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检索条件"机构=Computer Vision and Robotics group"

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Coral reef mosaicking using Teardrop and Fast Image Labeling

Coral reef mosaicking using Teardrop and Fast Image Labeling

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OCEANS - Europe

作者： Francis James Corpuz Prospero Naval Eusebio Capili Jaylord Jauod Roel John Judilla Maricor Soriano Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Computer Vision and Machine Intelligence Group Department of Computer Science College of Engineering University of Philippines Quezon Philippines Mapua Robotics Center Special Projects Laboratory Institutional Laboratory Mgmt Office Mapua Institute of Technology Manila Philippines Vision and Image Processing Group Instrumentation Physics Laboratory National Institute of Physics University of Philippines Quezon Philippines

In this paper, we present an inexpensive system for diverless video capture and fast image stitching of image frames for rapid reef assessment of shallow coral reefs. Our system has two main components: 1) Teardrop, a boat-towable, winged hull apparatus designed to house a commercial digital camera, and 2) a mosaicking algorithm to stitch the coral reef video into mosaics for further appreciation and analysis. The captured reef video is then separated into image frames which are to be stitched sequentially using Fast Image Labeling. The overlap between image frames is estimated using Single-Step DFT, an efficient sub-pixel estimation algorithm. The estimated overlap is used to compute for the area to be added to the mosaic space. The overlapping section between succeeding image-pairs are stitched along a seam determined by a minimal-cost path using dynamic programming. The visibility of the seam boundaries is further minimized by utilizing blending on multi-resolution splines. Experimental results on automated reef mosaics creation from actual coral reef video taken using Teardrop shows the performance of the system described. The main contribution of this work is the demonstration of a rapid reef visualization system using a diverless system and commercially available, non-research-grade imaging equipment.

关键词： Image segmentation Sea measurements Cameras Labeling Discrete Fourier transforms Sea floor

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Rapid shallow coastal coral reef mapping using the teardrop system

Rapid shallow coastal coral reef mapping using the teardrop ...

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OCEANS

作者： Francis James Corpuz Prospero Naval Eusebio Capili Jaylord Jauod Roel John Judilla Maricor Soriano Computer Vision and Machine University of the Philippines Diliman Quezon City Philippines Mapua Robotics Center Mapua Institute of Technology Manila Philippines Vision and Image Processing Group University of the Philippines Diliman Quezon City Philippines

We present a rapid shallow coastal reef mapping system using a previously developed inexpensive diver less video capture system coupled with a fast-image mosaicking technique, using an affordable GPS logging device. The system replaces the traditional manta tow system of assessing and monitoring large areas of coastal coral reefs and at the same time provides historical visual record for future references. The system utilizes Teardrop, a hollow, teardrop-shaped that houses a commercial underwater point-and-shoot camera. The camera is set to video mode and captures video of the reef while the Teardrop is being towed by a wooden fishing boat. The resulting video is parsed into frames and mosaicked by using fast image labeling. The approximate location of the mosaicked images is recorded by using an inexpensive GPS logger. The coordinates are embedded on the mosaicked images and overlaid on mapping software such as Google Earth for visual record and spatial information integration. The same points are used to compute for the total distance covered by the capturing process. The whole process from coral reef video capture to mosaicking the images and finally embedding the mosaics in mapping software can be done in as short as 1 day, providing coastal managers and local government units with a tool to rapidly visualize and monitor shallow coral reefs.

关键词： Global Positioning System Monitoring Cameras Sea measurements Earth Boats Google

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Camera calibration using two or three vanishing points

Camera calibration using two or three vanishing points

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Federated Conference on computer Science and Information Systems (FedCSIS)

作者： Radu Orghidan Joaquim Salvi Mihaela Gordan Bogdan Orza Center for Multimedia Technologies and Distance Education Technical University of Cluj Napoca Cluj-Napoca Romania Computer Vision and Robotics Group Polytechnic School University of Girona Girona Spain

The perspective projection models the way a 3D scene is transformed into a 2D image, usually through a camera or an eye. In a projective transformation, parallel lines intersect in a point called vanishing point. This paper presents in detail two calibration methods that exploit the properties of vanishing points. The aim of the paper is to offer a practical tool for the choice of the appropriate calibration method depending on the application and on the initial conditions. The methods, using two respectively three vanishing points, are presented in detail and are compared. First, the two models are analyzed using synthetic data. Finally, each method is tested in a real configuration and the results show the quality of the calibration.

关键词： Cameras Calibration Mathematical model Vectors Equations Image segmentation Noise

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Fourier-based Registrations for Two-Dimensional Forward-Looking Sonar Image Mosaicing

Fourier-based Registrations for Two-Dimensional Forward-Look...

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IEEE/RSJ International Conference on Intelligent robotics and Systems

作者： Natalia Hurtós Xavier Cuf Yvan Petillot Joaquim Salvi Computer Vision and Robotics Group (VICOROB) University de Girona 17071 Girona Spain Ocean Systems Laboratory Heriot-Watt University EH14 4AS Edinburgh U.K.

ISBN: (纸本)9781467317375

This paper presents a method to build large-scale mosaics adapted to underwater sonar imagery. By assuming a simplified imaging model, we propose to address the registrations between images using Fourier-based methods which, unlike feature-based methods, prove well suited to handle the characteristics of forward-looking sonar images, such as low resolution, noise, occlusions and moving shadows. The registration between spatially and temporally distant images resulting from loop-closing situations or registrations in featureless areas are feasible, overcoming the main difficulties of feature-based methods. The problem is cast as a pose-based graph optimization, taking into account the uncertainties of the pairwise registrations and being able to incorporate navigation information. After the optimization, a consistent mosaic from different tracklines is generated with increased resolution and higher signal-to-noise ratio than the original images, while the vehicle motion in x,y and heading is also estimated.

关键词： Mosaicing higher heading

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A coupled schema of probabilistic atlas and statistical shape and appearance model for 3D prostate segmentation in MR images

A coupled schema of probabilistic atlas and statistical shap...

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IEEE International Conference on Image Processing

作者： S. Ghose J. Mitra A. Oliver R. Martí X. Lladó J. Freixenet J. C. Vilanova D. Sidibé F. Meriaudeau Computer Vision and Robotics Group University of Girona Girona Spain Girona Magnetic Resonance Imaging Center Girona Spain Le2i-UMR CNRS 6306 Université de Bourgogne Le Creusot France

A hybrid framework of probabilistic atlas and statistical shape and appearance model (SSAM) is proposed to achieve 3D prostate segmentation. An initial 3D segmentation of the prostate is obtained by registering the probabilistic atlas to the test dataset with deformable Demons registration. The initial results obtained are used to initialize multiple SSAMs corresponding to the apex, central and base regions of the prostate gland to incorporate local variabilities. Multiple mean parametric models of shape and appearance are derived from principal component analysis of prior shape and intensity information of the prostate from the training data. The parameters are then modified with the prior knowledge of the optimization space to achieve 2D segmentation. The 2D labels are registered to the 3D labels generated using probabilistic atlas to constrain the pose variation and generate valid 3D shapes. The proposed method achieves a mean Dice similarity coefficient value of 0.89±0.11 and mean Hausdorff distance of 3.05±2.25 mm when validated with 15 prostate volumes of a public dataset in a leave-one-out validation framework.

关键词： Image segmentation Shape Probabilistic logic Accuracy Active appearance model Computational modeling Mathematical model

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An adaptable vision system for the automatic inspection of surface defects in automotive headlamp lenses

An adaptable vision system for the automatic inspection of s...

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2011 7th IEEE International Conference on Automation Science and Engineering, CASE 2011

作者： Satorres Martínez, S. Gómez Ortega, J. Sánchez García, A. Gámez García, J. Group of Robotics Automation and Computer Vision University of Ja&#x00E9 n Spain

ISBN: (纸本)9781457717307

As a great part of the industrial inspection problems require specific, expensive, and highly complex solutions, there is the need to build flexible systems capable to be easily adapted to different models of a part. In this context, this paper proposes the use of a component-based methodology for designing and building flexible inspection systems for automotive headlamp lenses. Through computer vision, and taking into account the different elements that can be utilized in an industrial environment, we propose the use of a component based architecture for easily designing and building industrial inspection systems for this kind of parts. Within this architecture, each software, or hardware element, is encapsulated in a component with a predefined input/ouput layout and, later, it can be used considering the task inspection requirements. The main advantages of the proposed working philosophy are its flexibility, that the resulting machine vision can be easily adapted to any kind of headlamp lens, and that it is fully open to any new component (lighting system, process algorithm, industrial conveyor, etc.). This proposition has been successfully validated building an industrial prototype that was tested in both, the lab, and in a production line. © 2011 IEEE.

关键词： computer vision

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Attracting talent to increase interest for engineering among secondary school students: Team-based building of a remotely operated underwater robot

Attracting talent to increase interest for engineering among...

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2011 IEEE Global Engineering Education Conference, EDUCON 2011

作者： Villanueva, Miquel Cufi, Xevi Elfakdi, Andrés Ridao, Pere Garcia, Rafael Computer Vision and Robotics Group University of Girona E-17071 Girona Spain

ISBN: (纸本)9781612846439

This paper reports our experience in developing a team-based project activity to promote engineering programs among secondary school students. The aim of the activity is to increase the interest of students for science and technology in general, but also to promote engineering skills, capabilities and values, leading to attract more secondary school students to enrollment for engineering programs. Simple theoretical concepts are illustrated through hands-on experimentation. To achieve this goal, the students build a Remotely Operated Underwater Robot in a 2-day workshop. The robot is built using low-cost materials and the students customize their own design over the different phases of the workshop. Once the activity is completed, every team understands that with teamwork, effort and a good working strategy, every problem can be overcome. At the end of the activity, a survey is conducted through an assessment survey questionnaire which reflects different aspects related with the development of the activity and the degree to which learning of its different facets has been achieved. The responses and feedback from students serve not only to evaluate the workshop, but also as feedback for future fine-tuning of the different phases as pedagogical learning tools. © 2011 IEEE.

关键词： Students

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Spectral Clustering of Shape and Probability Prior Models for Automatic Prostate Segmentation

Spectral Clustering of Shape and Probability Prior Models fo...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： S. Ghose J. Mitra A. Oliver R. Martí X. Lladó J. Freixenet J. C. Vilanova J. Comet D. Sidibé F. Meriaudeau Le2i CNRS-UMR 6306 Université de Bourgogne Le Creusot France. Computer Vision and Robotics Group University of Girona Girona Spain Girona Magnetic Resonance Center Girona Spain Hospital Dr. Josep Trueta Girona Spain

ISBN: (纸本)9781424441198

Imaging artifacts in Transrectal Ultrasound TRUS) images and inter-patient variations in prostate shape and size challenge computer-aided automatic or semi-automatic segmentation of the prostate. In this paper, we propose to use multiple mean parametric models derived from principal component analysis (PCA) of shape and posterior probability information to segment the prostate. In contrast to traditional statistical models of shape and intensity priors, we use posterior probability of the prostate region determined from random forest classification to build, initialize and propagate our model. Multiple mean models derived from spectral clustering of combined shape and appearance parameters ensure improvement in segmentation accuracies. The proposed method achieves mean Dice similarity coefficient (DSC) value of 0.96±0.01, with a mean segmentation time of 0.67±0.02 seconds when validated with 46 images from 23 datasets in a leave-one-patient-out validation framework.

关键词： Prostate segmentation random forest statistical shape and posterior probability models spectral clustering

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WEIGHTED LIKELIHOOD FUNCTION OF MULTIPLE STATISTICAL PARAMETERS TO RETRIEVE 2D TRUS-MR SLICE CORRESPONDENCE FOR PROSTATE BIOPSY

WEIGHTED LIKELIHOOD FUNCTION OF MULTIPLE STATISTICAL PARAMET...

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IEEE International Conference on Image Processing

作者： J. Mitra S. Ghose D. Sidibe A. Oliver R. Marti X. Llado J. C. Vilanova J. Comet F. Meriaudeau Computer Vision and Robotics Group Universitat de Girona Girona Spain Le2i UMR-CNRS 6306 Université de Bourgogne Le Creusot France Girona Magnetic Resonance Imaging Center Girona Spain Hospital Dr. Josep Trueta Girona Girona Spain

This paper presents a novel method to identify the 2D axial Magnetic Resonance (MR) slice from a pre-acquired MR prostate volume that closely corresponds to the 2D axial Transrectal Ultrasound (TRUS) slice obtained during prostate biopsy. The shape-context representations of the segmented prostate contours in both the imaging modalities are used to establish point correspondences using Bhattacharyya distance. Thereafter, Chi-square distance is used to find the prostate shape similarities between the MR slices and the TRUS slice. Normalized mutual information and correlation coefficient between the TRUS and MR slices are computed to find the information theoretic similarities between the TRUS-MR slices. The maximum of the weighted likelihood function of the afore-mentioned statistical similarity measures finally yields the MR slice that closely resembles the TRUS slice acquired during the biopsy procedure. The method is evaluated for 20 patient datasets and close matches with the ground truth are obtained for 16 cases.

关键词： Biopsy Shape Histograms Prostate cancer Accuracy Magnetic resonance imaging Probes

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Using mobile relays in multi-robot exploration

Using mobile relays in multi-robot exploration

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2011 Australasian Conference on robotics and Automation

作者： De Hoog, Julian Cameron, Stephen Jiménez-González, Adrian De-Dios, J. Ramiro Martínez Ollero, Anibal Department of Computer Science University of Oxford United Kingdom Robotics Vision and Control Group University of Sevilla Spain

ISBN: (纸本)9780980740424

Many robotics tasks require autonomous exploration by teams of robots. In difficult or large environments, communication drop-out complicates this task. Several approaches exist that aim to keep the team connected, but even so there is an inherent limit to the range that can be explored. In this paper we describe and examine Role-Based Exploration, an approach that uses mobile relays to ferry information back and forth within the team, and compare it to methods that do not. There are significant advantages in the use of such relays, such as improved coordination and responsiveness, and adaptability to unexpected communication dropout. The approaches are implemented and validated on a team of real robots.

关键词： Robots

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