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检索条件"机构=Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona"

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Digital Mammography 1

引用

丛书名： Lecture Notes in computer Science

1000年

作者： Joan Martí Arnau Oliver Jordi Freixenet Robert Martí

ISBN: (数字)9783642136665

ISBN: (纸本)9783642136658

This volume of Springer’s Lecture Notes in computer Science series comprises th the scienti?c proceedings of the 10 International Workshop on Digital Mammography (IWDM), which was held June 16–18, 2010 in girona, Cata- nia. The IWDMmeetingstraditionallybringtogetheradiversesetofresearchers (physicists, mathematicians, computer scientists, engineers), clinicians (radi- ogists, surgeons) and representatives of industry, who are jointly committed to developing technology, not just for its own sake, but to support clinicians in the early detection and subsequent patient management of breast cancer. The IWDM conference series was initiated at a 1993 meeting of the SPIE Medical Imaging Symposium in San Jose, CA, with subsequent meetings hosted every two yearsbyresearchersaroundthe world. Former workshopswereheld in York, England (1994), Chicago, IL USA (1996), Nijmegen, The Netherlands (1998), Toronto, Canada (2000), Bremen, Germany (2002), Durham, NC, USA (2004), Manchester, UK (2006) and Tucson, AZ USA (2008). Each of these scienti?c events was combined with very successful and focused industrial and research exhibits, which demonstrated the milestones of digital mammography over the years. A total number of 141 paper submissions from 21 countries were received. Each of these four-page abstract submissions was reviewed in a blind process by at least two members of the Scienti?c Committee, which led to a ?nal selection of 46 oral presentations and 57 posters during the two and one-half days of scienti?c sessions.

关键词： Image Processing and computer vision Health informatics Imaging / Radiology Information Storage and Retrieval Pattern Recognition Computational Biology/Bioinformatics

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ROV-aided dam inspection: Practical results 6

ROV-aided dam inspection: Practical results

引用

6th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2003

作者： Batlle, Joao Nicosevici, Tudor Garcia, Rafael Carreras, Marc Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona E.P.S. Girona17071 Spain

Nowadays Unmanned Underwater Vehicles (UlNs) are used in a growing number of underwater missions, mostly inspections of different types of installations such as: telecommunication cables, pipes or oil extraction installations. A field where UUVs are still starting to prove their utility is dam inspection. This paper presents details our first approach in dam inspection. A set of experiments carried out at a dam in Romania is described. Advantages and drawbacks of using a small-class underwater vehicle are analyzed for this type of missions. Copyright © 2003 IFAC

关键词： computer vision

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Real-time vision based auv navigation system using a complementary sensor suite

Real-time vision based auv navigation system using a complem...

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作者： Horgan, Jonathan Toal, Daniel Ridao, Pere Garcia, Rafael Mobile and Marine Robotics Research Centre Department of Electronic and Computer Engineering University of Limerick Ireland Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Spain

ISBN: (纸本)9783902661623

This paper proposes a real-time navigation system for an AUV that takes advantage of the complementary performance of a sensor suite including a DVL, a compass, a depth sensor and altimeter sensors with a feature based motion estimator using vision. To allow for real-time performance of the vision based motion estimator a simple but fast correlation algorithm is used for feature matching. The compass and the depth sensors are used to bound the drift of the heading and depth estimations respectively. The altimeter is required in order to translate the feature displacements measured from the images into the metric displacements of the robot. While the robot must rely on DVL navigation above a certain altitude where vision is useless, DVL measurements can be complemented with higher frequency accurate motion estimates from the vision system when navigating close to the seafloor. Copyright © 2007 IFAC.

关键词： Navigation systems

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A computer vision sensor for panoramic depth perception

A computer vision sensor for panoramic depth perception

引用

Second Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2005

作者： Orghidan, Radu Mouaddib, El Mustapha Salvi, Joaquim Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Girona Spain Centre de Robotique Électrotechnique et Automatique Université de Picardie Jules Verne Amiens France

A practical way for obtaining depth in computer vision is the use of structured light systems. For panoramic depth reconstruction several images are needed which most likely implies the construction of a sensor with mobile elements. Moreover, misalignments can appear for non-static scenes. Omnidirectional cameras offer a much wider field of view than the perspective ones, capture a panoramic image at every moment and alleviate the problems due to occlusions. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to obtain panoramic depth information. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Image sensors

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Omnidirectional depth computation from a single image

Omnidirectional depth computation from a single image

引用

2005 IEEE International Conference on robotics and Automation

作者： Orghidan, Radu Mouaddib, El Mustapha Salvi, Joaquim Centre de Robotique Electrotechnique et d'Automatique Université de Picardie Jules Verne Amiens France Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Catalonia Spain

ISBN: (纸本)078038914X

Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical method for obtaining depth in computer vision is to project a known structured light pattern on the scene avoiding the problems and costs involved by stereo vision. This paper is focused on the idea of combining omnidirectional vision and structured light with the aim to provide 3D information about the scene. The resulting sensor is formed by a single catadioptric camera and an omnidirectional light projector. It is also discussed how this sensor can be used in robot navigation applications. © 2005 IEEE.

关键词： Cameras

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A system to evaluate the accuracy of a visual mosaicking methodology

A system to evaluate the accuracy of a visual mosaicking met...

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OCEANS

作者： R. Garcia J. Batlle X. Cufi Institute of Informatics and Applications Computer Vision and Robotics Group University of Girona Girona Spain

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system.

关键词： Image sequences Underwater vehicles Motion estimation Robot vision systems Cameras Navigation Oceans computer vision Laboratories computer errors

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Estimating the motion of an underwater robot from a monocular image sequence

Estimating the motion of an underwater robot from a monocula...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Garcia X. Cufi M. Carreras Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

When underwater vehicles perform navigation close to the ocean floor, computer vision techniques can be applied to obtain quite accurate motion estimates. The most crucial step in the vision-based estimation of the vehicle motion consists on detecting matchings between image pairs. Here we propose the extensive use of texture analysis as a tool to ameliorate the correspondence problem in underwater images. Once a robust set of correspondences has been found, the three-dimensional motion of the vehicle can be computed with respect to the bed of the sea. Finally, motion estimates allow the construction of a map that could aid to the navigation of the robot.

关键词： Motion estimation Robots Navigation Underwater vehicles Oceans Floors computer vision Motion detection Vehicle detection Image analysis

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Improving Clustering Algorithms for Image Segmentation using Contour and Region Information

Improving Clustering Algorithms for Image Segmentation using...

引用

IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Arnau Oliver Xavier Munoz Joan Batlle Lluis Pacheco Jordi Freixenet Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

In image segmentation, clustering algorithms are very popular because they are intuitive and, some of them, easy to implement. For instance, the k-means is one of the most used in the literature, and many authors successfully compare their new proposal with the results achieved by the k-means. However, it is well known that clustering image segmentation has many problems. For instance, the number of regions of the image has to be known a priori, as well as different initial seed placement (initial clusters) could produce different segmentation results. Most of these algorithms could be slightly improved by considering the coordinates of the image as features in the clustering process (to take spatial region information into account). In this paper we propose a significant improvement of clustering algorithms for image segmentation. The method is qualitatively and quantitative evaluated over a set of synthetic and real images, and compared with classical clustering approaches. Results demonstrate the validity of this new approach

关键词： Clustering algorithms Image segmentation Partitioning algorithms Proposals Clustering methods computer vision Robot kinematics Robot vision systems informatics Application software

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Augmented state Kalman filtering for AUV navigation

Augmented state Kalman filtering for AUV navigation

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Garcia J. Puig P. Ridao X. Cufi Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position.

关键词： Kalman filters Filtering Navigation Motion estimation Underwater vehicles Oceans Remotely operated vehicles Cameras Sea floor State estimation

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Towards a real-time vision-based navigation system for a small-class UUV

Towards a real-time vision-based navigation system for a sma...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Garcia T. Nicosevici P. Ridao D. Ribas Computer Vision and Robotics Group Institute of Informatics and Applications University of Girona Girona Spain

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory.

关键词： Real time systems Motion estimation Underwater vehicles Sea measurements Position measurement Dead reckoning Sonar navigation Robot vision systems Hydrodynamics Costs

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