimuli pouvaient être présentés en 2D, avec disparité normale (3D) ou avec disparité inversée. La performance de reconnaissance était meilleure avec les modes de présentation 2D et 3D qu’avec la 3D inversée. Cela indique que la stéréoscopie contribue à la reconnaissance de forme. La deuxième étude s’est intéressée à la contribution conjointe de l’ombrage et de la stéréoscopie dans la perception du relief des formes. Les stimuli étaient des images d’une forme 3D convexe synthétique présentée sous un point de vue menant à une ambigüité quant à sa convexité. L’illumination pouvait provenir du haut ou du bas et de la gauche ou de la droite, et les stimuli étaient présentés dichoptiquement avec soit de la disparité binoculaire normale, de la disparité inversée ou sans disparité entre les vues. Les participants ont répondu que les formes étaient convexes plus souvent lorsque la lumière provenait du haut que du bas, plus souvent avec la disparité normale qu’en 2D, et plus souvent avec absence de disparité qu’avec disparité inversée. Les effets de direction d’illumination et du mode de présentation étaient additifs, c’est-à-dire qu’ils n’interagissaient pas. Cela indique que l’ombrage et la stéréoscopie contribuent indépendamment à la perception du relief des formes. La troisième étude a évalué la contribution de la stéréoscopie à la constance de forme, et son interaction avec l’expertise perceptuelle. Elle a utilisé trois tâches de discrimination séquentielle de trombones tordus ayant subi des rotations en profondeur. Les stimuli pouvaient être présentés sans stéréoscopie, avec stéréoscopie normale ou avec stéréoscopie inversée. Dans la première moitié de l’Exp. 1, dans laquelle les variations du mode de présentation étaient intra-sujets, les performances étaient meilleures en 3D qu’en 2D et qu’en 3D inversée. Ces effets ont été renversés dans la seconde moitié de l’expérience, et les coûts de rotation sont devenus plus faibles pour la 2D et la 3D inversée que pour la 3D. Dans les Exps. 2 (variations intra-sujets du mode de présentation, avec un changement de stimuli au milieu de l’expérience) et 3 (variations inter-sujets du mode de présentation), les effets de rotation étaient en tout temps plus faibles avec stéréoscopie qu’avec stéréoscopie inversée et qu’en 2D, et plus faibles avec stéréoscopie inversée que sans stéréoscopie. Ces résultats indiquent que la stéréoscopie contribue à la constance de forme. Toutefois, cela demande qu’elle soit valide avec un niveau minimal de consistance, sinon elle devient stratégiquement ignorée. En bref, les trois études présentées dans cette thèse ont permis de montrer que la stéréoscopie contribue à la reconnaissance de forme, à la perception du relief et à la constance de forme. De plus, l’ombrage et la stéréoscopie sont intégrés linéairement.

MARVEL: A System for Recognizing World Locations with Stereo Vision

To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, a system that builds and maintains its own models of world locations and uses these models to recognize its world position from stereo vision input. MARVEL is designed to be robust with respect to input errors and to respond to a gradually changing world by updating its world location models. I present results from real-world tests of the system that demonstrate its reliability. MARVEL fits into a world modeling system under development.

Stereo-Based Head Pose Tracking Using Iterative Closest Point and Normal Flow Constraint

In this text, we present two stereo-based head tracking techniques along with a fast 3D model acquisition system. The first tracking technique is a robust implementation of stereo-based head tracking designed for interactive environments with uncontrolled lighting. We integrate fast face detection and drift reduction algorithms with a gradient-based stereo rigid motion tracking technique. Our system can automatically segment and track a user's head under large rotation and illumination variations. Precision and usability of this approach are compared with previous tracking methods for cursor control and target selection in both desktop and interactive room environments. The second tracking technique is designed to improve the robustness of head pose tracking for fast movements. Our iterative hybrid tracker combines constraints from the ICP (Iterative Closest Point) algorithm and normal flow constraint. This new technique is more precise for small movements and noisy depth than ICP alone, and more robust for large movements than the normal flow constraint alone. We present experiments which test the accuracy of our approach on sequences of real and synthetic stereo images. The 3D model acquisition system we present quickly aligns intensity and depth images, and reconstructs a textured 3D mesh. 3D views are registered with shape alignment based on our iterative hybrid tracker. We reconstruct the 3D model using a new Cubic Ray Projection merging algorithm which takes advantage of a novel data structure: the linked voxel space. We present experiments to test the accuracy of our approach on 3D face modelling using real-time stereo images.