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Sample records for 3d pose estimation

  1. Neuromorphic Event-Based 3D Pose Estimation

    PubMed Central

    Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B.

    2016-01-01

    Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30–60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

  2. Neuromorphic Event-Based 3D Pose Estimation.

    PubMed

    Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B

    2015-01-01

    Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30-60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion.

  3. Neuromorphic Event-Based 3D Pose Estimation.

    PubMed

    Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B

    2015-01-01

    Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30-60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

  4. Viewpoint Invariant Gesture Recognition and 3D Hand Pose Estimation Using RGB-D

    ERIC Educational Resources Information Center

    Doliotis, Paul

    2013-01-01

    The broad application domain of the work presented in this thesis is pattern classification with a focus on gesture recognition and 3D hand pose estimation. One of the main contributions of the proposed thesis is a novel method for 3D hand pose estimation using RGB-D. Hand pose estimation is formulated as a database retrieval problem. The proposed…

  5. Field testing of a 3D automatic target recognition and pose estimation algorithm

    NASA Astrophysics Data System (ADS)

    Ruel, Stephane; English, Chad E.; Melo, Len; Berube, Andrew; Aikman, Doug; Deslauriers, Adam M.; Church, Philip M.; Maheux, Jean

    2004-09-01

    Neptec Design Group Ltd. has developed a 3D Automatic Target Recognition (ATR) and pose estimation technology demonstrator in partnership with the Canadian DND. The system prototype was deployed for field testing at Defence Research and Development Canada (DRDC)-Valcartier. This paper discusses the performance of the developed algorithm using 3D scans acquired with an imaging LIDAR. 3D models of civilian and military vehicles were built using scans acquired with a triangulation laser scanner. The models were then used to generate a knowledge base for the recognition algorithm. A commercial imaging LIDAR was used to acquire test scans of the target vehicles with varying range, pose and degree of occlusion. Recognition and pose estimation results are presented for at least 4 different poses of each vehicle at each test range. Results obtained with targets partially occluded by an artificial plane, vegetation and military camouflage netting are also presented. Finally, future operational considerations are discussed.

  6. Probabilistic 3D object recognition and pose estimation using multiple interpretations generation.

    PubMed

    Lu, Zhaojin; Lee, Sukhan

    2011-12-01

    This paper presents a probabilistic object recognition and pose estimation method using multiple interpretation generation in cluttered indoor environments. How to handle pose ambiguity and uncertainty is the main challenge in most recognition systems. In order to solve this problem, we approach it in a probabilistic manner. First, given a three-dimensional (3D) polyhedral object model, the parallel and perpendicular line pairs, which are detected from stereo images and 3D point clouds, generate pose hypotheses as multiple interpretations, with ambiguity from partial occlusion and fragmentation of 3D lines especially taken into account. Different from the previous methods, each pose interpretation is represented as a region instead of a point in pose space reflecting the measurement uncertainty. Then, for each pose interpretation, more features around the estimated pose are further utilized as additional evidence for computing the probability using the Bayesian principle in terms of likelihood and unlikelihood. Finally, fusion strategy is applied to the top ranked interpretations with high probabilities, which are further verified and refined to give a more accurate pose estimation in real time. The experimental results show the performance and potential of the proposed approach in real cluttered domestic environments.

  7. Articulated Non-Rigid Point Set Registration for Human Pose Estimation from 3D Sensors

    PubMed Central

    Ge, Song; Fan, Guoliang

    2015-01-01

    We propose a generative framework for 3D human pose estimation that is able to operate on both individual point sets and sequential depth data. We formulate human pose estimation as a point set registration problem, where we propose three new approaches to address several major technical challenges in this research. First, we integrate two registration techniques that have a complementary nature to cope with non-rigid and articulated deformations of the human body under a variety of poses. This unique combination allows us to handle point sets of complex body motion and large pose variation without any initial conditions, as required by most existing approaches. Second, we introduce an efficient pose tracking strategy to deal with sequential depth data, where the major challenge is the incomplete data due to self-occlusions and view changes. We introduce a visible point extraction method to initialize a new template for the current frame from the previous frame, which effectively reduces the ambiguity and uncertainty during registration. Third, to support robust and stable pose tracking, we develop a segment volume validation technique to detect tracking failures and to re-initialize pose registration if needed. The experimental results on both benchmark 3D laser scan and depth datasets demonstrate the effectiveness of the proposed framework when compared with state-of-the-art algorithms. PMID:26131673

  8. Augmenting ViSP's 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments

    NASA Astrophysics Data System (ADS)

    Li-Chee-Ming, J.; Armenakis, C.

    2016-06-01

    This paper presents a novel application of the Visual Servoing Platform's (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP's pose estimation process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the camera's field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature matches. This work proposes a solution to improve ViSP's pose estimation performance, aiming specifically to reduce the frequency of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor building models, and present preliminary results from our experiments.

  9. Automatic C-arm pose estimation via 2D/3D hybrid registration of a radiographic fiducial

    NASA Astrophysics Data System (ADS)

    Moult, E.; Burdette, E. C.; Song, D. Y.; Abolmaesumi, P.; Fichtinger, G.; Fallavollita, P.

    2011-03-01

    Motivation: In prostate brachytherapy, real-time dosimetry would be ideal to allow for rapid evaluation of the implant quality intra-operatively. However, such a mechanism requires an imaging system that is both real-time and which provides, via multiple C-arm fluoroscopy images, clear information describing the three-dimensional position of the seeds deposited within the prostate. Thus, accurate tracking of the C-arm poses proves to be of critical importance to the process. Methodology: We compute the pose of the C-arm relative to a stationary radiographic fiducial of known geometry by employing a hybrid registration framework. Firstly, by means of an ellipse segmentation algorithm and a 2D/3D feature based registration, we exploit known FTRAC geometry to recover an initial estimate of the C-arm pose. Using this estimate, we then initialize the intensity-based registration which serves to recover a refined and accurate estimation of the C-arm pose. Results: Ground-truth pose was established for each C-arm image through a published and clinically tested segmentation-based method. Using 169 clinical C-arm images and a +/-10° and +/-10 mm random perturbation of the ground-truth pose, the average rotation and translation errors were 0.68° (std = 0.06°) and 0.64 mm (std = 0.24 mm). Conclusion: Fully automated C-arm pose estimation using a 2D/3D hybrid registration scheme was found to be clinically robust based on human patient data.

  10. System for conveyor belt part picking using structured light and 3D pose estimation

    NASA Astrophysics Data System (ADS)

    Thielemann, J.; Skotheim, Ø.; Nygaard, J. O.; Vollset, T.

    2009-01-01

    Automatic picking of parts is an important challenge to solve within factory automation, because it can remove tedious manual work and save labor costs. One such application involves parts that arrive with random position and orientation on a conveyor belt. The parts should be picked off the conveyor belt and placed systematically into bins. We describe a system that consists of a structured light instrument for capturing 3D data and robust methods for aligning an input 3D template with a 3D image of the scene. The method uses general and robust pre-processing steps based on geometric primitives that allow the well-known Iterative Closest Point algorithm to converge quickly and robustly to the correct solution. The method has been demonstrated for localization of car parts with random position and orientation. We believe that the method is applicable for a wide range of industrial automation problems where precise localization of 3D objects in a scene is needed.

  11. Robust 3D object localization and pose estimation for random bin picking with the 3DMaMa algorithm

    NASA Astrophysics Data System (ADS)

    Skotheim, Øystein; Thielemann, Jens T.; Berge, Asbjørn; Sommerfelt, Arne

    2010-02-01

    Enabling robots to automatically locate and pick up randomly placed and oriented objects from a bin is an important challenge in factory automation, replacing tedious and heavy manual labor. A system should be able to recognize and locate objects with a predefined shape and estimate the position with the precision necessary for a gripping robot to pick it up. We describe a system that consists of a structured light instrument for capturing 3D data and a robust approach for object location and pose estimation. The method does not depend on segmentation of range images, but instead searches through pairs of 2D manifolds to localize candidates for object match. This leads to an algorithm that is not very sensitive to scene complexity or the number of objects in the scene. Furthermore, the strategy for candidate search is easily reconfigurable to arbitrary objects. Experiments reported in this paper show the utility of the method on a general random bin picking problem, in this paper exemplified by localization of car parts with random position and orientation. Full pose estimation is done in less than 380 ms per image. We believe that the method is applicable for a wide range of industrial automation problems where precise localization of 3D objects in a scene is needed.

  12. ILIAD Testing; and a Kalman Filter for 3-D Pose Estimation

    NASA Technical Reports Server (NTRS)

    Richardson, A. O.

    1996-01-01

    This report presents the results of a two-part project. The first part presents results of performance assessment tests on an Internet Library Information Assembly Data Base (ILIAD). It was found that ILLAD performed best when queries were short (one-to-three keywords), and were made up of rare, unambiguous words. In such cases as many as 64% of the typically 25 returned documents were found to be relevant. It was also found that a query format that was not so rigid with respect to spelling errors and punctuation marks would be more user-friendly. The second part of the report shows the design of a Kalman Filter for estimating motion parameters of a three dimensional object from sequences of noisy data derived from two-dimensional pictures. Given six measured deviation values represendng X, Y, Z, pitch, yaw, and roll, twelve parameters were estimated comprising the six deviations and their time rate of change. Values for the state transiton matrix, the observation matrix, the system noise covariance matrix, and the observation noise covariance matrix were determined. A simple way of initilizing the error covariance matrix was pointed out.

  13. Simultaneous Multi-Structure Segmentation and 3D Nonrigid Pose Estimation in Image-Guided Robotic Surgery.

    PubMed

    Nosrati, Masoud S; Abugharbieh, Rafeef; Peyrat, Jean-Marc; Abinahed, Julien; Al-Alao, Osama; Al-Ansari, Abdulla; Hamarneh, Ghassan

    2016-01-01

    In image-guided robotic surgery, segmenting the endoscopic video stream into meaningful parts provides important contextual information that surgeons can exploit to enhance their perception of the surgical scene. This information provides surgeons with real-time decision-making guidance before initiating critical tasks such as tissue cutting. Segmenting endoscopic video is a challenging problem due to a variety of complications including significant noise attributed to bleeding and smoke from cutting, poor appearance contrast between different tissue types, occluding surgical tools, and limited visibility of the objects' geometries on the projected camera views. In this paper, we propose a multi-modal approach to segmentation where preoperative 3D computed tomography scans and intraoperative stereo-endoscopic video data are jointly analyzed. The idea is to segment multiple poorly visible structures in the stereo/multichannel endoscopic videos by fusing reliable prior knowledge captured from the preoperative 3D scans. More specifically, we estimate and track the pose of the preoperative models in 3D and consider the models' non-rigid deformations to match with corresponding visual cues in multi-channel endoscopic video and segment the objects of interest. Further, contrary to most augmented reality frameworks in endoscopic surgery that assume known camera parameters, an assumption that is often violated during surgery due to non-optimal camera calibration and changes in camera focus/zoom, our method embeds these parameters into the optimization hence correcting the calibration parameters within the segmentation process. We evaluate our technique on synthetic data, ex vivo lamb kidney datasets, and in vivo clinical partial nephrectomy surgery with results demonstrating high accuracy and robustness. PMID:26151933

  14. 3-D Pose Presentation for Training Applications

    ERIC Educational Resources Information Center

    Fox, Kaitlyn; Whitehead, Anthony

    2011-01-01

    Purpose: In the authors' experience, the biggest issue with pose-based exergames is the difficulty in effectively communicating a three-dimensional pose to a user to facilitate a thorough understanding for accurate pose replication. The purpose of this paper is to examine options for pose presentation. Design/methodology/approach: The authors…

  15. Learning a 3D Human Pose Distance Metric from Geometric Pose Descriptor.

    PubMed

    Cheng Chen; Yueting Zhuang; Feiping Nie; Yi Yang; Fei Wu; Jun Xiao

    2011-11-01

    Estimating 3D pose similarity is a fundamental problem on 3D motion data. Most previous work calculates L2-like distance of joint orientations or coordinates, which does not sufficiently reflect the pose similarity of human perception. In this paper, we present a new pose distance metric. First, we propose a new rich pose feature set called Geometric Pose Descriptor (GPD). GPD is more effective in encoding pose similarity by utilizing features on geometric relations among body parts, as well as temporal information such as velocities and accelerations. Based on GPD, we propose a semisupervised distance metric learning algorithm called Regularized Distance Metric Learning with Sparse Representation (RDSR), which integrates information from both unsupervised data relationship and labels. We apply the proposed pose distance metric to applications of motion transition decision and content-based pose retrieval. Quantitative evaluations demonstrate that our method achieves better results with only a small amount of human labels, showing that the proposed pose distance metric is a promising building block for various 3D-motion related applications.

  16. 3D face recognition under expressions, occlusions, and pose variations.

    PubMed

    Drira, Hassen; Ben Amor, Boulbaba; Srivastava, Anuj; Daoudi, Mohamed; Slama, Rim

    2013-09-01

    We propose a novel geometric framework for analyzing 3D faces, with the specific goals of comparing, matching, and averaging their shapes. Here we represent facial surfaces by radial curves emanating from the nose tips and use elastic shape analysis of these curves to develop a Riemannian framework for analyzing shapes of full facial surfaces. This representation, along with the elastic Riemannian metric, seems natural for measuring facial deformations and is robust to challenges such as large facial expressions (especially those with open mouths), large pose variations, missing parts, and partial occlusions due to glasses, hair, and so on. This framework is shown to be promising from both--empirical and theoretical--perspectives. In terms of the empirical evaluation, our results match or improve upon the state-of-the-art methods on three prominent databases: FRGCv2, GavabDB, and Bosphorus, each posing a different type of challenge. From a theoretical perspective, this framework allows for formal statistical inferences, such as the estimation of missing facial parts using PCA on tangent spaces and computing average shapes.

  17. Distributed pose estimation from multiple views

    NASA Astrophysics Data System (ADS)

    Chen, Chong; Schonfeld, Dan; Mohamed, Magdi

    2008-01-01

    A method is introduced to track the object's motion and estimate its pose from multiple cameras. We focus on direct estimation of the 3D pose from 2D image sequences. We derive a distributed solution that is equivalent to the centralized pose estimation from multiple cameras. Moreover, we show that, by using a proper rotation between each camera and a fixed camera view, we can rely on independent pose estimation from each camera. Then, we propose a robust solution to the centralized pose estimation problem by deriving a best linear unbiased estimate from the rotated pose estimates obtained from each camera. The resulting pose estimation is therefore robust to errors obtained from specific camera views. Moreover, the computational complexity of the distributed solution is efficient and grows linearly with the number of camera views. Finally, the computer simulation experiments demonstrate that our algorithm is fast and accurate.

  18. Piecewise-rigid 2D-3D registration for pose estimation of snake-like manipulator using an intraoperative x-ray projection

    NASA Astrophysics Data System (ADS)

    Otake, Y.; Murphy, R. J.; Kutzer, M. D.; Taylor, R. H.; Armand, M.

    2014-03-01

    Background: Snake-like dexterous manipulators may offer significant advantages in minimally-invasive surgery in areas not reachable with conventional tools. Precise control of a wire-driven manipulator is challenging due to factors such as cable deformation, unknown internal (cable friction) and external forces, thus requiring correcting the calibration intraoperatively by determining the actual pose of the manipulator. Method: A method for simultaneously estimating pose and kinematic configuration of a piecewise-rigid object such as a snake-like manipulator from a single x-ray projection is presented. The method parameterizes kinematics using a small number of variables (e.g., 5), and optimizes them simultaneously with the 6 degree-of-freedom pose parameter of the base link using an image similarity between digitally reconstructed radiographs (DRRs) of the manipulator's attenuation model and the real x-ray projection. Result: Simulation studies assumed various geometric magnifications (1.2-2.6) and out-of-plane angulations (0°-90°) in a scenario of hip osteolysis treatment, which demonstrated the median joint angle error was 0.04° (for 2.0 magnification, +/-10° out-of-plane rotation). Average computation time was 57.6 sec with 82,953 function evaluations on a mid-range GPU. The joint angle error remained lower than 0.07° while out-of-plane rotation was 0°-60°. An experiment using video images of a real manipulator demonstrated a similar trend as the simulation study except for slightly larger error around the tip attributed to accumulation of errors induced by deformation around each joint not modeled with a simple pin joint. Conclusions: The proposed approach enables high precision tracking of a piecewise-rigid object (i.e., a series of connected rigid structures) using a single projection image by incorporating prior knowledge about the shape and kinematic behavior of the object (e.g., each rigid structure connected by a pin joint parameterized by a

  19. Single-Frame 3D Human Pose Recovery from Multiple Views

    NASA Astrophysics Data System (ADS)

    Hofmann, Michael; Gavrila, Dariu M.

    We present a system for the estimation of unconstrained 3D human upper body pose from multi-camera single-frame views. Pose recovery starts with a shape detection stage where candidate poses are generated based on hierarchical exemplar matching in the individual camera views. The hierarchy used in this stage is created using a hybrid clustering approach in order to efficiently deal with the large number of represented poses. In the following multi-view verification stage, poses are re-projected to the other camera views and ranked according to a multi-view matching score. A subsequent gradient-based local pose optimization stage bridges the gap between the used discrete pose exemplars and the underlying continuous parameter space. We demonstrate that the proposed clustering approach greatly outperforms state-of-the-art bottom-up clustering in parameter space and present a detailed experimental evaluation of the complete system on a large data set.

  20. Determination of vertebral pose in 3D by minimization of vertebral asymmetry

    NASA Astrophysics Data System (ADS)

    Vrtovec, Tomaž; Pernuš, Franjo; Likar, Boštjan

    2011-03-01

    The vertebral pose in three dimensions (3D) may provide valuable information for quantitative clinical measurements or aid the initialization of image analysis techniques. We propose a method for automated determination of the vertebral pose in 3D that, in an iterative registration scheme, estimates the position and rotation of the vertebral coordinate system in 3D images. By searching for the hypothetical points, which are located where the boundaries of anatomical structures would have maximal symmetrical correspondences when mirrored over the vertebral planes, the asymmetry of vertebral anatomical structures is minimized. The method was evaluated on 14 normal and 14 scoliotic vertebrae in images acquired by computed tomography (CT). For each vertebra, 1000 randomly initialized experiments were performed. The results show that the vertebral pose can be successfully determined in 3D with mean accuracy of 0.5mm and 0.6° and mean precision of 0.17mm and 0.17. according to the 3D position and 3D rotation, respectively.

  1. 3D human pose recognition for home monitoring of elderly.

    PubMed

    Jansen, Bart; Temmermans, Frederik; Deklerck, Rudi

    2007-01-01

    A toolbox for the automatic monitoring of elderly in a nursing home or in the natural home environment is proposed. Rather than monitoring vital signs or other biomedical parameters, the toolbox is focussed on the monitoring of activity patterns and changes therein. Activity information is derived from visual information using image processing algorithms. The visual information is acquired using 3D camera technology. Besides a traditional visual image, 3D cameras also provide highly accurate depth information. The 3D position of the subject is derived and serves as the primary information source for the different components in the toolbox.

  2. Real-time 3D human pose recognition from reconstructed volume via voxel classifiers

    NASA Astrophysics Data System (ADS)

    Yoo, ByungIn; Choi, Changkyu; Han, Jae-Joon; Lee, Changkyo; Kim, Wonjun; Suh, Sungjoo; Park, Dusik; Kim, Junmo

    2014-03-01

    This paper presents a human pose recognition method which simultaneously reconstructs a human volume based on ensemble of voxel classifiers from a single depth image in real-time. The human pose recognition is a difficult task since a single depth camera can capture only visible surfaces of a human body. In order to recognize invisible (self-occluded) surfaces of a human body, the proposed algorithm employs voxel classifiers trained with multi-layered synthetic voxels. Specifically, ray-casting onto a volumetric human model generates a synthetic voxel, where voxel consists of a 3D position and ID corresponding to the body part. The synthesized volumetric data which contain both visible and invisible body voxels are utilized to train the voxel classifiers. As a result, the voxel classifiers not only identify the visible voxels but also reconstruct the 3D positions and the IDs of the invisible voxels. The experimental results show improved performance on estimating the human poses due to the capability of inferring the invisible human body voxels. It is expected that the proposed algorithm can be applied to many fields such as telepresence, gaming, virtual fitting, wellness business, and real 3D contents control on real 3D displays.

  3. Global regular solutions for the 3D Zakharov-Kuznetsov equation posed on unbounded domains

    NASA Astrophysics Data System (ADS)

    Larkin, N. A.

    2015-09-01

    An initial-boundary value problem for the 3D Zakharov-Kuznetsov equation posed on unbounded domains is considered. Existence and uniqueness of a global regular solution as well as exponential decay of the H2-norm for small initial data are proven.

  4. Particle swarm optimization on low dimensional pose manifolds for monocular human pose estimation

    NASA Astrophysics Data System (ADS)

    Brauer, Jürgen; Hübner, Wolfgang; Arens, Michael

    2013-10-01

    Automatic assessment of situations with modern security and surveillance systems requires sophisticated discrimination capabilities. Therefore, action recognition, e.g. in terms of person-person or person-object interactions, is an essential core component of any surveillance system. A subclass of recent action recognition approaches are based on space time volumes, which are generated from trajectories of multiple anatomical landmarks like hands or shoulders. A general prerequisite of these methods is the robust estimation of the body pose, i.e. a simplified body model consisting of several anatomical landmarks. In this paper we address the problem of estimating 3D poses from monocular person image sequences. The first stage of our algorithm is the localization of body parts in the 2D image. For this, a part based object detection method is used, which in previous work has been shown to provide a sufficient basis for person detection and landmark estimation in a single step. The output of this processing step is a probability distribution for each landmark and image indicating possible locations of this landmark in image coordinates. The second stage of our algorithm searches for 3D pose estimates that best t to the 15 landmark probability distributions. For resolving ambiguities introduced by uncertainty in the locations of the landmarks, we perform an optimization within a Particle Swarm Optimization (PSO) framework, where each pose hypothesis is represented by a particle. Since the search in the high-dimensional 3D pose search space needs further guidance to deal with the inherently restricted 2D input information, we propose a new compact representation of motion sequences provided by motion capture databases. Poses of a motion sequence are embedded in a low-dimensional manifold. We represent each motion sequence by a compact representation referred to as pose splines using a small number of supporting point poses. The PSO algorithm can be extended to perform

  5. Joint 3d Estimation of Vehicles and Scene Flow

    NASA Astrophysics Data System (ADS)

    Menze, M.; Heipke, C.; Geiger, A.

    2015-08-01

    driving. While much progress has been made in recent years, imaging conditions in natural outdoor environments are still very challenging for current reconstruction and recognition methods. In this paper, we propose a novel unified approach which reasons jointly about 3D scene flow as well as the pose, shape and motion of vehicles in the scene. Towards this goal, we incorporate a deformable CAD model into a slanted-plane conditional random field for scene flow estimation and enforce shape consistency between the rendered 3D models and the parameters of all superpixels in the image. The association of superpixels to objects is established by an index variable which implicitly enables model selection. We evaluate our approach on the challenging KITTI scene flow dataset in terms of object and scene flow estimation. Our results provide a prove of concept and demonstrate the usefulness of our method.

  6. From canonical poses to 3D motion capture using a single camera.

    PubMed

    Fossati, Andrea; Dimitrijevic, Miodrag; Lepetit, Vincent; Fua, Pascal

    2010-07-01

    We combine detection and tracking techniques to achieve robust 3D motion recovery of people seen from arbitrary viewpoints by a single and potentially moving camera. We rely on detecting key postures, which can be done reliably, using a motion model to infer 3D poses between consecutive detections, and finally refining them over the whole sequence using a generative model. We demonstrate our approach in the cases of golf motions filmed using a static camera and walking motions acquired using a potentially moving one. We will show that our approach, although monocular, is both metrically accurate because it integrates information over many frames and robust because it can recover from a few misdetections.

  7. 3D Shape and Pose Estimaion of Deformable Tapes from Multiple Views

    NASA Astrophysics Data System (ADS)

    Kubota, Hitoshi; Ono, Masakazu; Takeshi, Masami; Saito, Hideo

    In this paper, we propose a method to estimate 3D shape of deformable plastic tapes from multiple camera images. In this method, the tape is modeled as serial connection of multiple rectangular plates, where the size of each plate is previously known and node angles of between plates represent the shape of the object. The node angles of the object are estimated by 2D silhouette shapes taken in the multiple images. The estimation is performed by minimizing the difference of the silhouette shapes between the input images and synthesized images of the model shape. For demonstrating the proposed method, 3D shape of a tape is estimated with two camera images. The accuracy of the estimation is sufficient for making the assembling robot in our plant to handle the tape. Computation time is also sufficiently short for applying the proposed algorithm in the assembling plant.

  8. Factoring Algebraic Error for Relative Pose Estimation

    SciTech Connect

    Lindstrom, P; Duchaineau, M

    2009-03-09

    We address the problem of estimating the relative pose, i.e. translation and rotation, of two calibrated cameras from image point correspondences. Our approach is to factor the nonlinear algebraic pose error functional into translational and rotational components, and to optimize translation and rotation independently. This factorization admits subproblems that can be solved using direct methods with practical guarantees on global optimality. That is, for a given translation, the corresponding optimal rotation can directly be determined, and vice versa. We show that these subproblems are equivalent to computing the least eigenvector of second- and fourth-order symmetric tensors. When neither translation or rotation is known, alternating translation and rotation optimization leads to a simple, efficient, and robust algorithm for pose estimation that improves on the well-known 5- and 8-point methods.

  9. Linear pose estimation from points or lines

    NASA Technical Reports Server (NTRS)

    Ansar, A.; Daniilidis, K.

    2002-01-01

    We present a general framework which allows for a novel set of linear solutions to the pose estimation problem for both n points and n lines. We present a number of simulations which compare our results to two other recent linear algorithm as well as to iterative approaches.

  10. Pose estimation of teeth through crown-shape matching

    NASA Astrophysics Data System (ADS)

    Mok, Vevin; Ong, Sim Heng; Foong, Kelvin W. C.; Kondo, Toshiaki

    2002-05-01

    This paper presents a technique for determining a tooth's pose given a dental plaster cast and a set of generic tooth models. The ultimate goal of pose estimation is to obtain information about the sizes and positions of the roots, which lie hidden within the gums, without the use of X-rays, CT or MRI. In our approach, the tooth of interest is first extracted from the 3D dental cast image through segmentation. 2D views are then generated from the extracted tooth and are matched against a target view generated from the generic model with known pose. Additional views are generated in the vicinity of the best view and the entire process is repeated until convergence. Upon convergence, the generic tooth is superimposed onto the dental cast to show the position of the root. The results of applying the technique to canines demonstrate the excellent potential of the algorithm for generic tooth fitting.

  11. Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

    NASA Technical Reports Server (NTRS)

    Rakoczy, John; Herren, Kenneth

    2007-01-01

    A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

  12. Space Vehicle Pose Estimation via Optical Correlation and Nonlinear Estimation

    NASA Technical Reports Server (NTRS)

    Rakoczy, John M.; Herren, Kenneth A.

    2008-01-01

    A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

  13. Local phase tensor features for 3-D ultrasound to statistical shape+pose spine model registration.

    PubMed

    Hacihaliloglu, Ilker; Rasoulian, Abtin; Rohling, Robert N; Abolmaesumi, Purang

    2014-11-01

    Most conventional spine interventions are performed under X-ray fluoroscopy guidance. In recent years, there has been a growing interest to develop nonionizing imaging alternatives to guide these procedures. Ultrasound guidance has emerged as a leading alternative. However, a challenging problem is automatic identification of the spinal anatomy in ultrasound data. In this paper, we propose a local phase-based bone feature enhancement technique that can robustly identify the spine surface in ultrasound images. The local phase information is obtained using a gradient energy tensor filter. This information is used to construct local phase tensors in ultrasound images, which highlight the spine surface. We show that our proposed approach results in a more distinct enhancement of the bone surfaces compared to recently proposed techniques based on monogenic scale-space filters and logarithmic Gabor filters. We also demonstrate that registration accuracy of a statistical shape+pose model of the spine to 3-D ultrasound images can be significantly improved, using the proposed method, compared to those obtained using monogenic scale-space filters and logarithmic Gabor filters.

  14. Waves of 3D marine structures slamming at different initial poses in complex wind-wave-flow environments

    NASA Astrophysics Data System (ADS)

    Zhu, Liang-sheng; Yu, Long-fei

    2016-10-01

    Aimed at the hydrodynamic response for marine structures slamming into water, based on the mechanism analysis to the slamming process, and by combining 3D N-S equation and k- ɛ turbulent kinetic equation with structure fully 6DOF motion equation, a mathematical model for the wind-fluid-solid interaction is established in 3D marine structure slamming wave at free poses and wind-wave-flow complex environments. Compared with the results of physical model test, the numerical results from the slamming wave well correspond with the experimental results. Through the mathematical model, the wave-making issue of 3D marine structure at initial pose falls into water in different complex wind, wave and flow environments is investigated. The research results show that various kinds of natural factors and structure initial poses have different influence on the slamming wave, and there is an obvious rule in this process.

  15. Maximal likelihood correspondence estimation for face recognition across pose.

    PubMed

    Li, Shaoxin; Liu, Xin; Chai, Xiujuan; Zhang, Haihong; Lao, Shihong; Shan, Shiguang

    2014-10-01

    Due to the misalignment of image features, the performance of many conventional face recognition methods degrades considerably in across pose scenario. To address this problem, many image matching-based methods are proposed to estimate semantic correspondence between faces in different poses. In this paper, we aim to solve two critical problems in previous image matching-based correspondence learning methods: 1) fail to fully exploit face specific structure information in correspondence estimation and 2) fail to learn personalized correspondence for each probe image. To this end, we first build a model, termed as morphable displacement field (MDF), to encode face specific structure information of semantic correspondence from a set of real samples of correspondences calculated from 3D face models. Then, we propose a maximal likelihood correspondence estimation (MLCE) method to learn personalized correspondence based on maximal likelihood frontal face assumption. After obtaining the semantic correspondence encoded in the learned displacement, we can synthesize virtual frontal images of the profile faces for subsequent recognition. Using linear discriminant analysis method with pixel-intensity features, state-of-the-art performance is achieved on three multipose benchmarks, i.e., CMU-PIE, FERET, and MultiPIE databases. Owe to the rational MDF regularization and the usage of novel maximal likelihood objective, the proposed MLCE method can reliably learn correspondence between faces in different poses even in complex wild environment, i.e., labeled face in the wild database. PMID:25163062

  16. Automatic pose initialization for accurate 2D/3D registration applied to abdominal aortic aneurysm endovascular repair

    NASA Astrophysics Data System (ADS)

    Miao, Shun; Lucas, Joseph; Liao, Rui

    2012-02-01

    Minimally invasive abdominal aortic aneurysm (AAA) stenting can be greatly facilitated by overlaying the preoperative 3-D model of the abdominal aorta onto the intra-operative 2-D X-ray images. Accurate 2-D/3-D registration in 3-D space makes the 2-D/3-D overlay robust to the change of C-Arm angulations. By far, the 2-D/3-D registration methods based on simulated X-ray projection images using multiple image planes have been shown to be able to provide satisfactory 3-D registration accuracy. However, one drawback of the intensity-based 2-D/3-D registration methods is that the similarity measure is usually highly non-convex and hence the optimizer can easily be trapped into local minima. User interaction therefore is often needed in the initialization of the position of the 3-D model in order to get a successful 2-D/3-D registration. In this paper, a novel 3-D pose initialization technique is proposed, as an extension of our previously proposed bi-plane 2-D/3-D registration method for AAA intervention [4]. The proposed method detects vessel bifurcation points and spine centerline in both 2-D and 3-D images, and utilizes landmark information to bring the 3-D volume into a 15mm capture range. The proposed landmark detection method was validated on real dataset, and is shown to be able to provide a good initialization for 2-D/3-D registration in [4], thus making the workflow fully automatic.

  17. Interferometric synthetic aperture radar detection and estimation based 3D image reconstruction

    NASA Astrophysics Data System (ADS)

    Austin, Christian D.; Moses, Randolph L.

    2006-05-01

    This paper explores three-dimensional (3D) interferometric synthetic aperture radar (IFSAR) image reconstruction when multiple scattering centers and noise are present in a radar resolution cell. We introduce an IFSAR scattering model that accounts for both multiple scattering centers and noise. The problem of 3D image reconstruction is then posed as a multiple hypothesis detection and estimation problem; resolution cells containing a single scattering center are detected and the 3D location of these cells' pixels are estimated; all other pixels are rejected from the image. Detection and estimation statistics are derived using the multiple scattering center IFSAR model. A 3D image reconstruction algorithm using these statistics is then presented, and its performance is evaluated for a 3D reconstruction of a backhoe from noisy IFSAR data.

  18. Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

    NASA Technical Reports Server (NTRS)

    Wolf, Michael; Ansar, Adnan I.; Brennan, Shane; Clouse, Daniel S.; Padgett, Curtis W.

    2012-01-01

    The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

  19. Spatio-Temporal Matching for Human Pose Estimation in Video.

    PubMed

    Zhou, Feng; Torre, Fernando De la

    2016-08-01

    Detection and tracking humans in videos have been long-standing problems in computer vision. Most successful approaches (e.g., deformable parts models) heavily rely on discriminative models to build appearance detectors for body joints and generative models to constrain possible body configurations (e.g., trees). While these 2D models have been successfully applied to images (and with less success to videos), a major challenge is to generalize these models to cope with camera views. In order to achieve view-invariance, these 2D models typically require a large amount of training data across views that is difficult to gather and time-consuming to label. Unlike existing 2D models, this paper formulates the problem of human detection in videos as spatio-temporal matching (STM) between a 3D motion capture model and trajectories in videos. Our algorithm estimates the camera view and selects a subset of tracked trajectories that matches the motion of the 3D model. The STM is efficiently solved with linear programming, and it is robust to tracking mismatches, occlusions and outliers. To the best of our knowledge this is the first paper that solves the correspondence between video and 3D motion capture data for human pose detection. Experiments on the CMU motion capture, Human3.6M, Berkeley MHAD and CMU MAD databases illustrate the benefits of our method over state-of-the-art approaches. PMID:26863647

  20. Motion estimation in the 3-D Gabor domain.

    PubMed

    Feng, Mu; Reed, Todd R

    2007-08-01

    Motion estimation methods can be broadly classified as being spatiotemporal or frequency domain in nature. The Gabor representation is an analysis framework providing localized frequency information. When applied to image sequences, the 3-D Gabor representation displays spatiotemporal/spatiotemporal-frequency (st/stf) information, enabling the application of robust frequency domain methods with adjustable spatiotemporal resolution. In this work, the 3-D Gabor representation is applied to motion analysis. We demonstrate that piecewise uniform translational motion can be estimated by using a uniform translation motion model in the st/stf domain. The resulting motion estimation method exhibits both good spatiotemporal resolution and substantial noise resistance compared to existing spatiotemporal methods. To form the basis of this model, we derive the signature of the translational motion in the 3-D Gabor domain. Finally, to obtain higher spatiotemporal resolution for more complex motions, a dense motion field estimation method is developed to find a motion estimate for every pixel in the sequence.

  1. A Survey on Model Based Approaches for 2D and 3D Visual Human Pose Recovery

    PubMed Central

    Perez-Sala, Xavier; Escalera, Sergio; Angulo, Cecilio; Gonzàlez, Jordi

    2014-01-01

    Human Pose Recovery has been studied in the field of Computer Vision for the last 40 years. Several approaches have been reported, and significant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we define a general taxonomy to group model based approaches for Human Pose Recovery, which is composed of five main modules: appearance, viewpoint, spatial relations, temporal consistence, and behavior. Subsequently, a methodological comparison is performed following the proposed taxonomy, evaluating current SoA approaches in the aforementioned five group categories. As a result of this comparison, we discuss the main advantages and drawbacks of the reviewed literature. PMID:24594613

  2. Exhaustive linearization for robust camera pose and focal length estimation.

    PubMed

    Penate-Sanchez, Adrian; Andrade-Cetto, Juan; Moreno-Noguer, Francesc

    2013-10-01

    We propose a novel approach for the estimation of the pose and focal length of a camera from a set of 3D-to-2D point correspondences. Our method compares favorably to competing approaches in that it is both more accurate than existing closed form solutions, as well as faster and also more accurate than iterative ones. Our approach is inspired on the EPnP algorithm, a recent O(n) solution for the calibrated case. Yet we show that considering the focal length as an additional unknown renders the linearization and relinearization techniques of the original approach no longer valid, especially with large amounts of noise. We present new methodologies to circumvent this limitation termed exhaustive linearization and exhaustive relinearization which perform a systematic exploration of the solution space in closed form. The method is evaluated on both real and synthetic data, and our results show that besides producing precise focal length estimation, the retrieved camera pose is almost as accurate as the one computed using the EPnP, which assumes a calibrated camera.

  3. Exhaustive linearization for robust camera pose and focal length estimation.

    PubMed

    Penate-Sanchez, Adrian; Andrade-Cetto, Juan; Moreno-Noguer, Francesc

    2013-10-01

    We propose a novel approach for the estimation of the pose and focal length of a camera from a set of 3D-to-2D point correspondences. Our method compares favorably to competing approaches in that it is both more accurate than existing closed form solutions, as well as faster and also more accurate than iterative ones. Our approach is inspired on the EPnP algorithm, a recent O(n) solution for the calibrated case. Yet we show that considering the focal length as an additional unknown renders the linearization and relinearization techniques of the original approach no longer valid, especially with large amounts of noise. We present new methodologies to circumvent this limitation termed exhaustive linearization and exhaustive relinearization which perform a systematic exploration of the solution space in closed form. The method is evaluated on both real and synthetic data, and our results show that besides producing precise focal length estimation, the retrieved camera pose is almost as accurate as the one computed using the EPnP, which assumes a calibrated camera. PMID:23969384

  4. Spherical blurred shape model for 3-D object and pose recognition: quantitative analysis and HCI applications in smart environments.

    PubMed

    Lopes, Oscar; Reyes, Miguel; Escalera, Sergio; Gonzàlez, Jordi

    2014-12-01

    The use of depth maps is of increasing interest after the advent of cheap multisensor devices based on structured light, such as Kinect. In this context, there is a strong need of powerful 3-D shape descriptors able to generate rich object representations. Although several 3-D descriptors have been already proposed in the literature, the research of discriminative and computationally efficient descriptors is still an open issue. In this paper, we propose a novel point cloud descriptor called spherical blurred shape model (SBSM) that successfully encodes the structure density and local variabilities of an object based on shape voxel distances and a neighborhood propagation strategy. The proposed SBSM is proven to be rotation and scale invariant, robust to noise and occlusions, highly discriminative for multiple categories of complex objects like the human hand, and computationally efficient since the SBSM complexity is linear to the number of object voxels. Experimental evaluation in public depth multiclass object data, 3-D facial expressions data, and a novel hand poses data sets show significant performance improvements in relation to state-of-the-art approaches. Moreover, the effectiveness of the proposal is also proved for object spotting in 3-D scenes and for real-time automatic hand pose recognition in human computer interaction scenarios. PMID:25415944

  5. Efficient human pose estimation from single depth images.

    PubMed

    Shotton, Jamie; Girshick, Ross; Fitzgibbon, Andrew; Sharp, Toby; Cook, Mat; Finocchio, Mark; Moore, Richard; Kohli, Pushmeet; Criminisi, Antonio; Kipman, Alex; Blake, Andrew

    2013-12-01

    We describe two new approaches to human pose estimation. Both can quickly and accurately predict the 3D positions of body joints from a single depth image without using any temporal information. The key to both approaches is the use of a large, realistic, and highly varied synthetic set of training images. This allows us to learn models that are largely invariant to factors such as pose, body shape, field-of-view cropping, and clothing. Our first approach employs an intermediate body parts representation, designed so that an accurate per-pixel classification of the parts will localize the joints of the body. The second approach instead directly regresses the positions of body joints. By using simple depth pixel comparison features and parallelizable decision forests, both approaches can run super-real time on consumer hardware. Our evaluation investigates many aspects of our methods, and compares the approaches to each other and to the state of the art. Results on silhouettes suggest broader applicability to other imaging modalities. PMID:24136424

  6. Efficient Human Pose Estimation from Single Depth Images.

    PubMed

    Shotton, Jamie; Girshick, Ross; Fitzgibbon, Andrew; Sharp, Toby; Cook, Mat; Finocchio, Mark; Moore, Richard; Kohli, Pushmeet; Criminisi, Antonio; Kipman, Alex; Blake, Andrew

    2012-10-26

    We describe two new approaches to human pose estimation. Both can quickly and accurately predict the 3D positions of body joints from a single depth image, without using any temporal information. The key to both approaches is the use of a large, realistic, and highly varied synthetic set of training images. This allows us to learn models that are largely invariant to factors such as pose, body shape, field-of-view cropping, and clothing. Our first approach employs an intermediate body parts representation, designed so that an accurate per-pixel classification of the parts will localize the joints of the body. The second approach instead directly regresses the positions of body joints. By using simple depth pixel comparison features, and parallelizable decision forests, both approaches can run super-realtime on consumer hardware. Our evaluation investigates many aspects of our methods, and compares the approaches to each other and to the state of the art. Results on silhouettes suggest broader applicability to other imaging modalities. PMID:23109523

  7. A model-based 3D template matching technique for pose acquisition of an uncooperative space object.

    PubMed

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2015-01-01

    This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented.

  8. A Model-Based 3D Template Matching Technique for Pose Acquisition of an Uncooperative Space Object

    PubMed Central

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2015-01-01

    This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented. PMID:25785309

  9. A model-based 3D template matching technique for pose acquisition of an uncooperative space object.

    PubMed

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2015-01-01

    This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm. Peculiar features of the proposed approach are the use of a reduced number of templates and the idea of building the database of templates on-line, thus significantly reducing the amount of on-board stored data with respect to traditional techniques. An algorithm variant is also introduced aimed at further accelerating the pose acquisition time and reducing the computational cost. Technique performance is investigated within a realistic numerical simulation environment comprising a target model, LIDAR operation and various target-chaser relative dynamics scenarios, relevant to close-proximity flight operations. Specifically, the capability of the proposed techniques to provide a pose solution suitable to initialize the tracking algorithm is demonstrated, as well as their robustness against highly variable pose conditions determined by the relative dynamics. Finally, a criterion for autonomous failure detection of the presented techniques is presented. PMID:25785309

  10. Robust automatic measurement of 3D scanned models for the human body fat estimation.

    PubMed

    Giachetti, Andrea; Lovato, Christian; Piscitelli, Francesco; Milanese, Chiara; Zancanaro, Carlo

    2015-03-01

    In this paper, we present an automatic tool for estimating geometrical parameters from 3-D human scans independent on pose and robustly against the topological noise. It is based on an automatic segmentation of body parts exploiting curve skeleton processing and ad hoc heuristics able to remove problems due to different acquisition poses and body types. The software is able to locate body trunk and limbs, detect their directions, and compute parameters like volumes, areas, girths, and lengths. Experimental results demonstrate that measurements provided by our system on 3-D body scans of normal and overweight subjects acquired in different poses are highly correlated with the body fat estimates obtained on the same subjects with dual-energy X-rays absorptiometry (DXA) scanning. In particular, maximal lengths and girths, not requiring precise localization of anatomical landmarks, demonstrate a good correlation (up to 96%) with the body fat and trunk fat. Regression models based on our automatic measurements can be used to predict body fat values reasonably well.

  11. 3D magnetic sources' framework estimation using Genetic Algorithm (GA)

    NASA Astrophysics Data System (ADS)

    Ponte-Neto, C. F.; Barbosa, V. C.

    2008-05-01

    We present a method for inverting total-field anomaly for determining simple 3D magnetic sources' framework such as: batholiths, dikes, sills, geological contacts, kimberlite and lamproite pipes. We use GA to obtain magnetic sources' frameworks and their magnetic features simultaneously. Specifically, we estimate the magnetization direction (inclination and declination) and the total dipole moment intensity, and the horizontal and vertical positions, in Cartesian coordinates , of a finite set of elementary magnetic dipoles. The spatial distribution of these magnetic dipoles composes the skeletal outlines of the geologic sources. We assume that the geologic sources have a homogeneous magnetization distribution and, thus all dipoles have the same magnetization direction and dipole moment intensity. To implement the GA, we use real-valued encoding with crossover, mutation, and elitism. To obtain a unique and stable solution, we set upper and lower bounds on declination and inclination of [0,360°] and [-90°, 90°], respectively. We also set the criterion of minimum scattering of the dipole-position coordinates, to guarantee that spatial distribution of the dipoles (defining the source skeleton) be as close as possible to continuous distribution. To this end, we fix the upper and lower bounds of the dipole moment intensity and we evaluate the dipole-position estimates. If the dipole scattering is greater than a value expected by the interpreter, the upper bound of the dipole moment intensity is reduced by 10 % of the latter. We repeat this procedure until the dipole scattering and the data fitting are acceptable. We apply our method to noise-corrupted magnetic data from simulated 3D magnetic sources with simple geometries and located at different depths. In tests simulating sources such as sphere and cube, all estimates of the dipole coordinates are agreeing with center of mass of these sources. To elongated-prismatic sources in an arbitrary direction, we estimate

  12. Vision based object pose estimation for mobile robots

    NASA Technical Reports Server (NTRS)

    Wu, Annie; Bidlack, Clint; Katkere, Arun; Feague, Roy; Weymouth, Terry

    1994-01-01

    Mobile robot navigation using visual sensors requires that a robot be able to detect landmarks and obtain pose information from a camera image. This paper presents a vision system for finding man-made markers of known size and calculating the pose of these markers. The algorithm detects and identifies the markers using a weighted pattern matching template. Geometric constraints are then used to calculate the position of the markers relative to the robot. The selection of geometric constraints comes from the typical pose of most man-made signs, such as the sign standing vertical and the dimensions of known size. This system has been tested successfully on a wide range of real images. Marker detection is reliable, even in cluttered environments, and under certain marker orientations, estimation of the orientation has proven accurate to within 2 degrees, and distance estimation to within 0.3 meters.

  13. An anti-disturbing real time pose estimation method and system

    NASA Astrophysics Data System (ADS)

    Zhou, Jian; Zhang, Xiao-hu

    2011-08-01

    Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new

  14. Joint tracking, pose estimation, and identification using HRRR data

    NASA Astrophysics Data System (ADS)

    Mahler, Ronald P. S.; Rago, Constantino; Zajic, Tim; Musick, Stanton; Mehra, Raman K.

    2000-08-01

    The work presented here is pat of a generalization of Bayesian filtering and estimation theory to the problem of multisource, multitarget, multi-evidence unified joint detection, tracking, and target ID developed by Lockheed Martin Tactical Defense Systems and Scientific Systems Co., Inc. Our approach to robust joint target identification and tracking was to take the StaF algorithm and integrate it with a Bayesian nonlinear filter, where target position, velocity, pose, and type could then be determined simultaneously via maximum a posteriori estimation. The basis for the integration between the tracker and classifier is base don 'finite-set statistics' (FISST). The theoretical development of FISST is a Lockheed Martin ongoing project since 1994. The specific problem addressed in this paper is that of robust joint target identification and tracking via fusion of high range resolution radar (HRRR) - from the automatic radar target identification (ARTI) data base - signatures and radar track data. A major problem in HRRR ATR is the computational load created by having to match observations against target models for every feasible pose. If pose could be estimated efficiently by a filtering algorithm from track data, the ATR search space would be greatly reduced. On the other hand, HRRR ATR algorithms produce useful information about pose which could potentially aid the track-filtering process as well. We have successfully demonstrated the former concept of 'loose integration' integrating the tracker and classifier for three different type of targets moving on 2D tracks.

  15. Relative pose estimation of satellites using PMD-/CCD-sensor data fusion

    NASA Astrophysics Data System (ADS)

    Tzschichholz, Tristan; Boge, Toralf; Schilling, Klaus

    2015-04-01

    Rendezvous & Docking to passive objects, as of relevance for space debris removal, raises new challenges with respect to relative navigation. Whenever the position and orientation (pose) of an object is required in terrestrial and in space applications, sensor systems such as laser scanners and stereo vision systems are often employed. This paper presents an approach to pose estimation using a 3D time-of-flight camera for ranging information in combination with a high resolution grayscale camera. We have designed a pose estimation method that fuses the data streams of the two sensors in order to benefit from each sensors' advantages. A rigorous test campaign on a Real-Time Hardware-In-The-Loop Rendezvous and Docking Simulator - the European Proximity Operations Simulator (EPOS) - was performed in order to evaluate the performance of the resulting algorithm. The proposed pose estimation method does not exceed an average distance error of 3 cm while being capable of providing pose estimates at up to 60 FPS on recent hardware. Thus, when regarding proximity operations, an attractive sensor system is used to characterize the dynamics of the target object for safe approach results.

  16. Estimating Density Gradients and Drivers from 3D Ionospheric Imaging

    NASA Astrophysics Data System (ADS)

    Datta-Barua, S.; Bust, G. S.; Curtis, N.; Reynolds, A.; Crowley, G.

    2009-12-01

    The transition regions at the edges of the ionospheric storm-enhanced density (SED) are important for a detailed understanding of the mid-latitude physical processes occurring during major magnetic storms. At the boundary, the density gradients are evidence of the drivers that link the larger processes of the SED, with its connection to the plasmasphere and prompt-penetration electric fields, to the smaller irregularities that result in scintillations. For this reason, we present our estimates of both the plasma variation with horizontal and vertical spatial scale of 10 - 100 km and the plasma motion within and along the edges of the SED. To estimate the density gradients, we use Ionospheric Data Assimilation Four-Dimensional (IDA4D), a mature data assimilation algorithm that has been developed over several years and applied to investigations of polar cap patches and space weather storms [Bust and Crowley, 2007; Bust et al., 2007]. We use the density specification produced by IDA4D with a new tool for deducing ionospheric drivers from 3D time-evolving electron density maps, called Estimating Model Parameters from Ionospheric Reverse Engineering (EMPIRE). The EMPIRE technique has been tested on simulated data from TIMEGCM-ASPEN and on IDA4D-based density estimates with ongoing validation from Arecibo ISR measurements [Datta-Barua et al., 2009a; 2009b]. We investigate the SED that formed during the geomagnetic super storm of November 20, 2003. We run IDA4D at low-resolution continent-wide, and then re-run it at high (~10 km horizontal and ~5-20 km vertical) resolution locally along the boundary of the SED, where density gradients are expected to be highest. We input the high-resolution estimates of electron density to EMPIRE to estimate the ExB drifts and field-aligned plasma velocities along the boundaries of the SED. We expect that these drivers contribute to the density structuring observed along the SED during the storm. Bust, G. S. and G. Crowley (2007

  17. Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

    NASA Astrophysics Data System (ADS)

    Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

    2013-03-01

    C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

  18. Pose estimation using time-resolved inversion of diffuse light.

    PubMed

    Raviv, Dan; Barsi, Christopher; Naik, Nikhil; Feigin, Micha; Raskar, Ramesh

    2014-08-25

    We present a novel approach for evaluation of position and orientation of geometric shapes from scattered time-resolved data. Traditionally, imaging systems treat scattering as unwanted and are designed to mitigate the effects. Instead, we show here that scattering can be exploited by implementing a system based on a femtosecond laser and a streak camera. The result is accurate estimation of object pose, which is a fundamental tool in analysis of complex scenarios and plays an important role in our understanding of physical phenomena. Here, we experimentally show that for a given geometry, a single incident illumination point yields enough information for pose estimation and tracking after multiple scattering events. Our technique can be used for single-shot imaging behind walls or through turbid media.

  19. Pose estimation for one-dimensional object with general motion

    NASA Astrophysics Data System (ADS)

    Liu, Jinbo; Song, Ge; Zhang, Xiaohu

    2014-11-01

    Our primary interest is in real-time one-dimensional object's pose estimation. In this paper, a method to estimate general motion one-dimensional object's pose, that is, the position and attitude parameters, using a single camera is proposed. Centroid-movement is necessarily continuous and orderly in temporal space, which means it follows at least approximately certain motion law in a short period of time. Therefore, the centroid trajectory in camera frame can be described as a combination of temporal polynomials. Two endpoints on one-dimensional object, A and B, at each time are projected on the corresponding image plane. With the relationship between A, B and centroid C, we can obtain a linear equation system related to the temporal polynomials' coefficients, in which the camera has been calibrated and the image coordinates of A and B are known. Then in the cases that object moves continuous in natural temporal space within the view of a stationary camera, the position of endpoints on the one-dimensional object can be located and also the attitude can be estimated using two end points. Moreover the position of any other point aligned on one-dimensional object can also be solved. Scene information is not needed in the proposed method. If the distance between the endpoints is not known, a scale factor between the object's real positions and the estimated results will exist. In order to improve the algorithm's performance from accuracy and robustness, we derive a pain of linear and optimal algorithms. Simulations' and experiments' results show that the method is valid and robust with respect to various Gaussian noise levels. The paper's work contributes to making self-calibration algorithms using one-dimensional objects applicable to practice. Furthermore, the method can also be used to estimate the pose and shape parameters of parallelogram, prism or cylinder objects.

  20. Robust feature tracking for endoscopic pose estimation and structure recovery

    NASA Astrophysics Data System (ADS)

    Speidel, S.; Krappe, S.; Röhl, S.; Bodenstedt, S.; Müller-Stich, B.; Dillmann, R.

    2013-03-01

    Minimally invasive surgery is a highly complex medical discipline with several difficulties for the surgeon. To alleviate these difficulties, augmented reality can be used for intraoperative assistance. For visualization, the endoscope pose must be known which can be acquired with a SLAM (Simultaneous Localization and Mapping) approach using the endoscopic images. In this paper we focus on feature tracking for SLAM in minimally invasive surgery. Robust feature tracking and minimization of false correspondences is crucial for localizing the endoscope. As sensory input we use a stereo endoscope and evaluate different feature types in a developed SLAM framework. The accuracy of the endoscope pose estimation is validated with synthetic and ex vivo data. Furthermore we test the approach with in vivo image sequences from da Vinci interventions.

  1. Head Pose Estimation by a Stepwise Nonlinear Regression

    NASA Astrophysics Data System (ADS)

    Bailly, Kevin; Milgram, Maurice; Phothisane, Philippe

    Head pose estimation is a crucial step for numerous face applications such as gaze tracking and face recognition. In this paper, we introduce a new method to learn the mapping between a set of features and the corresponding head pose. It combines a filter based feature selection and a Generalized Regression Neural Network where inputs are sequentially selected through a boosting process. We propose the Fuzzy Functional Criterion, a new filter used to select relevant features. At each step, features are evaluated using weights on examples computed using the error produced by the neural network at the previous step. This boosting strategy helps to focus on hard examples and selects a set of complementary features. Results are compared with three state-of-the-art methods on the Pointing 04 database.

  2. Full 3-D transverse oscillations: a method for tissue motion estimation.

    PubMed

    Salles, Sebastien; Liebgott, Hervé; Garcia, Damien; Vray, Didier

    2015-08-01

    We present a new method to estimate 4-D (3-D + time) tissue motion. The method used combines 3-D phase based motion estimation with an unconventional beamforming strategy. The beamforming technique allows us to obtain full 3-D RF volumes with axial, lateral, and elevation modulations. Based on these images, we propose a method to estimate 3-D motion that uses phase images instead of amplitude images. First, volumes featuring 3-D oscillations are created using only a single apodization function, and the 3-D displacement between two consecutive volumes is estimated simultaneously by applying this 3-D estimation. The validity of the method is investigated by conducting simulations and phantom experiments. The results are compared with those obtained with two other conventional estimation methods: block matching and optical flow. The results show that the proposed method outperforms the conventional methods, especially in the transverse directions.

  3. Pose estimation of known objects during transmission tomographic image reconstruction.

    PubMed

    Murphy, Ryan J; Yan, Shenyu; O'Sullivan, Joseph A; Snyder, Donald L; Whiting, Bruce R; Politte, David G; Lasio, Giovanni; Williamson, Jeffrey F

    2006-10-01

    We address the problem of image formation in transmission tomography when metal objects of known composition and shape, but unknown pose, are present in the scan subject. Using an alternating minimization (AM) algorithm, derived from a model in which the detected data are viewed as Poisson-distributed photon counts, we seek to eliminate the streaking artifacts commonly seen in filtered back projection images containing high-contrast objects. We show that this algorithm, which minimizes the I-divergence (or equivalently, maximizes the log-likelihood) between the measured data and model-based estimates of the means of the data, converges much faster when knowledge of the high-density materials (such as brachytherapy applicators or prosthetic implants) is exploited. The algorithm incorporates a steepest descent-based method to find the position and orientation (collectively called the pose) of the known objects. This pose is then used to constrain the image pixels to their known attenuation values, or, for example, to form a mask on the "missing" projection data in the shadow of the objects. Results from two-dimensional simulations are shown in this paper. The extension of the model and methods used to three dimensions is outlined.

  4. Robust head pose estimation using locality-constrained sparse coding

    NASA Astrophysics Data System (ADS)

    Kim, Hyunduk; Lee, Sang-Heon; Sohn, Myoung-Kyu

    2015-12-01

    Sparse coding (SC) method has been shown to deliver successful result in a variety of computer vision applications. However, it does not consider the underlying structure of the data in the feature space. On the other hand, locality constrained linear coding (LLC) utilizes locality constraint to project each input data into its local-coordinate system. Based on the recent success of LLC, we propose a novel locality-constrained sparse coding (LSC) method to overcome the limitation of the SC. In experiments, the proposed algorithms were applied to head pose estimation applications. Experimental results demonstrated that the LSC method is better than state-of-the-art methods.

  5. Augmented saliency model using automatic 3D head pose detection and learned gaze following in natural scenes.

    PubMed

    Parks, Daniel; Borji, Ali; Itti, Laurent

    2015-11-01

    Previous studies have shown that gaze direction of actors in a scene influences eye movements of passive observers during free-viewing (Castelhano, Wieth, & Henderson, 2007; Borji, Parks, & Itti, 2014). However, no computational model has been proposed to combine bottom-up saliency with actor's head pose and gaze direction for predicting where observers look. Here, we first learn probability maps that predict fixations leaving head regions (gaze following fixations), as well as fixations on head regions (head fixations), both dependent on the actor's head size and pose angle. We then learn a combination of gaze following, head region, and bottom-up saliency maps with a Markov chain composed of head region and non-head region states. This simple structure allows us to inspect the model and make comments about the nature of eye movements originating from heads as opposed to other regions. Here, we assume perfect knowledge of actor head pose direction (from an oracle). The combined model, which we call the Dynamic Weighting of Cues model (DWOC), explains observers' fixations significantly better than each of the constituent components. Finally, in a fully automatic combined model, we replace the oracle head pose direction data with detections from a computer vision model of head pose. Using these (imperfect) automated detections, we again find that the combined model significantly outperforms its individual components. Our work extends the engineering and scientific applications of saliency models and helps better understand mechanisms of visual attention.

  6. A combined vision-inertial fusion approach for 6-DoF object pose estimation

    NASA Astrophysics Data System (ADS)

    Li, Juan; Bernardos, Ana M.; Tarrío, Paula; Casar, José R.

    2015-02-01

    The estimation of the 3D position and orientation of moving objects (`pose' estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

  7. Robust endoscopic pose estimation for intraoperative organ-mosaicking

    NASA Astrophysics Data System (ADS)

    Reichard, Daniel; Bodenstedt, Sebastian; Suwelack, Stefan; Wagner, Martin; Kenngott, Hannes; Müller-Stich, Beat Peter; Dillmann, Rüdiger; Speidel, Stefanie

    2016-03-01

    The number of minimally invasive procedures is growing every year. These procedures are highly complex and very demanding for the surgeons. It is therefore important to provide intraoperative assistance to alleviate these difficulties. For most computer-assistance systems, like visualizing target structures with augmented reality, a registration step is required to map preoperative data (e.g. CT images) to the ongoing intraoperative scene. Without additional hardware, the (stereo-) endoscope is the prime intraoperative data source and with it, stereo reconstruction methods can be used to obtain 3D models from target structures. To link reconstructed parts from different frames (mosaicking), the endoscope movement has to be known. In this paper, we present a camera tracking method that uses dense depth and feature registration which are combined with a Kalman Filter scheme. It provides a robust position estimation that shows promising results in ex vivo and in silico experiments.

  8. Eigenvalue Contributon Estimator for Sensitivity Calculations with TSUNAMI-3D

    SciTech Connect

    Rearden, Bradley T; Williams, Mark L

    2007-01-01

    Since the release of the Tools for Sensitivity and Uncertainty Analysis Methodology Implementation (TSUNAMI) codes in SCALE [1], the use of sensitivity and uncertainty analysis techniques for criticality safety applications has greatly increased within the user community. In general, sensitivity and uncertainty analysis is transitioning from a technique used only by specialists to a practical tool in routine use. With the desire to use the tool more routinely comes the need to improve the solution methodology to reduce the input and computational burden on the user. This paper reviews the current solution methodology of the Monte Carlo eigenvalue sensitivity analysis sequence TSUNAMI-3D, describes an alternative approach, and presents results from both methodologies.

  9. Stress Recovery and Error Estimation for 3-D Shell Structures

    NASA Technical Reports Server (NTRS)

    Riggs, H. R.

    2000-01-01

    The C1-continuous stress fields obtained from finite element analyses are in general lower- order accurate than are the corresponding displacement fields. Much effort has focussed on increasing their accuracy and/or their continuity, both for improved stress prediction and especially error estimation. A previous project developed a penalized, discrete least squares variational procedure that increases the accuracy and continuity of the stress field. The variational problem is solved by a post-processing, 'finite-element-type' analysis to recover a smooth, more accurate, C1-continuous stress field given the 'raw' finite element stresses. This analysis has been named the SEA/PDLS. The recovered stress field can be used in a posteriori error estimators, such as the Zienkiewicz-Zhu error estimator or equilibrium error estimators. The procedure was well-developed for the two-dimensional (plane) case involving low-order finite elements. It has been demonstrated that, if optimal finite element stresses are used for the post-processing, the recovered stress field is globally superconvergent. Extension of this work to three dimensional solids is straightforward. Attachment: Stress recovery and error estimation for shell structure (abstract only). A 4-node, shear-deformable flat shell element developed via explicit Kirchhoff constraints (abstract only). A novel four-node quadrilateral smoothing element for stress enhancement and error estimation (abstract only).

  10. Boundary estimation method for ultrasonic 3D imaging

    NASA Astrophysics Data System (ADS)

    Ohashi, Gosuke; Ohya, Akihisa; Natori, Michiya; Nakajima, Masato

    1993-09-01

    The authors developed a new method for automatically and efficiently estimating the boundaries of soft tissue and amniotic fluid and to obtain a fine three dimensional image of the fetus from information given by ultrasonic echo images. The aim of this boundary estimation is to provide clear three dimensional images by shading the surface of the fetus and uterine wall using Lambert shading method. Normally there appears a random granular pattern called 'speckle' on an ultrasonic echo image. Therefore, it is difficult to estimate the soft tissue boundary satisfactorily via a simple method such as threshold value processing. Accordingly, the authors devised a method for classifying attributes into three categories using the neural network: soft tissue, amniotic and boundary. The shape of the grey level histogram was the standard for judgment, made by referring to the peripheral region of the voxel. Its application to the clinical data has shown a fine estimation of the boundary between the fetus or the uterine wall and the amniotic, enabling the details of the three dimensional structure to be observed.

  11. 6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features

    PubMed Central

    Ye, Cang; Hong, Soonhac; Tamjidi, Amirhossein

    2015-01-01

    This paper presents a 6-DOF Pose Estimation (PE) method for a Robotic Navigation Aid (RNA) for the visually impaired. The RNA uses a single 3D camera for PE and object detection. The proposed method processes the camera’s intensity and range data to estimates the camera’s egomotion that is then used by an Extended Kalman Filter (EKF) as the motion model to track a set of visual features for PE. A RANSAC process is employed in the EKF to identify inliers from the visual feature correspondences between two image frames. Only the inliers are used to update the EKF’s state. The EKF integrates the egomotion into the camera’s pose in the world coordinate system. To retain the EKF’s consistency, the distance between the camera and the floor plane (extracted from the range data) is used by the EKF as the observation of the camera’s z coordinate. Experimental results demonstrate that the proposed method results in accurate pose estimates for positioning the RNA in indoor environments. Based on the PE method, a wayfinding system is developed for localization of the RNA in a home environment. The system uses the estimated pose and the floorplan to locate the RNA user in the home environment and announces the points of interest and navigational commands to the user through a speech interface. Note to Practitioners This work was motivated by the limitations of the existing navigation technology for the visually impaired. Most of the existing methods use a point/line measurement sensor for indoor object detection. Therefore, they lack capability in detecting 3D objects and positioning a blind traveler. Stereovision has been used in recent research. However, it cannot provide reliable depth data for object detection. Also, it tends to produce a lower localization accuracy because its depth measurement error quadratically increases with the true distance. This paper suggests a new approach for navigating a blind traveler. The method uses a single 3D time

  12. Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

    NASA Astrophysics Data System (ADS)

    Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

    2007-03-01

    We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

  13. Multiple receptor conformation docking, dock pose clustering and 3D QSAR studies on human poly(ADP-ribose) polymerase-1 (PARP-1) inhibitors.

    PubMed

    Fatima, Sabiha; Jatavath, Mohan Babu; Bathini, Raju; Sivan, Sree Kanth; Manga, Vijjulatha

    2014-10-01

    Poly(ADP-ribose) polymerase-1 (PARP-1) functions as a DNA damage sensor and signaling molecule. It plays a vital role in the repair of DNA strand breaks induced by radiation and chemotherapeutic drugs; inhibitors of this enzyme have the potential to improve cancer chemotherapy or radiotherapy. Three-dimensional quantitative structure activity relationship (3D QSAR) models were developed using comparative molecular field analysis, comparative molecular similarity indices analysis and docking studies. A set of 88 molecules were docked into the active site of six X-ray crystal structures of poly(ADP-ribose)polymerase-1 (PARP-1), by a procedure called multiple receptor conformation docking (MRCD), in order to improve the 3D QSAR models through the analysis of binding conformations. The docked poses were clustered to obtain the best receptor binding conformation. These dock poses from clustering were used for 3D QSAR analysis. Based on MRCD and QSAR information, some key features have been identified that explain the observed variance in the activity. Two receptor-based QSAR models were generated; these models showed good internal and external statistical reliability that is evident from the [Formula: see text], [Formula: see text] and [Formula: see text]. The identified key features enabled us to design new PARP-1 inhibitors. PMID:25046176

  14. Multiple receptor conformation docking, dock pose clustering and 3D QSAR studies on human poly(ADP-ribose) polymerase-1 (PARP-1) inhibitors.

    PubMed

    Fatima, Sabiha; Jatavath, Mohan Babu; Bathini, Raju; Sivan, Sree Kanth; Manga, Vijjulatha

    2014-10-01

    Poly(ADP-ribose) polymerase-1 (PARP-1) functions as a DNA damage sensor and signaling molecule. It plays a vital role in the repair of DNA strand breaks induced by radiation and chemotherapeutic drugs; inhibitors of this enzyme have the potential to improve cancer chemotherapy or radiotherapy. Three-dimensional quantitative structure activity relationship (3D QSAR) models were developed using comparative molecular field analysis, comparative molecular similarity indices analysis and docking studies. A set of 88 molecules were docked into the active site of six X-ray crystal structures of poly(ADP-ribose)polymerase-1 (PARP-1), by a procedure called multiple receptor conformation docking (MRCD), in order to improve the 3D QSAR models through the analysis of binding conformations. The docked poses were clustered to obtain the best receptor binding conformation. These dock poses from clustering were used for 3D QSAR analysis. Based on MRCD and QSAR information, some key features have been identified that explain the observed variance in the activity. Two receptor-based QSAR models were generated; these models showed good internal and external statistical reliability that is evident from the [Formula: see text], [Formula: see text] and [Formula: see text]. The identified key features enabled us to design new PARP-1 inhibitors.

  15. Impact of Building Heights on 3d Urban Density Estimation from Spaceborne Stereo Imagery

    NASA Astrophysics Data System (ADS)

    Peng, Feifei; Gong, Jianya; Wang, Le; Wu, Huayi; Yang, Jiansi

    2016-06-01

    In urban planning and design applications, visualization of built up areas in three dimensions (3D) is critical for understanding building density, but the accurate building heights required for 3D density calculation are not always available. To solve this problem, spaceborne stereo imagery is often used to estimate building heights; however estimated building heights might include errors. These errors vary between local areas within a study area and related to the heights of the building themselves, distorting 3D density estimation. The impact of building height accuracy on 3D density estimation must be determined across and within a study area. In our research, accurate planar information from city authorities is used during 3D density estimation as reference data, to avoid the errors inherent to planar information extracted from remotely sensed imagery. Our experimental results show that underestimation of building heights is correlated to underestimation of the Floor Area Ratio (FAR). In local areas, experimental results show that land use blocks with low FAR values often have small errors due to small building height errors for low buildings in the blocks; and blocks with high FAR values often have large errors due to large building height errors for high buildings in the blocks. Our study reveals that the accuracy of 3D density estimated from spaceborne stereo imagery is correlated to heights of buildings in a scene; therefore building heights must be considered when spaceborne stereo imagery is used to estimate 3D density to improve precision.

  16. Integration of a Generalised Building Model Into the Pose Estimation of Uas Images

    NASA Astrophysics Data System (ADS)

    Unger, J.; Rottensteiner, F.; Heipke, C.

    2016-06-01

    A hybrid bundle adjustment is presented that allows for the integration of a generalised building model into the pose estimation of image sequences. These images are captured by an Unmanned Aerial System (UAS) equipped with a camera flying in between the buildings. The relation between the building model and the images is described by distances between the object coordinates of the tie points and building model planes. Relations are found by a simple 3D distance criterion and are modelled as fictitious observations in a Gauss-Markov adjustment. The coordinates of model vertices are part of the adjustment as directly observed unknowns which allows for changes in the model. Results of first experiments using a synthetic and a real image sequence demonstrate improvements of the image orientation in comparison to an adjustment without the building model, but also reveal limitations of the current state of the method.

  17. Model-based 3D human shape estimation from silhouettes for virtual fitting

    NASA Astrophysics Data System (ADS)

    Saito, Shunta; Kouchi, Makiko; Mochimaru, Masaaki; Aoki, Yoshimitsu

    2014-03-01

    We propose a model-based 3D human shape reconstruction system from two silhouettes. Firstly, we synthesize a deformable body model from 3D human shape database consists of a hundred whole body mesh models. Each mesh model is homologous, so that it has the same topology and same number of vertices among all models. We perform principal component analysis (PCA) on the database and synthesize an Active Shape Model (ASM). ASM allows changing the body type of the model with a few parameters. The pose changing of our model can be achieved by reconstructing the skeleton structures from implanted joints of the model. By applying pose changing after body type deformation, our model can represents various body types and any pose. We apply the model to the problem of 3D human shape reconstruction from front and side silhouette. Our approach is simply comparing the contours between the model's and input silhouettes', we then use only torso part contour of the model to reconstruct whole shape. We optimize the model parameters by minimizing the difference between corresponding silhouettes by using a stochastic, derivative-free non-linear optimization method, CMA-ES.

  18. Comparison of 3D-OP-OSEM and 3D-FBP reconstruction algorithms for High-Resolution Research Tomograph studies: effects of randoms estimation methods.

    PubMed

    van Velden, Floris H P; Kloet, Reina W; van Berckel, Bart N M; Wolfensberger, Saskia P A; Lammertsma, Adriaan A; Boellaard, Ronald

    2008-06-21

    The High-Resolution Research Tomograph (HRRT) is a dedicated human brain positron emission tomography (PET) scanner. Recently, a 3D filtered backprojection (3D-FBP) reconstruction method has been implemented to reduce bias in short duration frames, currently observed in 3D ordinary Poisson OSEM (3D-OP-OSEM) reconstructions. Further improvements might be expected using a new method of variance reduction on randoms (VRR) based on coincidence histograms instead of using the delayed window technique (DW) to estimate randoms. The goal of this study was to evaluate VRR in combination with 3D-OP-OSEM and 3D-FBP reconstruction techniques. To this end, several phantom studies and a human brain study were performed. For most phantom studies, 3D-OP-OSEM showed higher accuracy of observed activity concentrations with VRR than with DW. However, both positive and negative deviations in reconstructed activity concentrations and large biases of grey to white matter contrast ratio (up to 88%) were still observed as a function of scan statistics. Moreover 3D-OP-OSEM+VRR also showed bias up to 64% in clinical data, i.e. in some pharmacokinetic parameters as compared with those obtained with 3D-FBP+VRR. In the case of 3D-FBP, VRR showed similar results as DW for both phantom and clinical data, except that VRR showed a better standard deviation of 6-10%. Therefore, VRR should be used to correct for randoms in HRRT PET studies.

  19. Comparison of 3D-OP-OSEM and 3D-FBP reconstruction algorithms for High-Resolution Research Tomograph studies: effects of randoms estimation methods

    NASA Astrophysics Data System (ADS)

    van Velden, Floris H. P.; Kloet, Reina W.; van Berckel, Bart N. M.; Wolfensberger, Saskia P. A.; Lammertsma, Adriaan A.; Boellaard, Ronald

    2008-06-01

    The High-Resolution Research Tomograph (HRRT) is a dedicated human brain positron emission tomography (PET) scanner. Recently, a 3D filtered backprojection (3D-FBP) reconstruction method has been implemented to reduce bias in short duration frames, currently observed in 3D ordinary Poisson OSEM (3D-OP-OSEM) reconstructions. Further improvements might be expected using a new method of variance reduction on randoms (VRR) based on coincidence histograms instead of using the delayed window technique (DW) to estimate randoms. The goal of this study was to evaluate VRR in combination with 3D-OP-OSEM and 3D-FBP reconstruction techniques. To this end, several phantom studies and a human brain study were performed. For most phantom studies, 3D-OP-OSEM showed higher accuracy of observed activity concentrations with VRR than with DW. However, both positive and negative deviations in reconstructed activity concentrations and large biases of grey to white matter contrast ratio (up to 88%) were still observed as a function of scan statistics. Moreover 3D-OP-OSEM+VRR also showed bias up to 64% in clinical data, i.e. in some pharmacokinetic parameters as compared with those obtained with 3D-FBP+VRR. In the case of 3D-FBP, VRR showed similar results as DW for both phantom and clinical data, except that VRR showed a better standard deviation of 6-10%. Therefore, VRR should be used to correct for randoms in HRRT PET studies.

  20. Estimation of the degree of polarization in low-light 3D integral imaging

    NASA Astrophysics Data System (ADS)

    Carnicer, Artur; Javidi, Bahram

    2016-06-01

    The calculation of the Stokes Parameters and the Degree of Polarization in 3D integral images requires a careful manipulation of the polarimetric elemental images. This fact is particularly important if the scenes are taken in low-light conditions. In this paper, we show that the Degree of Polarization can be effectively estimated even when elemental images are recorded with few photons. The original idea was communicated in [A. Carnicer and B. Javidi, "Polarimetric 3D integral imaging in photon-starved conditions," Opt. Express 23, 6408-6417 (2015)]. First, we use the Maximum Likelihood Estimation approach for generating the 3D integral image. Nevertheless, this method produces very noisy images and thus, the degree of polarization cannot be calculated. We suggest using a Total Variation Denoising filter as a way to improve the quality of the generated 3D images. As a result, noise is suppressed but high frequency information is preserved. Finally, the degree of polarization is obtained successfully.

  1. Real-time Human Pose and Shape Estimation for Virtual Try-On Using a Single Commodity Depth Camera.

    PubMed

    Ye, Mao; Wang, Huamin; Deng, Nianchen; Yang, Xubo; Yang, Ruigang

    2014-04-01

    We present a system that allows the user to virtually try on new clothes. It uses a single commodity depth camera to capture the user in 3D. Both the pose and the shape of the user are estimated with a novel real-time template-based approach that performs tracking and shape adaptation jointly. The result is then used to drive realistic cloth simulation, in which the synthesized clothes are overlayed on the input image. The main challenge is to handle missing data and pose ambiguities due to the monocular setup, which captures less than 50 percent of the full body. Our solution is to incorporate automatic shape adaptation and novel constraints in pose tracking. The effectiveness of our system is demonstrated with a number of examples. PMID:24650982

  2. Human body 3D posture estimation using significant points and two cameras.

    PubMed

    Juang, Chia-Feng; Chen, Teng-Chang; Du, Wei-Chin

    2014-01-01

    This paper proposes a three-dimensional (3D) human posture estimation system that locates 3D significant body points based on 2D body contours extracted from two cameras without using any depth sensors. The 3D significant body points that are located by this system include the head, the center of the body, the tips of the feet, the tips of the hands, the elbows, and the knees. First, a linear support vector machine- (SVM-) based segmentation method is proposed to distinguish the human body from the background in red, green, and blue (RGB) color space. The SVM-based segmentation method uses not only normalized color differences but also included angle between pixels in the current frame and the background in order to reduce shadow influence. After segmentation, 2D significant points in each of the two extracted images are located. A significant point volume matching (SPVM) method is then proposed to reconstruct the 3D significant body point locations by using 2D posture estimation results. Experimental results show that the proposed SVM-based segmentation method shows better performance than other gray level- and RGB-based segmentation approaches. This paper also shows the effectiveness of the 3D posture estimation results in different postures.

  3. Motion field estimation for a dynamic scene using a 3D LiDAR.

    PubMed

    Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

    2014-09-09

    This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively.

  4. Motion Field Estimation for a Dynamic Scene Using a 3D LiDAR

    PubMed Central

    Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

    2014-01-01

    This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively. PMID:25207868

  5. Point Cloud Based Relative Pose Estimation of a Satellite in Close Range.

    PubMed

    Liu, Lujiang; Zhao, Gaopeng; Bo, Yuming

    2016-06-04

    Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective.

  6. Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

    PubMed Central

    Liu, Lujiang; Zhao, Gaopeng; Bo, Yuming

    2016-01-01

    Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective. PMID:27271633

  7. Point Cloud Based Relative Pose Estimation of a Satellite in Close Range.

    PubMed

    Liu, Lujiang; Zhao, Gaopeng; Bo, Yuming

    2016-01-01

    Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective. PMID:27271633

  8. Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors

    PubMed Central

    Duong, Pham Duy; Suh, Young Soo

    2015-01-01

    There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation. PMID:26151205

  9. Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors.

    PubMed

    Duong, Pham Duy; Suh, Young Soo

    2015-01-01

    There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation.

  10. Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors.

    PubMed

    Duong, Pham Duy; Suh, Young Soo

    2015-01-01

    There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation. PMID:26151205

  11. DTI template-based estimation of cardiac fiber orientations from 3D ultrasound

    PubMed Central

    Qin, Xulei; Fei, Baowei

    2015-01-01

    Purpose: Cardiac muscle fibers directly affect the mechanical, physiological, and pathological properties of the heart. Patient-specific quantification of cardiac fiber orientations is an important but difficult problem in cardiac imaging research. In this study, the authors proposed a cardiac fiber orientation estimation method based on three-dimensional (3D) ultrasound images and a cardiac fiber template that was obtained from magnetic resonance diffusion tensor imaging (DTI). Methods: A DTI template-based framework was developed to estimate cardiac fiber orientations from 3D ultrasound images using an animal model. It estimated the cardiac fiber orientations of the target heart by deforming the fiber orientations of the template heart, based on the deformation field of the registration between the ultrasound geometry of the target heart and the MRI geometry of the template heart. In the experiments, the animal hearts were imaged by high-frequency ultrasound, T1-weighted MRI, and high-resolution DTI. Results: The proposed method was evaluated by four different parameters: Dice similarity coefficient (DSC), target errors, acute angle error (AAE), and inclination angle error (IAE). Its ability of estimating cardiac fiber orientations was first validated by a public database. Then, the performance of the proposed method on 3D ultrasound data was evaluated by an acquired database. Their average values were 95.4% ± 2.0% for the DSC of geometric registrations, 21.0° ± 0.76° for AAE, and 19.4° ± 1.2° for IAE of fiber orientation estimations. Furthermore, the feasibility of this framework was also performed on 3D ultrasound images of a beating heart. Conclusions: The proposed framework demonstrated the feasibility of using 3D ultrasound imaging to estimate cardiac fiber orientation of in vivo beating hearts and its further improvements could contribute to understanding the dynamic mechanism of the beating heart and has the potential to help diagnosis and therapy

  12. Estimating the complexity of 3D structural models using machine learning methods

    NASA Astrophysics Data System (ADS)

    Mejía-Herrera, Pablo; Kakurina, Maria; Royer, Jean-Jacques

    2016-04-01

    Quantifying the complexity of 3D geological structural models can play a major role in natural resources exploration surveys, for predicting environmental hazards or for forecasting fossil resources. This paper proposes a structural complexity index which can be used to help in defining the degree of effort necessary to build a 3D model for a given degree of confidence, and also to identify locations where addition efforts are required to meet a given acceptable risk of uncertainty. In this work, it is considered that the structural complexity index can be estimated using machine learning methods on raw geo-data. More precisely, the metrics for measuring the complexity can be approximated as the difficulty degree associated to the prediction of the geological objects distribution calculated based on partial information on the actual structural distribution of materials. The proposed methodology is tested on a set of 3D synthetic structural models for which the degree of effort during their building is assessed using various parameters (such as number of faults, number of part in a surface object, number of borders, ...), the rank of geological elements contained in each model, and, finally, their level of deformation (folding and faulting). The results show how the estimated complexity in a 3D model can be approximated by the quantity of partial data necessaries to simulated at a given precision the actual 3D model without error using machine learning algorithms.

  13. Volume estimation of tonsil phantoms using an oral camera with 3D imaging.

    PubMed

    Das, Anshuman J; Valdez, Tulio A; Vargas, Jose Arbouin; Saksupapchon, Punyapat; Rachapudi, Pushyami; Ge, Zhifei; Estrada, Julio C; Raskar, Ramesh

    2016-04-01

    Three-dimensional (3D) visualization of oral cavity and oropharyngeal anatomy may play an important role in the evaluation for obstructive sleep apnea (OSA). Although computed tomography (CT) and magnetic resonance (MRI) imaging are capable of providing 3D anatomical descriptions, this type of technology is not readily available in a clinic setting. Current imaging of the oropharynx is performed using a light source and tongue depressors. For better assessment of the inferior pole of the tonsils and tongue base flexible laryngoscopes are required which only provide a two dimensional (2D) rendering. As a result, clinical diagnosis is generally subjective in tonsillar hypertrophy where current physical examination has limitations. In this report, we designed a hand held portable oral camera with 3D imaging capability to reconstruct the anatomy of the oropharynx in tonsillar hypertrophy where the tonsils get enlarged and can lead to increased airway resistance. We were able to precisely reconstruct the 3D shape of the tonsils and from that estimate airway obstruction percentage and volume of the tonsils in 3D printed realistic models. Our results correlate well with Brodsky's classification of tonsillar hypertrophy as well as intraoperative volume estimations.

  14. Volume estimation of tonsil phantoms using an oral camera with 3D imaging

    PubMed Central

    Das, Anshuman J.; Valdez, Tulio A.; Vargas, Jose Arbouin; Saksupapchon, Punyapat; Rachapudi, Pushyami; Ge, Zhifei; Estrada, Julio C.; Raskar, Ramesh

    2016-01-01

    Three-dimensional (3D) visualization of oral cavity and oropharyngeal anatomy may play an important role in the evaluation for obstructive sleep apnea (OSA). Although computed tomography (CT) and magnetic resonance (MRI) imaging are capable of providing 3D anatomical descriptions, this type of technology is not readily available in a clinic setting. Current imaging of the oropharynx is performed using a light source and tongue depressors. For better assessment of the inferior pole of the tonsils and tongue base flexible laryngoscopes are required which only provide a two dimensional (2D) rendering. As a result, clinical diagnosis is generally subjective in tonsillar hypertrophy where current physical examination has limitations. In this report, we designed a hand held portable oral camera with 3D imaging capability to reconstruct the anatomy of the oropharynx in tonsillar hypertrophy where the tonsils get enlarged and can lead to increased airway resistance. We were able to precisely reconstruct the 3D shape of the tonsils and from that estimate airway obstruction percentage and volume of the tonsils in 3D printed realistic models. Our results correlate well with Brodsky’s classification of tonsillar hypertrophy as well as intraoperative volume estimations. PMID:27446667

  15. Volume estimation of tonsil phantoms using an oral camera with 3D imaging.

    PubMed

    Das, Anshuman J; Valdez, Tulio A; Vargas, Jose Arbouin; Saksupapchon, Punyapat; Rachapudi, Pushyami; Ge, Zhifei; Estrada, Julio C; Raskar, Ramesh

    2016-04-01

    Three-dimensional (3D) visualization of oral cavity and oropharyngeal anatomy may play an important role in the evaluation for obstructive sleep apnea (OSA). Although computed tomography (CT) and magnetic resonance (MRI) imaging are capable of providing 3D anatomical descriptions, this type of technology is not readily available in a clinic setting. Current imaging of the oropharynx is performed using a light source and tongue depressors. For better assessment of the inferior pole of the tonsils and tongue base flexible laryngoscopes are required which only provide a two dimensional (2D) rendering. As a result, clinical diagnosis is generally subjective in tonsillar hypertrophy where current physical examination has limitations. In this report, we designed a hand held portable oral camera with 3D imaging capability to reconstruct the anatomy of the oropharynx in tonsillar hypertrophy where the tonsils get enlarged and can lead to increased airway resistance. We were able to precisely reconstruct the 3D shape of the tonsils and from that estimate airway obstruction percentage and volume of the tonsils in 3D printed realistic models. Our results correlate well with Brodsky's classification of tonsillar hypertrophy as well as intraoperative volume estimations. PMID:27446667

  16. Point cloud modeling using the homogeneous transformation for non-cooperative pose estimation

    NASA Astrophysics Data System (ADS)

    Lim, Tae W.

    2015-06-01

    A modeling process to simulate point cloud range data that a lidar (light detection and ranging) sensor produces is presented in this paper in order to support the development of non-cooperative pose (relative attitude and position) estimation approaches which will help improve proximity operation capabilities between two adjacent vehicles. The algorithms in the modeling process were based on the homogeneous transformation, which has been employed extensively in robotics and computer graphics, as well as in recently developed pose estimation algorithms. Using a flash lidar in a laboratory testing environment, point cloud data of a test article was simulated and compared against the measured point cloud data. The simulated and measured data sets match closely, validating the modeling process. The modeling capability enables close examination of the characteristics of point cloud images of an object as it undergoes various translational and rotational motions. Relevant characteristics that will be crucial in non-cooperative pose estimation were identified such as shift, shadowing, perspective projection, jagged edges, and differential point cloud density. These characteristics will have to be considered in developing effective non-cooperative pose estimation algorithms. The modeling capability will allow extensive non-cooperative pose estimation performance simulations prior to field testing, saving development cost and providing performance metrics of the pose estimation concepts and algorithms under evaluation. The modeling process also provides "truth" pose of the test objects with respect to the sensor frame so that the pose estimation error can be quantified.

  17. Pose estimation with a Kinect for ergonomic studies: evaluation of the accuracy using a virtual mannequin.

    PubMed

    Plantard, Pierre; Auvinet, Edouard; Pierres, Anne-Sophie Le; Multon, Franck

    2015-01-01

    Analyzing human poses with a Kinect is a promising method to evaluate potentials risks of musculoskeletal disorders at workstations. In ecological situations, complex 3D poses and constraints imposed by the environment make it difficult to obtain reliable kinematic information. Thus, being able to predict the potential accuracy of the measurement for such complex 3D poses and sensor placements is challenging in classical experimental setups. To tackle this problem, we propose a new evaluation method based on a virtual mannequin. In this study, we apply this method to the evaluation of joint positions (shoulder, elbow, and wrist), joint angles (shoulder and elbow), and the corresponding RULA (a popular ergonomics assessment grid) upper-limb score for a large set of poses and sensor placements. Thanks to this evaluation method, more than 500,000 configurations have been automatically tested, which would be almost impossible to evaluate with classical protocols. The results show that the kinematic information obtained by the Kinect software is generally accurate enough to fill in ergonomic assessment grids. However inaccuracy strongly increases for some specific poses and sensor positions. Using this evaluation method enabled us to report configurations that could lead to these high inaccuracies. As a supplementary material, we provide a software tool to help designers to evaluate the expected accuracy of this sensor for a set of upper-limb configurations. Results obtained with the virtual mannequin are in accordance with those obtained from a real subject for a limited set of poses and sensor placements. PMID:25599426

  18. Pose Estimation with a Kinect for Ergonomic Studies: Evaluation of the Accuracy Using a Virtual Mannequin

    PubMed Central

    Plantard, Pierre; Auvinet, Edouard; Le Pierres, Anne-Sophie; Multon, Franck

    2015-01-01

    Analyzing human poses with a Kinect is a promising method to evaluate potentials risks of musculoskeletal disorders at workstations. In ecological situations, complex 3D poses and constraints imposed by the environment make it difficult to obtain reliable kinematic information. Thus, being able to predict the potential accuracy of the measurement for such complex 3D poses and sensor placements is challenging in classical experimental setups. To tackle this problem, we propose a new evaluation method based on a virtual mannequin. In this study, we apply this method to the evaluation of joint positions (shoulder, elbow, and wrist), joint angles (shoulder and elbow), and the corresponding RULA (a popular ergonomics assessment grid) upper-limb score for a large set of poses and sensor placements. Thanks to this evaluation method, more than 500,000 configurations have been automatically tested, which would be almost impossible to evaluate with classical protocols. The results show that the kinematic information obtained by the Kinect software is generally accurate enough to fill in ergonomic assessment grids. However inaccuracy strongly increases for some specific poses and sensor positions. Using this evaluation method enabled us to report configurations that could lead to these high inaccuracies. As a supplementary material, we provide a software tool to help designers to evaluate the expected accuracy of this sensor for a set of upper-limb configurations. Results obtained with the virtual mannequin are in accordance with those obtained from a real subject for a limited set of poses and sensor placements. PMID:25599426

  19. Peach Bottom 2 Turbine Trip Simulation Using TRAC-BF1/COS3D, a Best-Estimate Coupled 3-D Core and Thermal-Hydraulic Code System

    SciTech Connect

    Ui, Atsushi; Miyaji, Takamasa

    2004-10-15

    The best-estimate coupled three-dimensional (3-D) core and thermal-hydraulic code system TRAC-BF1/COS3D has been developed. COS3D, based on a modified one-group neutronic model, is a 3-D core simulator used for licensing analyses and core management of commercial boiling water reactor (BWR) plants in Japan. TRAC-BF1 is a plant simulator based on a two-fluid model. TRAC-BF1/COS3D is a coupled system of both codes, which are connected using a parallel computing tool. This code system was applied to the OECD/NRC BWR Turbine Trip Benchmark. Since the two-group cross-section tables are provided by the benchmark team, COS3D was modified to apply to this specification. Three best-estimate scenarios and four hypothetical scenarios were calculated using this code system. In the best-estimate scenario, the predicted core power with TRAC-BF1/COS3D is slightly underestimated compared with the measured data. The reason seems to be a slight difference in the core boundary conditions, that is, pressure changes and the core inlet flow distribution, because the peak in this analysis is sensitive to them. However, the results of this benchmark analysis show that TRAC-BF1/COS3D gives good precision for the prediction of the actual BWR transient behavior on the whole. Furthermore, the results with the modified one-group model and the two-group model were compared to verify the application of the modified one-group model to this benchmark. This comparison shows that the results of the modified one-group model are appropriate and sufficiently precise.

  20. 3D fluoroscopic image estimation using patient-specific 4DCBCT-based motion models.

    PubMed

    Dhou, S; Hurwitz, M; Mishra, P; Cai, W; Rottmann, J; Li, R; Williams, C; Wagar, M; Berbeco, R; Ionascu, D; Lewis, J H

    2015-05-01

    3D fluoroscopic images represent volumetric patient anatomy during treatment with high spatial and temporal resolution. 3D fluoroscopic images estimated using motion models built using 4DCT images, taken days or weeks prior to treatment, do not reliably represent patient anatomy during treatment. In this study we developed and performed initial evaluation of techniques to develop patient-specific motion models from 4D cone-beam CT (4DCBCT) images, taken immediately before treatment, and used these models to estimate 3D fluoroscopic images based on 2D kV projections captured during treatment. We evaluate the accuracy of 3D fluoroscopic images by comparison to ground truth digital and physical phantom images. The performance of 4DCBCT-based and 4DCT-based motion models are compared in simulated clinical situations representing tumor baseline shift or initial patient positioning errors. The results of this study demonstrate the ability for 4DCBCT imaging to generate motion models that can account for changes that cannot be accounted for with 4DCT-based motion models. When simulating tumor baseline shift and patient positioning errors of up to 5 mm, the average tumor localization error and the 95th percentile error in six datasets were 1.20 and 2.2 mm, respectively, for 4DCBCT-based motion models. 4DCT-based motion models applied to the same six datasets resulted in average tumor localization error and the 95th percentile error of 4.18 and 5.4 mm, respectively. Analysis of voxel-wise intensity differences was also conducted for all experiments. In summary, this study demonstrates the feasibility of 4DCBCT-based 3D fluoroscopic image generation in digital and physical phantoms and shows the potential advantage of 4DCBCT-based 3D fluoroscopic image estimation when there are changes in anatomy between the time of 4DCT imaging and the time of treatment delivery.

  1. Intrathoracic tumour motion estimation from CT imaging using the 3D optical flow method

    NASA Astrophysics Data System (ADS)

    Guerrero, Thomas; Zhang, Geoffrey; Huang, Tzung-Chi; Lin, Kang-Ping

    2004-09-01

    The purpose of this work was to develop and validate an automated method for intrathoracic tumour motion estimation from breath-hold computed tomography (BH CT) imaging using the three-dimensional optical flow method (3D OFM). A modified 3D OFM algorithm provided 3D displacement vectors for each voxel which were used to map tumour voxels on expiration BH CT onto inspiration BH CT images. A thoracic phantom and simulated expiration/inspiration BH CT pairs were used for validation. The 3D OFM was applied to the measured inspiration and expiration BH CT images from one lung cancer and one oesophageal cancer patient. The resulting displacements were plotted in histogram format and analysed to provide insight regarding the tumour motion. The phantom tumour displacement was measured as 1.20 and 2.40 cm with full-width at tenth maximum (FWTM) for the distribution of displacement estimates of 0.008 and 0.006 cm, respectively. The maximum error of any single voxel's motion estimate was 1.1 mm along the z-dimension or approximately one-third of the z-dimension voxel size. The simulated BH CT pairs revealed an rms error of less than 0.25 mm. The displacement of the oesophageal tumours was nonuniform and up to 1.4 cm, this was a new finding. A lung tumour maximum displacement of 2.4 cm was found in the case evaluated. In conclusion, 3D OFM provided an accurate estimation of intrathoracic tumour motion, with estimated errors less than the voxel dimension in a simulated motion phantom study. Surprisingly, oesophageal tumour motion was large and nonuniform, with greatest motion occurring at the gastro-oesophageal junction. Presented at The IASTED Second International Conference on Biomedical Engineering (BioMED 2004), Innsbruck, Austria, 16-18 February 2004.

  2. Swimmer detection and pose estimation for continuous stroke-rate determination

    NASA Astrophysics Data System (ADS)

    Zecha, Dan; Greif, Thomas; Lienhart, Rainer

    2012-02-01

    In this work we propose a novel approach to automatically detect a swimmer and estimate his/her pose continuously in order to derive an estimate of his/her stroke rate given that we observe the swimmer from the side. We divide a swimming cycle of each stroke into several intervals. Each interval represents a pose of the stroke. We use specifically trained object detectors to detect each pose of a stroke within a video and count the number of occurrences per time unit of the most distinctive poses (so-called key poses) of a stroke to continuously infer the stroke rate. We extensively evaluate the overall performance and the influence of the selected poses for all swimming styles on a data set consisting of a variety of swimmers.

  3. Estimating 3D tilt from local image cues in natural scenes

    PubMed Central

    Burge, Johannes; McCann, Brian C.; Geisler, Wilson S.

    2016-01-01

    Estimating three-dimensional (3D) surface orientation (slant and tilt) is an important first step toward estimating 3D shape. Here, we examine how three local image cues from the same location (disparity gradient, luminance gradient, and dominant texture orientation) should be combined to estimate 3D tilt in natural scenes. We collected a database of natural stereoscopic images with precisely co-registered range images that provide the ground-truth distance at each pixel location. We then analyzed the relationship between ground-truth tilt and image cue values. Our analysis is free of assumptions about the joint probability distributions and yields the Bayes optimal estimates of tilt, given the cue values. Rich results emerge: (a) typical tilt estimates are only moderately accurate and strongly influenced by the cardinal bias in the prior probability distribution; (b) when cue values are similar, or when slant is greater than 40°, estimates are substantially more accurate; (c) when luminance and texture cues agree, they often veto the disparity cue, and when they disagree, they have little effect; and (d) simplifying assumptions common in the cue combination literature is often justified for estimating tilt in natural scenes. The fact that tilt estimates are typically not very accurate is consistent with subjective impressions from viewing small patches of natural scene. The fact that estimates are substantially more accurate for a subset of image locations is also consistent with subjective impressions and with the hypothesis that perceived surface orientation, at more global scales, is achieved by interpolation or extrapolation from estimates at key locations. PMID:27738702

  4. Vision-Based Pose Estimation for Robot-Mediated Hand Telerehabilitation

    PubMed Central

    Airò Farulla, Giuseppe; Pianu, Daniele; Cempini, Marco; Cortese, Mario; Russo, Ludovico O.; Indaco, Marco; Nerino, Roberto; Chimienti, Antonio; Oddo, Calogero M.; Vitiello, Nicola

    2016-01-01

    Vision-based Pose Estimation (VPE) represents a non-invasive solution to allow a smooth and natural interaction between a human user and a robotic system, without requiring complex calibration procedures. Moreover, VPE interfaces are gaining momentum as they are highly intuitive, such that they can be used from untrained personnel (e.g., a generic caregiver) even in delicate tasks as rehabilitation exercises. In this paper, we present a novel master–slave setup for hand telerehabilitation with an intuitive and simple interface for remote control of a wearable hand exoskeleton, named HX. While performing rehabilitative exercises, the master unit evaluates the 3D position of a human operator’s hand joints in real-time using only a RGB-D camera, and commands remotely the slave exoskeleton. Within the slave unit, the exoskeleton replicates hand movements and an external grip sensor records interaction forces, that are fed back to the operator-therapist, allowing a direct real-time assessment of the rehabilitative task. Experimental data collected with an operator and six volunteers are provided to show the feasibility of the proposed system and its performances. The results demonstrate that, leveraging on our system, the operator was able to directly control volunteers’ hands movements. PMID:26861333

  5. Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human Awareness

    NASA Technical Reports Server (NTRS)

    Ivanov, Tonislav; Matthies, Larry; Vasilescu, M. Alex O.

    2009-01-01

    Mobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.

  6. 3D position estimation using an artificial neural network for a continuous scintillator PET detector

    NASA Astrophysics Data System (ADS)

    Wang, Y.; Zhu, W.; Cheng, X.; Li, D.

    2013-03-01

    Continuous crystal based PET detectors have features of simple design, low cost, good energy resolution and high detection efficiency. Through single-end readout of scintillation light, direct three-dimensional (3D) position estimation could be another advantage that the continuous crystal detector would have. In this paper, we propose to use artificial neural networks to simultaneously estimate the plane coordinate and DOI coordinate of incident γ photons with detected scintillation light. Using our experimental setup with an ‘8 + 8’ simplified signal readout scheme, the training data of perpendicular irradiation on the front surface and one side surface are obtained, and the plane (x, y) networks and DOI networks are trained and evaluated. The test results show that the artificial neural network for DOI estimation is as effective as for plane estimation. The performance of both estimators is presented by resolution and bias. Without bias correction, the resolution of the plane estimator is on average better than 2 mm and that of the DOI estimator is about 2 mm over the whole area of the detector. With bias correction, the resolution at the edge area for plane estimation or at the end of the block away from the readout PMT for DOI estimation becomes worse, as we expect. The comprehensive performance of the 3D positioning by a neural network is accessed by the experimental test data of oblique irradiations. To show the combined effect of the 3D positioning over the whole area of the detector, the 2D flood images of oblique irradiation are presented with and without bias correction.

  7. Estimating satellite pose and motion parameters using a novelty filter and neural net tracker

    NASA Technical Reports Server (NTRS)

    Lee, Andrew J.; Casasent, David; Vermeulen, Pieter; Barnard, Etienne

    1989-01-01

    A system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.

  8. 3D Geometry and Motion Estimations of Maneuvering Targets for Interferometric ISAR With Sparse Aperture.

    PubMed

    Xu, Gang; Xing, Mengdao; Xia, Xiang-Gen; Zhang, Lei; Chen, Qianqian; Bao, Zheng

    2016-05-01

    In the current scenario of high-resolution inverse synthetic aperture radar (ISAR) imaging, the non-cooperative targets may have strong maneuverability, which tends to cause time-variant Doppler modulation and imaging plane in the echoed data. Furthermore, it is still a challenge to realize ISAR imaging of maneuvering targets from sparse aperture (SA) data. In this paper, we focus on the problem of 3D geometry and motion estimations of maneuvering targets for interferometric ISAR (InISAR) with SA. For a target of uniformly accelerated rotation, the rotational modulation in echo is formulated as chirp sensing code under a chirp-Fourier dictionary to represent the maneuverability. In particular, a joint multi-channel imaging approach is developed to incorporate the multi-channel data and treat the multi-channel ISAR image formation as a joint-sparsity constraint optimization. Then, a modified orthogonal matching pursuit (OMP) algorithm is employed to solve the optimization problem to produce high-resolution range-Doppler (RD) images and chirp parameter estimation. The 3D target geometry and the motion estimations are followed by using the acquired RD images and chirp parameters. Herein, a joint estimation approach of 3D geometry and rotation motion is presented to realize outlier removing and error reduction. In comparison with independent single-channel processing, the proposed joint multi-channel imaging approach performs better in 2D imaging, 3D imaging, and motion estimation. Finally, experiments using both simulated and measured data are performed to confirm the effectiveness of the proposed algorithm. PMID:26930684

  9. 3D Geometry and Motion Estimations of Maneuvering Targets for Interferometric ISAR With Sparse Aperture.

    PubMed

    Xu, Gang; Xing, Mengdao; Xia, Xiang-Gen; Zhang, Lei; Chen, Qianqian; Bao, Zheng

    2016-05-01

    In the current scenario of high-resolution inverse synthetic aperture radar (ISAR) imaging, the non-cooperative targets may have strong maneuverability, which tends to cause time-variant Doppler modulation and imaging plane in the echoed data. Furthermore, it is still a challenge to realize ISAR imaging of maneuvering targets from sparse aperture (SA) data. In this paper, we focus on the problem of 3D geometry and motion estimations of maneuvering targets for interferometric ISAR (InISAR) with SA. For a target of uniformly accelerated rotation, the rotational modulation in echo is formulated as chirp sensing code under a chirp-Fourier dictionary to represent the maneuverability. In particular, a joint multi-channel imaging approach is developed to incorporate the multi-channel data and treat the multi-channel ISAR image formation as a joint-sparsity constraint optimization. Then, a modified orthogonal matching pursuit (OMP) algorithm is employed to solve the optimization problem to produce high-resolution range-Doppler (RD) images and chirp parameter estimation. The 3D target geometry and the motion estimations are followed by using the acquired RD images and chirp parameters. Herein, a joint estimation approach of 3D geometry and rotation motion is presented to realize outlier removing and error reduction. In comparison with independent single-channel processing, the proposed joint multi-channel imaging approach performs better in 2D imaging, 3D imaging, and motion estimation. Finally, experiments using both simulated and measured data are performed to confirm the effectiveness of the proposed algorithm.

  10. Estimation of line dimensions in 3D direct laser writing lithography

    NASA Astrophysics Data System (ADS)

    Guney, M. G.; Fedder, G. K.

    2016-10-01

    Two photon polymerization (TPP) based 3D direct laser writing (3D-DLW) finds application in a wide range of research areas ranging from photonic and mechanical metamaterials to micro-devices. Most common structures are either single lines or formed by a set of interconnected lines as in the case of crystals. In order to increase the fidelity of these structures and reach the ultimate resolution, the laser power and scan speed used in the writing process should be chosen carefully. However, the optimization of these writing parameters is an iterative and time consuming process in the absence of a model for the estimation of line dimensions. To this end, we report a semi-empirical analytic model through simulations and fitting, and demonstrate that it can be used for estimating the line dimensions mostly within one standard deviation of the average values over a wide range of laser power and scan speed combinations. The model delimits the trend in onset of micro-explosions in the photoresist due to over-exposure and of low degree of conversion due to under-exposure. The model guides setting of high-fidelity and robust writing parameters of a photonic crystal structure without iteration and in close agreement with the estimated line dimensions. The proposed methodology is generalizable by adapting the model coefficients to any 3D-DLW setup and corresponding photoresist as a means to estimate the line dimensions for tuning the writing parameters.

  11. 3D motion and strain estimation of the heart: initial clinical findings

    NASA Astrophysics Data System (ADS)

    Barbosa, Daniel; Hristova, Krassimira; Loeckx, Dirk; Rademakers, Frank; Claus, Piet; D'hooge, Jan

    2010-03-01

    The quantitative assessment of regional myocardial function remains an important goal in clinical cardiology. As such, tissue Doppler imaging and speckle tracking based methods have been introduced to estimate local myocardial strain. Recently, volumetric ultrasound has become more readily available, allowing therefore the 3D estimation of motion and myocardial deformation. Our lab has previously presented a method based on spatio-temporal elastic registration of ultrasound volumes to estimate myocardial motion and deformation in 3D, overcoming the spatial limitations of the existing methods. This method was optimized on simulated data sets in previous work and is currently tested in a clinical setting. In this manuscript, 10 healthy volunteers, 10 patient with myocardial infarction and 10 patients with arterial hypertension were included. The cardiac strain values extracted with the proposed method were compared with the ones estimated with 1D tissue Doppler imaging and 2D speckle tracking in all patient groups. Although the absolute values of the 3D strain components assessed by this new methodology were not identical to the reference methods, the relationship between the different patient groups was similar.

  12. Strain estimation in 3D by fitting linear and planar data to the March model

    NASA Astrophysics Data System (ADS)

    Mulchrone, Kieran F.; Talbot, Christopher J.

    2016-08-01

    The probability density function associated with the March model is derived and used in a maximum likelihood method to estimate the best fit distribution and 3D strain parameters for a given set of linear or planar data. Typically it is assumed that in the initial state (pre-strain) linear or planar data are uniformly distributed on the sphere which means the number of strain parameters estimated needs to be reduced so that the numerical technique succeeds. Essentially this requires that the data are rotated into a suitable reference frame prior to analysis. The method has been applied to a suitable example from the Dalradian of SW Scotland and results obtained are consistent with those from an independent method of strain analysis. Despite March theory having been incorporated deep into the fabric of geological strain analysis, its full potential as a simple direct 3D strain analytical tool has not been achieved. The method developed here may help remedy this situation.

  13. Comparison of 2-D and 3-D estimates of placental volume in early pregnancy.

    PubMed

    Aye, Christina Y L; Stevenson, Gordon N; Impey, Lawrence; Collins, Sally L

    2015-03-01

    Ultrasound estimation of placental volume (PlaV) between 11 and 13 wk has been proposed as part of a screening test for small-for-gestational-age babies. A semi-automated 3-D technique, validated against the gold standard of manual delineation, has been found at this stage of gestation to predict small-for-gestational-age at term. Recently, when used in the third trimester, an estimate obtained using a 2-D technique was found to correlate with placental weight at delivery. Given its greater simplicity, the 2-D technique might be more useful as part of an early screening test. We investigated if the two techniques produced similar results when used in the first trimester. The correlation between PlaV values calculated by the two different techniques was assessed in 139 first-trimester placentas. The agreement on PlaV and derived "standardized placental volume," a dimensionless index correcting for gestational age, was explored with the Mann-Whitney test and Bland-Altman plots. Placentas were categorized into five different shape subtypes, and a subgroup analysis was performed. Agreement was poor for both PlaV and standardized PlaV (p < 0.001 and p < 0.001), with the 2-D technique yielding larger estimates for both indices compared with the 3-D method. The mean difference in standardized PlaV values between the two methods was 0.007 (95% confidence interval: 0.006-0.009). The best agreement was found for regular rectangle-shaped placentas (p = 0.438 and p = 0.408). The poor correlation between the 2-D and 3-D techniques may result from the heterogeneity of placental morphology at this stage of gestation. In early gestation, the simpler 2-D estimates of PlaV do not correlate strongly with those obtained with the validated 3-D technique.

  14. Estimation of 3D reconstruction errors in a stereo-vision system

    NASA Astrophysics Data System (ADS)

    Belhaoua, A.; Kohler, S.; Hirsch, E.

    2009-06-01

    The paper presents an approach for error estimation for the various steps of an automated 3D vision-based reconstruction procedure of manufactured workpieces. The process is based on a priori planning of the task and built around a cognitive intelligent sensory system using so-called Situation Graph Trees (SGT) as a planning tool. Such an automated quality control system requires the coordination of a set of complex processes performing sequentially data acquisition, its quantitative evaluation and the comparison with a reference model (e.g., CAD object model) in order to evaluate quantitatively the object. To ensure efficient quality control, the aim is to be able to state if reconstruction results fulfill tolerance rules or not. Thus, the goal is to evaluate independently the error for each step of the stereo-vision based 3D reconstruction (e.g., for calibration, contour segmentation, matching and reconstruction) and then to estimate the error for the whole system. In this contribution, we analyze particularly the segmentation error due to localization errors for extracted edge points supposed to belong to lines and curves composing the outline of the workpiece under evaluation. The fitting parameters describing these geometric features are used as quality measure to determine confidence intervals and finally to estimate the segmentation errors. These errors are then propagated through the whole reconstruction procedure, enabling to evaluate their effect on the final 3D reconstruction result, specifically on position uncertainties. Lastly, analysis of these error estimates enables to evaluate the quality of the 3D reconstruction, as illustrated by the shown experimental results.

  15. Estimating aquatic hazards posed by prescription pharmaceutical residues from municipal wastewater

    EPA Science Inventory

    Risks posed by pharmaceuticals in the environment are hard to estimate due to limited monitoring capacity and difficulty interpreting monitoring results. In order to partially address these issues, we suggest a method for prioritizing pharmaceuticals for monitoring, and a framewo...

  16. Intuitive terrain reconstruction using height observation-based ground segmentation and 3D object boundary estimation.

    PubMed

    Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

    2012-01-01

    Mobile robot operators must make rapid decisions based on information about the robot's surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot's array of sensors, but some upper parts of objects are beyond the sensors' measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances. PMID:23235454

  17. Intuitive Terrain Reconstruction Using Height Observation-Based Ground Segmentation and 3D Object Boundary Estimation

    PubMed Central

    Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

    2012-01-01

    Mobile robot operators must make rapid decisions based on information about the robot’s surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot’s array of sensors, but some upper parts of objects are beyond the sensors’ measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances. PMID:23235454

  18. Intuitive terrain reconstruction using height observation-based ground segmentation and 3D object boundary estimation.

    PubMed

    Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

    2012-12-12

    Mobile robot operators must make rapid decisions based on information about the robot's surrounding environment. This means that terrain modeling and photorealistic visualization are required for the remote operation of mobile robots. We have produced a voxel map and textured mesh from the 2D and 3D datasets collected by a robot's array of sensors, but some upper parts of objects are beyond the sensors' measurements and these parts are missing in the terrain reconstruction result. This result is an incomplete terrain model. To solve this problem, we present a new ground segmentation method to detect non-ground data in the reconstructed voxel map. Our method uses height histograms to estimate the ground height range, and a Gibbs-Markov random field model to refine the segmentation results. To reconstruct a complete terrain model of the 3D environment, we develop a 3D boundary estimation method for non-ground objects. We apply a boundary detection technique to the 2D image, before estimating and refining the actual height values of the non-ground vertices in the reconstructed textured mesh. Our proposed methods were tested in an outdoor environment in which trees and buildings were not completely sensed. Our results show that the time required for ground segmentation is faster than that for data sensing, which is necessary for a real-time approach. In addition, those parts of objects that were not sensed are accurately recovered to retrieve their real-world appearances.

  19. Detecting and estimating errors in 3D restoration methods using analog models.

    NASA Astrophysics Data System (ADS)

    José Ramón, Ma; Pueyo, Emilio L.; Briz, José Luis

    2015-04-01

    Some geological scenarios may be important for a number of socio-economic reasons, such as water or energy resources, but the available underground information is often limited, scarce and heterogeneous. A truly 3D reconstruction, which is still necessary during the decision-making process, may have important social and economic implications. For this reason, restoration methods were developed. By honoring some geometric or mechanical laws, they help build a reliable image of the subsurface. Pioneer methods were firstly applied in 2D (balanced and restored cross-sections) during the sixties and seventies. Later on, and due to the improvements of computational capabilities, they were extended to 3D. Currently, there are some academic and commercial restoration solutions; Unfold by the Université de Grenoble, Move by Midland Valley Exploration, Kine3D (on gOcad code) by Paradigm, Dynel3D by igeoss-Schlumberger. We have developed our own restoration method, Pmag3Drest (IGME-Universidad de Zaragoza), which is designed to tackle complex geometrical scenarios using paleomagnetic vectors as a pseudo-3D indicator of deformation. However, all these methods have limitations based on the assumptions they need to establish. For this reason, detecting and estimating uncertainty in 3D restoration methods is of key importance to trust the reconstructions. Checking the reliability and the internal consistency of every method, as well as to compare the results among restoration tools, is a critical issue never tackled so far because of the impossibility to test out the results in Nature. To overcome this problem we have developed a technique using analog models. We built complex geometric models inspired in real cases of superposed and/or conical folding at laboratory scale. The stratigraphic volumes were modeled using EVA sheets (ethylene vinyl acetate). Their rheology (tensile and tear strength, elongation, density etc) and thickness can be chosen among a large number of values

  20. Toward 3D-guided prostate biopsy target optimization: an estimation of tumor sampling probabilities

    NASA Astrophysics Data System (ADS)

    Martin, Peter R.; Cool, Derek W.; Romagnoli, Cesare; Fenster, Aaron; Ward, Aaron D.

    2014-03-01

    Magnetic resonance imaging (MRI)-targeted, 3D transrectal ultrasound (TRUS)-guided "fusion" prostate biopsy aims to reduce the ~23% false negative rate of clinical 2D TRUS-guided sextant biopsy. Although it has been reported to double the positive yield, MRI-targeted biopsy still yields false negatives. Therefore, we propose optimization of biopsy targeting to meet the clinician's desired tumor sampling probability, optimizing needle targets within each tumor and accounting for uncertainties due to guidance system errors, image registration errors, and irregular tumor shapes. We obtained multiparametric MRI and 3D TRUS images from 49 patients. A radiologist and radiology resident contoured 81 suspicious regions, yielding 3D surfaces that were registered to 3D TRUS. We estimated the probability, P, of obtaining a tumor sample with a single biopsy. Given an RMS needle delivery error of 3.5 mm for a contemporary fusion biopsy system, P >= 95% for 21 out of 81 tumors when the point of optimal sampling probability was targeted. Therefore, more than one biopsy core must be taken from 74% of the tumors to achieve P >= 95% for a biopsy system with an error of 3.5 mm. Our experiments indicated that the effect of error along the needle axis on the percentage of core involvement (and thus the measured tumor burden) was mitigated by the 18 mm core length.

  1. Rapid object indexing using locality sensitive hashing and joint 3D-signature space estimation.

    PubMed

    Matei, Bogdan; Shan, Ying; Sawhney, Harpreet S; Tan, Yi; Kumar, Rakesh; Huber, Daniel; Hebert, Martial

    2006-07-01

    We propose a new method for rapid 3D object indexing that combines feature-based methods with coarse alignment-based matching techniques. Our approach achieves a sublinear complexity on the number of models, maintaining at the same time a high degree of performance for real 3D sensed data that is acquired in largely uncontrolled settings. The key component of our method is to first index surface descriptors computed at salient locations from the scene into the whole model database using the Locality Sensitive Hashing (LSH), a probabilistic approximate nearest neighbor method. Progressively complex geometric constraints are subsequently enforced to further prune the initial candidates and eliminate false correspondences due to inaccuracies in the surface descriptors and the errors of the LSH algorithm. The indexed models are selected based on the MAP rule using posterior probability of the models estimated in the joint 3D-signature space. Experiments with real 3D data employing a large database of vehicles, most of them very similar in shape, containing 1,000,000 features from more than 365 models demonstrate a high degree of performance in the presence of occlusion and obscuration, unmodeled vehicle interiors and part articulations, with an average processing time between 50 and 100 seconds per query.

  2. Maximum likelihood estimation of parameterized 3-D surfaces using a moving camera

    NASA Technical Reports Server (NTRS)

    Hung, Y.; Cernuschi-Frias, B.; Cooper, D. B.

    1987-01-01

    A new approach is introduced to estimating object surfaces in three-dimensional space from a sequence of images. A surface of interest here is modeled as a 3-D function known up to the values of a few parameters. The approach will work with any parameterization. However, in work to date researchers have modeled objects as patches of spheres, cylinders, and planes - primitive objects. These primitive surfaces are special cases of 3-D quadric surfaces. Primitive surface estimation is treated as the general problem of maximum likelihood parameter estimation based on two or more functionally related data sets. In the present case, these data sets constitute a sequence of images taken at different locations and orientations. A simple geometric explanation is given for the estimation algorithm. Though various techniques can be used to implement this nonlinear estimation, researches discuss the use of gradient descent. Experiments are run and discussed for the case of a sphere of unknown location. These experiments graphically illustrate the various advantages of using as many images as possible in the estimation and of distributing camera positions from first to last over as large a baseline as possible. Researchers introduce the use of asymptotic Bayesian approximations in order to summarize the useful information in a sequence of images, thereby drastically reducing both the storage and amount of processing required.

  3. Comparative assessment of techniques for initial pose estimation using monocular vision

    NASA Astrophysics Data System (ADS)

    Sharma, Sumant; D`Amico, Simone

    2016-06-01

    This work addresses the comparative assessment of initial pose estimation techniques for monocular navigation to enable formation-flying and on-orbit servicing missions. Monocular navigation relies on finding an initial pose, i.e., a coarse estimate of the attitude and position of the space resident object with respect to the camera, based on a minimum number of features from a three dimensional computer model and a single two dimensional image. The initial pose is estimated without the use of fiducial markers, without any range measurements or any apriori relative motion information. Prior work has been done to compare different pose estimators for terrestrial applications, but there is a lack of functional and performance characterization of such algorithms in the context of missions involving rendezvous operations in the space environment. Use of state-of-the-art pose estimation algorithms designed for terrestrial applications is challenging in space due to factors such as limited on-board processing power, low carrier to noise ratio, and high image contrasts. This paper focuses on performance characterization of three initial pose estimation algorithms in the context of such missions and suggests improvements.

  4. Accurate estimation of forest carbon stocks by 3-D remote sensing of individual trees.

    PubMed

    Omasa, Kenji; Qiu, Guo Yu; Watanuki, Kenichi; Yoshimi, Kenji; Akiyama, Yukihide

    2003-03-15

    Forests are one of the most important carbon sinks on Earth. However, owing to the complex structure, variable geography, and large area of forests, accurate estimation of forest carbon stocks is still a challenge for both site surveying and remote sensing. For these reasons, the Kyoto Protocol requires the establishment of methodologies for estimating the carbon stocks of forests (Kyoto Protocol, Article 5). A possible solution to this challenge is to remotely measure the carbon stocks of every tree in an entire forest. Here, we present a methodology for estimating carbon stocks of a Japanese cedar forest by using a high-resolution, helicopter-borne 3-dimensional (3-D) scanning lidar system that measures the 3-D canopy structure of every tree in a forest. Results show that a digital image (10-cm mesh) of woody canopy can be acquired. The treetop can be detected automatically with a reasonable accuracy. The absolute error ranges for tree height measurements are within 42 cm. Allometric relationships of height to carbon stocks then permit estimation of total carbon storage by measurement of carbon stocks of every tree. Thus, we suggest that our methodology can be used to accurately estimate the carbon stocks of Japanese cedar forests at a stand scale. Periodic measurements will reveal changes in forest carbon stocks.

  5. Predicting 3D pose in partially overlapped X-ray images of knee prostheses using model-based Roentgen stereophotogrammetric analysis (RSA).

    PubMed

    Hsu, Chi-Pin; Lin, Shang-Chih; Shih, Kao-Shang; Huang, Chang-Hung; Lee, Chian-Her

    2014-12-01

    After total knee replacement, the model-based Roentgen stereophotogrammetric analysis (RSA) technique has been used to monitor the status of prosthetic wear, misalignment, and even failure. However, the overlap of the prosthetic outlines inevitably increases errors in the estimation of prosthetic poses due to the limited amount of available outlines. In the literature, quite a few studies have investigated the problems induced by the overlapped outlines, and manual adjustment is still the mainstream. This study proposes two methods to automate the image processing of overlapped outlines prior to the pose registration of prosthetic models. The outline-separated method defines the intersected points and segments the overlapped outlines. The feature-recognized method uses the point and line features of the remaining outlines to initiate registration. Overlap percentage is defined as the ratio of overlapped to non-overlapped outlines. The simulated images with five overlapping percentages are used to evaluate the robustness and accuracy of the proposed methods. Compared with non-overlapped images, overlapped images reduce the number of outlines available for model-based RSA calculation. The maximum and root mean square errors for a prosthetic outline are 0.35 and 0.04 mm, respectively. The mean translation and rotation errors are 0.11 mm and 0.18°, respectively. The errors of the model-based RSA results are increased when the overlap percentage is beyond about 9%. In conclusion, both outline-separated and feature-recognized methods can be seamlessly integrated to automate the calculation of rough registration. This can significantly increase the clinical practicability of the model-based RSA technique.

  6. Gaze Estimation From Eye Appearance: A Head Pose-Free Method via Eye Image Synthesis.

    PubMed

    Lu, Feng; Sugano, Yusuke; Okabe, Takahiro; Sato, Yoichi

    2015-11-01

    In this paper, we address the problem of free head motion in appearance-based gaze estimation. This problem remains challenging because head motion changes eye appearance significantly, and thus, training images captured for an original head pose cannot handle test images captured for other head poses. To overcome this difficulty, we propose a novel gaze estimation method that handles free head motion via eye image synthesis based on a single camera. Compared with conventional fixed head pose methods with original training images, our method only captures four additional eye images under four reference head poses, and then, precisely synthesizes new training images for other unseen head poses in estimation. To this end, we propose a single-directional (SD) flow model to efficiently handle eye image variations due to head motion. We show how to estimate SD flows for reference head poses first, and then use them to produce new SD flows for training image synthesis. Finally, with synthetic training images, joint optimization is applied that simultaneously solves an eye image alignment and a gaze estimation. Evaluation of the method was conducted through experiments to assess its performance and demonstrate its effectiveness. PMID:26080385

  7. Gaze Estimation From Eye Appearance: A Head Pose-Free Method via Eye Image Synthesis.

    PubMed

    Lu, Feng; Sugano, Yusuke; Okabe, Takahiro; Sato, Yoichi

    2015-11-01

    In this paper, we address the problem of free head motion in appearance-based gaze estimation. This problem remains challenging because head motion changes eye appearance significantly, and thus, training images captured for an original head pose cannot handle test images captured for other head poses. To overcome this difficulty, we propose a novel gaze estimation method that handles free head motion via eye image synthesis based on a single camera. Compared with conventional fixed head pose methods with original training images, our method only captures four additional eye images under four reference head poses, and then, precisely synthesizes new training images for other unseen head poses in estimation. To this end, we propose a single-directional (SD) flow model to efficiently handle eye image variations due to head motion. We show how to estimate SD flows for reference head poses first, and then use them to produce new SD flows for training image synthesis. Finally, with synthetic training images, joint optimization is applied that simultaneously solves an eye image alignment and a gaze estimation. Evaluation of the method was conducted through experiments to assess its performance and demonstrate its effectiveness.

  8. Parametric estimation of 3D tubular structures for diffuse optical tomography

    PubMed Central

    Larusson, Fridrik; Anderson, Pamela G.; Rosenberg, Elizabeth; Kilmer, Misha E.; Sassaroli, Angelo; Fantini, Sergio; Miller, Eric L.

    2013-01-01

    We explore the use of diffuse optical tomography (DOT) for the recovery of 3D tubular shapes representing vascular structures in breast tissue. Using a parametric level set method (PaLS) our method incorporates the connectedness of vascular structures in breast tissue to reconstruct shape and absorption values from severely limited data sets. The approach is based on a decomposition of the unknown structure into a series of two dimensional slices. Using a simplified physical model that ignores 3D effects of the complete structure, we develop a novel inter-slice regularization strategy to obtain global regularity. We report on simulated and experimental reconstructions using realistic optical contrasts where our method provides a more accurate estimate compared to an unregularized approach and a pixel based reconstruction. PMID:23411913

  9. 3D Porosity Estimation of the Nankai Trough Sediments from Core-log-seismic Integration

    NASA Astrophysics Data System (ADS)

    Park, J. O.

    2015-12-01

    The Nankai Trough off southwest Japan is one of the best subduction-zone to study megathrust earthquake fault. Historic, great megathrust earthquakes with a recurrence interval of 100-200 yr have generated strong motion and large tsunamis along the Nankai Trough subduction zone. At the Nankai Trough margin, the Philippine Sea Plate (PSP) is being subducted beneath the Eurasian Plate to the northwest at a convergence rate ~4 cm/yr. The Shikoku Basin, the northern part of the PSP, is estimated to have opened between 25 and 15 Ma by backarc spreading of the Izu-Bonin arc. The >100-km-wide Nankai accretionary wedge, which has developed landward of the trench since the Miocene, mainly consists of offscraped and underplated materials from the trough-fill turbidites and the Shikoku Basin hemipelagic sediments. Particularly, physical properties of the incoming hemipelagic sediments may be critical for seismogenic behavior of the megathrust fault. We have carried out core-log-seismic integration (CLSI) to estimate 3D acoustic impedance and porosity for the incoming sediments in the Nankai Trough. For the CLSI, we used 3D seismic reflection data, P-wave velocity and density data obtained during IODP (Integrated Ocean Drilling Program) Expeditions 322 and 333. We computed acoustic impedance depth profiles for the IODP drilling sites from P-wave velocity and density data. We constructed seismic convolution models with the acoustic impedance profiles and a source wavelet which is extracted from the seismic data, adjusting the seismic models to observed seismic traces with inversion method. As a result, we obtained 3D acoustic impedance volume and then converted it to 3D porosity volume. In general, the 3D porosities show decrease with depth. We found a porosity anomaly zone with alteration of high and low porosities seaward of the trough axis. In this talk, we will show detailed 3D porosity of the incoming sediments, and present implications of the porosity anomaly zone for the

  10. An eye model for uncalibrated eye gaze estimation under variable head pose

    NASA Astrophysics Data System (ADS)

    Hnatow, Justin; Savakis, Andreas

    2007-04-01

    Gaze estimation is an important component of computer vision systems that monitor human activity for surveillance, human-computer interaction, and various other applications including iris recognition. Gaze estimation methods are particularly valuable when they are non-intrusive, do not require calibration, and generalize well across users. This paper presents a novel eye model that is employed for efficiently performing uncalibrated eye gaze estimation. The proposed eye model was constructed from a geometric simplification of the eye and anthropometric data about eye feature sizes in order to circumvent the requirement of calibration procedures for each individual user. The positions of the two eye corners and the midpupil, the distance between the two eye corners, and the radius of the eye sphere are required for gaze angle calculation. The locations of the eye corners and midpupil are estimated via processing following eye detection, and the remaining parameters are obtained from anthropometric data. This eye model is easily extended to estimating eye gaze under variable head pose. The eye model was tested on still images of subjects at frontal pose (0 °) and side pose (34 °). An upper bound of the model's performance was obtained by manually selecting the eye feature locations. The resulting average absolute error was 2.98 ° for frontal pose and 2.87 ° for side pose. The error was consistent across subjects, which indicates that good generalization was obtained. This level of performance compares well with other gaze estimation systems that utilize a calibration procedure to measure eye features.

  11. Spatiotemporal non-rigid image registration for 3D ultrasound cardiac motion estimation

    NASA Astrophysics Data System (ADS)

    Loeckx, D.; Ector, J.; Maes, F.; D'hooge, J.; Vandermeulen, D.; Voigt, J.-U.; Heidbüchel, H.; Suetens, P.

    2007-03-01

    We present a new method to evaluate 4D (3D + time) cardiac ultrasound data sets by nonrigid spatio-temporal image registration. First, a frame-to-frame registration is performed that yields a dense deformation field. The deformation field is used to calculate local spatiotemporal properties of the myocardium, such as the velocity, strain and strain rate. The field is also used to propagate particular points and surfaces, representing e.g. the endo-cardial surface over the different frames. As such, the 4D path of these point is obtained, which can be used to calculate the velocity by which the wall moves and the evolution of the local surface area over time. The wall velocity is not angle-dependent as in classical Doppler imaging, since the 4D data allows calculating the true 3D motion. Similarly, all 3D myocardium strain components can be estimated. Combined they result in local surface area or volume changes which van be color-coded as a measure of local contractability. A diagnostic method that strongly benefits from this technique is cardiac motion and deformation analysis, which is an important aid to quantify the mechanical properties of the myocardium.

  12. Robust 3D Position Estimation in Wide and Unconstrained Indoor Environments.

    PubMed

    Mossel, Annette

    2015-01-01

    In this paper, a system for 3D position estimation in wide, unconstrained indoor environments is presented that employs infrared optical outside-in tracking of rigid-body targets with a stereo camera rig. To overcome limitations of state-of-the-art optical tracking systems, a pipeline for robust target identification and 3D point reconstruction has been investigated that enables camera calibration and tracking in environments with poor illumination, static and moving ambient light sources, occlusions and harsh conditions, such as fog. For evaluation, the system has been successfully applied in three different wide and unconstrained indoor environments, (1) user tracking for virtual and augmented reality applications, (2) handheld target tracking for tunneling and (3) machine guidance for mining. The results of each use case are discussed to embed the presented approach into a larger technological and application context. The experimental results demonstrate the system's capabilities to track targets up to 100 m. Comparing the proposed approach to prior art in optical tracking in terms of range coverage and accuracy, it significantly extends the available tracking range, while only requiring two cameras and providing a relative 3D point accuracy with sub-centimeter deviation up to 30 m and low-centimeter deviation up to 100 m. PMID:26694388

  13. Robust 3D Position Estimation in Wide and Unconstrained Indoor Environments

    PubMed Central

    Mossel, Annette

    2015-01-01

    In this paper, a system for 3D position estimation in wide, unconstrained indoor environments is presented that employs infrared optical outside-in tracking of rigid-body targets with a stereo camera rig. To overcome limitations of state-of-the-art optical tracking systems, a pipeline for robust target identification and 3D point reconstruction has been investigated that enables camera calibration and tracking in environments with poor illumination, static and moving ambient light sources, occlusions and harsh conditions, such as fog. For evaluation, the system has been successfully applied in three different wide and unconstrained indoor environments, (1) user tracking for virtual and augmented reality applications, (2) handheld target tracking for tunneling and (3) machine guidance for mining. The results of each use case are discussed to embed the presented approach into a larger technological and application context. The experimental results demonstrate the system’s capabilities to track targets up to 100 m. Comparing the proposed approach to prior art in optical tracking in terms of range coverage and accuracy, it significantly extends the available tracking range, while only requiring two cameras and providing a relative 3D point accuracy with sub-centimeter deviation up to 30 m and low-centimeter deviation up to 100 m. PMID:26694388

  14. Super-resolved position and orientation estimation of fluorescent dipoles using 3-D steerable filters

    NASA Astrophysics Data System (ADS)

    Geissbuehler, S.; Aguet, F.; Maerki, I.; Lasser, T.

    2010-02-01

    The diffraction patterns of fixed fluorophores are characteristic of the orientation of the molecules' underlying dipole. Fluorescence localization microscopy techniques such as PALM and STORM achieve super-resolution by sequentially imaging sparse subsets of fluorophores, which are localized by means of Gaussian-based localization. This approach is based on the assumption of isotropic emitters, where the diffraction pattern corresponds to a section of the point spread function. Applied to fixed fluorophores, it can lead to an estimation bias in the range of 5-20nm. We introduce a method for the joint estimation of position and orientation of single fluorophores, based on an accurate image formation model expressed as a 3-D steerable filter. We demonstrate experimental estimation accuracies of 5 nm for position and 2 degrees for orientation.

  15. First order error propagation of the procrustes method for 3D attitude estimation.

    PubMed

    Dorst, Leo

    2005-02-01

    The well-known Procrustes method determines the optimal rigid body motion that registers two point clouds by minimizing the square distances of the residuals. In this paper, we perform the first order error analysis of this method for the 3D case, fully specifying how directional noise in the point clouds affects the estimated parameters of the rigid body motion. These results are much more specific than the error bounds which have been established in numerical analysis. We provide an intuitive understanding of the outcome to facilitate direct use in applications.

  16. Efficient 3D movement-based kernel density estimator and application to wildlife ecology

    USGS Publications Warehouse

    Tracey-PR, Jeff; Sheppard, James K.; Lockwood, Glenn K.; Chourasia, Amit; Tatineni, Mahidhar; Fisher, Robert N.; Sinkovits, Robert S.

    2014-01-01

    We describe an efficient implementation of a 3D movement-based kernel density estimator for determining animal space use from discrete GPS measurements. This new method provides more accurate results, particularly for species that make large excursions in the vertical dimension. The downside of this approach is that it is much more computationally expensive than simpler, lower-dimensional models. Through a combination of code restructuring, parallelization and performance optimization, we were able to reduce the time to solution by up to a factor of 1000x, thereby greatly improving the applicability of the method.

  17. Image-driven, model-based 3D abdominal motion estimation for MR-guided radiotherapy

    NASA Astrophysics Data System (ADS)

    Stemkens, Bjorn; Tijssen, Rob H. N.; de Senneville, Baudouin Denis; Lagendijk, Jan J. W.; van den Berg, Cornelis A. T.

    2016-07-01

    Respiratory motion introduces substantial uncertainties in abdominal radiotherapy for which traditionally large margins are used. The MR-Linac will open up the opportunity to acquire high resolution MR images just prior to radiation and during treatment. However, volumetric MRI time series are not able to characterize 3D tumor and organ-at-risk motion with sufficient temporal resolution. In this study we propose a method to estimate 3D deformation vector fields (DVFs) with high spatial and temporal resolution based on fast 2D imaging and a subject-specific motion model based on respiratory correlated MRI. In a pre-beam phase, a retrospectively sorted 4D-MRI is acquired, from which the motion is parameterized using a principal component analysis. This motion model is used in combination with fast 2D cine-MR images, which are acquired during radiation, to generate full field-of-view 3D DVFs with a temporal resolution of 476 ms. The geometrical accuracies of the input data (4D-MRI and 2D multi-slice acquisitions) and the fitting procedure were determined using an MR-compatible motion phantom and found to be 1.0-1.5 mm on average. The framework was tested on seven healthy volunteers for both the pancreas and the kidney. The calculated motion was independently validated using one of the 2D slices, with an average error of 1.45 mm. The calculated 3D DVFs can be used retrospectively for treatment simulations, plan evaluations, or to determine the accumulated dose for both the tumor and organs-at-risk on a subject-specific basis in MR-guided radiotherapy.

  18. Image-driven, model-based 3D abdominal motion estimation for MR-guided radiotherapy

    NASA Astrophysics Data System (ADS)

    Stemkens, Bjorn; Tijssen, Rob H. N.; de Senneville, Baudouin Denis; Lagendijk, Jan J. W.; van den Berg, Cornelis A. T.

    2016-07-01

    Respiratory motion introduces substantial uncertainties in abdominal radiotherapy for which traditionally large margins are used. The MR-Linac will open up the opportunity to acquire high resolution MR images just prior to radiation and during treatment. However, volumetric MRI time series are not able to characterize 3D tumor and organ-at-risk motion with sufficient temporal resolution. In this study we propose a method to estimate 3D deformation vector fields (DVFs) with high spatial and temporal resolution based on fast 2D imaging and a subject-specific motion model based on respiratory correlated MRI. In a pre-beam phase, a retrospectively sorted 4D-MRI is acquired, from which the motion is parameterized using a principal component analysis. This motion model is used in combination with fast 2D cine-MR images, which are acquired during radiation, to generate full field-of-view 3D DVFs with a temporal resolution of 476 ms. The geometrical accuracies of the input data (4D-MRI and 2D multi-slice acquisitions) and the fitting procedure were determined using an MR-compatible motion phantom and found to be 1.0–1.5 mm on average. The framework was tested on seven healthy volunteers for both the pancreas and the kidney. The calculated motion was independently validated using one of the 2D slices, with an average error of 1.45 mm. The calculated 3D DVFs can be used retrospectively for treatment simulations, plan evaluations, or to determine the accumulated dose for both the tumor and organs-at-risk on a subject-specific basis in MR-guided radiotherapy.

  19. Image-driven, model-based 3D abdominal motion estimation for MR-guided radiotherapy.

    PubMed

    Stemkens, Bjorn; Tijssen, Rob H N; de Senneville, Baudouin Denis; Lagendijk, Jan J W; van den Berg, Cornelis A T

    2016-07-21

    Respiratory motion introduces substantial uncertainties in abdominal radiotherapy for which traditionally large margins are used. The MR-Linac will open up the opportunity to acquire high resolution MR images just prior to radiation and during treatment. However, volumetric MRI time series are not able to characterize 3D tumor and organ-at-risk motion with sufficient temporal resolution. In this study we propose a method to estimate 3D deformation vector fields (DVFs) with high spatial and temporal resolution based on fast 2D imaging and a subject-specific motion model based on respiratory correlated MRI. In a pre-beam phase, a retrospectively sorted 4D-MRI is acquired, from which the motion is parameterized using a principal component analysis. This motion model is used in combination with fast 2D cine-MR images, which are acquired during radiation, to generate full field-of-view 3D DVFs with a temporal resolution of 476 ms. The geometrical accuracies of the input data (4D-MRI and 2D multi-slice acquisitions) and the fitting procedure were determined using an MR-compatible motion phantom and found to be 1.0-1.5 mm on average. The framework was tested on seven healthy volunteers for both the pancreas and the kidney. The calculated motion was independently validated using one of the 2D slices, with an average error of 1.45 mm. The calculated 3D DVFs can be used retrospectively for treatment simulations, plan evaluations, or to determine the accumulated dose for both the tumor and organs-at-risk on a subject-specific basis in MR-guided radiotherapy.

  20. Fast myocardial strain estimation from 3D ultrasound through elastic image registration with analytic regularization

    NASA Astrophysics Data System (ADS)

    Chakraborty, Bidisha; Heyde, Brecht; Alessandrini, Martino; D'hooge, Jan

    2016-04-01

    Image registration techniques using free-form deformation models have shown promising results for 3D myocardial strain estimation from ultrasound. However, the use of this technique has mostly been limited to research institutes due to the high computational demand, which is primarily due to the computational load of the regularization term ensuring spatially smooth cardiac strain estimates. Indeed, this term typically requires evaluating derivatives of the transformation field numerically in each voxel of the image during every iteration of the optimization process. In this paper, we replace this time-consuming step with a closed-form solution directly associated with the transformation field resulting in a speed up factor of ~10-60,000, for a typical 3D B-mode image of 2503 and 5003 voxels, depending upon the size and the parametrization of the transformation field. The performance of the numeric and the analytic solutions was contrasted by computing tracking and strain accuracy on two realistic synthetic 3D cardiac ultrasound sequences, mimicking two ischemic motion patterns. Mean and standard deviation of the displacement errors over the cardiac cycle for the numeric and analytic solutions were 0.68+/-0.40 mm and 0.75+/-0.43 mm respectively. Correlations for the radial, longitudinal and circumferential strain components at end-systole were 0.89, 0.83 and 0.95 versus 0.90, 0.88 and 0.92 for the numeric and analytic regularization respectively. The analytic solution matched the performance of the numeric solution as no statistically significant differences (p>0.05) were found when expressed in terms of bias or limits-of-agreement.

  1. Pose Estimation of Unmanned Aerial Vehicles Based on a Vision-Aided Multi-Sensor Fusion

    NASA Astrophysics Data System (ADS)

    Abdi, G.; Samadzadegan, F.; Kurz, F.

    2016-06-01

    GNSS/IMU navigation systems offer low-cost and robust solution to navigate UAVs. Since redundant measurements greatly improve the reliability of navigation systems, extensive researches have been made to enhance the efficiency and robustness of GNSS/IMU by additional sensors. This paper presents a method for integrating reference data, images taken from UAVs, barometric height data and GNSS/IMU data to estimate accurate and reliable pose parameters of UAVs. We provide improved pose estimations by integrating multi-sensor observations in an EKF algorithm with IMU motion model. The implemented methodology has demonstrated to be very efficient and reliable for automatic pose estimation. The calculated position and attitude of the UAV especially when we removed the GNSS from the working cycle clearly indicate the ability of the purposed methodology.

  2. Empirical mode decomposition-based facial pose estimation inside video sequences

    NASA Astrophysics Data System (ADS)

    Qing, Chunmei; Jiang, Jianmin; Yang, Zhijing

    2010-03-01

    We describe a new pose-estimation algorithm via integration of the strength in both empirical mode decomposition (EMD) and mutual information. While mutual information is exploited to measure the similarity between facial images to estimate poses, EMD is exploited to decompose input facial images into a number of intrinsic mode function (IMF) components, which redistribute the effect of noise, expression changes, and illumination variations as such that, when the input facial image is described by the selected IMF components, all the negative effects can be minimized. Extensive experiments were carried out in comparisons to existing representative techniques, and the results show that the proposed algorithm achieves better pose-estimation performances with robustness to noise corruption, illumination variation, and facial expressions.

  3. A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

    PubMed

    Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

    2016-01-01

    In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

  4. Estimating the actual dose delivered by intravascular coronary brachytherapy using geometrically correct 3D modeling

    NASA Astrophysics Data System (ADS)

    Wahle, Andreas; Lopez, John J.; Pennington, Edward C.; Meeks, Sanford L.; Braddy, Kathleen C.; Fox, James M.; Brennan, Theresa M. H.; Buatti, John M.; Rossen, James D.; Sonka, Milan

    2003-05-01

    Intravascular brachytherapy has shown to reduce re-occurrence of in-stent restenosis in coronary arteries. For beta radiation, application time is determined from source activity and the angiographically estimated vessel diameter. Conventionally used dosing models assume a straight vessel with the catheter centered and a constant-diameter circular cross section. Aim of this study was to compare the actual dose delivered during in-vivo intravascular brachytherapy with the target range determined from the patient's prescribed dose. Furthermore, differences in dose distribution between a simplified tubular model (STM) and a geometrically correct 3-D model (GCM) obtained from fusion between biplane angiography and intravascular ultrasound were quantified. The tissue enclosed by the segmented lumen/plaque and media/adventitia borders was simulated using a structured finite-element mesh. The beta-radiation sources were modeled as 3-D objects in their angiographically determined locations. The accumulated dose was estimated using a fixed distance function based on the patient-specific radiation parameters. For visualization, the data was converted to VRML with the accumulated doses represented by color encoding. The statistical comparison between STM and GCM models in 8 patients showed that the STM significantly underestimates the dose delivered and its variability. The analysis revealed substantial deviations from the target dose range in curved vessels.

  5. 3D global estimation and augmented reality visualization of intra-operative X-ray dose.

    PubMed

    Rodas, Nicolas Loy; Padoy, Nicolas

    2014-01-01

    The growing use of image-guided minimally-invasive surgical procedures is confronting clinicians and surgical staff with new radiation exposure risks from X-ray imaging devices. The accurate estimation of intra-operative radiation exposure can increase staff awareness of radiation exposure risks and enable the implementation of well-adapted safety measures. The current surgical practice of wearing a single dosimeter at chest level to measure radiation exposure does not provide a sufficiently accurate estimation of radiation absorption throughout the body. In this paper, we propose an approach that combines data from wireless dosimeters with the simulation of radiation propagation in order to provide a global radiation risk map in the area near the X-ray device. We use a multi-camera RGBD system to obtain a 3D point cloud reconstruction of the room. The positions of the table, C-arm and clinician are then used 1) to simulate the propagation of radiation in a real-world setup and 2) to overlay the resulting 3D risk-map onto the scene in an augmented reality manner. By using real-time wireless dosimeters in our system, we can both calibrate the simulation and validate its accuracy at specific locations in real-time. We demonstrate our system in an operating room equipped with a robotised X-ray imaging device and validate the radiation simulation on several X-ray acquisition setups. PMID:25333145

  6. A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

    PubMed

    Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

    2016-03-25

    In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.

  7. A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

    PubMed Central

    Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

    2016-01-01

    In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

  8. Estimation of 3D myocardial motion from tagged MRI using LDDMM

    NASA Astrophysics Data System (ADS)

    Kotamraju, Vinay; McVeigh, Elliot; Beg, Mirza Faisal

    2007-03-01

    Non-invasive estimation of regional cardiac function is important for assessment of myocardial contractility. The use of MR tagging technique enables acquisition of intra-myocardial tissue motion by placing a spatially modulated pattern of magnetization whose deformation with the myocardium over the cardiac cycle can be imaged. Quantitative computation of parameters such as wall thickening, shearing, rotation, torsion and strain within the myocardium is traditionally achieved by processing the tag-marked MR image frames to 1) segment the tag lines and 2) detect the correspondence between points across the time-indexed frames. In this paper, we describe our approach to solving this problem using the Large Deformation Diffeomorphic Metric Mapping (LDDMM) algorithm in which tag-line segmentation and motion reconstruction occur simultaneously. Our method differs from earlier proposed non rigid registration based cardiac motion estimation methods in that our matching cost incorporates image intensity overlap via the L2 norm and the estimated tranformations are diffeomorphic. We also present a novel method of generating synthetic tag line images with known ground truth and motion characteristics that closely follow those in the original data; these can be used for validation of motion estimation algorithms. Initial validation shows that our method is able to accurately segment tag-lines and estimate a dense 3D motion field describing the motion of the myocardium in both the left and the right ventricle.

  9. On-line 3D motion estimation using low resolution MRI

    NASA Astrophysics Data System (ADS)

    Glitzner, M.; de Senneville, B. Denis; Lagendijk, J. J. W.; Raaymakers, B. W.; Crijns, S. P. M.

    2015-08-01

    Image processing such as deformable image registration finds its way into radiotherapy as a means to track non-rigid anatomy. With the advent of magnetic resonance imaging (MRI) guided radiotherapy, intrafraction anatomy snapshots become technically feasible. MRI provides the needed tissue signal for high-fidelity image registration. However, acquisitions, especially in 3D, take a considerable amount of time. Pushing towards real-time adaptive radiotherapy, MRI needs to be accelerated without degrading the quality of information. In this paper, we investigate the impact of image resolution on the quality of motion estimations. Potentially, spatially undersampled images yield comparable motion estimations. At the same time, their acquisition times would reduce greatly due to the sparser sampling. In order to substantiate this hypothesis, exemplary 4D datasets of the abdomen were downsampled gradually. Subsequently, spatiotemporal deformations are extracted consistently using the same motion estimation for each downsampled dataset. Errors between the original and the respectively downsampled version of the dataset are then evaluated. Compared to ground-truth, results show high similarity of deformations estimated from downsampled image data. Using a dataset with {{≤ft(2.5 \\text{mm}\\right)}3} voxel size, deformation fields could be recovered well up to a downsampling factor of 2, i.e. {{≤ft(5 \\text{mm}\\right)}3} . In a therapy guidance scenario MRI, imaging speed could accordingly increase approximately fourfold, with acceptable loss of estimated motion quality.

  10. On-line 3D motion estimation using low resolution MRI.

    PubMed

    Glitzner, M; de Senneville, B Denis; Lagendijk, J J W; Raaymakers, B W; Crijns, S P M

    2015-08-21

    Image processing such as deformable image registration finds its way into radiotherapy as a means to track non-rigid anatomy. With the advent of magnetic resonance imaging (MRI) guided radiotherapy, intrafraction anatomy snapshots become technically feasible. MRI provides the needed tissue signal for high-fidelity image registration. However, acquisitions, especially in 3D, take a considerable amount of time. Pushing towards real-time adaptive radiotherapy, MRI needs to be accelerated without degrading the quality of information. In this paper, we investigate the impact of image resolution on the quality of motion estimations. Potentially, spatially undersampled images yield comparable motion estimations. At the same time, their acquisition times would reduce greatly due to the sparser sampling. In order to substantiate this hypothesis, exemplary 4D datasets of the abdomen were downsampled gradually. Subsequently, spatiotemporal deformations are extracted consistently using the same motion estimation for each downsampled dataset. Errors between the original and the respectively downsampled version of the dataset are then evaluated. Compared to ground-truth, results show high similarity of deformations estimated from downsampled image data. Using a dataset with (2.5 mm)3 voxel size, deformation fields could be recovered well up to a downsampling factor of 2, i.e. (5 mm)3. In a therapy guidance scenario MRI, imaging speed could accordingly increase approximately fourfold, with acceptable loss of estimated motion quality.

  11. Estimation of foot pressure from human footprint depths using 3D scanner

    NASA Astrophysics Data System (ADS)

    Wibowo, Dwi Basuki; Haryadi, Gunawan Dwi; Priambodo, Agus

    2016-03-01

    The analysis of normal and pathological variation in human foot morphology is central to several biomedical disciplines, including orthopedics, orthotic design, sports sciences, and physical anthropology, and it is also important for efficient footwear design. A classic and frequently used approach to study foot morphology is analysis of the footprint shape and footprint depth. Footprints are relatively easy to produce and to measure, and they can be preserved naturally in different soils. In this study, we need to correlate footprint depth with corresponding foot pressure of individual using 3D scanner. Several approaches are used for modeling and estimating footprint depths and foot pressures. The deepest footprint point is calculated from z max coordinate-z min coordinate and the average of foot pressure is calculated from GRF divided to foot area contact and identical with the average of footprint depth. Evaluation of footprint depth was found from importing 3D scanner file (dxf) in AutoCAD, the z-coordinates than sorted from the highest to the lowest value using Microsoft Excel to make footprinting depth in difference color. This research is only qualitatif study because doesn't use foot pressure device as comparator, and resulting the maximum pressure on calceneus is 3.02 N/cm2, lateral arch is 3.66 N/cm2, and metatarsal and hallux is 3.68 N/cm2.

  12. Automated Segmentation of the Right Ventricle in 3D Echocardiography: A Kalman Filter State Estimation Approach.

    PubMed

    Bersvendsen, Jorn; Orderud, Fredrik; Massey, Richard John; Fosså, Kristian; Gerard, Olivier; Urheim, Stig; Samset, Eigil

    2016-01-01

    As the right ventricle's (RV) role in cardiovascular diseases is being more widely recognized, interest in RV imaging, function and quantification is growing. However, there are currently few RV quantification methods for 3D echocardiography presented in the literature or commercially available. In this paper we propose an automated RV segmentation method for 3D echocardiographic images. We represent the RV geometry by a Doo-Sabin subdivision surface with deformation modes derived from a training set of manual segmentations. The segmentation is then represented as a state estimation problem and solved with an extended Kalman filter by combining the RV geometry with a motion model and edge detection. Validation was performed by comparing surface-surface distances, volumes and ejection fractions in 17 patients with aortic insufficiency between the proposed method, magnetic resonance imaging (MRI), and a manual echocardiographic reference. The algorithm was efficient with a mean computation time of 2.0 s. The mean absolute distances between the proposed and manual segmentations were 3.6 ± 0.7 mm. Good agreements of end diastolic volume, end systolic volume and ejection fraction with respect to MRI ( -26±24 mL , -16±26 mL and 0 ± 10%, respectively) and a manual echocardiographic reference (7 ± 30 mL, 13 ± 17 mL and -5±7% , respectively) were observed.

  13. Social Grouping for Multi-Target Tracking and Head Pose Estimation in Video.

    PubMed

    Qin, Zhen; Shelton, Christian R

    2016-10-01

    Many computer vision tasks are more difficult when tackled without contextual information. For example, in multi-camera tracking, pedestrians may look very different in different cameras with varying pose and lighting conditions. Similarly, head direction estimation in high-angle surveillance video in which human head images are low resolution is challenging. Even humans can have trouble without contextual information. In this work, we couple novel contextual information, social grouping, with two important computer vision tasks: multi-target tracking and head pose/direction estimation in surveillance video. These three components are modeled in a probabilistic formulation and we provide effective solvers.We show that social grouping effectively helps to mitigate visual ambiguities in multi-camera tracking and head pose estimation. We further notice that in single-camera multi-target tracking, social grouping provides a natural high-order association cue that avoids existing complex algorithms for high-order track association. In experiments, we demonstrate improvements with our model over models without social grouping context and several state-of-art approaches on a number of publicly available datasets on tracking, head pose estimation, and group discovery.

  14. A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration

    PubMed Central

    Sun, Pengfei; Sun, Changku; Li, Wenqiang; Wang, Peng

    2015-01-01

    Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI), an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF) motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment. PMID:26197272

  15. Rider trunk and bicycle pose estimation with fusion of force/inertial sensors.

    PubMed

    Zhang, Yizhai; Chen, Kuo; Yi, Jingang

    2013-09-01

    Estimation of human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motion and lack of inexpensive, effective motion sensors. In this paper, we present a computational scheme to estimate both the rider trunk pose and the bicycle roll angle using only inertial and force sensors. The estimation scheme is built on a rider-bicycle dynamic model and the fusion of the wearable inertial sensors and the bicycle force sensors. We take advantages of the attractive properties of the robust force measurements and the motion-sensitive inertial measurements. The rider-bicycle dynamic model provides the underlying relationship between the force and the inertial measurements. The extended Kalman filter-based sensor fusion design fully incorporates the dynamic effects of the force measurements. The performance of the estimation scheme is demonstrated through extensive indoor and outdoor riding experiments. PMID:23629841

  16. Estimation of single cell volume from 3D confocal images using automatic data processing

    NASA Astrophysics Data System (ADS)

    Chorvatova, A.; Cagalinec, M.; Mateasik, A.; Chorvat, D., Jr.

    2012-06-01

    Cardiac cells are highly structured with a non-uniform morphology. Although precise estimation of their volume is essential for correct evaluation of hypertrophic changes of the heart, simple and unified techniques that allow determination of the single cardiomyocyte volume with sufficient precision are still limited. Here, we describe a novel approach to assess the cell volume from confocal microscopy 3D images of living cardiac myocytes. We propose a fast procedure based on segementation using active deformable contours. This technique is independent on laser gain and/or pinhole settings and it is also applicable on images of cells stained with low fluorescence markers. Presented approach is a promising new tool to investigate changes in the cell volume during normal, as well as pathological growth, as we demonstrate in the case of cell enlargement during hypertension in rats.

  17. 3D viscosity maps for Greenland and effect on GRACE mass balance estimates

    NASA Astrophysics Data System (ADS)

    van der Wal, Wouter; Xu, Zheng

    2016-04-01

    The GRACE satellite mission measures mass loss of the Greenland ice sheet. To correct for glacial isostatic adjustment numerical models are used. Although generally found to be a small signal, the full range of possible GIA models has not been explored yet. In particular, low viscosities due to a wet mantle and high temperatures due to the nearby Iceland hotspot could have a significant effect on GIA gravity rates. The goal of this study is to present a range of possible viscosity maps, and investigate the effect on GRACE mass balance estimates. Viscosity is derived using flow laws for olivine. Mantle temperature is computed from global seismology models, based on temperature derivatives for different mantle compositions. An indication for grain sizes is obtained by xenolith findings at a few locations. We also investigate the weakening effect of the presence of melt. To calculate gravity rates, we use a finite-element GIA model with the 3D viscosity maps and the ICE-5G loading history. GRACE mass balances for mascons in Greenland are derived with a least-squares inversion, using separate constraints for the inland and coastal areas in Greenland. Biases in the least-squares inversion are corrected using scale factors estimated from a simulation based on a surface mass balance model (Xu et al., submitted to The Cryosphere). Model results show enhanced gravity rates in the west and south of Greenland with 3D viscosity maps, compared to GIA models with 1D viscosity. The effect on regional mass balance is up to 5 Gt/year. Regional low viscosity can make present-day gravity rates sensitivity to ice thickness changes in the last decades. Therefore, an improved ice loading history for these time scales is needed.

  18. A Hierarchical Bayesian Approcah for Earthquake Location and Data Uncertainty Estimation in 3D Heterogeneous Media

    NASA Astrophysics Data System (ADS)

    Arroucau, P.; Custodio, S.

    2014-12-01

    Solving inverse problems requires an estimate of data uncertainties. This usually takes the form of a data covariance matrix, which determines the shape of the model posterior distribution. Those uncertainties are yet not always known precisely and it is common practice to simply set them to a fixed, reasonable value. In the case of earthquake location, the hypocentral parameters (longitude, latitude, depth and origin time) are typically inverted for using seismic phase arrival times. But quantitative data variance estimates are rarely provided. Instead, arrival time catalogs usually associate phase picks with a quality factor, which is subsequently interpreted more or less arbitrarily in terms of data uncertainty in the location procedure. Here, we present a hierarchical Bayesian algorithm for earthquake location in 3D heterogeneous media, in which not only the earthquake hypocentral parameters, but also the P- and S-wave arrival time uncertainties, are inverted for, hence allowing more realistic posterior model covariance estimates. Forward modeling is achieved by means of the Fast Marching Method (FMM), an eikonal solver which has the ability to take interfaces into account, so direct, reflected and refracted phases can be used in the inversion. We illustrate the ability of our algorithm to retrieve earthquake hypocentral parameters as well as data uncertainties through synthetic examples and using a subset of arrival time catalogs for mainland Portugal and its Atlantic margin.

  19. Unassisted 3D camera calibration

    NASA Astrophysics Data System (ADS)

    Atanassov, Kalin; Ramachandra, Vikas; Nash, James; Goma, Sergio R.

    2012-03-01

    With the rapid growth of 3D technology, 3D image capture has become a critical part of the 3D feature set on mobile phones. 3D image quality is affected by the scene geometry as well as on-the-device processing. An automatic 3D system usually assumes known camera poses accomplished by factory calibration using a special chart. In real life settings, pose parameters estimated by factory calibration can be negatively impacted by movements of the lens barrel due to shaking, focusing, or camera drop. If any of these factors displaces the optical axes of either or both cameras, vertical disparity might exceed the maximum tolerable margin and the 3D user may experience eye strain or headaches. To make 3D capture more practical, one needs to consider unassisted (on arbitrary scenes) calibration. In this paper, we propose an algorithm that relies on detection and matching of keypoints between left and right images. Frames containing erroneous matches, along with frames with insufficiently rich keypoint constellations, are detected and discarded. Roll, pitch yaw , and scale differences between left and right frames are then estimated. The algorithm performance is evaluated in terms of the remaining vertical disparity as compared to the maximum tolerable vertical disparity.

  20. A multi-camera system for real-time pose estimation

    NASA Astrophysics Data System (ADS)

    Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

    2007-04-01

    This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

  1. UAV based 3D digital surface model to estimate paleolandscape in high mountainous environment

    NASA Astrophysics Data System (ADS)

    Mészáros, János; Árvai, Mátyás; Kohán, Balázs; Deák, Márton; Nagy, Balázs

    2016-04-01

    reliable results and resolution. Based on the sediment layers of the peat bog together with the generated 3D surface model the paleoenvironment, the largest paleowater level can be reconstructed and we can estimate the dimension of the landslide which created the basin of the peat bog.

  2. 3D pore-network analysis and permeability estimation of deformation bands hosted in carbonate grainstones.

    NASA Astrophysics Data System (ADS)

    Zambrano, Miller; Tondi, Emanuele; Mancini, Lucia; Trias, F. Xavier; Arzilli, Fabio; Lanzafame, Gabriele; Aibibula, Nijiati

    2016-04-01

    In porous rocks strain is commonly localized in narrow Deformation Bands (DBs), where the petrophysical properties are significantly modified with respect the pristine rock. As a consequence, DBs could have an important effect on production and development of porous reservoirs representing baffles zones or, in some cases, contribute to reservoir compartmentalization. Taking in consideration that the decrease of permeability within DBs is related to changes in the porous network properties (porosity, connectivity) and the pores morphology (size distribution, specific surface area), an accurate porous network characterization is useful for understanding both the effect of deformation banding on the porous network and their influence upon fluid flow through the deformed rocks. In this work, a 3D characterization of the microstructure and texture of DBs hosted in porous carbonate grainstones was obtained at the Elettra laboratory (Trieste, Italy) by using two different techniques: phase-contrast synchrotron radiation computed microtomography (micro-CT) and microfocus X-ray micro-CT. These techniques are suitable for addressing quantitative analysis of the porous network and implementing Computer Fluid Dynamics (CFD)experiments in porous rocks. Evaluated samples correspond to grainstones highly affected by DBs exposed in San Vito Lo Capo peninsula (Sicily, Italy), Favignana Island (Sicily, Italy) and Majella Mountain (Abruzzo, Italy). For the analysis, the data were segmented in two main components porous and solid phases. The properties of interest are porosity, connectivity, a grain and/or porous textural properties, in order to differentiate host rock and DBs in different zones. Permeability of DB and surrounding host rock were estimated by the implementation of CFD experiments, permeability results are validated by comparing with in situ measurements. In agreement with previous studies, the 3D image analysis and flow simulation indicate that DBs could be constitute

  3. Population Estimation Using a 3D City Model: A Multi-Scale Country-Wide Study in the Netherlands

    PubMed Central

    Arroyo Ohori, Ken; Ledoux, Hugo; Peters, Ravi; Stoter, Jantien

    2016-01-01

    The remote estimation of a region’s population has for decades been a key application of geographic information science in demography. Most studies have used 2D data (maps, satellite imagery) to estimate population avoiding field surveys and questionnaires. As the availability of semantic 3D city models is constantly increasing, we investigate to what extent they can be used for the same purpose. Based on the assumption that housing space is a proxy for the number of its residents, we use two methods to estimate the population with 3D city models in two directions: (1) disaggregation (areal interpolation) to estimate the population of small administrative entities (e.g. neighbourhoods) from that of larger ones (e.g. municipalities); and (2) a statistical modelling approach to estimate the population of large entities from a sample composed of their smaller ones (e.g. one acquired by a government register). Starting from a complete Dutch census dataset at the neighbourhood level and a 3D model of all 9.9 million buildings in the Netherlands, we compare the population estimates obtained by both methods with the actual population as reported in the census, and use it to evaluate the quality that can be achieved by estimations at different administrative levels. We also analyse how the volume-based estimation enabled by 3D city models fares in comparison to 2D methods using building footprints and floor areas, as well as how it is affected by different levels of semantic detail in a 3D city model. We conclude that 3D city models are useful for estimations of large areas (e.g. for a country), and that the 3D approach has clear advantages over the 2D approach. PMID:27254151

  4. Population Estimation Using a 3D City Model: A Multi-Scale Country-Wide Study in the Netherlands.

    PubMed

    Biljecki, Filip; Arroyo Ohori, Ken; Ledoux, Hugo; Peters, Ravi; Stoter, Jantien

    2016-01-01

    The remote estimation of a region's population has for decades been a key application of geographic information science in demography. Most studies have used 2D data (maps, satellite imagery) to estimate population avoiding field surveys and questionnaires. As the availability of semantic 3D city models is constantly increasing, we investigate to what extent they can be used for the same purpose. Based on the assumption that housing space is a proxy for the number of its residents, we use two methods to estimate the population with 3D city models in two directions: (1) disaggregation (areal interpolation) to estimate the population of small administrative entities (e.g. neighbourhoods) from that of larger ones (e.g. municipalities); and (2) a statistical modelling approach to estimate the population of large entities from a sample composed of their smaller ones (e.g. one acquired by a government register). Starting from a complete Dutch census dataset at the neighbourhood level and a 3D model of all 9.9 million buildings in the Netherlands, we compare the population estimates obtained by both methods with the actual population as reported in the census, and use it to evaluate the quality that can be achieved by estimations at different administrative levels. We also analyse how the volume-based estimation enabled by 3D city models fares in comparison to 2D methods using building footprints and floor areas, as well as how it is affected by different levels of semantic detail in a 3D city model. We conclude that 3D city models are useful for estimations of large areas (e.g. for a country), and that the 3D approach has clear advantages over the 2D approach. PMID:27254151

  5. 3D Model Uncertainty in Estimating the Inner Edge of the Habitable Zone

    NASA Astrophysics Data System (ADS)

    Abbot, D. S.; Yang, J.; Wolf, E. T.; Leconte, J.; Merlis, T. M.; Koll, D. D. B.; Goldblatt, C.; Ding, F.; Forget, F.; Toon, B.

    2015-12-01

    Accurate estimates of the width of the habitable zone are critical for determining which exoplanets are potentially habitable and estimating the frequency of Earth-like planets in the galaxy. Recently, the inner edge of the habitable zone has been calculated using 3D atmospheric general circulation models (GCMs) that include the effects of subsaturation and clouds, but different models obtain different results. We study potential sources of differences in five GCMs through a series of comparisons of radiative transfer, clouds, and dynamical cores for a rapidly rotating planet around the Sun and a synchronously rotating planet around an M star. We find that: (1) Cloud parameterization leads to the largest differences among the models; (2) Differences in water vapor longwave radiative transfer are moderate as long as the surface temperature is lower than 360 K; (3) Differences in shortwave absorption influences atmospheric humidity of synchronously rotating planet through a positive feedback; (4) Differences in atmospheric dynamical core have a very small effect on the surface temperature; and (5) Rayleigh scattering leads to very small differences among models. These comparisons suggest that future model development should focus on clouds and water vapor radiative transfer.

  6. Estimating 3D movements from 2D observations using a continuous model of helical swimming.

    PubMed

    Gurarie, Eliezer; Grünbaum, Daniel; Nishizaki, Michael T

    2011-06-01

    Helical swimming is among the most common movement behaviors in a wide range of microorganisms, and these movements have direct impacts on distributions, aggregations, encounter rates with prey, and many other fundamental ecological processes. Microscopy and video technology enable the automated acquisition of large amounts of tracking data; however, these data are typically two-dimensional. The difficulty of quantifying the third movement component complicates understanding of the biomechanical causes and ecological consequences of helical swimming. We present a versatile continuous stochastic model-the correlated velocity helical movement (CVHM) model-that characterizes helical swimming with intrinsic randomness and autocorrelation. The model separates an organism's instantaneous velocity into a slowly varying advective component and a perpendicularly oriented rotation, with velocities, magnitude of stochasticity, and autocorrelation scales defined for both components. All but one of the parameters of the 3D model can be estimated directly from a two-dimensional projection of helical movement with no numerical fitting, making it computationally very efficient. As a case study, we estimate swimming parameters from videotaped trajectories of a toxic unicellular alga, Heterosigma akashiwo (Raphidophyceae). The algae were reared from five strains originally collected from locations in the Atlantic and Pacific Oceans, where they have caused Harmful Algal Blooms (HABs). We use the CVHM model to quantify cell-level and strain-level differences in all movement parameters, demonstrating the utility of the model for identifying strains that are difficult to distinguish by other means. PMID:20725795

  7. 3D-MAD: A Full Reference Stereoscopic Image Quality Estimator Based on Binocular Lightness and Contrast Perception.

    PubMed

    Zhang, Yi; Chandler, Damon M

    2015-11-01

    Algorithms for a stereoscopic image quality assessment (IQA) aim to estimate the qualities of 3D images in a manner that agrees with human judgments. The modern stereoscopic IQA algorithms often apply 2D IQA algorithms on stereoscopic views, disparity maps, and/or cyclopean images, to yield an overall quality estimate based on the properties of the human visual system. This paper presents an extension of our previous 2D most apparent distortion (MAD) algorithm to a 3D version (3D-MAD) to evaluate 3D image quality. The 3D-MAD operates via two main stages, which estimate perceived quality degradation due to 1) distortion of the monocular views and 2) distortion of the cyclopean view. In the first stage, the conventional MAD algorithm is applied on the two monocular views, and then the combined binocular quality is estimated via a weighted sum of the two estimates, where the weights are determined based on a block-based contrast measure. In the second stage, intermediate maps corresponding to the lightness distance and the pixel-based contrast are generated based on a multipathway contrast gain-control model. Then, the cyclopean view quality is estimated by measuring the statistical-difference-based features obtained from the reference stereopair and the distorted stereopair, respectively. Finally, the estimates obtained from the two stages are combined to yield an overall quality score of the stereoscopic image. Tests on various 3D image quality databases demonstrate that our algorithm significantly improves upon many other state-of-the-art 2D/3D IQA algorithms. PMID:26186775

  8. Accuracy Evaluation for a Precise Indoor Multi-Camera Pose Estimation System

    NASA Astrophysics Data System (ADS)

    Götz, C.; Tuttas, S.; Hoegner, L.; Eder, K.; Stilla, U.

    2011-04-01

    Pose estimation is used for different applications like indoor positioning, simultaneous localization and mapping (SLAM), industrial measurement and robot calibration. For industrial applications several approaches dealing with the subject of pose estimation employ photogrammetric methods. Cameras which observe an object from a given point of view are utilized as well as cameras which are firmly mounted on the object that is to be oriented. Since it is not always possible to create an environment that the camera can observe the object, we concentrate on the latter option. A camera system shall be developed which is flexibly applicable in an indoor environment, and can cope with different occlusion situations, varying distances and density of reference marks. For this purpose in a first step a conception has been designed and a test scenario was created to evaluate different camera configurations and reference mark distributions. Both issues, the theoretical concept as well as the experimental setup are subject of this document.

  9. 3D pre- versus post-season comparisons of surface and relative pose of the corpus callosum in contact sport athletes

    NASA Astrophysics Data System (ADS)

    Lao, Yi; Gajawelli, Niharika; Haas, Lauren; Wilkins, Bryce; Hwang, Darryl; Tsao, Sinchai; Wang, Yalin; Law, Meng; Leporé, Natasha

    2014-03-01

    Mild traumatic brain injury (MTBI) or concussive injury affects 1.7 million Americans annually, of which 300,000 are due to recreational activities and contact sports, such as football, rugby, and boxing[1]. Finding the neuroanatomical correlates of brain TBI non-invasively and precisely is crucial for diagnosis and prognosis. Several studies have shown the in influence of traumatic brain injury (TBI) on the integrity of brain WM [2-4]. The vast majority of these works focus on athletes with diagnosed concussions. However, in contact sports, athletes are subjected to repeated hits to the head throughout the season, and we hypothesize that these have an influence on white matter integrity. In particular, the corpus callosum (CC), as a small structure connecting the brain hemispheres, may be particularly affected by torques generated by collisions, even in the absence of full blown concussions. Here, we use a combined surface-based morphometry and relative pose analyses, applying on the point distribution model (PDM) of the CC, to investigate TBI related brain structural changes between 9 pre-season and 9 post-season contact sport athlete MRIs. All the data are fed into surface based morphometry analysis and relative pose analysis. The former looks at surface area and thickness changes between the two groups, while the latter consists of detecting the relative translation, rotation and scale between them.

  10. Learning a Tracking and Estimation Integrated Graphical Model for Human Pose Tracking.

    PubMed

    Zhao, Lin; Gao, Xinbo; Tao, Dacheng; Li, Xuelong

    2015-12-01

    We investigate the tracking of 2-D human poses in a video stream to determine the spatial configuration of body parts in each frame, but this is not a trivial task because people may wear different kinds of clothing and may move very quickly and unpredictably. The technology of pose estimation is typically applied, but it ignores the temporal context and cannot provide smooth, reliable tracking results. Therefore, we develop a tracking and estimation integrated model (TEIM) to fully exploit temporal information by integrating pose estimation with visual tracking. However, joint parsing of multiple articulated parts over time is difficult, because a full model with edges capturing all pairwise relationships within and between frames is loopy and intractable. In previous models, approximate inference was usually resorted to, but it cannot promise good results and the computational cost is large. We overcome these problems by exploring the idea of divide and conquer, which decomposes the full model into two much simpler tractable submodels. In addition, a novel two-step iteration strategy is proposed to efficiently conquer the joint parsing problem. Algorithmically, we design TEIM very carefully so that: 1) it enables pose estimation and visual tracking to compensate for each other to achieve desirable tracking results; 2) it is able to deal with the problem of tracking loss; and 3) it only needs past information and is capable of tracking online. Experiments are conducted on two public data sets in the wild with ground truth layout annotations, and the experimental results indicate the effectiveness of the proposed TEIM framework.

  11. Pose and Motion Estimation Using Dual Quaternion-Based Extended Kalman Filtering

    SciTech Connect

    Goddard, J.S.; Abidi, M.A.

    1998-06-01

    A solution to the remote three-dimensional (3-D) measurement problem is presented for a dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving object. The 3-D transformation is modeled as a nonlinear stochastic system with the state estimate providing the six-degree-of-freedom motion and position values as well as structure. The stochastic model uses the iterated extended Kalman filter (IEKF) as a nonlinear estimator and a screw representation of the 3-D transformation based on dual quaternions. Dual quaternions, whose elements are dual numbers, provide a means to represent both rotation and translation in a unified notation. Linear object features, represented as dual vectors, are transformed using the dual quaternion transformation and are then projected to linear features in the image plane. The method has been implemented and tested with both simulated and actual experimental data. Simulation results are provided, along with comparisons to a point-based IEKF method using rotation and translation, to show the relative advantages of this method. Experimental results from testing using a camera mounted on the end effector of a robot arm are also given.

  12. Numerical estimation of transport properties of cementitious materials using 3D digital images

    NASA Astrophysics Data System (ADS)

    Ukrainczyk, N.; Koenders, E. A. B.; van Breugel, K.

    2013-07-01

    A multi-scale characterisation of the transport process within cementitious microstructure possesses a great challenge in terms of modelling and schematization. In this paper a numerical method is proposed to mitigate the resolution problems in numerical methods for calculating effective transport properties of porous materials using 3D digital images. The method up-scales sub-voxel information from the fractional occupancy level of the interface voxels, i.e. voxels containing phaseboundary, to increase the accuracy of the pore schematization and hence the accuracy of the numerical transport calculation as well. The numerical identification of the subvoxels that is associated with their level of occupancy by each phase is obtained by increasing the pre-processing resolution. The proposed method is presented and employed for hydrated cement paste microstructures obtained from Hymostruc, a numerical model for cement hydration and microstructure simulation. The new method significantly reduces computational efforts, is relatively easy to implement, and improves the accuracy of the estimation of the effective transport property.

  13. Angle estimation of simultaneous orthogonal rotations from 3D gyroscope measurements.

    PubMed

    Stančin, Sara; Tomažič, Sašo

    2011-01-01

    A 3D gyroscope provides measurements of angular velocities around its three intrinsic orthogonal axes, enabling angular orientation estimation. Because the measured angular velocities represent simultaneous rotations, it is not appropriate to consider them sequentially. Rotations in general are not commutative, and each possible rotation sequence has a different resulting angular orientation. None of these angular orientations is the correct simultaneous rotation result. However, every angular orientation can be represented by a single rotation. This paper presents an analytic derivation of the axis and angle of the single rotation equivalent to three simultaneous rotations around orthogonal axes when the measured angular velocities or their proportions are approximately constant. Based on the resulting expressions, a vector called the simultaneous orthogonal rotations angle (SORA) is defined, with components equal to the angles of three simultaneous rotations around coordinate system axes. The orientation and magnitude of this vector are equal to the equivalent single rotation axis and angle, respectively. As long as the orientation of the actual rotation axis is constant, given the SORA, the angular orientation of a rigid body can be calculated in a single step, thus making it possible to avoid computing the iterative infinitesimal rotation approximation. The performed test measurements confirm the validity of the SORA concept. SORA is simple and well-suited for use in the real-time calculation of angular orientation based on angular velocity measurements derived using a gyroscope. Moreover, because of its demonstrated simplicity, SORA can also be used in general angular orientation notation.

  14. Relative Scale Estimation and 3D Registration of Multi-Modal Geometry Using Growing Least Squares.

    PubMed

    Mellado, Nicolas; Dellepiane, Matteo; Scopigno, Roberto

    2016-09-01

    The advent of low cost scanning devices and the improvement of multi-view stereo techniques have made the acquisition of 3D geometry ubiquitous. Data gathered from different devices, however, result in large variations in detail, scale, and coverage. Registration of such data is essential before visualizing, comparing and archiving them. However, state-of-the-art methods for geometry registration cannot be directly applied due to intrinsic differences between the models, e.g., sampling, scale, noise. In this paper we present a method for the automatic registration of multi-modal geometric data, i.e., acquired by devices with different properties (e.g., resolution, noise, data scaling). The method uses a descriptor based on Growing Least Squares, and is robust to noise, variation in sampling density, details, and enables scale-invariant matching. It allows not only the measurement of the similarity between the geometry surrounding two points, but also the estimation of their relative scale. As it is computed locally, it can be used to analyze large point clouds composed of millions of points. We implemented our approach in two registration procedures (assisted and automatic) and applied them successfully on a number of synthetic and real cases. We show that using our method, multi-modal models can be automatically registered, regardless of their differences in noise, detail, scale, and unknown relative coverage.

  15. Angle Estimation of Simultaneous Orthogonal Rotations from 3D Gyroscope Measurements

    PubMed Central

    Stančin, Sara; Tomažič, Sašo

    2011-01-01

    A 3D gyroscope provides measurements of angular velocities around its three intrinsic orthogonal axes, enabling angular orientation estimation. Because the measured angular velocities represent simultaneous rotations, it is not appropriate to consider them sequentially. Rotations in general are not commutative, and each possible rotation sequence has a different resulting angular orientation. None of these angular orientations is the correct simultaneous rotation result. However, every angular orientation can be represented by a single rotation. This paper presents an analytic derivation of the axis and angle of the single rotation equivalent to three simultaneous rotations around orthogonal axes when the measured angular velocities or their proportions are approximately constant. Based on the resulting expressions, a vector called the simultaneous orthogonal rotations angle (SORA) is defined, with components equal to the angles of three simultaneous rotations around coordinate system axes. The orientation and magnitude of this vector are equal to the equivalent single rotation axis and angle, respectively. As long as the orientation of the actual rotation axis is constant, given the SORA, the angular orientation of a rigid body can be calculated in a single step, thus making it possible to avoid computing the iterative infinitesimal rotation approximation. The performed test measurements confirm the validity of the SORA concept. SORA is simple and well-suited for use in the real-time calculation of angular orientation based on angular velocity measurements derived using a gyroscope. Moreover, because of its demonstrated simplicity, SORA can also be used in general angular orientation notation. PMID:22164090

  16. Improvement of the size estimation of 3D tracked droplets using digital in-line holography with joint estimation reconstruction

    NASA Astrophysics Data System (ADS)

    Verrier, N.; Grosjean, N.; Dib, E.; Méès, L.; Fournier, C.; Marié, J.-L.

    2016-04-01

    Digital holography is a valuable tool for three-dimensional information extraction. Among existing configurations, the originally proposed set-up (i.e. Gabor, or in-line holography), is reasonably immune to variations in the experimental environment making it a method of choice for studies of fluid dynamics. Nevertheless, standard hologram reconstruction techniques, based on numerical light back-propagation are prone to artifacts such as twin images or aliases that limit both the quality and quantity of information extracted from the acquired holograms. To get round this issue, the hologram reconstruction as a parametric inverse problem has been shown to accurately estimate 3D positions and the size of seeding particles directly from the hologram. To push the bounds of accuracy on size estimation still further, we propose to fully exploit the information redundancy of a hologram video sequence using joint estimation reconstruction. Applying this approach in a bench-top experiment, we show that it led to a relative precision of 0.13% (for a 60 μm diameter droplet) for droplet size estimation, and a tracking precision of {σx}× {σy}× {σz}=0.15× 0.15× 1~\\text{pixels} .

  17. Mobile-robot pose estimation and environment mapping using an extended Kalman filter

    NASA Astrophysics Data System (ADS)

    Klančar, Gregor; Teslić, Luka; Škrjanc, Igor

    2014-12-01

    In this paper an extended Kalman filter (EKF) is used in the simultaneous localisation and mapping (SLAM) of a four-wheeled mobile robot in an indoor environment. The robot's pose and environment map are estimated from incremental encoders and from laser-range-finder (LRF) sensor readings. The map of the environment consists of line segments, which are estimated from the LRF's scans. A good state convergence of the EKF is obtained using the proposed methods for the input- and output-noise covariance matrices' estimation. The output-noise covariance matrix, consisting of the observed-line-features' covariances, is estimated from the LRF's measurements using the least-squares method. The experimental results from the localisation and SLAM experiments in the indoor environment show the applicability of the proposed approach. The main paper contribution is the improvement of the SLAM algorithm convergence due to the noise covariance matrices' estimation.

  18. High resolution diameter estimation of microthin wires by a novel 3D diffraction model

    NASA Astrophysics Data System (ADS)

    Vyas, Khushi; Lolla, Kameswara Rao

    2011-08-01

    Micro-thin wires are of significant importance to academia, research laboratories as well as industries engaged in micro-fabrication of products related to diverse fields like micromechanics, bio-instrumentation, optoelectronics etc. Critical dimension metrology of such wires often demands diameter estimation with tight tolerances. Amongst other measurement techniques, Optical Diffractometry under Fraunhofer approximation has emerged over years as a nondestructive, robust and precise technique for on-line diameter estimation of thin wires. However, it is observed that existing Fraunhofer models invariably result in experimental overestimation of wire diameter, leading to unacceptable error performances particularly for diameters below 50 μm. In this paper, a novel diffraction model based on Geometric theory is proposed and demonstrated to theoretically quantify this diameter overestimation. The proposed model utilizes hitherto unused paths-ways for the two lateral rays that contribute to the first diffraction minimum. Based the 3-D geometry of the suggested model, a new 'diffraction formulation' is proposed. The theoretical analysis reveals the following. For diffraction experiment, the Actual diameter of the diffracting wire is a function of four parameters: source wavelength 'λ', axial distance 'z', diffraction angle corresponding to first diffraction minimum 'θd' and a newly defined characteristic parameter 'm'. The analysis reveals further that the proposed characteristic parameter 'm' varies non-linearly with diameter and presents a dependence only on the experimentally measured diffraction angle 'θd'. Based on the proposed model, the communication reports for the first time, a novel diameter-inversion procedure which, not only corrects for the overestimated but also facilitates wire diameter-inversion with high resolution. Micro-thin metallic wires having diameters spanning the range 1-50 μm are examined. Experimental results are obtained that

  19. Estimating Mass Properties of Dinosaurs Using Laser Imaging and 3D Computer Modelling

    PubMed Central

    Bates, Karl T.; Manning, Phillip L.; Hodgetts, David; Sellers, William I.

    2009-01-01

    Body mass reconstructions of extinct vertebrates are most robust when complete to near-complete skeletons allow the reconstruction of either physical or digital models. Digital models are most efficient in terms of time and cost, and provide the facility to infinitely modify model properties non-destructively, such that sensitivity analyses can be conducted to quantify the effect of the many unknown parameters involved in reconstructions of extinct animals. In this study we use laser scanning (LiDAR) and computer modelling methods to create a range of 3D mass models of five specimens of non-avian dinosaur; two near-complete specimens of Tyrannosaurus rex, the most complete specimens of Acrocanthosaurus atokensis and Strutiomimum sedens, and a near-complete skeleton of a sub-adult Edmontosaurus annectens. LiDAR scanning allows a full mounted skeleton to be imaged resulting in a detailed 3D model in which each bone retains its spatial position and articulation. This provides a high resolution skeletal framework around which the body cavity and internal organs such as lungs and air sacs can be reconstructed. This has allowed calculation of body segment masses, centres of mass and moments or inertia for each animal. However, any soft tissue reconstruction of an extinct taxon inevitably represents a best estimate model with an unknown level of accuracy. We have therefore conducted an extensive sensitivity analysis in which the volumes of body segments and respiratory organs were varied in an attempt to constrain the likely maximum plausible range of mass parameters for each animal. Our results provide wide ranges in actual mass and inertial values, emphasizing the high level of uncertainty inevitable in such reconstructions. However, our sensitivity analysis consistently places the centre of mass well below and in front of hip joint in each animal, regardless of the chosen combination of body and respiratory structure volumes. These results emphasize that future

  20. Estimating mass properties of dinosaurs using laser imaging and 3D computer modelling.

    PubMed

    Bates, Karl T; Manning, Phillip L; Hodgetts, David; Sellers, William I

    2009-01-01

    Body mass reconstructions of extinct vertebrates are most robust when complete to near-complete skeletons allow the reconstruction of either physical or digital models. Digital models are most efficient in terms of time and cost, and provide the facility to infinitely modify model properties non-destructively, such that sensitivity analyses can be conducted to quantify the effect of the many unknown parameters involved in reconstructions of extinct animals. In this study we use laser scanning (LiDAR) and computer modelling methods to create a range of 3D mass models of five specimens of non-avian dinosaur; two near-complete specimens of Tyrannosaurus rex, the most complete specimens of Acrocanthosaurus atokensis and Strutiomimum sedens, and a near-complete skeleton of a sub-adult Edmontosaurus annectens. LiDAR scanning allows a full mounted skeleton to be imaged resulting in a detailed 3D model in which each bone retains its spatial position and articulation. This provides a high resolution skeletal framework around which the body cavity and internal organs such as lungs and air sacs can be reconstructed. This has allowed calculation of body segment masses, centres of mass and moments or inertia for each animal. However, any soft tissue reconstruction of an extinct taxon inevitably represents a best estimate model with an unknown level of accuracy. We have therefore conducted an extensive sensitivity analysis in which the volumes of body segments and respiratory organs were varied in an attempt to constrain the likely maximum plausible range of mass parameters for each animal. Our results provide wide ranges in actual mass and inertial values, emphasizing the high level of uncertainty inevitable in such reconstructions. However, our sensitivity analysis consistently places the centre of mass well below and in front of hip joint in each animal, regardless of the chosen combination of body and respiratory structure volumes. These results emphasize that future

  1. Estimating mass properties of dinosaurs using laser imaging and 3D computer modelling.

    PubMed

    Bates, Karl T; Manning, Phillip L; Hodgetts, David; Sellers, William I

    2009-01-01

    Body mass reconstructions of extinct vertebrates are most robust when complete to near-complete skeletons allow the reconstruction of either physical or digital models. Digital models are most efficient in terms of time and cost, and provide the facility to infinitely modify model properties non-destructively, such that sensitivity analyses can be conducted to quantify the effect of the many unknown parameters involved in reconstructions of extinct animals. In this study we use laser scanning (LiDAR) and computer modelling methods to create a range of 3D mass models of five specimens of non-avian dinosaur; two near-complete specimens of Tyrannosaurus rex, the most complete specimens of Acrocanthosaurus atokensis and Strutiomimum sedens, and a near-complete skeleton of a sub-adult Edmontosaurus annectens. LiDAR scanning allows a full mounted skeleton to be imaged resulting in a detailed 3D model in which each bone retains its spatial position and articulation. This provides a high resolution skeletal framework around which the body cavity and internal organs such as lungs and air sacs can be reconstructed. This has allowed calculation of body segment masses, centres of mass and moments or inertia for each animal. However, any soft tissue reconstruction of an extinct taxon inevitably represents a best estimate model with an unknown level of accuracy. We have therefore conducted an extensive sensitivity analysis in which the volumes of body segments and respiratory organs were varied in an attempt to constrain the likely maximum plausible range of mass parameters for each animal. Our results provide wide ranges in actual mass and inertial values, emphasizing the high level of uncertainty inevitable in such reconstructions. However, our sensitivity analysis consistently places the centre of mass well below and in front of hip joint in each animal, regardless of the chosen combination of body and respiratory structure volumes. These results emphasize that future

  2. The spatial accuracy of cellular dose estimates obtained from 3D reconstructed serial tissue autoradiographs.

    PubMed

    Humm, J L; Macklis, R M; Lu, X Q; Yang, Y; Bump, K; Beresford, B; Chin, L M

    1995-01-01

    In order to better predict and understand the effects of radiopharmaceuticals used for therapy, it is necessary to determine more accurately the radiation absorbed dose to cells in tissue. Using thin-section autoradiography, the spatial distribution of sources relative to the cells can be obtained from a single section with micrometre resolution. By collecting and analysing serial sections, the 3D microscopic distribution of radionuclide relative to the cellular histology, and therefore the dose rate distribution, can be established. In this paper, a method of 3D reconstruction of serial sections is proposed, and measurements are reported of (i) the accuracy and reproducibility of quantitative autoradiography and (ii) the spatial precision with which tissue features from one section can be related to adjacent sections. Uncertainties in the activity determination for the specimen result from activity losses during tissue processing (4-11%), and the variation of grain count per unit activity between batches of serial sections (6-25%). Correlation of the section activity to grain count densities showed deviations ranging from 6-34%. The spatial alignment uncertainties were assessed using nylon fibre fiduciary markers incorporated into the tissue block, and compared to those for alignment based on internal tissue landmarks. The standard deviation for the variation in nylon fibre fiduciary alignment was measured to be 41 microns cm-1, compared to 69 microns cm-1 when internal tissue histology landmarks were used. In addition, tissue shrinkage during histological processing of up to 10% was observed. The implications of these measured activity and spatial distribution uncertainties upon the estimate of cellular dose rate distribution depends upon the range of the radiation emissions. For long-range beta particles, uncertainties in both the activity and spatial distribution translate linearly to the uncertainty in dose rate of < 15%. For short-range emitters (< 100

  3. Body Parts Dependent Joint Regressors for Human Pose Estimation in Still Images.

    PubMed

    Dantone, Matthias; Gall, Juergen; Leistner, Christian; Van Gool, Luc

    2014-11-01

    In this work, we address the problem of estimating 2d human pose from still images. Articulated body pose estimation is challenging due to the large variation in body poses and appearances of the different body parts. Recent methods that rely on the pictorial structure framework have shown to be very successful in solving this task. They model the body part appearances using discriminatively trained, independent part templates and the spatial relations of the body parts using a tree model. Within such a framework, we address the problem of obtaining better part templates which are able to handle a very high variation in appearance. To this end, we introduce parts dependent body joint regressors which are random forests that operate over two layers. While the first layer acts as an independent body part classifier, the second layer takes the estimated class distributions of the first one into account and is thereby able to predict joint locations by modeling the interdependence and co-occurrence of the parts. This helps to overcome typical ambiguities of tree structures, such as self-similarities of legs and arms. In addition, we introduce a novel data set termed FashionPose that contains over 7,000 images with a challenging variation of body part appearances due to a large variation of dressing styles. In the experiments, we demonstrate that the proposed parts dependent joint regressors outperform independent classifiers or regressors. The method also performs better or similar to the state-of-the-art in terms of accuracy, while running with a couple of frames per second.

  4. Object recognition and pose estimation of planar objects from range data

    NASA Technical Reports Server (NTRS)

    Pendleton, Thomas W.; Chien, Chiun Hong; Littlefield, Mark L.; Magee, Michael

    1994-01-01

    The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and

  5. Estimation of 3D cardiac deformation using spatio-temporal elastic registration of non-scanconverted ultrasound data

    NASA Astrophysics Data System (ADS)

    Elen, An; Loeckx, Dirk; Choi, Hon Fai; Gao, Hang; Claus, Piet; Maes, Frederik; Suetens, Paul; D'hooge, Jan

    2008-03-01

    Current ultrasound methods for measuring myocardial strain are often limited to measurements in one or two dimensions. Spatio-temporal elastic registration of 3D cardiac ultrasound data can however be used to estimate the 3D motion and full 3D strain tensor. In this work, the spatio-temporal elastic registration method was validated for both non-scanconverted and scanconverted images. This was done using simulated 3D pyramidal ultrasound data sets based on a thick-walled deforming ellipsoid and an adapted convolution model. A B-spline based frame-to-frame elastic registration method was applied to both the scanconverted and non-scanconverded data sets and the accuracy of the resulting deformation fields was quantified. The mean accuracy of the estimated displacement was very similar for the scanconverted and non-scanconverted data sets and thus, it was shown that 3D elastic registration to estimate the cardiac deformation from ultrasound images can be performed on non-scanconverted images, but that avoiding of the scanconversion step does not significantly improve the results of the displacement estimation.

  6. Estimation of 3-D pore network coordination number of rocks from watershed segmentation of a single 2-D image

    NASA Astrophysics Data System (ADS)

    Rabbani, Arash; Ayatollahi, Shahab; Kharrat, Riyaz; Dashti, Nader

    2016-08-01

    In this study, we have utilized 3-D micro-tomography images of real and synthetic rocks to introduce two mathematical correlations which estimate the distribution parameters of 3-D coordination number using a single 2-D cross-sectional image. By applying a watershed segmentation algorithm, it is found that the distribution of 3-D coordination number is acceptably predictable by statistical analysis of the network extracted from 2-D images. In this study, we have utilized 25 volumetric images of rocks in order to propose two mathematical formulas. These formulas aim to approximate the average and standard deviation of coordination number in 3-D pore networks. Then, the formulas are applied for five independent test samples to evaluate the reliability. Finally, pore network flow modeling is used to find the error of absolute permeability prediction using estimated and measured coordination numbers. Results show that the 2-D images are considerably informative about the 3-D network of the rocks and can be utilized to approximate the 3-D connectivity of the porous spaces with determination coefficient of about 0.85 that seems to be acceptable considering the variety of the studied samples.

  7. Estimation of uncertainties in geological 3D raster layer models as integral part of modelling procedures

    NASA Astrophysics Data System (ADS)

    Maljers, Denise; den Dulk, Maryke; ten Veen, Johan; Hummelman, Jan; Gunnink, Jan; van Gessel, Serge

    2016-04-01

    The Geological Survey of the Netherlands (GSN) develops and maintains subsurface models with regional to national coverage. These models are paramount for petroleum exploration in conventional reservoirs, for understanding the distribution of unconventional reservoirs, for mapping geothermal aquifers, for the potential to store carbon, or for groundwater- or aggregate resources. Depending on the application domain these models differ in depth range, scale, data used, modelling software and modelling technique. Depth uncertainty information is available for the Geological Survey's 3D raster layer models DGM Deep and DGM Shallow. These models cover different depth intervals and are constructed using different data types and different modelling software. Quantifying the uncertainty of geological models that are constructed using multiple data types as well as geological expert-knowledge is not straightforward. Examples of geological expert-knowledge are trend surfaces displaying the regional thickness trends of basin fills or steering points that are used to guide the pinching out of geological formations or the modelling of the complex stratal geometries associated with saltdomes and saltridges. This added a-priori knowledge, combined with the assumptions underlying kriging (normality and second-order stationarity), makes the kriging standard error an incorrect measure of uncertainty for our geological models. Therefore the methods described below were developed. For the DGM Deep model a workflow has been developed to assess uncertainty by combining precision (giving information on the reproducibility of the model results) and accuracy (reflecting the proximity of estimates to the true value). This was achieved by centering the resulting standard deviations around well-tied depths surfaces. The standard deviations are subsequently modified by three other possible error sources: data error, structural complexity and velocity model error. The uncertainty workflow

  8. Correlation techniques as applied to pose estimation in space station docking

    NASA Astrophysics Data System (ADS)

    Rollins, John M.; Juday, Richard D.; Monroe, Stanley E., Jr.

    2002-08-01

    The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not necessarily provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots must form a constellation of specific relative positions in the incoming image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1/20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow and lighting irregularity compensation are discussed.

  9. A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators

    PubMed Central

    Ligorio, Gabriele; Sabatini, Angelo Maria

    2015-01-01

    In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented. PMID:26703603

  10. A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators.

    PubMed

    Ligorio, Gabriele; Sabatini, Angelo Maria

    2015-01-01

    In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented. PMID:26703603

  11. Correlation Techniques as Applied to Pose Estimation in Space Station Docking

    NASA Technical Reports Server (NTRS)

    Rollins, J. Michael; Juday, Richard D.; Monroe, Stanley E., Jr.

    2002-01-01

    The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots essentially must form a constellation of specific relative positions in the incoming digital image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1I20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow, obscuration and lighting irregularity compensation are discussed.

  12. Comparison of different methods for gender estimation from face image of various poses

    NASA Astrophysics Data System (ADS)

    Ishii, Yohei; Hongo, Hitoshi; Niwa, Yoshinori; Yamamoto, Kazuhiko

    2003-04-01

    Recently, gender estimation from face images has been studied for frontal facial images. However, it is difficult to obtain such facial images constantly in the case of application systems for security, surveillance and marketing research. In order to build such systems, a method is required to estimate gender from the image of various facial poses. In this paper, three different classifiers are compared in appearance-based gender estimation, which use four directional features (FDF). The classifiers are linear discriminant analysis (LDA), Support Vector Machines (SVMs) and Sparse Network of Winnows (SNoW). Face images used for experiments were obtained from 35 viewpoints. The direction of viewpoints varied +/-45 degrees horizontally, +/-30 degrees vertically at 15 degree intervals respectively. Although LDA showed the best performance for frontal facial images, SVM with Gaussian kernel was found the best performance (86.0%) for the facial images of 35 viewpoints. It is considered that SVM with Gaussian kernel is robust to changes in viewpoint when estimating gender from these results. Furthermore, the estimation rate was quite close to the average estimation rate at 35 viewpoints respectively. It is supposed that the methods are reasonable to estimate gender within the range of experimented viewpoints by learning face images from multiple directions by one class.

  13. Movement-Based Estimation and Visualization of Space Use in 3D for Wildlife Ecology and Conservation

    PubMed Central

    Tracey, Jeff A.; Sheppard, James; Zhu, Jun; Wei, Fuwen; Swaisgood, Ronald R.; Fisher, Robert N.

    2014-01-01

    Advances in digital biotelemetry technologies are enabling the collection of bigger and more accurate data on the movements of free-ranging wildlife in space and time. Although many biotelemetry devices record 3D location data with x, y, and z coordinates from tracked animals, the third z coordinate is typically not integrated into studies of animal spatial use. Disregarding the vertical component may seriously limit understanding of animal habitat use and niche separation. We present novel movement-based kernel density estimators and computer visualization tools for generating and exploring 3D home ranges based on location data. We use case studies of three wildlife species – giant panda, dugong, and California condor – to demonstrate the ecological insights and conservation management benefits provided by 3D home range estimation and visualization for terrestrial, aquatic, and avian wildlife research. PMID:24988114

  14. Movement-based estimation and visualization of space use in 3D for wildlife ecology and conservation

    USGS Publications Warehouse

    Tracey, Jeff A.; Sheppard, James; Zhu, Jun; Wei, Fu-Wen; Swaisgood, Ronald R.; Fisher, Robert N.

    2014-01-01

    Advances in digital biotelemetry technologies are enabling the collection of bigger and more accurate data on the movements of free-ranging wildlife in space and time. Although many biotelemetry devices record 3D location data with x, y, and z coordinates from tracked animals, the third z coordinate is typically not integrated into studies of animal spatial use. Disregarding the vertical component may seriously limit understanding of animal habitat use and niche separation. We present novel movement-based kernel density estimators and computer visualization tools for generating and exploring 3D home ranges based on location data. We use case studies of three wildlife species – giant panda, dugong, and California condor – to demonstrate the ecological insights and conservation management benefits provided by 3D home range estimation and visualization for terrestrial, aquatic, and avian wildlife research.

  15. Movement-based estimation and visualization of space use in 3D for wildlife ecology and conservation.

    PubMed

    Tracey, Jeff A; Sheppard, James; Zhu, Jun; Wei, Fuwen; Swaisgood, Ronald R; Fisher, Robert N

    2014-01-01

    Advances in digital biotelemetry technologies are enabling the collection of bigger and more accurate data on the movements of free-ranging wildlife in space and time. Although many biotelemetry devices record 3D location data with x, y, and z coordinates from tracked animals, the third z coordinate is typically not integrated into studies of animal spatial use. Disregarding the vertical component may seriously limit understanding of animal habitat use and niche separation. We present novel movement-based kernel density estimators and computer visualization tools for generating and exploring 3D home ranges based on location data. We use case studies of three wildlife species--giant panda, dugong, and California condor--to demonstrate the ecological insights and conservation management benefits provided by 3D home range estimation and visualization for terrestrial, aquatic, and avian wildlife research. PMID:24988114

  16. A Hybrid Antenna Array Design for 3-D Direction of Arrival Estimation

    PubMed Central

    Saqib, Najam-Us; Khan, Imdad

    2015-01-01

    A 3-D beam scanning antenna array design is proposed that gives a whole 3-D spherical coverage and also suitable for various radar and body-worn devices in the Body Area Networks applications. The Array Factor (AF) of the proposed antenna is derived and its various parameters like directivity, Half Power Beam Width (HPBW) and Side Lobe Level (SLL) are calculated by varying the size of the proposed antenna array. Simulations were carried out in MATLAB 2012b. The radiators are considered isotropic and hence mutual coupling effects are ignored. The proposed array shows a considerable improvement against the existing cylindrical and coaxial cylindrical arrays in terms of 3-D scanning, size, directivity, HPBW and SLL. PMID:25790103

  17. A hybrid antenna array design for 3-d direction of arrival estimation.

    PubMed

    Saqib, Najam-Us; Khan, Imdad

    2015-01-01

    A 3-D beam scanning antenna array design is proposed that gives a whole 3-D spherical coverage and also suitable for various radar and body-worn devices in the Body Area Networks applications. The Array Factor (AF) of the proposed antenna is derived and its various parameters like directivity, Half Power Beam Width (HPBW) and Side Lobe Level (SLL) are calculated by varying the size of the proposed antenna array. Simulations were carried out in MATLAB 2012b. The radiators are considered isotropic and hence mutual coupling effects are ignored. The proposed array shows a considerable improvement against the existing cylindrical and coaxial cylindrical arrays in terms of 3-D scanning, size, directivity, HPBW and SLL.

  18. An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation

    PubMed Central

    He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

    2015-01-01

    Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions. PMID:26184191

  19. An Inertial and Optical Sensor Fusion Approach for Six Degree-of-Freedom Pose Estimation.

    PubMed

    He, Changyu; Kazanzides, Peter; Sen, Hasan Tutkun; Kim, Sungmin; Liu, Yue

    2015-01-01

    Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some or all of the markers are occluded, this paper proposes an inertial and optical sensor fusion approach in which the bias of the inertial sensors is estimated when the optical tracker provides full six degree-of-freedom (6-DOF) pose information. As long as the position of at least one marker can be tracked by the optical system, the 3-DOF position can be combined with the orientation estimated from the inertial measurements to recover the full 6-DOF pose information. When all the markers are occluded, the position tracking relies on the inertial sensors that are bias-corrected by the optical tracking system. Experiments are performed with an augmented reality head-mounted display (ARHMD) that integrates an optical tracking system (OTS) and inertial measurement unit (IMU). Experimental results show that under partial occlusion conditions, the root mean square errors (RMSE) of orientation and position are 0.04° and 0.134 mm, and under total occlusion conditions for 1 s, the orientation and position RMSE are 0.022° and 0.22 mm, respectively. Thus, the proposed sensor fusion approach can provide reliable 6-DOF pose under long-term partial occlusion and short-term total occlusion conditions.

  20. Estimating Fiber Orientation Distribution Functions in 3D-Polarized Light Imaging.

    PubMed

    Axer, Markus; Strohmer, Sven; Gräßel, David; Bücker, Oliver; Dohmen, Melanie; Reckfort, Julia; Zilles, Karl; Amunts, Katrin

    2016-01-01

    Research of the human brain connectome requires multiscale approaches derived from independent imaging methods ideally applied to the same object. Hence, comprehensible strategies for data integration across modalities and across scales are essential. We have successfully established a concept to bridge the spatial scales from microscopic fiber orientation measurements based on 3D-Polarized Light Imaging (3D-PLI) to meso- or macroscopic dimensions. By creating orientation distribution functions (pliODFs) from high-resolution vector data via series expansion with spherical harmonics utilizing high performance computing and supercomputing technologies, data fusion with Diffusion Magnetic Resonance Imaging has become feasible, even for a large-scale dataset such as the human brain. Validation of our approach was done effectively by means of two types of datasets that were transferred from fiber orientation maps into pliODFs: simulated 3D-PLI data showing artificial, but clearly defined fiber patterns and real 3D-PLI data derived from sections through the human brain and the brain of a hooded seal.

  1. Estimating Fiber Orientation Distribution Functions in 3D-Polarized Light Imaging

    PubMed Central

    Axer, Markus; Strohmer, Sven; Gräßel, David; Bücker, Oliver; Dohmen, Melanie; Reckfort, Julia; Zilles, Karl; Amunts, Katrin

    2016-01-01

    Research of the human brain connectome requires multiscale approaches derived from independent imaging methods ideally applied to the same object. Hence, comprehensible strategies for data integration across modalities and across scales are essential. We have successfully established a concept to bridge the spatial scales from microscopic fiber orientation measurements based on 3D-Polarized Light Imaging (3D-PLI) to meso- or macroscopic dimensions. By creating orientation distribution functions (pliODFs) from high-resolution vector data via series expansion with spherical harmonics utilizing high performance computing and supercomputing technologies, data fusion with Diffusion Magnetic Resonance Imaging has become feasible, even for a large-scale dataset such as the human brain. Validation of our approach was done effectively by means of two types of datasets that were transferred from fiber orientation maps into pliODFs: simulated 3D-PLI data showing artificial, but clearly defined fiber patterns and real 3D-PLI data derived from sections through the human brain and the brain of a hooded seal. PMID:27147981

  2. Estimating Fiber Orientation Distribution Functions in 3D-Polarized Light Imaging.

    PubMed

    Axer, Markus; Strohmer, Sven; Gräßel, David; Bücker, Oliver; Dohmen, Melanie; Reckfort, Julia; Zilles, Karl; Amunts, Katrin

    2016-01-01

    Research of the human brain connectome requires multiscale approaches derived from independent imaging methods ideally applied to the same object. Hence, comprehensible strategies for data integration across modalities and across scales are essential. We have successfully established a concept to bridge the spatial scales from microscopic fiber orientation measurements based on 3D-Polarized Light Imaging (3D-PLI) to meso- or macroscopic dimensions. By creating orientation distribution functions (pliODFs) from high-resolution vector data via series expansion with spherical harmonics utilizing high performance computing and supercomputing technologies, data fusion with Diffusion Magnetic Resonance Imaging has become feasible, even for a large-scale dataset such as the human brain. Validation of our approach was done effectively by means of two types of datasets that were transferred from fiber orientation maps into pliODFs: simulated 3D-PLI data showing artificial, but clearly defined fiber patterns and real 3D-PLI data derived from sections through the human brain and the brain of a hooded seal. PMID:27147981

  3. Vegetation Height Estimation Near Power transmission poles Via satellite Stereo Images using 3D Depth Estimation Algorithms

    NASA Astrophysics Data System (ADS)

    Qayyum, A.; Malik, A. S.; Saad, M. N. M.; Iqbal, M.; Abdullah, F.; Rahseed, W.; Abdullah, T. A. R. B. T.; Ramli, A. Q.

    2015-04-01

    Monitoring vegetation encroachment under overhead high voltage power line is a challenging problem for electricity distribution companies. Absence of proper monitoring could result in damage to the power lines and consequently cause blackout. This will affect electric power supply to industries, businesses, and daily life. Therefore, to avoid the blackouts, it is mandatory to monitor the vegetation/trees near power transmission lines. Unfortunately, the existing approaches are more time consuming and expensive. In this paper, we have proposed a novel approach to monitor the vegetation/trees near or under the power transmission poles using satellite stereo images, which were acquired using Pleiades satellites. The 3D depth of vegetation has been measured near power transmission lines using stereo algorithms. The area of interest scanned by Pleiades satellite sensors is 100 square kilometer. Our dataset covers power transmission poles in a state called Sabah in East Malaysia, encompassing a total of 52 poles in the area of 100 km. We have compared the results of Pleiades satellite stereo images using dynamic programming and Graph-Cut algorithms, consequently comparing satellites' imaging sensors and Depth-estimation Algorithms. Our results show that Graph-Cut Algorithm performs better than dynamic programming (DP) in terms of accuracy and speed.

  4. Evaluation of three pose estimation algorithms for model-based roentgen stereophotogrammetric analysis.

    PubMed

    Kaptein, B L; Valstar, E R; Stoel, B C; Rozing, P M; Reiber, J H C

    2004-01-01

    Model-based roentgen stereophotogrammetric analysis (RSA) uses a three-dimensional surface model of an implant in order to estimate accurately the pose of that implant from a stereo pair of roentgen images. The technique is based on minimization of the difference between the actually projected contour of an implant and the virtually projected contour of a model of that same implant. The advantage of model-based RSA over conventional marker-based RSA is that it is not necessary to attach markers to the implant. In this paper, three pose estimation algorithms for model-based RSA are evaluated. The algorithms were assessed on the basis of their sensitivities to noise in the actual contour, to the amount of drop-outs in the actual contour, to the number of points in the actual contour and to shrinkage or expansion of the actual contour. The algorithms that were studied are the iterative inverse perspective matching (IIPM) algorithm, an algorithm based on minimization of the difference (DIF) between the actual contour and the virtual contour, and an algorithm based on minimization of the non-overlapping area (NOA) between the actual and virtual contour. The results of the simulation and phantom experiments show that the NOA algorithm does not fulfil the high accuracy that is necessary for model-based RSA. The IIPM and DIF algorithms are robust to the different distortions, making model-based RSA a possible replacement for marker-based RSA.

  5. Estimating Hydraulic Conductivities in a Fractured Shale Formation from Pressure Pulse Testing and 3d Modeling

    NASA Astrophysics Data System (ADS)

    Courbet, C.; DICK, P.; Lefevre, M.; Wittebroodt, C.; Matray, J.; Barnichon, J.

    2013-12-01

    logging, porosity varies by a factor of 2.5 whilst hydraulic conductivity varies by 2 to 3 orders of magnitude. In addition, a 3D numerical reconstruction of the internal structure of the fault zone inferred from borehole imagery has been built to estimate the permeability tensor variations. First results indicate that hydraulic conductivity values calculated for this structure are 2 to 3 orders of magnitude above those measured in situ. Such high values are due to the imaging method that only takes in to account open fractures of simple geometry (sine waves). Even though improvements are needed to handle more complex geometry, outcomes are promising as the fault damaged zone clearly appears as the highest permeability zone, where stress analysis show that the actual stress state may favor tensile reopening of fractures. Using shale samples cored from the different internal structures of the fault zone, we aim now to characterize the advection and diffusion using laboratory petrophysical tests combined with radial and through-diffusion experiments.

  6. SU-E-J-135: An Investigation of Ultrasound Imaging for 3D Intra-Fraction Prostate Motion Estimation

    SciTech Connect

    O'Shea, T; Harris, E; Bamber, J; Evans, P

    2014-06-01

    Purpose: This study investigates the use of a mechanically swept 3D ultrasound (US) probe to estimate intra-fraction motion of the prostate during radiation therapy using an US phantom and simulated transperineal imaging. Methods: A 3D motion platform was used to translate an US speckle phantom while simulating transperineal US imaging. Motion patterns for five representative types of prostate motion, generated from patient data previously acquired with a Calypso system, were using to move the phantom in 3D. The phantom was also implanted with fiducial markers and subsequently tracked using the CyberKnife kV x-ray system for comparison. A normalised cross correlation block matching algorithm was used to track speckle patterns in 3D and 2D US data. Motion estimation results were compared with known phantom translations. Results: Transperineal 3D US could track superior-inferior (axial) and anterior-posterior (lateral) motion to better than 0.8 mm root-mean-square error (RMSE) at a volume rate of 1.7 Hz (comparable with kV x-ray tracking RMSE). Motion estimation accuracy was poorest along the US probe's swept axis (right-left; RL; RMSE < 4.2 mm) but simple regularisation methods could be used to improve RMSE (< 2 mm). 2D US was found to be feasible for slowly varying motion (RMSE < 0.5 mm). 3D US could also allow accurate radiation beam gating with displacement thresholds of 2 mm and 5 mm exhibiting a RMSE of less than 0.5 mm. Conclusion: 2D and 3D US speckle tracking is feasible for prostate motion estimation during radiation delivery. Since RL prostate motion is small in magnitude and frequency, 2D or a hybrid (2D/3D) US imaging approach which also accounts for potential prostate rotations could be used. Regularisation methods could be used to ensure the accuracy of tracking data, making US a feasible approach for gating or tracking in standard or hypo-fractionated prostate treatments.

  7. Estimating elastic moduli of rocks from thin sections: Digital rock study of 3D properties from 2D images

    NASA Astrophysics Data System (ADS)

    Saxena, Nishank; Mavko, Gary

    2016-03-01

    Estimation of elastic rock moduli using 2D plane strain computations from thin sections has several numerical and analytical advantages over using 3D rock images, including faster computation, smaller memory requirements, and the availability of cheap thin sections. These advantages, however, must be weighed against the estimation accuracy of 3D rock properties from thin sections. We present a new method for predicting elastic properties of natural rocks using thin sections. Our method is based on a simple power-law transform that correlates computed 2D thin section moduli and the corresponding 3D rock moduli. The validity of this transform is established using a dataset comprised of FEM-computed elastic moduli of rock samples from various geologic formations, including Fontainebleau sandstone, Berea sandstone, Bituminous sand, and Grossmont carbonate. We note that using the power-law transform with a power-law coefficient between 0.4-0.6 contains 2D moduli to 3D moduli transformations for all rocks that are considered in this study. We also find that reliable estimates of P-wave (Vp) and S-wave velocity (Vs) trends can be obtained using 2D thin sections.

  8. Parameter Estimation of Fossil Oysters from High Resolution 3D Point Cloud and Image Data

    NASA Astrophysics Data System (ADS)

    Djuricic, Ana; Harzhauser, Mathias; Dorninger, Peter; Nothegger, Clemens; Mandic, Oleg; Székely, Balázs; Molnár, Gábor; Pfeifer, Norbert

    2014-05-01

    A unique fossil oyster reef was excavated at Stetten in Lower Austria, which is also the highlight of the geo-edutainment park 'Fossilienwelt Weinviertel'. It provides the rare opportunity to study the Early Miocene flora and fauna of the Central Paratethys Sea. The site presents the world's largest fossil oyster biostrome formed about 16.5 million years ago in a tropical estuary of the Korneuburg Basin. About 15,000 up to 80-cm-long shells of Crassostrea gryphoides cover a 400 m2 large area. Our project 'Smart-Geology for the World's largest fossil oyster reef' combines methods of photogrammetry, geology and paleontology to document, evaluate and quantify the shell bed. This interdisciplinary approach will be applied to test hypotheses on the genesis of the taphocenosis (e.g.: tsunami versus major storm) and to reconstruct pre- and post-event processes. Hence, we are focusing on using visualization technologies from photogrammetry in geology and paleontology in order to develop new methods for automatic and objective evaluation of 3D point clouds. These will be studied on the basis of a very dense surface reconstruction of the oyster reef. 'Smart Geology', as extension of the classic discipline, exploits massive data, automatic interpretation, and visualization. Photogrammetry provides the tools for surface acquisition and objective, automated interpretation. We also want to stress the economic aspect of using automatic shape detection in paleontology, which saves manpower and increases efficiency during the monitoring and evaluation process. Currently, there are many well known algorithms for 3D shape detection of certain objects. We are using dense 3D laser scanning data from an instrument utilizing the phase shift measuring principle, which provides accurate geometrical basis < 3 mm. However, the situation is difficult in this multiple object scenario where more than 15,000 complete or fragmentary parts of an object with random orientation are found. The goal

  9. A Bayesian model to estimate the true 3-D shadowing correction in sonic anemometers

    NASA Astrophysics Data System (ADS)

    Frank, J. M.; Massman, W. J.; Ewers, B. E.

    2015-12-01

    Sonic anemometers are the principal instruments used in micrometeorological studies of turbulence and ecosystem fluxes. Recent studies have shown the most common designs underestimate vertical wind measurements because they lack a correction for transducer and structural shadowing; there is no consensus describing a true correction. We introduce a novel Bayesian analysis with the potential to resolve the three-dimensional (3-D) correction by optimizing differences between anemometers mounted simultaneously vertical and horizontal. The analysis creates a geodesic grid around the sonic anemometer, defines a state variable for the 3-D correction at each point, and assigns each a prior distribution based on literature with ±10% uncertainty. We use the Markov chain Monte Carlo (MCMC) method to update and apply the 3-D correction to a dataset of 20-Hz sonic anemometer measurements, calculate five-minute standard deviations of the Cartesian wind components, and compare these statistics between vertical and horizontal anemometers. We present preliminary analysis of the CSAT3 anemometer using 642 grid points (±4.5° resolution) from 423 five-minute periods (8,964,000 samples) collected during field experiments in 2011 and 2013. The 20-Hz data was not equally distributed around the grid; half of the samples occurred in just 8% of the grid points. For populous grid points (weighted by the abundance of samples) the average correction increased from prior to posterior (+5.4±10.0% to +9.1±9.5%) while for desolate grid points (weighted by the sparseness of samples) there was minimal change (+6.4±10.0% versus +6.6±9.8%), demonstrating that with a sufficient number of samples the model can determine the true correction is ~67% higher than proposed in recent literature. Future adaptions will increase the grid resolution and sample size to reduce the uncertainty in the posterior distributions and more precisely quantify the 3-D correction.

  10. Estimation of the thermal conductivity of hemp based insulation material from 3D tomographic images

    NASA Astrophysics Data System (ADS)

    El-Sawalhi, R.; Lux, J.; Salagnac, P.

    2016-08-01

    In this work, we are interested in the structural and thermal characterization of natural fiber insulation materials. The thermal performance of these materials depends on the arrangement of fibers, which is the consequence of the manufacturing process. In order to optimize these materials, thermal conductivity models can be used to correlate some relevant structural parameters with the effective thermal conductivity. However, only a few models are able to take into account the anisotropy of such material related to the fibers orientation, and these models still need realistic input data (fiber orientation distribution, porosity, etc.). The structural characteristics are here directly measured on a 3D tomographic image using advanced image analysis techniques. Critical structural parameters like porosity, pore and fiber size distribution as well as local fiber orientation distribution are measured. The results of the tested conductivity models are then compared with the conductivity tensor obtained by numerical simulation on the discretized 3D microstructure, as well as available experimental measurements. We show that 1D analytical models are generally not suitable for assessing the thermal conductivity of such anisotropic media. Yet, a few anisotropic models can still be of interest to relate some structural parameters, like the fiber orientation distribution, to the thermal properties. Finally, our results emphasize that numerical simulations on 3D realistic microstructure is a very interesting alternative to experimental measurements.

  11. Anthropological facial approximation in three dimensions (AFA3D): computer-assisted estimation of the facial morphology using geometric morphometrics.

    PubMed

    Guyomarc'h, Pierre; Dutailly, Bruno; Charton, Jérôme; Santos, Frédéric; Desbarats, Pascal; Coqueugniot, Hélène

    2014-11-01

    This study presents Anthropological Facial Approximation in Three Dimensions (AFA3D), a new computerized method for estimating face shape based on computed tomography (CT) scans of 500 French individuals. Facial soft tissue depths are estimated based on age, sex, corpulence, and craniometrics, and projected using reference planes to obtain the global facial appearance. Position and shape of the eyes, nose, mouth, and ears are inferred from cranial landmarks through geometric morphometrics. The 100 estimated cutaneous landmarks are then used to warp a generic face to the target facial approximation. A validation by re-sampling on a subsample demonstrated an average accuracy of c. 4 mm for the overall face. The resulting approximation is an objective probable facial shape, but is also synthetic (i.e., without texture), and therefore needs to be enhanced artistically prior to its use in forensic cases. AFA3D, integrated in the TIVMI software, is available freely for further testing.

  12. Atmospheric Nitrogen Trifluoride: Optimized emission estimates using 2-D and 3-D Chemical Transport Models from 1973-2008

    NASA Astrophysics Data System (ADS)

    Ivy, D. J.; Rigby, M. L.; Prinn, R. G.; Muhle, J.; Weiss, R. F.

    2009-12-01

    We present optimized annual global emissions from 1973-2008 of nitrogen trifluoride (NF3), a powerful greenhouse gas which is not currently regulated by the Kyoto Protocol. In the past few decades, NF3 production has dramatically increased due to its usage in the semiconductor industry. Emissions were estimated through the 'pulse-method' discrete Kalman filter using both a simple, flexible 2-D 12-box model used in the Advanced Global Atmospheric Gases Experiment (AGAGE) network and the Model for Ozone and Related Tracers (MOZART v4.5), a full 3-D atmospheric chemistry model. No official audited reports of industrial NF3 emissions are available, and with limited information on production, a priori emissions were estimated using both a bottom-up and top-down approach with two different spatial patterns based on semiconductor perfluorocarbon (PFC) emissions from the Emission Database for Global Atmospheric Research (EDGAR v3.2) and Semiconductor Industry Association sales information. Both spatial patterns used in the models gave consistent results, showing the robustness of the estimated global emissions. Differences between estimates using the 2-D and 3-D models can be attributed to transport rates and resolution differences. Additionally, new NF3 industry production and market information is presented. Emission estimates from both the 2-D and 3-D models suggest that either the assumed industry release rate of NF3 or industry production information is still underestimated.

  13. Estimating 3D Leaf and Stem Shape of Nursery Paprika Plants by a Novel Multi-Camera Photography System.

    PubMed

    Zhang, Yu; Teng, Poching; Shimizu, Yo; Hosoi, Fumiki; Omasa, Kenji

    2016-01-01

    For plant breeding and growth monitoring, accurate measurements of plant structure parameters are very crucial. We have, therefore, developed a high efficiency Multi-Camera Photography (MCP) system combining Multi-View Stereovision (MVS) with the Structure from Motion (SfM) algorithm. In this paper, we measured six variables of nursery paprika plants and investigated the accuracy of 3D models reconstructed from photos taken by four lens types at four different positions. The results demonstrated that error between the estimated and measured values was small, and the root-mean-square errors (RMSE) for leaf width/length and stem height/diameter were 1.65 mm (R² = 0.98) and 0.57 mm (R² = 0.99), respectively. The accuracies of the 3D model reconstruction of leaf and stem by a 28-mm lens at the first and third camera positions were the highest, and the number of reconstructed fine-scale 3D model shape surfaces of leaf and stem is the most. The results confirmed the practicability of our new method for the reconstruction of fine-scale plant model and accurate estimation of the plant parameters. They also displayed that our system is a good system for capturing high-resolution 3D images of nursery plants with high efficiency. PMID:27314348

  14. Volume estimation of cerebral aneurysms from biplane DSA: a comparison with measurements on 3D rotational angiography data

    NASA Astrophysics Data System (ADS)

    Olivan Bescos, Javier; Slob, Marian; Sluzewski, Menno; van Rooij, Willem J.; Slump, Cornelis H.

    2003-05-01

    A cerebral aneurysm is a persistent localized dilatation of the wall of a cerebral vessel. One of the techniques applied to treat cerebral aneurysms is the Guglielmi detachable coil (GDC) embolization. The goal of this technique is to embolize the aneurysm with a mesh of platinum coils to reduce the risk of aneurysm rupture. However, due to the blood pressure it is possible that the platinum wire is deformed. In this case, re-embolization of the aneurysm is necessary. The aim of this project is to develop a computer program to estimate the volume of cerebral aneurysms from archived laser hard copies of biplane digital subtraction angiography (DSA) images. Our goal is to determine the influence of the packing percentage, i.e., the ratio between the volume of the aneurysm and the volume of the coil mesh, on the stability of the coil mesh in time. The method we apply to estimate the volume of the cerebral aneurysms is based on the generation of a 3-D geometrical model of the aneurysm from two biplane DSA images. This 3-D model can be seen as an stack of 2-D ellipsis. The volume of the aneurysm is the result of performing a numerical integration of this stack. The program was validated using balloons filled with contrast agent. The availability of 3-D data for some of the aneurysms enabled to perform a comparison of the results of this method with techniques based on 3-D data.

  15. Estimating 3D Leaf and Stem Shape of Nursery Paprika Plants by a Novel Multi-Camera Photography System.

    PubMed

    Zhang, Yu; Teng, Poching; Shimizu, Yo; Hosoi, Fumiki; Omasa, Kenji

    2016-06-14

    For plant breeding and growth monitoring, accurate measurements of plant structure parameters are very crucial. We have, therefore, developed a high efficiency Multi-Camera Photography (MCP) system combining Multi-View Stereovision (MVS) with the Structure from Motion (SfM) algorithm. In this paper, we measured six variables of nursery paprika plants and investigated the accuracy of 3D models reconstructed from photos taken by four lens types at four different positions. The results demonstrated that error between the estimated and measured values was small, and the root-mean-square errors (RMSE) for leaf width/length and stem height/diameter were 1.65 mm (R² = 0.98) and 0.57 mm (R² = 0.99), respectively. The accuracies of the 3D model reconstruction of leaf and stem by a 28-mm lens at the first and third camera positions were the highest, and the number of reconstructed fine-scale 3D model shape surfaces of leaf and stem is the most. The results confirmed the practicability of our new method for the reconstruction of fine-scale plant model and accurate estimation of the plant parameters. They also displayed that our system is a good system for capturing high-resolution 3D images of nursery plants with high efficiency.

  16. Estimating 3D Leaf and Stem Shape of Nursery Paprika Plants by a Novel Multi-Camera Photography System

    PubMed Central

    Zhang, Yu; Teng, Poching; Shimizu, Yo; Hosoi, Fumiki; Omasa, Kenji

    2016-01-01

    For plant breeding and growth monitoring, accurate measurements of plant structure parameters are very crucial. We have, therefore, developed a high efficiency Multi-Camera Photography (MCP) system combining Multi-View Stereovision (MVS) with the Structure from Motion (SfM) algorithm. In this paper, we measured six variables of nursery paprika plants and investigated the accuracy of 3D models reconstructed from photos taken by four lens types at four different positions. The results demonstrated that error between the estimated and measured values was small, and the root-mean-square errors (RMSE) for leaf width/length and stem height/diameter were 1.65 mm (R2 = 0.98) and 0.57 mm (R2 = 0.99), respectively. The accuracies of the 3D model reconstruction of leaf and stem by a 28-mm lens at the first and third camera positions were the highest, and the number of reconstructed fine-scale 3D model shape surfaces of leaf and stem is the most. The results confirmed the practicability of our new method for the reconstruction of fine-scale plant model and accurate estimation of the plant parameters. They also displayed that our system is a good system for capturing high-resolution 3D images of nursery plants with high efficiency. PMID:27314348

  17. Transient Hydraulic Tomography in the Field: 3-D K Estimation and Validation in a Highly Heterogeneous Unconfined Aquifer

    NASA Astrophysics Data System (ADS)

    Hochstetler, D. L.; Barrash, W.; Kitanidis, P. K.

    2014-12-01

    Characterizing subsurface hydraulic properties is essential for predicting flow and transport, and thus, for making informed decisions, such as selection and execution of a groundwater remediation strategy; however, obtaining accurate estimates at the necessary resolution with quantified uncertainty is an ongoing challenge. For over a decade, the development of hydraulic tomography (HT) - i.e., conducting a series of discrete interval hydraulic tests, observing distributed pressure signals, and analyzing the data through inversion of all tests together - has shown promise as a subsurface imaging method. Numerical and laboratory 3-D HT studies have enhanced and validated such methodologies, but there have been far fewer 3-D field characterization studies. We use 3-D transient hydraulic tomography (3-D THT) to characterize a highly heterogeneous unconfined alluvial aquifer at an active industrial site near Assemini, Italy. With 26 pumping tests conducted from 13 isolated vertical locations, and pressure responses measured at 63 spatial locations through five clusters of continuous multichannel tubing, we recorded over 800 drawdown curves during the field testing. Selected measurements from each curve were inverted in order to obtain an estimate of the distributed hydraulic conductivity field K(x) as well as uniform ("effective") values of specific storage Ss and specific yield Sy. The estimated K values varied across seven orders of magnitude, suggesting that this is one of the most heterogeneous sites at which HT has ever been conducted. Furthermore, these results are validated using drawdown observations from seven independent tests with pumping performed at multiple locations other than the main pumping well. The validation results are encouraging, especially given the uncertain nature of the problem. Overall, this research demonstrates the ability of 3-D THT to provide high-resolution of structure and local K at a non-research site at the scale of a contaminant

  18. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor.

    PubMed

    Saeed, Anwar; Al-Hamadi, Ayoub; Ghoneim, Ahmed

    2015-01-01

    Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ) Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5:1; 4:6; 4:2 for pitch, yaw and roll angles, respectively. PMID:26343651

  19. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor.

    PubMed

    Saeed, Anwar; Al-Hamadi, Ayoub; Ghoneim, Ahmed

    2015-08-26

    Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ) Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5:1; 4:6; 4:2 for pitch, yaw and roll angles, respectively.

  20. Head Pose Estimation on Top of Haar-Like Face Detection: A Study Using the Kinect Sensor

    PubMed Central

    Saeed, Anwar; Al-Hamadi, Ayoub; Ghoneim, Ahmed

    2015-01-01

    Head pose estimation is a crucial initial task for human face analysis, which is employed in several computer vision systems, such as: facial expression recognition, head gesture recognition, yawn detection, etc. In this work, we propose a frame-based approach to estimate the head pose on top of the Viola and Jones (VJ) Haar-like face detector. Several appearance and depth-based feature types are employed for the pose estimation, where comparisons between them in terms of accuracy and speed are presented. It is clearly shown through this work that using the depth data, we improve the accuracy of the head pose estimation. Additionally, we can spot positive detections, faces in profile views detected by the frontal model, that are wrongly cropped due to background disturbances. We introduce a new depth-based feature descriptor that provides competitive estimation results with a lower computation time. Evaluation on a benchmark Kinect database shows that the histogram of oriented gradients and the developed depth-based features are more distinctive for the head pose estimation, where they compare favorably to the current state-of-the-art approaches. Using a concatenation of the aforementioned feature types, we achieved a head pose estimation with average errors not exceeding 5.1∘,4.6∘,4.2∘ for pitch, yaw and roll angles, respectively. PMID:26343651

  1. Unified structured learning for simultaneous human pose estimation and garment attribute classification.

    PubMed

    Shen, Jie; Liu, Guangcan; Chen, Jia; Fang, Yuqiang; Xie, Jianbin; Yu, Yong; Yan, Shuicheng

    2014-11-01

    In this paper, we utilize structured learning to simultaneously address two intertwined problems: 1) human pose estimation (HPE) and 2) garment attribute classification (GAC), which are valuable for a variety of computer vision and multimedia applications. Unlike previous works that usually handle the two problems separately, our approach aims to produce an optimal joint estimation for both HPE and GAC via a unified inference procedure. To this end, we adopt a preprocessing step to detect potential human parts from each image (i.e., a set of candidates) that allows us to have a manageable input space. In this way, the simultaneous inference of HPE and GAC is converted to a structured learning problem, where the inputs are the collections of candidate ensembles, outputs are the joint labels of human parts and garment attributes, and joint feature representation involves various cues such as pose-specific features, garment-specific features, and cross-task features that encode correlations between human parts and garment attributes. Furthermore, we explore the strong edge evidence around the potential human parts so as to derive more powerful representations for oriented human parts. Such evidences can be seamlessly integrated into our structured learning model as a kind of energy function, and the learning process could be performed by standard structured support vector machines algorithm. However, the joint structure of the two problems is a cyclic graph, which hinders efficient inference. To resolve this issue, we compute instead approximate optima using an iterative procedure, where in each iteration, the variables of one problem are fixed. In this way, satisfactory solutions can be efficiently computed by dynamic programming. Experimental results on two benchmark data sets show the state-of-the-art performance of our approach. PMID:25248181

  2. Analysis of passive cardiac constitutive laws for parameter estimation using 3D tagged MRI.

    PubMed

    Hadjicharalambous, Myrianthi; Chabiniok, Radomir; Asner, Liya; Sammut, Eva; Wong, James; Carr-White, Gerald; Lee, Jack; Razavi, Reza; Smith, Nicolas; Nordsletten, David

    2015-08-01

    An unresolved issue in patient-specific models of cardiac mechanics is the choice of an appropriate constitutive law, able to accurately capture the passive behavior of the myocardium, while still having uniquely identifiable parameters tunable from available clinical data. In this paper, we aim to facilitate this choice by examining the practical identifiability and model fidelity of constitutive laws often used in cardiac mechanics. Our analysis focuses on the use of novel 3D tagged MRI, providing detailed displacement information in three dimensions. The practical identifiability of each law is examined by generating synthetic 3D tags from in silico simulations, allowing mapping of the objective function landscape over parameter space and comparison of minimizing parameter values with original ground truth values. Model fidelity was tested by comparing these laws with the more complex transversely isotropic Guccione law, by characterizing their passive end-diastolic pressure-volume relation behavior, as well as by considering the in vivo case of a healthy volunteer. These results show that a reduced form of the Holzapfel-Ogden law provides the best balance between identifiability and model fidelity across the tests considered. PMID:25510227

  3. Innovative LIDAR 3D Dynamic Measurement System to estimate fruit-tree leaf area.

    PubMed

    Sanz-Cortiella, Ricardo; Llorens-Calveras, Jordi; Escolà, Alexandre; Arnó-Satorra, Jaume; Ribes-Dasi, Manel; Masip-Vilalta, Joan; Camp, Ferran; Gràcia-Aguilá, Felip; Solanelles-Batlle, Francesc; Planas-DeMartí, Santiago; Pallejà-Cabré, Tomàs; Palacin-Roca, Jordi; Gregorio-Lopez, Eduard; Del-Moral-Martínez, Ignacio; Rosell-Polo, Joan R

    2011-01-01

    In this work, a LIDAR-based 3D Dynamic Measurement System is presented and evaluated for the geometric characterization of tree crops. Using this measurement system, trees were scanned from two opposing sides to obtain two three-dimensional point clouds. After registration of the point clouds, a simple and easily obtainable parameter is the number of impacts received by the scanned vegetation. The work in this study is based on the hypothesis of the existence of a linear relationship between the number of impacts of the LIDAR sensor laser beam on the vegetation and the tree leaf area. Tests performed under laboratory conditions using an ornamental tree and, subsequently, in a pear tree orchard demonstrate the correct operation of the measurement system presented in this paper. The results from both the laboratory and field tests confirm the initial hypothesis and the 3D Dynamic Measurement System is validated in field operation. This opens the door to new lines of research centred on the geometric characterization of tree crops in the field of agriculture and, more specifically, in precision fruit growing.

  4. Innovative LIDAR 3D Dynamic Measurement System to estimate fruit-tree leaf area.

    PubMed

    Sanz-Cortiella, Ricardo; Llorens-Calveras, Jordi; Escolà, Alexandre; Arnó-Satorra, Jaume; Ribes-Dasi, Manel; Masip-Vilalta, Joan; Camp, Ferran; Gràcia-Aguilá, Felip; Solanelles-Batlle, Francesc; Planas-DeMartí, Santiago; Pallejà-Cabré, Tomàs; Palacin-Roca, Jordi; Gregorio-Lopez, Eduard; Del-Moral-Martínez, Ignacio; Rosell-Polo, Joan R

    2011-01-01

    In this work, a LIDAR-based 3D Dynamic Measurement System is presented and evaluated for the geometric characterization of tree crops. Using this measurement system, trees were scanned from two opposing sides to obtain two three-dimensional point clouds. After registration of the point clouds, a simple and easily obtainable parameter is the number of impacts received by the scanned vegetation. The work in this study is based on the hypothesis of the existence of a linear relationship between the number of impacts of the LIDAR sensor laser beam on the vegetation and the tree leaf area. Tests performed under laboratory conditions using an ornamental tree and, subsequently, in a pear tree orchard demonstrate the correct operation of the measurement system presented in this paper. The results from both the laboratory and field tests confirm the initial hypothesis and the 3D Dynamic Measurement System is validated in field operation. This opens the door to new lines of research centred on the geometric characterization of tree crops in the field of agriculture and, more specifically, in precision fruit growing. PMID:22163926

  5. Subject-specific body segment parameter estimation using 3D photogrammetry with multiple cameras

    PubMed Central

    Morris, Mark; Sellers, William I.

    2015-01-01

    Inertial properties of body segments, such as mass, centre of mass or moments of inertia, are important parameters when studying movements of the human body. However, these quantities are not directly measurable. Current approaches include using regression models which have limited accuracy: geometric models with lengthy measuring procedures or acquiring and post-processing MRI scans of participants. We propose a geometric methodology based on 3D photogrammetry using multiple cameras to provide subject-specific body segment parameters while minimizing the interaction time with the participants. A low-cost body scanner was built using multiple cameras and 3D point cloud data generated using structure from motion photogrammetric reconstruction algorithms. The point cloud was manually separated into body segments, and convex hulling applied to each segment to produce the required geometric outlines. The accuracy of the method can be adjusted by choosing the number of subdivisions of the body segments. The body segment parameters of six participants (four male and two female) are presented using the proposed method. The multi-camera photogrammetric approach is expected to be particularly suited for studies including populations for which regression models are not available in literature and where other geometric techniques or MRI scanning are not applicable due to time or ethical constraints. PMID:25780778

  6. Scatterer size and concentration estimation technique based on a 3D acoustic impedance map from histologic sections

    NASA Astrophysics Data System (ADS)

    Mamou, Jonathan; Oelze, Michael L.; O'Brien, William D.; Zachary, James F.

    2001-05-01

    Accurate estimates of scatterer parameters (size and acoustic concentration) are beneficial adjuncts to characterize disease from ultrasonic backscatterer measurements. An estimation technique was developed to obtain parameter estimates from the Fourier transform of the spatial autocorrelation function (SAF). A 3D impedance map (3DZM) is used to obtain the SAF of tissue. 3DZMs are obtained by aligning digitized light microscope images from histologic preparations of tissue. Estimates were obtained for simulated 3DZMs containing spherical scatterers randomly located: relative errors were less than 3%. Estimates were also obtained from a rat fibroadenoma and a 4T1 mouse mammary tumor (MMT). Tissues were fixed (10% neutral-buffered formalin), embedded in paraffin, serially sectioned and stained with H&E. 3DZM results were compared to estimates obtained independently against ultrasonic backscatter measurements. For the fibroadenoma and MMT, average scatterer diameters were 91 and 31.5 μm, respectively. Ultrasonic measurements yielded average scatterer diameters of 105 and 30 μm, respectively. The 3DZM estimation scheme showed results similar to those obtained by the independent ultrasonic measurements. The 3D impedance maps show promise as a powerful tool to characterize ultrasonic scattering sites of tissue. [Work supported by the University of Illinois Research Board.

  7. Effect of GIA models with 3D composite mantle viscosity on GRACE mass balance estimates for Antarctica

    NASA Astrophysics Data System (ADS)

    van der Wal, Wouter; Whitehouse, Pippa L.; Schrama, Ernst J. O.

    2015-03-01

    Seismic data indicate that there are large viscosity variations in the mantle beneath Antarctica. Consideration of such variations would affect predictions of models of Glacial Isostatic Adjustment (GIA), which are used to correct satellite measurements of ice mass change. However, most GIA models used for that purpose have assumed the mantle to be uniformly stratified in terms of viscosity. The goal of this study is to estimate the effect of lateral variations in viscosity on Antarctic mass balance estimates derived from the Gravity Recovery and Climate Experiment (GRACE) data. To this end, recently-developed global GIA models based on lateral variations in mantle temperature are tuned to fit constraints in the northern hemisphere and then compared to GPS-derived uplift rates in Antarctica. We find that these models can provide a better fit to GPS uplift rates in Antarctica than existing GIA models with a radially-varying (1D) rheology. When 3D viscosity models in combination with specific ice loading histories are used to correct GRACE measurements, mass loss in Antarctica is smaller than previously found for the same ice loading histories and their preferred 1D viscosity profiles. The variation in mass balance estimates arising from using different plausible realizations of 3D viscosity amounts to 20 Gt/yr for the ICE-5G ice model and 16 Gt/yr for the W12a ice model; these values are larger than the GRACE measurement error, but smaller than the variation arising from unknown ice history. While there exist 1D Earth models that can reproduce the total mass balance estimates derived using 3D Earth models, the spatial pattern of gravity rates can be significantly affected by 3D viscosity in a way that cannot be reproduced by GIA models with 1D viscosity. As an example, models with 1D viscosity always predict maximum gravity rates in the Ross Sea for the ICE-5G ice model, however, for one of the three preferred 3D models the maximum (for the same ice model) is found

  8. SU-E-J-237: Real-Time 3D Anatomy Estimation From Undersampled MR Acquisitions

    SciTech Connect

    Glitzner, M; Lagendijk, J; Raaymakers, B; Crijns, S; Senneville, B Denis de

    2015-06-15

    Recent developments made MRI guided radiotherapy feasible. Performing simultaneous imaging during fractions can provide information about changing anatomy by means of deformable image registration for either immediate plan adaptations or accurate dose accumulation on the changing anatomy. In 3D MRI, however, acquisition time is considerable and scales with resolution. Furthermore, intra-scan motion degrades image quality.In this work, we investigate the sensitivity of registration quality on imageresolution: potentially, by employing spatial undersampling, the acquisition timeof MR images for the purpose of deformable image registration can be reducedsignificantly.On a volunteer, 3D-MR imaging data was sampled in a navigator-gated manner, acquiring one axial volume (360×260×100mm{sup 3}) per 3s during exhale phase. A T1-weighted FFE sequence was used with an acquired voxel size of (2.5mm{sup 3}) for a duration of 17min. Deformation vector fields were evaluated for 100 imaging cycles with respect to the initial anatomy using deformable image registration based on optical flow. Subsequently, the imaging data was downsampled by a factor of 2, simulating a fourfold acquisition speed. Displacements of the downsampled volumes were then calculated by the same process.In kidneyliver boundaries and the region around stomach/duodenum, prominent organ drifts could be observed in both the original and the downsampled imaging data. An increasing displacement of approximately 2mm was observed for the kidney, while an area around the stomach showed sudden displacements of 4mm. Comparison of the motile points over time showed high reproducibility between the displacements of high-resolution and downsampled volumes: over a 17min acquisition, the componentwise RMS error was not more than 0.38mm.Based on the synthetic experiments, 3D nonrigid image registration shows little sensitivity to image resolution and the displacement information is preserved even when halving the

  9. Intensity of joints associated with an extensional fault zone: an estimation by poly3d .

    NASA Astrophysics Data System (ADS)

    Minelli, G.

    2003-04-01

    The presence and frequency of joints in sedimentary rocks strongly affects the mechanical and fluid flow properties of the host layers. Joints intensity is evaluated by spacing, S, the distance between neighbouring fractures, or by density, D = 1/S. Joint spacing in layered rocks is often linearly related to layer thickness T, with typical values of 0.5 T < S < 2.0 T . On the other hand, some field cases display very tight joints with S << T and nonlinear relations between spacing and thickness , most of these cases are related to joint system “genetically” related to a nearby fault zone. The present study by using the code Poly3D (Rock Fracture Project at Stanford), numerically explores the effect of the stress distribution in the neighbour of an extensional fault zone with respect to the mapped intensity of joints both in the hanging wall and in the foot wall of it (WILLEMSE, E. J. M., 1997; MARTEL, S. J, AND BOGER, W. A,; 1998). Poly3D is a C language computer program that calculates the displacements, strains and stresses induced in an elastic whole or half-space by planar, polygonal-shaped elements of displacement discontinuity (WILLEMSE, E. J. M., POLLARD, D. D., 2000) Dislocations of varying shapes may be combined to yield complex three-dimensional surfaces well-suited for modeling fractures, faults, and cavities in the earth's crust. The algebraic expressions for the elastic fields around a polygonal element are derived by superposing the solution for an angular dislocation in an elastic half-space. The field data have been collected in a quarry located close to Noci town (Puglia) by using the scan line methodology. In this quarry a platform limestone with a regular bedding with very few shale or marly intercalations displaced by a normal fault are exposed. The comparison between the mapped joints intensity and the calculated stress around the fault displays a good agreement. Nevertheless the intrinsic limitations (isotropic medium and elastic behaviour

  10. Anechoic Sphere Phantoms for Estimating 3-D Resolution of Very High Frequency Ultrasound Scanners

    PubMed Central

    Madsen, Ernest L.; Frank, Gary R.; McCormick, Matthew M.; Deaner, Meagan E.; Stiles, Timothy A.

    2013-01-01

    Two phantoms have been constructed for assessing the performance of high frequency ultrasound imagers. They also allow for periodic quality assurance tests. The phantoms contain eight blocks of tissue-mimicking material where each block contains a spatially random distribution of suitably small anechoic spheres having a small distribution of diameters. The eight mean sphere diameters are distributed from 0.10 to 1.09 mm. The two phantoms differ primarily in terms of the backscatter coefficient of the background material in which the spheres are suspended. The mean scatterer diameter for one phantom is larger than that for the other phantom resulting in a lesser increase in backscatter coefficient for the second phantom; however, the backscatter curves cross at about 35 MHz. Since spheres have no preferred orientation, all three (spatial) dimensions of resolution contribute to sphere detection on an equal basis; thus, the resolution is termed 3-D. Two high frequency scanners are compared. One employs single-element (fixed focus) transducers, and the other employs variable focus linear arrays. The nominal frequency for the single element transducers were 25 and 55 MHz and for the linear array transducers were 20, 30 and 40 MHz. The depth range for detection of spheres of each size is determined corresponding to determination of 3-D resolution as a function of depth. As expected, the single-element transducers are severely limited in useful imaging depth ranges compared with the linear arrays. Note that these phantoms could also be useful for training technicians in using higher frequency scanners. PMID:20889416

  11. Application of optical 3D measurement on thin film buckling to estimate interfacial toughness

    NASA Astrophysics Data System (ADS)

    Jia, H. K.; Wang, S. B.; Li, L. A.; Wang, Z. Y.; Goudeau, P.

    2014-03-01

    The shape-from-focus (SFF) method has been widely studied as a passive depth recovery and 3D reconstruction method for digital images. An important step in SFF is the calculation of the focus level for different points in an image by using a focus measure. In this work, an image entropy-based focus measure is introduced into the SFF method to measure the 3D buckling morphology of an aluminum film on a polymethylmethacrylate (PMMA) substrate at a micro scale. Spontaneous film wrinkles and telephone-cord wrinkles are investigated after the deposition of a 300 nm thick aluminum film onto the PMMA substrate. Spontaneous buckling is driven by the highly compressive stress generated in the Al film during the deposition process. The interfacial toughness between metal films and substrates is an important parameter for the reliability of the film/substrate system. The height profiles of different sections across the telephone-cord wrinkle can be considered a straight-sided model with uniform width and height or a pinned circular model that has a delamination region characterized by a sequence of connected sectors. Furthermore, the telephone-cord geometry of the thin film can be used to calculate interfacial toughness. The instability of the finite element model is introduced to fit the buckling morphology obtained by SFF. The interfacial toughness is determined to be 0.203 J/m2 at a 70.4° phase angle from the straight-sided model and 0.105 J/m2 at 76.9° from the pinned circular model.

  12. A joint estimation detection of Glaucoma progression in 3D spectral domain optical coherence tomography optic nerve head images

    NASA Astrophysics Data System (ADS)

    Belghith, Akram; Bowd, Christopher; Weinreb, Robert N.; Zangwill, Linda M.

    2014-03-01

    Glaucoma is an ocular disease characterized by distinctive changes in the optic nerve head (ONH) and visual field. Glaucoma can strike without symptoms and causes blindness if it remains without treatment. Therefore, early disease detection is important so that treatment can be initiated and blindness prevented. In this context, important advances in technology for non-invasive imaging of the eye have been made providing quantitative tools to measure structural changes in ONH topography, an essential element for glaucoma detection and monitoring. 3D spectral domain optical coherence tomography (SD-OCT), an optical imaging technique, has been commonly used to discriminate glaucomatous from healthy subjects. In this paper, we present a new framework for detection of glaucoma progression using 3D SD-OCT images. In contrast to previous works that the retinal nerve fiber layer (RNFL) thickness measurement provided by commercially available spectral-domain optical coherence tomograph, we consider the whole 3D volume for change detection. To integrate a priori knowledge and in particular the spatial voxel dependency in the change detection map, we propose the use of the Markov Random Field to handle a such dependency. To accommodate the presence of false positive detection, the estimated change detection map is then used to classify a 3D SDOCT image into the "non-progressing" and "progressing" glaucoma classes, based on a fuzzy logic classifier. We compared the diagnostic performance of the proposed framework to existing methods of progression detection.

  13. Joint tracking, pose estimation, and target recognition using HRRR and track data: new results

    NASA Astrophysics Data System (ADS)

    Zajic, Tim; Rago, Constantino; Mahler, Ronald P. S.; Huff, Melvyn; Noviskey, Michael J.

    2001-08-01

    The work presented here is a continuation of research first reported in Mahler, et. Al. Our goal is a generalization of Bayesian filtering and estimation theory to the problem of multisensor, multitarget, multi-evidence unified joint detection, tracking and target identification. Our earlier efforts were focused on integrating the Statistical Features algorithm with a Bayesian nonlinear filter, allowing simultaneous determination of target position, velocity, pose and type via maximum a posteriori estimation. In this paper we continue to address the problem of target classification based on high range resolution radar signatures. While we continue to consider feature based techniques, as in StaF and our earlier work, instead of considering the location and magnitude of peaks in a signature as our features, we consider three alternative features. The features arise from applying either a Wavelet Decomposition, Principal Component Analysis or Linear Discriminant Analysis to the signature. We discuss briefly also, in the wavelet decomposition setting, the challenge of assigning a measure of uncertainty with a classification decision.

  14. CO2 mass estimation visible in time-lapse 3D seismic data from a saline aquifer and uncertainties

    NASA Astrophysics Data System (ADS)

    Ivanova, A.; Lueth, S.; Bergmann, P.; Ivandic, M.

    2014-12-01

    At Ketzin (Germany) the first European onshore pilot scale project for geological storage of CO2 was initiated in 2004. This project is multidisciplinary and includes 3D time-lapse seismic monitoring. A 3D pre-injection seismic survey was acquired in 2005. Then CO2 injection into a sandstone saline aquifer started at a depth of 650 m in 2008. A 1st 3D seismic repeat survey was acquired in 2009 after 22 kilotons had been injected. The imaged CO2 signature was concentrated around the injection well (200-300 m). A 2nd 3D seismic repeat survey was acquired in 2012 after 61 kilotons had been injected. The imaged CO2 signature further extended (100-200 m). The injection was terminated in 2013. Totally 67 kilotons of CO2 were injected. Time-lapse seismic processing, petrophysical data and geophysical logging on CO2 saturation have allowed for an estimate of the amount of CO2 visible in the seismic data. This estimate is dependent upon a choice of a number of parameters and contains a number of uncertainties. The main uncertainties are following. The constant reservoir porosity and CO2 density used for the estimation are probably an over-simplification since the reservoir is quite heterogeneous. May be velocity dispersion is present in the Ketzin reservoir rocks, but we do not consider it to be large enough that it could affect the mass of CO2 in our estimation. There are only a small number of direct petrophysical observations, providing a weak statistical basis for the determination of seismic velocities based on CO2 saturation and we have assumed that the petrophysical experiments were carried out on samples that are representative for the average properties of the whole reservoir. Finally, the most of the time delay values in the both 3D seismic repeat surveys within the amplitude anomaly are near the noise level of 1-2 ms, however a change of 1 ms in the time delay affects significantly the mass estimate, thus the choice of the time-delay cutoff is crucial. In spite

  15. Building continental-scale 3D subsurface layers in the Digital Crust project: constrained interpolation and uncertainty estimation.

    NASA Astrophysics Data System (ADS)

    Yulaeva, E.; Fan, Y.; Moosdorf, N.; Richard, S. M.; Bristol, S.; Peters, S. E.; Zaslavsky, I.; Ingebritsen, S.

    2015-12-01

    The Digital Crust EarthCube building block creates a framework for integrating disparate 3D/4D information from multiple sources into a comprehensive model of the structure and composition of the Earth's upper crust, and to demonstrate the utility of this model in several research scenarios. One of such scenarios is estimation of various crustal properties related to fluid dynamics (e.g. permeability and porosity) at each node of any arbitrary unstructured 3D grid to support continental-scale numerical models of fluid flow and transport. Starting from Macrostrat, an existing 4D database of 33,903 chronostratigraphic units, and employing GeoDeepDive, a software system for extracting structured information from unstructured documents, we construct 3D gridded fields of sediment/rock porosity, permeability and geochemistry for large sedimentary basins of North America, which will be used to improve our understanding of large-scale fluid flow, chemical weathering rates, and geochemical fluxes into the ocean. In this talk, we discuss the methods, data gaps (particularly in geologically complex terrain), and various physical and geological constraints on interpolation and uncertainty estimation.

  16. SU-E-J-01: 3D Fluoroscopic Image Estimation From Patient-Specific 4DCBCT-Based Motion Models

    SciTech Connect

    Dhou, S; Hurwitz, M; Lewis, J; Mishra, P

    2014-06-01

    Purpose: 3D motion modeling derived from 4DCT images, taken days or weeks before treatment, cannot reliably represent patient anatomy on the day of treatment. We develop a method to generate motion models based on 4DCBCT acquired at the time of treatment, and apply the model to estimate 3D time-varying images (referred to as 3D fluoroscopic images). Methods: Motion models are derived through deformable registration between each 4DCBCT phase, and principal component analysis (PCA) on the resulting displacement vector fields. 3D fluoroscopic images are estimated based on cone-beam projections simulating kV treatment imaging. PCA coefficients are optimized iteratively through comparison of these cone-beam projections and projections estimated based on the motion model. Digital phantoms reproducing ten patient motion trajectories, and a physical phantom with regular and irregular motion derived from measured patient trajectories, are used to evaluate the method in terms of tumor localization, and the global voxel intensity difference compared to ground truth. Results: Experiments included: 1) assuming no anatomic or positioning changes between 4DCT and treatment time; and 2) simulating positioning and tumor baseline shifts at the time of treatment compared to 4DCT acquisition. 4DCBCT were reconstructed from the anatomy as seen at treatment time. In case 1) the tumor localization error and the intensity differences in ten patient were smaller using 4DCT-based motion model, possible due to superior image quality. In case 2) the tumor localization error and intensity differences were 2.85 and 0.15 respectively, using 4DCT-based motion models, and 1.17 and 0.10 using 4DCBCT-based models. 4DCBCT performed better due to its ability to reproduce daily anatomical changes. Conclusion: The study showed an advantage of 4DCBCT-based motion models in the context of 3D fluoroscopic images estimation. Positioning and tumor baseline shift uncertainties were mitigated by the 4DCBCT

  17. A statistical approach to estimate the 3D size distribution of spheres from 2D size distributions

    USGS Publications Warehouse

    Kong, M.; Bhattacharya, R.N.; James, C.; Basu, A.

    2005-01-01

    Size distribution of rigidly embedded spheres in a groundmass is usually determined from measurements of the radii of the two-dimensional (2D) circular cross sections of the spheres in random flat planes of a sample, such as in thin sections or polished slabs. Several methods have been devised to find a simple factor to convert the mean of such 2D size distributions to the actual 3D mean size of the spheres without a consensus. We derive an entirely theoretical solution based on well-established probability laws and not constrained by limitations of absolute size, which indicates that the ratio of the means of measured 2D and estimated 3D grain size distribution should be r/4 (=.785). Actual 2D size distribution of the radii of submicron sized, pure Fe0 globules in lunar agglutinitic glass, determined from backscattered electron images, is tested to fit the gamma size distribution model better than the log-normal model. Numerical analysis of 2D size distributions of Fe0 globules in 9 lunar soils shows that the average mean of 2D/3D ratio is 0.84, which is very close to the theoretical value. These results converge with the ratio 0.8 that Hughes (1978) determined for millimeter-sized chondrules from empirical measurements. We recommend that a factor of 1.273 (reciprocal of 0.785) be used to convert the determined 2D mean size (radius or diameter) of a population of spheres to estimate their actual 3D size. ?? 2005 Geological Society of America.

  18. Real-time upper-body human pose estimation from depth data using Kalman filter for simulator

    NASA Astrophysics Data System (ADS)

    Lee, D.; Chi, S.; Park, C.; Yoon, H.; Kim, J.; Park, C. H.

    2014-08-01

    Recently, many studies show that an indoor horse riding exercise has a positive effect on promoting health and diet. However, if a rider has an incorrect posture, it will be the cause of back pain. In spite of this problem, there is only few research on analyzing rider's posture. Therefore, the purpose of this study is to estimate a rider pose from a depth image using the Asus's Xtion sensor in real time. In the experiments, we show the performance of our pose estimation algorithm in order to comparing the results between our joint estimation algorithm and ground truth data.

  19. Novel methods for estimating 3D distributions of radioactive isotopes in materials

    NASA Astrophysics Data System (ADS)

    Iwamoto, Y.; Kataoka, J.; Kishimoto, A.; Nishiyama, T.; Taya, T.; Okochi, H.; Ogata, H.; Yamamoto, S.

    2016-09-01

    In recent years, various gamma-ray visualization techniques, or gamma cameras, have been proposed. These techniques are extremely effective for identifying "hot spots" or regions where radioactive isotopes are accumulated. Examples of such would be nuclear-disaster-affected areas such as Fukushima or the vicinity of nuclear reactors. However, the images acquired with a gamma camera do not include distance information between radioactive isotopes and the camera, and hence are "degenerated" in the direction of the isotopes. Moreover, depth information in the images is lost when the isotopes are embedded in materials, such as water, sand, and concrete. Here, we propose two methods of obtaining depth information of radioactive isotopes embedded in materials by comparing (1) their spectra and (2) images of incident gamma rays scattered by the materials and direct gamma rays. In the first method, the spectra of radioactive isotopes and the ratios of scattered to direct gamma rays are obtained. We verify experimentally that the ratio increases with increasing depth, as predicted by simulations. Although the method using energy spectra has been studied for a long time, an advantage of our method is the use of low-energy (50-150 keV) photons as scattered gamma rays. In the second method, the spatial extent of images obtained for direct and scattered gamma rays is compared. By performing detailed Monte Carlo simulations using Geant4, we verify that the spatial extent of the position where gamma rays are scattered increases with increasing depth. To demonstrate this, we are developing various gamma cameras to compare low-energy (scattered) gamma-ray images with fully photo-absorbed gamma-ray images. We also demonstrate that the 3D reconstruction of isotopes/hotspots is possible with our proposed methods. These methods have potential applications in the medical fields, and in severe environments such as the nuclear-disaster-affected areas in Fukushima.

  20. Estimation of 3-D Cloud Effects on TOMS Satellite Retrieval of Surface UV Irradiance

    NASA Technical Reports Server (NTRS)

    Krotkov, Nickolay A.; Geogdzhayev, I.; Herman, J. R.

    1998-01-01

    To improve surface UV irradiance retrieval from the Total Ozone Mapping Spectrometer (TOMS) we simulate errors of the TOMS cloud correction algorithm for summertime broken cloud conditions. Cloud scenes (50 km by 50 km) are modeled by a normal random (Gaussian) field with a fixed lower boundary and conservative scattering. The model relates stochastic field characteristics with the cloud amount, mean cloud diameter and aspect ratio. Clouds are embedded into Rayleigh atmosphere with standard ozone profile. Radiative transfer calculations of the radiance at the top of the atmosphere and irradiance at the surface were performed using 3-D Monte Carlo (MC) code. The results are averaged over the satellite field of view on the surface (50 km by 50 km) and compared with TOMS predicted surface irradiance for the same scene reflectance. The TOMS algorithm assumes horizontally homogeneous Cl-type cloud between 3 km and 5.5 km. The effective optical depth is determined by fitting observed (MC) radiance at 380 nm. Having the same radiance at the satellite the homogeneous and broken cloud models predict different average irradiances at the surface. This is due to the differences in Bidirectional Reflection Distribution Function (BRDF) for homogeneous and broken cloud scenes with the same hemispherical albedo. For typical TOMS observational geometry at mid-latitudes the simulated single pixels errors may be as large as +/- 20%. Qualitatively these errors are due to the dominance of the non-horizontal cloud surfaces, which are not accounted for in the homogeneous cloud model. However, due to high variability of the real cloud shapes and types it is unclear how these single pixel errors would affect TOMS time-integrated UV exposure over extended periods (weeks to months) for different regions.

  1. Autonomous proximity operations using machine vision for trajectory control and pose estimation

    NASA Technical Reports Server (NTRS)

    Cleghorn, Timothy F.; Sternberg, Stanley R.

    1991-01-01

    A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.

  2. Suspect Height Estimation Using the Faro Focus(3D) Laser Scanner.

    PubMed

    Johnson, Monique; Liscio, Eugene

    2015-11-01

    At present, very little research has been devoted to investigating the ability of laser scanning technology to accurately measure height from surveillance video. The goal of this study was to test the accuracy of one particular laser scanner to estimate suspect height from video footage. The known heights of 10 individuals were measured using an anthropometer. The individuals were then recorded on video walking along a predetermined path in a simulated crime scene environment both with and without headwear. The difference between the known heights and the estimated heights obtained from the laser scanner software were compared using a one-way t-test. The height estimates obtained from the software were not significantly different from the known heights whether individuals were wearing headwear (p = 0.186) or not (p = 0.707). Thus, laser scanning is one technique that could potentially be used by investigators to determine suspect height from video footage.

  3. Guided wave-based J-integral estimation for dynamic stress intensity factors using 3D scanning laser Doppler vibrometry

    NASA Astrophysics Data System (ADS)

    Ayers, J.; Owens, C. T.; Liu, K. C.; Swenson, E.; Ghoshal, A.; Weiss, V.

    2013-01-01

    The application of guided waves to interrogate remote areas of structural components has been researched extensively in characterizing damage. However, there exists a sparsity of work in using piezoelectric transducer-generated guided waves as a method of assessing stress intensity factors (SIF). This quantitative information enables accurate estimation of the remaining life of metallic structures exhibiting cracks, such as military and commercial transport vehicles. The proposed full wavefield approach, based on 3D laser vibrometry and piezoelectric transducer-generated guided waves, provides a practical means for estimation of dynamic stress intensity factors (DSIF) through local strain energy mapping via the J-integral. Strain energies and traction vectors can be conveniently estimated from wavefield data recorded using 3D laser vibrometry, through interpolation and subsequent spatial differentiation of the response field. Upon estimation of the Jintegral, it is possible to obtain the corresponding DSIF terms. For this study, the experimental test matrix consists of aluminum plates with manufactured defects representing canonical elliptical crack geometries under uniaxial tension that are excited by surface mounted piezoelectric actuators. The defects' major to minor axes ratios vary from unity to approximately 133. Finite element simulations are compared to experimental results and the relative magnitudes of the J-integrals are examined.

  4. Leaf Area Index Estimation in Vineyards from Uav Hyperspectral Data, 2d Image Mosaics and 3d Canopy Surface Models

    NASA Astrophysics Data System (ADS)

    Kalisperakis, I.; Stentoumis, Ch.; Grammatikopoulos, L.; Karantzalos, K.

    2015-08-01

    The indirect estimation of leaf area index (LAI) in large spatial scales is crucial for several environmental and agricultural applications. To this end, in this paper, we compare and evaluate LAI estimation in vineyards from different UAV imaging datasets. In particular, canopy levels were estimated from i.e., (i) hyperspectral data, (ii) 2D RGB orthophotomosaics and (iii) 3D crop surface models. The computed canopy levels have been used to establish relationships with the measured LAI (ground truth) from several vines in Nemea, Greece. The overall evaluation indicated that the estimated canopy levels were correlated (r2 > 73%) with the in-situ, ground truth LAI measurements. As expected the lowest correlations were derived from the calculated greenness levels from the 2D RGB orthomosaics. The highest correlation rates were established with the hyperspectral canopy greenness and the 3D canopy surface models. For the later the accurate detection of canopy, soil and other materials in between the vine rows is required. All approaches tend to overestimate LAI in cases with sparse, weak, unhealthy plants and canopy.

  5. Estimation of vocal fold plane in 3D CT images for diagnosis of vocal fold abnormalities.

    PubMed

    Hewavitharanage, Sajini; Gubbi, Jayavardhana; Thyagarajan, Dominic; Lau, Ken; Palaniswami, Marimuthu

    2015-01-01

    Vocal folds are the key body structures that are responsible for phonation and regulating air movement into and out of lungs. Various vocal fold disorders may seriously impact the quality of life. When diagnosing vocal fold disorders, CT of the neck is the commonly used imaging method. However, vocal folds do not align with the normal axial plane of a neck and the plane containing vocal cords and arytenoids does vary during phonation. It is therefore important to generate an algorithm for detecting the actual plane containing vocal folds. In this paper, we propose a method to automatically estimate the vocal fold plane using vertebral column and anterior commissure localization. Gray-level thresholding, connected component analysis, rule based segmentation and unsupervised k-means clustering were used in the proposed algorithm. The anterior commissure segmentation method achieved an accuracy of 85%, a good estimate of the expert assessment. PMID:26736949

  6. Estimating the 3D pore size distribution of biopolymer networks from directionally biased data.

    PubMed

    Lang, Nadine R; Münster, Stefan; Metzner, Claus; Krauss, Patrick; Schürmann, Sebastian; Lange, Janina; Aifantis, Katerina E; Friedrich, Oliver; Fabry, Ben

    2013-11-01

    The pore size of biopolymer networks governs their mechanical properties and strongly impacts the behavior of embedded cells. Confocal reflection microscopy and second harmonic generation microscopy are widely used to image biopolymer networks; however, both techniques fail to resolve vertically oriented fibers. Here, we describe how such directionally biased data can be used to estimate the network pore size. We first determine the distribution of distances from random points in the fluid phase to the nearest fiber. This distribution follows a Rayleigh distribution, regardless of isotropy and data bias, and is fully described by a single parameter--the characteristic pore size of the network. The bias of the pore size estimate due to the missing fibers can be corrected by multiplication with the square root of the visible network fraction. We experimentally verify the validity of this approach by comparing our estimates with data obtained using confocal fluorescence microscopy, which represents the full structure of the network. As an important application, we investigate the pore size dependence of collagen and fibrin networks on protein concentration. We find that the pore size decreases with the square root of the concentration, consistent with a total fiber length that scales linearly with concentration. PMID:24209841

  7. Estimation of regeneration coverage in a temperate forest by 3D segmentation using airborne laser scanning data

    NASA Astrophysics Data System (ADS)

    Amiri, Nina; Yao, Wei; Heurich, Marco; Krzystek, Peter; Skidmore, Andrew K.

    2016-10-01

    Forest understory and regeneration are important factors in sustainable forest management. However, understanding their spatial distribution in multilayered forests requires accurate and continuously updated field data, which are difficult and time-consuming to obtain. Therefore, cost-efficient inventory methods are required, and airborne laser scanning (ALS) is a promising tool for obtaining such information. In this study, we examine a clustering-based 3D segmentation in combination with ALS data for regeneration coverage estimation in a multilayered temperate forest. The core of our method is a two-tiered segmentation of the 3D point clouds into segments associated with regeneration trees. First, small parts of trees (super-voxels) are constructed through mean shift clustering, a nonparametric procedure for finding the local maxima of a density function. In the second step, we form a graph based on the mean shift clusters and merge them into larger segments using the normalized cut algorithm. These segments are used to obtain regeneration coverage of the target plot. Results show that, based on validation data from field inventory and terrestrial laser scanning (TLS), our approach correctly estimates up to 70% of regeneration coverage across the plots with different properties, such as tree height and tree species. The proposed method is negatively impacted by the density of the overstory because of decreasing ground point density. In addition, the estimated coverage has a strong relationship with the overstory tree species composition.

  8. Estimation and 3-D modeling of seismic parameters for fluvial systems

    SciTech Connect

    Brown, R.L.; Levey, R.A.

    1994-12-31

    Borehole measurements of parameters related to seismic propagation (Vp, Vs, Qp and Qs) are seldom available at all the wells within an area of study. Well logs and other available data can be used along with certain results from laboratory measurements to predict seismic parameters at wells where these measurements are not available. Next, three dimensional interpolation techniques based upon geological constraints can then be used to estimate the spatial distribution of geophysical parameters within a given environment. The net product is a more realistic model of the distribution of geophysical parameters which can be used in the design of surface and borehole seismic methods for probing the reservoir.

  9. Automated voxelization of 3D atom probe data through kernel density estimation.

    PubMed

    Srinivasan, Srikant; Kaluskar, Kaustubh; Dumpala, Santoshrupa; Broderick, Scott; Rajan, Krishna

    2015-12-01

    Identifying nanoscale chemical features from atom probe tomography (APT) data routinely involves adjustment of voxel size as an input parameter, through visual supervision, making the final outcome user dependent, reliant on heuristic knowledge and potentially prone to error. This work utilizes Kernel density estimators to select an optimal voxel size in an unsupervised manner to perform feature selection, in particular targeting resolution of interfacial features and chemistries. The capability of this approach is demonstrated through analysis of the γ / γ' interface in a Ni-Al-Cr superalloy. PMID:25825028

  10. Real-time geometric scene estimation for RGBD images using a 3D box shape grammar

    NASA Astrophysics Data System (ADS)

    Willis, Andrew R.; Brink, Kevin M.

    2016-06-01

    This article describes a novel real-time algorithm for the purpose of extracting box-like structures from RGBD image data. In contrast to conventional approaches, the proposed algorithm includes two novel attributes: (1) it divides the geometric estimation procedure into subroutines having atomic incremental computational costs, and (2) it uses a generative "Block World" perceptual model that infers both concave and convex box elements from detection of primitive box substructures. The end result is an efficient geometry processing engine suitable for use in real-time embedded systems such as those on an UAVs where it is intended to be an integral component for robotic navigation and mapping applications.

  11. Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions

    PubMed Central

    Park, Yong-Lae; Elayaperumal, Santhi; Daniel, Bruce; Ryu, Seok Chang; Shin, Mihye; Savall, Joan; Black, Richard J.; Moslehi, Behzad; Cutkosky, Mark R.

    2015-01-01

    We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μm-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner. PMID:26405428

  12. Estimation of passive and active properties in the human heart using 3D tagged MRI.

    PubMed

    Asner, Liya; Hadjicharalambous, Myrianthi; Chabiniok, Radomir; Peresutti, Devis; Sammut, Eva; Wong, James; Carr-White, Gerald; Chowienczyk, Philip; Lee, Jack; King, Andrew; Smith, Nicolas; Razavi, Reza; Nordsletten, David

    2016-10-01

    Advances in medical imaging and image processing are paving the way for personalised cardiac biomechanical modelling. Models provide the capacity to relate kinematics to dynamics and-through patient-specific modelling-derived material parameters to underlying cardiac muscle pathologies. However, for clinical utility to be achieved, model-based analyses mandate robust model selection and parameterisation. In this paper, we introduce a patient-specific biomechanical model for the left ventricle aiming to balance model fidelity with parameter identifiability. Using non-invasive data and common clinical surrogates, we illustrate unique identifiability of passive and active parameters over the full cardiac cycle. Identifiability and accuracy of the estimates in the presence of controlled noise are verified with a number of in silico datasets. Unique parametrisation is then obtained for three datasets acquired in vivo. The model predictions show good agreement with the data extracted from the images providing a pipeline for personalised biomechanical analysis.

  13. 3D whiteboard: collaborative sketching with 3D-tracked smart phones

    NASA Astrophysics Data System (ADS)

    Lue, James; Schulze, Jürgen P.

    2014-02-01

    We present the results of our investigation of the feasibility of a new approach for collaborative drawing in 3D, based on Android smart phones. Our approach utilizes a number of fiduciary markers, placed in the working area where they can be seen by the smart phones' cameras, in order to estimate the pose of each phone in the room. Our prototype allows two users to draw 3D objects with their smart phones by moving their phones around in 3D space. For example, 3D lines are drawn by recording the path of the phone as it is moved around in 3D space, drawing line segments on the screen along the way. Each user can see the virtual drawing space on their smart phones' displays, as if the display was a window into this space. Besides lines, our prototype application also supports 3D geometry creation, geometry transformation operations, and it shows the location of the other user's phone.

  14. A computational model for estimating tumor margins in complementary tactile and 3D ultrasound images

    NASA Astrophysics Data System (ADS)

    Shamsil, Arefin; Escoto, Abelardo; Naish, Michael D.; Patel, Rajni V.

    2016-03-01

    Conventional surgical methods are effective for treating lung tumors; however, they impose high trauma and pain to patients. Minimally invasive surgery is a safer alternative as smaller incisions are required to reach the lung; however, it is challenging due to inadequate intraoperative tumor localization. To address this issue, a mechatronic palpation device was developed that incorporates tactile and ultrasound sensors capable of acquiring surface and cross-sectional images of palpated tissue. Initial work focused on tactile image segmentation and fusion of position-tracked tactile images, resulting in a reconstruction of the palpated surface to compute the spatial locations of underlying tumors. This paper presents a computational model capable of analyzing orthogonally-paired tactile and ultrasound images to compute the surface circumference and depth margins of a tumor. The framework also integrates an error compensation technique and an algebraic model to align all of the image pairs and to estimate the tumor depths within the tracked thickness of a palpated tissue. For validation, an ex vivo experimental study was conducted involving the complete palpation of 11 porcine liver tissues injected with iodine-agar tumors of varying sizes and shapes. The resulting tactile and ultrasound images were then processed using the proposed model to compute the tumor margins and compare them to fluoroscopy based physical measurements. The results show a good negative correlation (r = -0.783, p = 0.004) between the tumor surface margins and a good positive correlation (r = 0.743, p = 0.009) between the tumor depth margins.

  15. Comparison of parallel and spiral tagged MRI geometries in estimation of 3-D myocardial strains

    NASA Astrophysics Data System (ADS)

    Tustison, Nicholas J.; Amini, Amir A.

    2005-04-01

    Research involving the quantification of left ventricular myocardial strain from cardiac tagged magnetic resonance imaging (MRI) is extensive. Two different imaging geometries are commonly employed by these methodologies to extract longitudinal deformation. We refer to these imaging geometries as either parallel or spiral. In the spiral configuration, four long-axis tagged image slices which intersect along the long-axis of the left ventricle are collected and in the parallel configuration, contiguous tagged long-axis images spanning the width of the left ventricle between the lateral wall and the septum are collected. Despite the number of methodologies using either or both imaging configurations, to date, no comparison has been made to determine which geometry results in more accurate estimation of strains. Using previously published work in which left ventricular myocardial strain is calculated from 4-D anatomical NURBS models, we compare the strain calculated from these two imaging geometries in both simulated tagged MR images for which ground truth strain is available as well as in in vivo data. It is shown that strains calculated using the parallel imaging protocol are more accurate than that calculated using spiral protocol.

  16. Estimation of aortic valve leaflets from 3D CT images using local shape dictionaries and linear coding

    NASA Astrophysics Data System (ADS)

    Liang, Liang; Martin, Caitlin; Wang, Qian; Sun, Wei; Duncan, James

    2016-03-01

    Aortic valve (AV) disease is a significant cause of morbidity and mortality. The preferred treatment modality for severe AV disease is surgical resection and replacement of the native valve with either a mechanical or tissue prosthetic. In order to develop effective and long-lasting treatment methods, computational analyses, e.g., structural finite element (FE) and computational fluid dynamic simulations, are very effective for studying valve biomechanics. These computational analyses are based on mesh models of the aortic valve, which are usually constructed from 3D CT images though many hours of manual annotation, and therefore an automatic valve shape reconstruction method is desired. In this paper, we present a method for estimating the aortic valve shape from 3D cardiac CT images, which is represented by triangle meshes. We propose a pipeline for aortic valve shape estimation which includes novel algorithms for building local shape dictionaries and for building landmark detectors and curve detectors using local shape dictionaries. The method is evaluated on real patient image dataset using a leave-one-out approach and achieves an average accuracy of 0.69 mm. The work will facilitate automatic patient-specific computational modeling of the aortic valve.

  17. Landscape scale estimation of soil carbon stock using 3D modelling.

    PubMed

    Veronesi, F; Corstanje, R; Mayr, T

    2014-07-15

    Soil C is the largest pool of carbon in the terrestrial biosphere, and yet the processes of C accumulation, transformation and loss are poorly accounted for. This, in part, is due to the fact that soil C is not uniformly distributed through the soil depth profile and most current landscape level predictions of C do not adequately account the vertical distribution of soil C. In this study, we apply a method based on simple soil specific depth functions to map the soil C stock in three-dimensions at landscape scale. We used soil C and bulk density data from the Soil Survey for England and Wales to map an area in the West Midlands region of approximately 13,948 km(2). We applied a method which describes the variation through the soil profile and interpolates this across the landscape using well established soil drivers such as relief, land cover and geology. The results indicate that this mapping method can effectively reproduce the observed variation in the soil profiles samples. The mapping results were validated using cross validation and an independent validation. The cross-validation resulted in an R(2) of 36% for soil C and 44% for BULKD. These results are generally in line with previous validated studies. In addition, an independent validation was undertaken, comparing the predictions against the National Soil Inventory (NSI) dataset. The majority of the residuals of this validation are between ± 5% of soil C. This indicates high level of accuracy in replicating topsoil values. In addition, the results were compared to a previous study estimating the carbon stock of the UK. We discuss the implications of our results within the context of soil C loss factors such as erosion and the impact on regional C process models.

  18. Estimating the detectability of faults in 3D-seismic data - A valuable input to Induced Seismic Hazard Assessment (ISHA)

    NASA Astrophysics Data System (ADS)

    Goertz, A.; Kraft, T.; Wiemer, S.; Spada, M.

    2012-12-01

    In the past several years, some geotechnical operations that inject fluid into the deep subsurface, such as oil and gas development, waste disposal, and geothermal energy development, have been found or suspected to cause small to moderate sized earthquakes. In several cases the largest events occurred on previously unmapped faults, within or in close vicinity to the operated reservoirs. The obvious conclusion drawn from this finding, also expressed in most recently published best practice guidelines and recommendations, is to avoid injecting into faults. Yet, how certain can we be that all faults relevant to induced seismic hazard have been identified, even around well studied sites? Here we present a probabilistic approach to assess the capability of detecting faults by means of 3D seismic imaging. First, we populate a model reservoir with seed faults of random orientation and slip direction. Drawing random samples from a Gutenberg-Richter distribution, each seed fault is assigned a magnitude and corresponding size using standard scaling relations based on a circular rupture model. We then compute the minimum resolution of a 3D seismic survey for given acquisition parameters and frequency bandwidth. Assuming a random distribution of medium properties and distribution of image frequencies, we obtain a probability that a fault of a given size is detected, or respectively overlooked, by the 3D seismic. Weighting the initial Gutenberg-Richter fault size distribution with the probability of imaging a fault, we obtain a modified fault size distribution in the imaged volume from which we can constrain the maximum magnitude to be considered in the seismic hazard assessment of the operation. We can further quantify the value of information associated with the seismic image by comparing the expected insured value loss between the image-weighted and the unweighted hazard estimates.

  19. Ultra-low-cost 3D gaze estimation: an intuitive high information throughput compliment to direct brain-machine interfaces.

    PubMed

    Abbott, W W; Faisal, A A

    2012-08-01

    Eye movements are highly correlated with motor intentions and are often retained by patients with serious motor deficiencies. Despite this, eye tracking is not widely used as control interface for movement in impaired patients due to poor signal interpretation and lack of control flexibility. We propose that tracking the gaze position in 3D rather than 2D provides a considerably richer signal for human machine interfaces by allowing direct interaction with the environment rather than via computer displays. We demonstrate here that by using mass-produced video-game hardware, it is possible to produce an ultra-low-cost binocular eye-tracker with comparable performance to commercial systems, yet 800 times cheaper. Our head-mounted system has 30 USD material costs and operates at over 120 Hz sampling rate with a 0.5-1 degree of visual angle resolution. We perform 2D and 3D gaze estimation, controlling a real-time volumetric cursor essential for driving complex user interfaces. Our approach yields an information throughput of 43 bits s(-1), more than ten times that of invasive and semi-invasive brain-machine interfaces (BMIs) that are vastly more expensive. Unlike many BMIs our system yields effective real-time closed loop control of devices (10 ms latency), after just ten minutes of training, which we demonstrate through a novel BMI benchmark--the control of the video arcade game 'Pong'.

  20. Comparison of different approaches of estimating effective dose from reported exposure data in 3D imaging with interventional fluoroscopy systems

    NASA Astrophysics Data System (ADS)

    Svalkvist, Angelica; Hansson, Jonny; Bâth, Magnus

    2014-03-01

    Three-dimensional (3D) imaging with interventional fluoroscopy systems is today a common examination. The examination includes acquisition of two-dimensional projection images, used to reconstruct section images of the patient. The aim of the present study was to investigate the difference in resulting effective dose obtained using different levels of complexity in calculations of effective doses from these examinations. In the study the Siemens Artis Zeego interventional fluoroscopy system (Siemens Medical Solutions, Erlangen, Germany) was used. Images of anthropomorphic chest and pelvis phantoms were acquired. The exposure values obtained were used to calculate the resulting effective doses from the examinations, using the computer software PCXMC (STUK, Helsinki, Finland). The dose calculations were performed using three different methods: 1. using individual exposure values for each projection image, 2. using the mean tube voltage and the total DAP value, evenly distributed over the projection images, and 3. using the mean kV and the total DAP value, evenly distributed over smaller selection of projection images. The results revealed that the difference in resulting effective dose between the first two methods was smaller than 5%. When only a selection of projection images were used in the dose calculations the difference increased to over 10%. Given the uncertainties associated with the effective dose concept, the results indicate that dose calculations based on average exposure values distributed over a smaller selection of projection angles can provide reasonably accurate estimations of the radiation doses from 3D imaging using interventional fluoroscopy systems.

  1. Estimation of Precambrian basement topography in Central and Southeastern Wisconsin from 3D modeling of gravity and aeromagnetic data

    NASA Astrophysics Data System (ADS)

    Skalbeck, John D.; Koski, Adrian J.; Peterson, Matthew T.

    2014-07-01

    Increased concerns about groundwater resources in Wisconsin have brought about the need for better understanding of the subsurface geologic structure that leads to developing conceptual hydrogeologic models for numerical simulation of groundwater flow. Models are often based on sparse data from well logs usually located large distances apart and limited in depth. Model assumptions based on limited spatial data typically require simplification that may add uncertainty to the simulation results and the accuracy of a groundwater model. Three dimensional (3D) modeling of gravity and aeromagnetic data provides another tool for the groundwater modeler to better constrain the conceptual model of a hydrogeologic system. The area near the Waukesha Fault in southeastern Wisconsin provides an excellent research opportunity for our proposed approach because of the strong gravity and aeromagnetic anomalies associated with the fault, the apparent complexity in fault geometry, and uncertainty in Precambrian basement depth and structure. Fond du Lac County provides another opportunity to apply this approach because the Precambrian basement topography throughout the area is known to be very undulated and this uneven basement surface controls water well yields and creates zones of stagnant water. The results of the 3D modeling of gravity and aeromagnetic data provide a detailed estimation of the Precambrian basement topography in Fond Du Lac County and southeastern Wisconsin that may be useful in determining ground water flow and quality in this region.

  2. Ultra-low-cost 3D gaze estimation: an intuitive high information throughput compliment to direct brain-machine interfaces

    NASA Astrophysics Data System (ADS)

    Abbott, W. W.; Faisal, A. A.

    2012-08-01

    Eye movements are highly correlated with motor intentions and are often retained by patients with serious motor deficiencies. Despite this, eye tracking is not widely used as control interface for movement in impaired patients due to poor signal interpretation and lack of control flexibility. We propose that tracking the gaze position in 3D rather than 2D provides a considerably richer signal for human machine interfaces by allowing direct interaction with the environment rather than via computer displays. We demonstrate here that by using mass-produced video-game hardware, it is possible to produce an ultra-low-cost binocular eye-tracker with comparable performance to commercial systems, yet 800 times cheaper. Our head-mounted system has 30 USD material costs and operates at over 120 Hz sampling rate with a 0.5-1 degree of visual angle resolution. We perform 2D and 3D gaze estimation, controlling a real-time volumetric cursor essential for driving complex user interfaces. Our approach yields an information throughput of 43 bits s-1, more than ten times that of invasive and semi-invasive brain-machine interfaces (BMIs) that are vastly more expensive. Unlike many BMIs our system yields effective real-time closed loop control of devices (10 ms latency), after just ten minutes of training, which we demonstrate through a novel BMI benchmark—the control of the video arcade game ‘Pong’.

  3. Far and proximity maneuvers of a constellation of service satellites and autonomous pose estimation of customer satellite using machine vision

    NASA Astrophysics Data System (ADS)

    Arantes, Gilberto, Jr.; Marconi Rocco, Evandro; da Fonseca, Ijar M.; Theil, Stephan

    2010-05-01

    Space robotics has a substantial interest in achieving on-orbit satellite servicing operations autonomously, e.g. rendezvous and docking/berthing (RVD) with customer and malfunctioning satellites. An on-orbit servicing vehicle requires the ability to estimate the position and attitude in situations whenever the targets are uncooperative. Such situation comes up when the target is damaged. In this context, this work presents a robust autonomous pose system applied to RVD missions. Our approach is based on computer vision, using a single camera and some previous knowledge of the target, i.e. the customer spacecraft. A rendezvous analysis mission tool for autonomous service satellite has been developed and presented, for far maneuvers, e.g. distance above 1 km from the target, and close maneuvers. The far operations consist of orbit transfer using the Lambert formulation. The close operations include the inspection phase (during which the pose estimation is computed) and the final approach phase. Our approach is based on the Lambert problem for far maneuvers and the Hill equations are used to simulate and analyze the approaching and final trajectory between target and chase during the last phase of the rendezvous operation. A method for optimally estimating the relative orientation and position between camera system and target is presented in detail. The target is modelled as an assembly of points. The pose of the target is represented by dual quaternion in order to develop a simple quadratic error function in such a way that the pose estimation task becomes a least square minimization problem. The problem of pose is solved and some methods of non-linear square optimization (Newton, Newton-Gauss, and Levenberg-Marquard) are compared and discussed in terms of accuracy and computational cost.

  4. Voxel-based registration of simulated and real patient CBCT data for accurate dental implant pose estimation

    NASA Astrophysics Data System (ADS)

    Moreira, António H. J.; Queirós, Sandro; Morais, Pedro; Rodrigues, Nuno F.; Correia, André Ricardo; Fernandes, Valter; Pinho, A. C. M.; Fonseca, Jaime C.; Vilaça, João. L.

    2015-03-01

    The success of dental implant-supported prosthesis is directly linked to the accuracy obtained during implant's pose estimation (position and orientation). Although traditional impression techniques and recent digital acquisition methods are acceptably accurate, a simultaneously fast, accurate and operator-independent methodology is still lacking. Hereto, an image-based framework is proposed to estimate the patient-specific implant's pose using cone-beam computed tomography (CBCT) and prior knowledge of implanted model. The pose estimation is accomplished in a threestep approach: (1) a region-of-interest is extracted from the CBCT data using 2 operator-defined points at the implant's main axis; (2) a simulated CBCT volume of the known implanted model is generated through Feldkamp-Davis-Kress reconstruction and coarsely aligned to the defined axis; and (3) a voxel-based rigid registration is performed to optimally align both patient and simulated CBCT data, extracting the implant's pose from the optimal transformation. Three experiments were performed to evaluate the framework: (1) an in silico study using 48 implants distributed through 12 tridimensional synthetic mandibular models; (2) an in vitro study using an artificial mandible with 2 dental implants acquired with an i-CAT system; and (3) two clinical case studies. The results shown positional errors of 67+/-34μm and 108μm, and angular misfits of 0.15+/-0.08° and 1.4°, for experiment 1 and 2, respectively. Moreover, in experiment 3, visual assessment of clinical data results shown a coherent alignment of the reference implant. Overall, a novel image-based framework for implants' pose estimation from CBCT data was proposed, showing accurate results in agreement with dental prosthesis modelling requirements.

  5. Extension of the Optimized Virtual Fields Method to estimate viscoelastic material parameters from 3D dynamic displacement fields

    PubMed Central

    Connesson, N.; Clayton, E.H.; Bayly, P.V.; Pierron, F.

    2015-01-01

    In-vivo measurement of the mechanical properties of soft tissues is essential to provide necessary data in biomechanics and medicine (early cancer diagnosis, study of traumatic brain injuries, etc.). Imaging techniques such as Magnetic Resonance Elastography (MRE) can provide 3D displacement maps in the bulk and in vivo, from which, using inverse methods, it is then possible to identify some mechanical parameters of the tissues (stiffness, damping etc.). The main difficulties in these inverse identification procedures consist in dealing with the pressure waves contained in the data and with the experimental noise perturbing the spatial derivatives required during the processing. The Optimized Virtual Fields Method (OVFM) [1], designed to be robust to noise, present natural and rigorous solution to deal with these problems. The OVFM has been adapted to identify material parameter maps from Magnetic Resonance Elastography (MRE) data consisting of 3-dimensional displacement fields in harmonically loaded soft materials. In this work, the method has been developed to identify elastic and viscoelastic models. The OVFM sensitivity to spatial resolution and to noise has been studied by analyzing 3D analytically simulated displacement data. This study evaluates and describes the OVFM identification performances: different biases on the identified parameters are induced by the spatial resolution and experimental noise. The well-known identification problems in the case of quasi-incompressible materials also find a natural solution in the OVFM. Moreover, an a posteriori criterion to estimate the local identification quality is proposed. The identification results obtained on actual experiments are briefly presented. PMID:26146416

  6. Dosimetry in radiotherapy using a-Si EPIDs: Systems, methods, and applications focusing on 3D patient dose estimation

    NASA Astrophysics Data System (ADS)

    McCurdy, B. M. C.

    2013-06-01

    An overview is provided of the use of amorphous silicon electronic portal imaging devices (EPIDs) for dosimetric purposes in radiation therapy, focusing on 3D patient dose estimation. EPIDs were originally developed to provide on-treatment radiological imaging to assist with patient setup, but there has also been a natural interest in using them as dosimeters since they use the megavoltage therapy beam to form images. The current generation of clinically available EPID technology, amorphous-silicon (a-Si) flat panel imagers, possess many characteristics that make them much better suited to dosimetric applications than earlier EPID technologies. Features such as linearity with dose/dose rate, high spatial resolution, realtime capability, minimal optical glare, and digital operation combine with the convenience of a compact, retractable detector system directly mounted on the linear accelerator to provide a system that is well-suited to dosimetric applications. This review will discuss clinically available a-Si EPID systems, highlighting dosimetric characteristics and remaining limitations. Methods for using EPIDs in dosimetry applications will be discussed. Dosimetric applications using a-Si EPIDs to estimate three-dimensional dose in the patient during treatment will be overviewed. Clinics throughout the world are implementing increasingly complex treatments such as dynamic intensity modulated radiation therapy and volumetric modulated arc therapy, as well as specialized treatment techniques using large doses per fraction and short treatment courses (ie. hypofractionation and stereotactic radiosurgery). These factors drive the continued strong interest in using EPIDs as dosimeters for patient treatment verification.

  7. Baseline Face Detection, Head Pose Estimation, and Coarse Direction Detection for Facial Data in the SHRP2 Naturalistic Driving Study

    SciTech Connect

    Paone, Jeffrey R; Bolme, David S; Ferrell, Regina Kay; Aykac, Deniz; Karnowski, Thomas Paul

    2015-01-01

    Keeping a driver focused on the road is one of the most critical steps in insuring the safe operation of a vehicle. The Strategic Highway Research Program 2 (SHRP2) has over 3,100 recorded videos of volunteer drivers during a period of 2 years. This extensive naturalistic driving study (NDS) contains over one million hours of video and associated data that could aid safety researchers in understanding where the driver s attention is focused. Manual analysis of this data is infeasible, therefore efforts are underway to develop automated feature extraction algorithms to process and characterize the data. The real-world nature, volume, and acquisition conditions are unmatched in the transportation community, but there are also challenges because the data has relatively low resolution, high compression rates, and differing illumination conditions. A smaller dataset, the head pose validation study, is available which used the same recording equipment as SHRP2 but is more easily accessible with less privacy constraints. In this work we report initial head pose accuracy using commercial and open source face pose estimation algorithms on the head pose validation data set.

  8. Volume of myocardium perfused by coronary artery branches as estimated from 3D micro-CT images of rat hearts

    NASA Astrophysics Data System (ADS)

    Lund, Patricia E.; Naessens, Lauren C.; Seaman, Catherine A.; Reyes, Denise A.; Ritman, Erik L.

    2000-04-01

    Average myocardial perfusion is remarkably consistent throughout the heart wall under resting conditions and the velocity of blood flow is fairly reproducible from artery to artery. Based on these observations, and the fact that flow through an artery is the product of arterial cross-sectional area and blood flow velocity, we would expect the volume of myocardium perfused to be proportional to the cross-sectional area of the coronary artery perfusing that volume of myocardium. This relationship has been confirmed by others in pigs, dogs and humans. To test the body size-dependence of this relationship we used the hearts from rats, 3 through 25 weeks of age. The coronary arteries were infused with radiopaque microfil polymer and the hearts scanned in a micro- CT scanner. Using these 3D images we measured the volume of myocardium and the arterial cross-sectional area of the artery that perfused that volume of myocardium. The average constant of proportionality was found to be 0.15 +/- 0.08 cm3/mm2. Our data showed no statistically different estimates of the constant of proportionality in the rat hearts of different ages nor between the left and right coronary arteries. This constant is smaller than that observed in large animals and humans, but this difference is consistent with the body mass-dependence on metabolic rate.

  9. Psychophysical estimation of 3D virtual depth of united, synthesized and mixed type stereograms by means of simultaneous observation

    NASA Astrophysics Data System (ADS)

    Iizuka, Masayuki; Ookuma, Yoshio; Nakashima, Yoshio; Takamatsu, Mamoru

    2007-02-01

    Recently, many types of computer-generated stereograms (CGSs), i.e. various works of art produced by using computer are published for hobby and entertainment. It is said that activation of brain, improvement of visual eye sight, decrease of mental stress, effect of healing, etc. are expected when properly appreciating a kind of CGS as the stereoscopic view. There is a lot of information on the internet web site concerning all aspects of stereogram history, science, social organization, various types of stereograms, and free software for generating CGS. Generally, the CGS is classified into nine types: (1) stereo pair type, (2) anaglyph type, (3) repeated pattern type, (4) embedded type, (5) random dot stereogram (RDS), (6) single image stereogram (SIS), (7) united stereogram, (8) synthesized stereogram, and (9) mixed or multiple type stereogram. Each stereogram has advantages and disadvantages when viewing directly the stereogram with two eyes by training with a little patience. In this study, the characteristics of united, synthesized and mixed type stereograms, the role and composition of depth map image (DMI) called hidden image or picture, and the effect of irregular shift of texture pattern image called wall paper are discussed from the viewpoint of psychophysical estimation of 3D virtual depth and visual quality of virtual image by means of simultaneous observation in the case of the parallel viewing method.

  10. Estimation of water saturated permeability of soils, using 3D soil tomographic images and pore-level transport phenomena modelling

    NASA Astrophysics Data System (ADS)

    Lamorski, Krzysztof; Sławiński, Cezary; Barna, Gyöngyi

    2014-05-01

    There are some important macroscopic properties of the soil porous media such as: saturated permeability and water retention characteristics. These soil characteristics are very important as they determine soil transport processes and are commonly used as a parameters of general models of soil transport processes used extensively for scientific developments and engineering practise. These characteristics are usually measured or estimated using some statistical or phenomenological modelling, i.e. pedotransfer functions. On the physical basis, saturated soil permeability arises from physical transport processes occurring at the pore level. Current progress in modelling techniques, computational methods and X-ray micro-tomographic technology gives opportunity to use direct methods of physical modelling for pore level transport processes. Physically valid description of transport processes at micro-scale based on Navier-Stokes type modelling approach gives chance to recover macroscopic porous medium characteristics from micro-flow modelling. Water microflow transport processes occurring at the pore level are dependent on the microstructure of porous body and interactions between the fluid and the medium. In case of soils, i.e. the medium there exist relatively big pores in which water can move easily but also finer pores are present in which water transport processes are dominated by strong interactions between the medium and the fluid - full physical description of these phenomena is a challenge. Ten samples of different soils were scanned using X-ray computational microtomograph. The diameter of samples was 5 mm. The voxel resolution of CT scan was 2.5 µm. Resulting 3D soil samples images were used for reconstruction of the pore space for further modelling. 3D image threshholding was made to determine the soil grain surface. This surface was triangulated and used for computational mesh construction for the pore space. Numerical modelling of water flow through the

  11. AN INFORMATIC APPROACH TO ESTIMATING ECOLOGICAL RISKS POSED BY PHARMACEUTICAL USE

    EPA Science Inventory

    A new method for estimating risks of human prescription pharmaceuticals based on information found in regulatory filings as well as scientific and trade literature is described in a presentation at the Pharmaceuticals in the Environment Workshop in Las Vegas, NV, August 23-25, 20...

  12. Robust Vision-Based Pose Estimation Algorithm for AN Uav with Known Gravity Vector

    NASA Astrophysics Data System (ADS)

    Kniaz, V. V.

    2016-06-01

    Accurate estimation of camera external orientation with respect to a known object is one of the central problems in photogrammetry and computer vision. In recent years this problem is gaining an increasing attention in the field of UAV autonomous flight. Such application requires a real-time performance and robustness of the external orientation estimation algorithm. The accuracy of the solution is strongly dependent on the number of reference points visible on the given image. The problem only has an analytical solution if 3 or more reference points are visible. However, in limited visibility conditions it is often needed to perform external orientation with only 2 visible reference points. In such case the solution could be found if the gravity vector direction in the camera coordinate system is known. A number of algorithms for external orientation estimation for the case of 2 known reference points and a gravity vector were developed to date. Most of these algorithms provide analytical solution in the form of polynomial equation that is subject to large errors in the case of complex reference points configurations. This paper is focused on the development of a new computationally effective and robust algorithm for external orientation based on positions of 2 known reference points and a gravity vector. The algorithm implementation for guidance of a Parrot AR.Drone 2.0 micro-UAV is discussed. The experimental evaluation of the algorithm proved its computational efficiency and robustness against errors in reference points positions and complex configurations.

  13. Advances in 3D soil mapping and water content estimation using multi-channel ground-penetrating radar

    NASA Astrophysics Data System (ADS)

    Moysey, S. M.

    2011-12-01

    Multi-channel ground-penetrating radar systems have recently become widely available, thereby opening new possibilities for shallow imaging of the subsurface. One advantage of these systems is that they can significantly reduce survey times by simultaneously collecting multiple lines of GPR reflection data. As a result, it is becoming more practical to complete 3D surveys - particularly in situations where the subsurface undergoes rapid changes, e.g., when monitoring infiltration and redistribution of water in soils. While 3D and 4D surveys can provide a degree of clarity that significantly improves interpretation of the subsurface, an even more powerful feature of the new multi-channel systems for hydrologists is their ability to collect data using multiple antenna offsets. Central mid-point (CMP) surveys have been widely used to estimate radar wave velocities, which can be related to water contents, by sequentially increasing the distance, i.e., offset, between the source and receiver antennas. This process is highly labor intensive using single-channel systems and therefore such surveys are often only performed at a few locations at any given site. In contrast, with multi-channel GPR systems it is possible to physically arrange an array of antennas at different offsets, such that a CMP-style survey is performed at every point along a radar transect. It is then possible to process this data to obtain detailed maps of wave velocity with a horizontal resolution on the order of centimeters. In this talk I review concepts underlying multi-channel GPR imaging with an emphasis on multi-offset profiling for water content estimation. Numerical simulations are used to provide examples that illustrate situations where multi-offset GPR profiling is likely to be successful, with an emphasis on considering how issues like noise, soil heterogeneity, vertical variations in water content and weak reflection returns affect algorithms for automated analysis of the data. Overall

  14. Estimation of bisphenol A-Human toxicity by 3D cell culture arrays, high throughput alternatives to animal tests.

    PubMed

    Lee, Dong Woo; Oh, Woo-Yeon; Yi, Sang Hyun; Ku, Bosung; Lee, Moo-Yeal; Cho, Yoon Hee; Yang, Mihi

    2016-09-30

    Bisphenol A (BPA) has been widely used for manufacturing polycarbonate plastics and epoxy resins and has been extensively tested in animals to predict human toxicity. In order to reduce the use of animals for toxicity assessment and provide further accurate information on BPA toxicity in humans, we encapsulated Hep3B human hepatoma cells in alginate and cultured them in three dimensions (3D) on a micropillar chip coupled to a panel of metabolic enzymes on a microwell chip. As a result, we were able to assess the toxicity of BPA under various metabolic enzyme conditions using a high-throughput and micro assay; sample volumes were nearly 2,000 times less than that required for a 96-well plate. We applied a total of 28 different enzymes to each chip, including 10 cytochrome P450s (CYP450s), 10 UDP-glycosyltransferases (UGTs), 3 sulfotransferases (SULTs), alcohol dehydrogenase (ADH), and aldehyde dehydrogenase 2 (ALDH2). Phase I enzyme mixtures, phase II enzyme mixtures, and a combination of phase I and phase II enzymes were also applied to the chip. BPA toxicity was higher in samples containing CYP2E1 than controls, which contained no enzymes (IC50, 184±16μM and 270±25.8μM, respectively, p<0.01). However, BPA-induced toxicity was alleviated in the presence of ADH (IC50, 337±17.9μM), ALDH2 (335±13.9μM), and SULT1E1 (318±17.7μM) (p<0.05). CYP2E1-mediated cytotoxicity was confirmed by quantifying unmetabolized BPA using HPLC/FD. Therefore, we suggest the present micropillar/microwell chip platform as an effective alternative to animal testing for estimating BPA toxicity via human metabolic systems. PMID:27491884

  15. Potential Geophysical Field Transformations and Combined 3D Modelling for Estimation the Seismic Site Effects on Example of Israel

    NASA Astrophysics Data System (ADS)

    Eppelbaum, Lev; Meirova, Tatiana

    2015-04-01

    , EGU2014-2424, Vienna, Austria, 1-5. Eppelbaum, L.V. and Katz, Y.I., 2014b. First Maps of Mesozoic and Cenozoic Structural-Sedimentation Floors of the Easternmost Mediterranean and their Relationship with the Deep Geophysical-Geological Zonation. Proceed. of the 19th Intern. Congress of Sedimentologists, Geneva, Switzerland, 1-3. Eppelbaum, L.V. and Katz, Yu.I., 2015a. Newly Developed Paleomagnetic Map of the Easternmost Mediterranean Unmasks Geodynamic History of this Region. Central European Jour. of Geosciences, 6, No. 4 (in Press). Eppelbaum, L.V. and Katz, Yu.I., 2015b. Application of Integrated Geological-Geophysical Analysis for Development of Paleomagnetic Maps of the Easternmost Mediterranean. In: (Eppelbaum L., Ed.), New Developments in Paleomagnetism Research, Nova Publisher, NY (in Press). Eppelbaum, L.V. and Khesin, B.E., 2004. Advanced 3-D modelling of gravity field unmasks reserves of a pyrite-polymetallic deposit: A case study from the Greater Caucasus. First Break, 22, No. 11, 53-56. Eppelbaum, L.V., Nikolaev, A.V. and Katz, Y.I., 2014. Space location of the Kiama paleomagnetic hyperzone of inverse polarity in the crust of the eastern Mediterranean. Doklady Earth Sciences (Springer), 457, No. 6, 710-714. Haase, J.S., Park, C.H., Nowack, R.L. and Hill, J.R., 2010. Probabilistic seismic hazard estimates incorporating site effects - An example from Indiana, U.S.A. Environmental and Engineering Geoscience, 16, No. 4, 369-388. Hough, S.E., Borcherdt, R. D., Friberg, P. A., Busby, R., Field, E. and Jacob, K. N., 1990. The role of sediment-induced amplification in the collapse of the Nimitz freeway. Nature, 344, 853-855. Khesin, B.E. Alexeyev, V.V. and Eppelbaum, L.V., 1996. Interpretation of Geophysical Fields in Complicated Environments. Kluwer Academic Publ., Ser.: Advanced Appr. in Geophysics, Dordrecht - London - Boston. Klokočník, J., Kostelecký, J., Eppelbaum, L. and Bezděk, A., 2014. Gravity Disturbances, the Marussi Tensor, Invariants and

  16. 3-D rigid body tracking using vision and depth sensors.

    PubMed

    Gedik, O Serdar; Alatan, A Aydn

    2013-10-01

    In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes. PMID:23955795

  17. 3-D rigid body tracking using vision and depth sensors.

    PubMed

    Gedik, O Serdar; Alatan, A Aydn

    2013-10-01

    In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes.

  18. Corrections to traditional methods of verifying tangential-breast 3D monitor-unit calculations: use of an equivalent triangle to estimate effective fields.

    PubMed

    Prado, Karl L; Kirsner, Steven M; Erice, Rolly C

    2003-01-01

    This paper describes an innovative method for correctly estimating the effective field size of tangential-breast fields. The method uses an "equivalent triangle" to verify intact breast tangential field monitor-unit settings calculated by a 3D planning system to within 2%. The effects on verification calculations of loss of full scatter due to beam oblique incidence, proximity to field boundaries, and reduced scattering volumes are handled properly. The methodology is validated by comparing calculations performed by the 3D planning system with the respective verification estimates. The accuracy of this technique is established for dose calculations both with and without heterogeneity corrections.

  19. 3D face analysis for demographic biometrics

    SciTech Connect

    Tokola, Ryan A; Mikkilineni, Aravind K; Boehnen, Chris Bensing

    2015-01-01

    Despite being increasingly easy to acquire, 3D data is rarely used for face-based biometrics applications beyond identification. Recent work in image-based demographic biometrics has enjoyed much success, but these approaches suffer from the well-known limitations of 2D representations, particularly variations in illumination, texture, and pose, as well as a fundamental inability to describe 3D shape. This paper shows that simple 3D shape features in a face-based coordinate system are capable of representing many biometric attributes without problem-specific models or specialized domain knowledge. The same feature vector achieves impressive results for problems as diverse as age estimation, gender classification, and race classification.

  20. Estimating 3D variation in active-layer thickness beneath arctic streams using ground-penetrating radar

    USGS Publications Warehouse

    Brosten, T.R.; Bradford, J.H.; McNamara, J.P.; Gooseff, M.N.; Zarnetske, J.P.; Bowden, W.B.; Johnston, M.E.

    2009-01-01

    We acquired three-dimensional (3D) ground-penetrating radar (GPR) data across three stream sites on the North Slope, AK, in August 2005, to investigate the dependence of thaw depth on channel morphology. Data were migrated with mean velocities derived from multi-offset GPR profiles collected across a stream section within each of the 3D survey areas. GPR data interpretations from the alluvial-lined stream site illustrate greater thaw depths beneath riffle and gravel bar features relative to neighboring pool features. The peat-lined stream sites indicate the opposite; greater thaw depths beneath pools and shallower thaw beneath the connecting runs. Results provide detailed 3D geometry of active-layer thaw depths that can support hydrological studies seeking to quantify transport and biogeochemical processes that occur within the hyporheic zone.

  1. Application of unscented Kalman filter for robust pose estimation in image-guided surgery

    NASA Astrophysics Data System (ADS)

    Vaccarella, Alberto; De Momi, Elena; Valenti, Marta; Ferrigno, Giancarlo; Enquobahrie, Andinet

    2012-02-01

    Image-guided surgery (IGS) allows clinicians to view current, intra-operative scenes superimposed on preoperative images (typically MRI or CT scans). IGS systems use localization systems to track and visualize surgical tools overlaid on top of preoperative images of the patient during surgery. The most commonly used localization systems in the Operating Rooms (OR) are optical tracking systems (OTS) due to their ease of use and cost effectiveness. However, OTS' suffer from the major drawback of line-of-sight requirements. State space approaches based on different implementations of the Kalman filter have recently been investigated in order to compensate for short line-of-sight occlusion. However, the proposed parameterizations for the rigid body orientation suffer from singularities at certain values of rotation angles. The purpose of this work is to develop a quaternion-based Unscented Kalman Filter (UKF) for robust optical tracking of both position and orientation of surgical tools in order to compensate marker occlusion issues. This paper presents preliminary results towards a Kalman-based Sensor Management Engine (SME). The engine will filter and fuse multimodal tracking streams of data. This work was motivated by our experience working in robot-based applications for keyhole neurosurgery (ROBOCAST project). The algorithm was evaluated using real data from NDI Polaris tracker. The results show that our estimation technique is able to compensate for marker occlusion with a maximum error of 2.5° for orientation and 2.36 mm for position. The proposed approach will be useful in over-crowded state-of-the-art ORs where achieving continuous visibility of all tracked objects will be difficult.

  2. Phase-Accuracy Comparisons and Improved Far-Field Estimates for 3-D Edge Elements on Tetrahedral Meshes

    NASA Astrophysics Data System (ADS)

    Monk, Peter; Parrott, Kevin

    2001-07-01

    Edge-element methods have proved very effective for 3-D electromagnetic computations and are widely used on unstructured meshes. However, the accuracy of standard edge elements can be criticised because of their low order. This paper analyses discrete dispersion relations together with numerical propagation accuracy to determine the effect of tetrahedral shape on the phase accuracy of standard 3-D edge-element approximations in comparison to other methods. Scattering computations for the sphere obtained with edge elements are compared with results obtained with vertex elements, and a new formulation of the far-field integral approximations for use with edge elements is shown to give improved cross sections over conventional formulations.

  3. Estimating the risk of cattle exposure to tuberculosis posed by wild deer relative to badgers in England and Wales.

    PubMed

    Ward, Alastair I; Smith, Graham C; Etherington, Thomas R; Delahay, Richard J

    2009-10-01

    Wild deer populations in Great Britain are expanding in range and probably in numbers, and relatively high prevalence of bovine tuberculosis (bTB, caused by infection with Mycobacterium bovis) in deer occurs locally in parts of southwest England. To evaluate the M. bovis exposure risk posed to cattle by wild deer relative to badgers in England and Wales, we constructed and parameterized a quantitative risk model with the use of information from the literature (on deer densities, activity patterns, bTB epidemiology, and pathology) and contemporary data on deer, cattle, and badger (Meles meles) distribution and abundance. The median relative risk score for each of the four deer species studied--red (Cervus elaphus), fallow (Dama dama), and roe (Capreolus capreolus) deer, and muntjac (Muntiacus reevesi)--was lower than unity (the relative risk set for badgers, the putative main wildlife reservoir of M. bovis in England and Wales). However, the 95th percentiles associated with risk estimates were large, and the upper limits for all four deer species exceeded unity. Although M. bovis exposure risks to cattle from deer at pasture are likely to be lower than those from badgers across most areas of England and Wales where cattle are affected by bTB because these areas coincide with high-density badger populations but not high-density deer populations, we predict the presence of localized areas where relative risks posed by deer may be considerable. Moreover, wherever deer are infected, risks to cattle may be additive to those posed by badgers. There are considerable knowledge gaps associated with bTB in deer, badgers, and cattle, and data available for model parameterization were generally of low quality and high variability, and consequently model output were subject to some uncertainty. Improved estimates of the proportion of time that deer of each species spend at pasture, the likelihood and magnitude of M. bovis excretion, and local badger and deer densities appear

  4. Large-scale three-dimensional measurement via combining 3D scanner and laser rangefinder.

    PubMed

    Shi, Jinlong; Sun, Zhengxing; Bai, Suqin

    2015-04-01

    This paper presents a three-dimensional (3D) measurement method of large-scale objects by integrating a 3D scanner and a laser rangefinder. The 3D scanner, used to perform partial section measurement, is fixed on a robotic arm which can slide on a guide rail. The laser rangefinder, used to compute poses of the 3D scanner, is rigidly connected to the 3D scanner. During large-scale measurement, after measuring a partial section, the 3D scanner is straightly moved forward along the guide rail to measure another section. Meanwhile, the poses of the 3D scanner are estimated according to its moved distance for different partial section alignments. The performance and effectiveness are evaluated by experiments. PMID:25967194

  5. Mechanistic and quantitative studies of bystander response in 3D tissues for low-dose radiation risk estimations

    SciTech Connect

    Amundson, Sally A.

    2013-06-12

    We have used the MatTek 3-dimensional human skin model to study the gene expression response of a 3D model to low and high dose low LET radiation, and to study the radiation bystander effect as a function of distance from the site of irradiation with either alpha particles or low LET protons. We have found response pathways that appear to be specific for low dose exposures, that could not have been predicted from high dose studies. We also report the time and distance dependent expression of a large number of genes in bystander tissue. the bystander response in 3D tissues showed many similarities to that described previously in 2D cultured cells, but also showed some differences.

  6. Simultaneous image segmentation and medial structure estimation: application to 2D and 3D vessel tree extraction

    NASA Astrophysics Data System (ADS)

    Makram-Ebeid, Sherif; Stawiaski, Jean; Pizaine, Guillaume

    2011-03-01

    We propose a variational approach which combines automatic segmentation and medial structure extraction in a single computationally efficient algorithm. In this paper, we apply our approach to the analysis of vessels in 2D X-ray angiography and 3D X-ray rotational angiography of the brain. Other variational methods proposed in the literature encode the medial structure of vessel trees as a skeleton with associated vessel radii. In contrast, our method provides a dense smooth level set map which sign provides the segmentation. The ridges of this map define the segmented regions skeleton. The differential structure of the smooth map (in particular the Hessian) allows the discrimination between tubular and other structures. In 3D, both circular and non-circular tubular cross-sections and tubular branching can be handled conveniently. This algorithm allows accurate segmentation of complex vessel structures. It also provides key tools for extracting anatomically labeled vessel tree graphs and for dealing with challenging issues like kissing vessel discrimination and separation of entangled 3D vessel trees.

  7. Extended Kalman Filter-Based Methods for Pose Estimation Using Visual, Inertial and Magnetic Sensors: Comparative Analysis and Performance Evaluation

    PubMed Central

    Ligorio, Gabriele; Sabatini, Angelo Maria

    2013-01-01

    In this paper measurements from a monocular vision system are fused with inertial/magnetic measurements from an Inertial Measurement Unit (IMU) rigidly connected to the camera. Two Extended Kalman filters (EKFs) were developed to estimate the pose of the IMU/camera sensor moving relative to a rigid scene (ego-motion), based on a set of fiducials. The two filters were identical as for the state equation and the measurement equations of the inertial/magnetic sensors. The DLT-based EKF exploited visual estimates of the ego-motion using a variant of the Direct Linear Transformation (DLT) method; the error-driven EKF exploited pseudo-measurements based on the projection errors from measured two-dimensional point features to the corresponding three-dimensional fiducials. The two filters were off-line analyzed in different experimental conditions and compared to a purely IMU-based EKF used for estimating the orientation of the IMU/camera sensor. The DLT-based EKF was more accurate than the error-driven EKF, less robust against loss of visual features, and equivalent in terms of computational complexity. Orientation root mean square errors (RMSEs) of 1° (1.5°), and position RMSEs of 3.5 mm (10 mm) were achieved in our experiments by the DLT-based EKF (error-driven EKF); by contrast, orientation RMSEs of 1.6° were achieved by the purely IMU-based EKF. PMID:23385409

  8. Alignment of continuous video onto 3D point clouds.

    PubMed

    Zhao, Wenyi; Nister, David; Hsu, Steve

    2005-08-01

    We propose a general framework for aligning continuous (oblique) video onto 3D sensor data. We align a point cloud computed from the video onto the point cloud directly obtained from a 3D sensor. This is in contrast to existing techniques where the 2D images are aligned to a 3D model derived from the 3D sensor data. Using point clouds enables the alignment for scenes full of objects that are difficult to model; for example, trees. To compute 3D point clouds from video, motion stereo is used along with a state-of-the-art algorithm for camera pose estimation. Our experiments with real data demonstrate the advantages of the proposed registration algorithm for texturing models in large-scale semiurban environments. The capability to align video before a 3D model is built from the 3D sensor data offers new practical opportunities for 3D modeling. We introduce a novel modeling-through-registration approach that fuses 3D information from both the 3D sensor and the video. Initial experiments with real data illustrate the potential of the proposed approach.

  9. Monocular 3-D gait tracking in surveillance scenes.

    PubMed

    Rogez, Grégory; Rihan, Jonathan; Guerrero, Jose J; Orrite, Carlos

    2014-06-01

    Gait recognition can potentially provide a noninvasive and effective biometric authentication from a distance. However, the performance of gait recognition systems will suffer in real surveillance scenarios with multiple interacting individuals and where the camera is usually placed at a significant angle and distance from the floor. We present a methodology for view-invariant monocular 3-D human pose tracking in man-made environments in which we assume that observed people move on a known ground plane. First, we model 3-D body poses and camera viewpoints with a low dimensional manifold and learn a generative model of the silhouette from this manifold to a reduced set of training views. During the online stage, 3-D body poses are tracked using recursive Bayesian sampling conducted jointly over the scene's ground plane and the pose-viewpoint manifold. For each sample, the homography that relates the corresponding training plane to the image points is calculated using the dominant 3-D directions of the scene, the sampled location on the ground plane and the sampled camera view. Each regressed silhouette shape is projected using this homographic transformation and is matched in the image to estimate its likelihood. Our framework is able to track 3-D human walking poses in a 3-D environment exploring only a 4-D state space with success. In our experimental evaluation, we demonstrate the significant improvements of the homographic alignment over a commonly used similarity transformation and provide quantitative pose tracking results for the monocular sequences with a high perspective effect from the CAVIAR dataset. PMID:23955796

  10. The 2011 Eco3D Flight Campaign: Vegetation Structure and Biomass Estimation from Simultaneous SAR, Lidar and Radiometer Measurements

    NASA Technical Reports Server (NTRS)

    Fatoyinbo, Temilola; Rincon, Rafael; Harding, David; Gatebe, Charles; Ranson, Kenneth Jon; Sun, Guoqing; Dabney, Phillip; Roman, Miguel

    2012-01-01

    The Eco3D campaign was conducted in the Summer of 2011. As part of the campaign three unique and innovative NASA Goddard Space Flight Center airborne sensors were flown simultaneously: The Digital Beamforming Synthetic Aperture Radar (DBSAR), the Slope Imaging Multi-polarization Photon-counting Lidar (SIMPL) and the Cloud Absorption Radiometer (CAR). The campaign covered sites from Quebec to Southern Florida and thereby acquired data over forests ranging from Boreal to tropical wetlands. This paper describes the instruments and sites covered and presents the first images resulting from the campaign.

  11. Automatic 3D motion estimation of left ventricle from C-arm rotational angiocardiography using a prior motion model and learning based boundary detector.

    PubMed

    Chen, Mingqing; Zheng, Yefeng; Wang, Yang; Mueller, Kerstin; Lauritsch, Guenter

    2013-01-01

    Compared to pre-operative imaging modalities, it is more convenient to estimate the current cardiac physiological status from C-arm angiocardiography since C-arm is a widely used intra-operative imaging modality to guide many cardiac interventions. The 3D shape and motion of the left ventricle (LV) estimated from rotational angiocardiography provide important cardiac function measurements, e.g., ejection fraction and myocardium motion dyssynchrony. However, automatic estimation of the 3D LV motion is difficult since all anatomical structures overlap on the 2D X-ray projections and the nearby confounding strong image boundaries (e.g., pericardium) often cause ambiguities to LV endocardium boundary detection. In this paper, a new framework is proposed to overcome the aforementioned difficulties: (1) A new learning-based boundary detector is developed by training a boosting boundary classifier combined with the principal component analysis of a local image patch; (2) The prior LV motion model is learned from a set of dynamic cardiac computed tomography (CT) sequences to provide a good initial estimate of the 3D LV shape of different cardiac phases; (3) The 3D motion trajectory is learned for each mesh point; (4) All these components are integrated into a multi-surface graph optimization method to extract the globally coherent motion. The method is tested on seven patient scans, showing significant improvement on the ambiguous boundary cases with a detection accuracy of 2.87 +/- 1.00 mm on LV endocardium boundary delineation in the 2D projections.

  12. Automatic 3D motion estimation of left ventricle from C-arm rotational angiocardiography using a prior motion model and learning based boundary detector.

    PubMed

    Chen, Mingqing; Zheng, Yefeng; Wang, Yang; Mueller, Kerstin; Lauritsch, Guenter

    2013-01-01

    Compared to pre-operative imaging modalities, it is more convenient to estimate the current cardiac physiological status from C-arm angiocardiography since C-arm is a widely used intra-operative imaging modality to guide many cardiac interventions. The 3D shape and motion of the left ventricle (LV) estimated from rotational angiocardiography provide important cardiac function measurements, e.g., ejection fraction and myocardium motion dyssynchrony. However, automatic estimation of the 3D LV motion is difficult since all anatomical structures overlap on the 2D X-ray projections and the nearby confounding strong image boundaries (e.g., pericardium) often cause ambiguities to LV endocardium boundary detection. In this paper, a new framework is proposed to overcome the aforementioned difficulties: (1) A new learning-based boundary detector is developed by training a boosting boundary classifier combined with the principal component analysis of a local image patch; (2) The prior LV motion model is learned from a set of dynamic cardiac computed tomography (CT) sequences to provide a good initial estimate of the 3D LV shape of different cardiac phases; (3) The 3D motion trajectory is learned for each mesh point; (4) All these components are integrated into a multi-surface graph optimization method to extract the globally coherent motion. The method is tested on seven patient scans, showing significant improvement on the ambiguous boundary cases with a detection accuracy of 2.87 +/- 1.00 mm on LV endocardium boundary delineation in the 2D projections. PMID:24505748

  13. Potential Geophysical Field Transformations and Combined 3D Modelling for Estimation the Seismic Site Effects on Example of Israel

    NASA Astrophysics Data System (ADS)

    Eppelbaum, Lev; Meirova, Tatiana

    2015-04-01

    It is well-known that the local seismic site effects may have a significant contribution to the intensity of damage and destruction (e.g., Hough et al., 1990; Regnier et al., 2000; Bonnefoy-Claudet et al., 2006; Haase et al., 2010). The thicknesses of sediments, which play a large role in amplification, usually are derived from seismic velocities. At the same time, thickness of sediments may be determined (or defined) on the basis of 3D combined gravity-magnetic modeling joined with available geological materials, seismic data and borehole section examination. Final result of such investigation is a 3D physical-geological model (PGM) reflecting main geological peculiarities of the area under study. Such a combined study needs in application of a reliable 3D mathematical algorithm of computation together with advanced methodology of 3D modeling. For this analysis the developed GSFC software was selected. The GSFC (Geological Space Field Calculation) program was developed for solving a direct 3-D gravity and magnetic prospecting problem under complex geological conditions (Khesin et al., 1996; Eppelbaum and Khesin, 2004). This program has been designed for computing the field of Δg (Bouguer, free-air or observed value anomalies), ΔZ, ΔX, ΔY , ΔT , as well as second derivatives of the gravitational potential under conditions of rugged relief and inclined magnetization. The geological space can be approximated by (1) three-dimensional, (2) semi-infinite bodies and (3) those infinite along the strike closed, L.H. non-closed, R.H. on-closed and open). Geological bodies are approximated by horizontal polygonal prisms. The program has the following main advantages (besides abovementioned ones): (1) Simultaneous computing of gravity and magnetic fields; (2) Description of the terrain relief by irregularly placed characteristic points; (3) Computation of the effect of the earth-air boundary by the method of selection directly in the process of interpretation; (4

  14. An investigation into multi-dimensional prediction models to estimate the pose error of a quadcopter in a CSP plant setting

    NASA Astrophysics Data System (ADS)

    Lock, Jacobus C.; Smit, Willie J.; Treurnicht, Johann

    2016-05-01

    The Solar Thermal Energy Research Group (STERG) is investigating ways to make heliostats cheaper to reduce the total cost of a concentrating solar power (CSP) plant. One avenue of research is to use unmanned aerial vehicles (UAVs) to automate and assist with the heliostat calibration process. To do this, the pose estimation error of each UAV must be determined and integrated into a calibration procedure. A computer vision (CV) system is used to measure the pose of a quadcopter UAV. However, this CV system contains considerable measurement errors. Since this is a high-dimensional problem, a sophisticated prediction model must be used to estimate the measurement error of the CV system for any given pose measurement vector. This paper attempts to train and validate such a model with the aim of using it to determine the pose error of a quadcopter in a CSP plant setting.

  15. Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera

    NASA Astrophysics Data System (ADS)

    Hao, Gangtao; Du, Xiaoping; Chen, Hang; Song, Jianjun; Gao, Tengfei

    2015-05-01

    An approach of scale-unambiguous relative pose estimation for space uncooperative targets based on the fusion of low resolution three-dimensional time-of-flight camera and monocular camera is proposed. No a priori knowledge about the targets is assumed. First, a modified range-intensity Markov random field model is presented to quickly reconstruct the range value for each feature point. Second, the scale-ambiguous relative pose estimation algorithm based on extended Kalman filter-unscented Kalman filter-particle filter combination filter is designed in vision simultaneous localization and mapping framework. Third, the overall scale factor estimation approach based on range-intensity fusion image, which takes the feature points' range reconstruction uncertainty as measurement noise, is proposed for the final scale-unambiguous pose estimation. Finally, some simulations demonstrate the validity and capability of the proposed approach.

  16. The 2D versus 3D imaging trade-off: The impact of over- or under-estimating small throats for simulating permeability in porous media

    NASA Astrophysics Data System (ADS)

    Peters, C. A.; Crandell, L. E.; Um, W.; Jones, K. W.; Lindquist, W. B.

    2011-12-01

    Geochemical reactions in the subsurface can alter the porosity and permeability of a porous medium through mineral precipitation and dissolution. While effects on porosity are relatively well understood, changes in permeability are more difficult to estimate. In this work, pore-network modeling is used to estimate the permeability of a porous medium using pore and throat size distributions. These distributions can be determined from 2D Scanning Electron Microscopy (SEM) images of thin sections or from 3D X-ray Computed Tomography (CT) images of small cores. Each method has unique advantages as well as unique sources of error. 3D CT imaging has the advantage of reconstructing a 3D pore network without the inherent geometry-based biases of 2D images but is limited by resolutions around 1 μm. 2D SEM imaging has the advantage of higher resolution, and the ability to examine sub-grain scale variations in porosity and mineralogy, but is limited by the small size of the sample of pores that are quantified. A pore network model was created to estimate flow permeability in a sand-packed experimental column investigating reaction of sediments with caustic radioactive tank wastes in the context of the Hanford, WA site. Before, periodically during, and after reaction, 3D images of the porous medium in the column were produced using the X2B beam line facility at the National Synchrotron Light Source (NSLS) at Brookhaven National Lab. These images were interpreted using 3DMA-Rock to characterize the pore and throat size distributions. After completion of the experiment, the column was sectioned and imaged using 2D SEM in backscattered electron mode. The 2D images were interpreted using erosion-dilation to estimate the pore and throat size distributions. A bias correction was determined by comparison with the 3D image data. A special image processing method was developed to infer the pore space before reaction by digitally removing the precipitate. The different sets of pore

  17. Simultaneous estimation of size, radial and angular locations of a malignant tumor in a 3-D human breast - A numerical study.

    PubMed

    Das, Koushik; Mishra, Subhash C

    2015-08-01

    This article reports a numerical study pertaining to simultaneous estimation of size, radial location and angular location of a malignant tumor in a 3-D human breast. The breast skin surface temperature profile is specific to a tumor of specific size and location. The temperature profiles are always the Gaussian one, though their peak magnitudes and areas differ according to the size and location of the tumor. The temperature profiles are obtained by solving the Pennes bioheat equation using the finite element method based solver COMSOL 4.3a. With temperature profiles known, simultaneous estimation of size, radial location and angular location of the tumor is done using the curve fitting method. Effect of measurement errors is also included in the study. Estimations are accurate, and since in the inverse analysis, the curve fitting method does not require solution of the governing bioheat equation, the estimation is very fast. PMID:26267509

  18. Factors contributing to accuracy in the estimation of the woody canopy leaf area density profile using 3D portable lidar imaging.

    PubMed

    Hosoi, Fumiki; Omasa, Kenji

    2007-01-01

    Factors that contribute to the accuracy of estimating woody canopy's leaf area density (LAD) using 3D portable lidar imaging were investigated. The 3D point cloud data for a Japanese zelkova canopy [Zelkova serrata (Thunberg) Makino] were collected using a portable scanning lidar from several points established on the ground and at 10 m above the ground. The LAD profiles were computed using voxel-based canopy profiling (VCP). The best LAD results [a root-mean-square error (RMSE) of 0.21 m(2) m(-3)] for the measurement plot (corresponding to an absolute LAI error of 9.5%) were obtained by compositing the ground-level and 10 m measurements. The factors that most strongly affected estimation accuracy included the presence of non-photosynthetic tissues, distribution of leaf inclination angles, number (N) of incident laser beams in each region within the canopy, and G(theta(m)) (the mean projection of a unit leaf area on a plane perpendicular to the direction of the laser beam at the measurement zenith angle of theta(m)). The influences of non-photosynthetic tissues and leaf inclination angle on the estimates amounted to 4.2-32.7% and 7.2-94.2%, respectively. The RMSE of the LAD estimations was expressed using a function of N and G(theta(m)). PMID:17977852

  19. ESTIMATION OF 3D ALIGNMENT OF EXPRESSWAYS USING CAD DRAWINGS AND GEOMETRY DATA AND VERIFICATION OF THE RESULTS

    NASA Astrophysics Data System (ADS)

    Yamada, Harutoshi; Sekimoto, Yoshihide; Matsubayashi, Yutaka

    Detailed road alignment data are now required to realize lane departure/curve speed warning services and other advanced ITS services and to reduce the green house gas emission from autos. However, the provision of detailed road alignment data is slow in Japan partly because of the considerable costs for collecting and updating these data. In this paper, three-dimensional road alignments, especially the lane data were estimated using the CAD drawings and the alignment of a centerline of expressways. The vertical curvelength(VCL) data did not exist and they were determined to meet the specifications of Road Alignment Ordinance. The estimated three-dimensional alignment data were compared with the five-meter-mesh DEM data of the GSI. It was found that the difference is less than 1m in most cases except specific vertical curve sections where the freedom in determining the VCL is greater.

  20. 3d morphometric analysis of lunar impact craters: a tool for degradation estimates and interpretation of maria stratigraphy

    NASA Astrophysics Data System (ADS)

    Vivaldi, Valerio; Massironi, Matteo; Ninfo, Andrea; Cremonese, Gabriele

    2015-04-01

    In this study we have applied 3D morphometric analysis of impact craters on the Moon by means of high resolution DTMs derived from LROC (Lunar Reconnaissance Orbiter Camera) NAC (Narrow Angle Camera) (0.5 to 1.5 m/pixel). The objective is twofold: i) evaluating crater degradation and ii) exploring the potential of this approach for Maria stratigraphic interpretation. In relation to the first objective we have considered several craters with different diameters representative of the four classes of degradation being C1 the freshest and C4 the most degraded ones (Arthur et al., 1963; Wilhelms, 1987). DTMs of these craters were elaborated according to a multiscalar approach (Wood, 1996) by testing different ranges of kernel sizes (e.g. 15-35-50-75-100), in order to retrieve morphometric variables such as slope, curvatures and openness. In particular, curvatures were calculated along different planes (e.g. profile curvature and plan curvature) and used to characterize the different sectors of a crater (rim crest, floor, internal slope and related boundaries) enabling us to evaluate its degradation. The gradient of the internal slope of different craters representative of the four classes shows a decrease of the slope mean value from C1 to C4 in relation to crater age and diameter. Indeed degradation is influenced by gravitational processes (landslides, dry flows), as well as space weathering that induces both smoothing effects on the morphologies and infilling processes within the crater, with the main results of lowering and enlarging the rim crest, and shallowing the crater depth. As far as the stratigraphic application is concerned, morphometric analysis was applied to recognize morphologic features within some simple craters, in order to understand the stratigraphic relationships among different lava layers within Mare Serenitatis. A clear-cut rheological boundary at a depth of 200 m within the small fresh Linnè crater (diameter: 2.22 km), firstly hypothesized

  1. Toroidal mode number estimation of the edge-localized modes using the KSTAR 3-D electron cyclotron emission imaging system

    SciTech Connect

    Lee, J.; Yun, G. S. Lee, J. E.; Kim, M.; Choi, M. J.; Lee, W.; Park, H. K.; Domier, C. W.; Luhmann, N. C.; Sabbagh, S. A.; Park, Y. S.; Lee, S. G.; Bak, J. G.

    2014-06-15

    A new and more accurate technique is presented for determining the toroidal mode number n of edge-localized modes (ELMs) using two independent electron cyclotron emission imaging (ECEI) systems in the Korea Superconducting Tokamak Advanced Research (KSTAR) device. The technique involves the measurement of the poloidal spacing between adjacent ELM filaments, and of the pitch angle α{sub *} of filaments at the plasma outboard midplane. Equilibrium reconstruction verifies that α{sub *} is nearly constant and thus well-defined at the midplane edge. Estimates of n obtained using two ECEI systems agree well with n measured by the conventional technique employing an array of Mirnov coils.

  2. Virtual forensic entomology: improving estimates of minimum post-mortem interval with 3D micro-computed tomography.

    PubMed

    Richards, Cameron S; Simonsen, Thomas J; Abel, Richard L; Hall, Martin J R; Schwyn, Daniel A; Wicklein, Martina

    2012-07-10

    We demonstrate how micro-computed tomography (micro-CT) can be a powerful tool for describing internal and external morphological changes in Calliphora vicina (Diptera: Calliphoridae) during metamorphosis. Pupae were sampled during the 1st, 2nd, 3rd and 4th quarter of development after the onset of pupariation at 23 °C, and placed directly into 80% ethanol for preservation. In order to find the optimal contrast, four batches of pupae were treated differently: batch one was stained in 0.5M aqueous iodine for 1 day; two for 7 days; three was tagged with a radiopaque dye; four was left unstained (control). Pupae stained for 7d in iodine resulted in the best contrast micro-CT scans. The scans were of sufficiently high spatial resolution (17.2 μm) to visualise the internal morphology of developing pharate adults at all four ages. A combination of external and internal morphological characters was shown to have the potential to estimate the age of blowfly pupae with a higher degree of accuracy and precision than using external morphological characters alone. Age specific developmental characters are described. The technique could be used as a measure to estimate a minimum post-mortem interval in cases of suspicious death where pupae are the oldest stages of insect evidence collected.

  3. A matrix projection method for on line stable estimation of 1D and 3D shear building models

    NASA Astrophysics Data System (ADS)

    Angel García-Illescas, Miguel; Alvarez-Icaza, Luis

    2016-12-01

    An estimation method is presented that combines the use of recursive least squares, a matrix parameterized model, Gershgorin circles and tridiagonal matrices properties to allow the identification of stable shear building models in the presence of low excitation or low damping. The resultant scheme yields a significant reduction on the number of calculations involved, when compared with the standard vector parameterization based schemes. As real buildings are always open loop stable, the use of an stable shear building model for vibration control purposes allows the design of more robust control laws. Extensive simulation results are presented for cases of low excitation comparing the results of using or not this matrix projection method with different sets of initial conditions. Results indicate that the use of this projection method does not have an influence in the recovery of natural frequencies, however, it significantly improves the recovery of mode shapes.

  4. 3D annotation and manipulation of medical anatomical structures

    NASA Astrophysics Data System (ADS)

    Vitanovski, Dime; Schaller, Christian; Hahn, Dieter; Daum, Volker; Hornegger, Joachim

    2009-02-01

    Although the medical scanners are rapidly moving towards a three-dimensional paradigm, the manipulation and annotation/labeling of the acquired data is still performed in a standard 2D environment. Editing and annotation of three-dimensional medical structures is currently a complex task and rather time-consuming, as it is carried out in 2D projections of the original object. A major problem in 2D annotation is the depth ambiguity, which requires 3D landmarks to be identified and localized in at least two of the cutting planes. Operating directly in a three-dimensional space enables the implicit consideration of the full 3D local context, which significantly increases accuracy and speed. A three-dimensional environment is as well more natural optimizing the user's comfort and acceptance. The 3D annotation environment requires the three-dimensional manipulation device and display. By means of two novel and advanced technologies, Wii Nintendo Controller and Philips 3D WoWvx display, we define an appropriate 3D annotation tool and a suitable 3D visualization monitor. We define non-coplanar setting of four Infrared LEDs with a known and exact position, which are tracked by the Wii and from which we compute the pose of the device by applying a standard pose estimation algorithm. The novel 3D renderer developed by Philips uses either the Z-value of a 3D volume, or it computes the depth information out of a 2D image, to provide a real 3D experience without having some special glasses. Within this paper we present a new framework for manipulation and annotation of medical landmarks directly in three-dimensional volume.

  5. A Satellite-Based Method for Estimating Global Oceanic DMS and Its Application in a 3-D Atmospheric GCM

    SciTech Connect

    Belviso, S.; Moulin, C.; Bopp, L.; Cosme, E.; Chapman, Elaine G.; Aranami, K.

    2003-01-01

    The flux of dimethylsulfide (DMS) from the world's oceans is the largest known source of biogenically-derived reduced sulfur compounds to the atmosphere. Its impact on atmospheric chemistry and radiative transfer is an active area of scientific research, and DMS is routinely included in three-dimensional global climate change and chemical transport models. In such models, DMS fluxes typically are based on global sea surface DMS concentrations and wind-speed-dependent parameterizations of the mass transfer coefficient. We show here how sea surface DMS concentrations can be estimated from satellite-based Sea-viewing Wide Field-of-View Sensor (SeaWiFS) observations of sea surface chlorophyll a. We compare SeaWiFS-derived DMS concentrations for the twelve month period November 1997 through October 1998 with shipboard measurements made in the Pacific and Indian Oceans. The SeaWiFS-derived DMS distributions demonstrate improved capture of DMS spatial variability in Southern Ocean surface waters relative to previous works, but underestimate the amplitude of seasonal DMS variations in this region. Using the three-dimensional Atmospheric General Circulation Model of the Laboratoire de M?orologie Dynamique, model-time-step wind speeds, an atmospheric-stability-dependent parameterization of the mass transfer coefficient, and our SeaWiFS-derived oceanic DMS distributions, we estimate an annual Southern Ocean DMS emission of 6.8 Tg S yr-1. This value represents approximately one-third of the annual global DMS marine emission, and underscores the importance of this region as a source of natural sulfur emissions.

  6. 3D dosimetry estimation for selective internal radiation therapy (SIRT) using SPECT/CT images: a phantom study

    NASA Astrophysics Data System (ADS)

    Debebe, Senait A.; Franquiz, Juan; McGoron, Anthony J.

    2015-03-01

    Selective Internal Radiation Therapy (SIRT) is a common way to treat liver cancer that cannot be treated surgically. SIRT involves administration of Yttrium - 90 (90Y) microspheres via the hepatic artery after a diagnostic procedure using 99mTechnetium (Tc)-macroaggregated albumin (MAA) to detect extrahepatic shunting to the lung or the gastrointestinal tract. Accurate quantification of radionuclide administered to patients and radiation dose absorbed by different organs is of importance in SIRT. Accurate dosimetry for SIRT allows optimization of dose delivery to the target tumor and may allow for the ability to assess the efficacy of the treatment. In this study, we proposed a method that can efficiently estimate radiation absorbed dose from 90Y bremsstrahlung SPECT/CT images of liver and the surrounding organs. Bremsstrahlung radiation from 90Y was simulated using the Compton window of 99mTc (78keV at 57%). 99mTc images acquired at the photopeak energy window were used as a standard to examine the accuracy of dosimetry prediction by the simulated bremsstrahlung images. A Liqui-Phil abdominal phantom with liver, stomach and two tumor inserts was imaged using a Philips SPECT/CT scanner. The Dose Point Kernel convolution method was used to find the radiation absorbed dose at a voxel level for a three dimensional dose distribution. This method will allow for a complete estimate of the distribution of radiation absorbed dose by tumors, liver, stomach and other surrounding organs at the voxel level. The method provides a quantitative predictive method for SIRT treatment outcome and administered dose response for patients who undergo the treatment.

  7. 3D Reconstruction of Human Motion from Monocular Image Sequences.

    PubMed

    Wandt, Bastian; Ackermann, Hanno; Rosenhahn, Bodo

    2016-08-01

    This article tackles the problem of estimating non-rigid human 3D shape and motion from image sequences taken by uncalibrated cameras. Similar to other state-of-the-art solutions we factorize 2D observations in camera parameters, base poses and mixing coefficients. Existing methods require sufficient camera motion during the sequence to achieve a correct 3D reconstruction. To obtain convincing 3D reconstructions from arbitrary camera motion, our method is based on a-priorly trained base poses. We show that strong periodic assumptions on the coefficients can be used to define an efficient and accurate algorithm for estimating periodic motion such as walking patterns. For the extension to non-periodic motion we propose a novel regularization term based on temporal bone length constancy. In contrast to other works, the proposed method does not use a predefined skeleton or anthropometric constraints and can handle arbitrary camera motion. We achieve convincing 3D reconstructions, even under the influence of noise and occlusions. Multiple experiments based on a 3D error metric demonstrate the stability of the proposed method. Compared to other state-of-the-art methods our algorithm shows a significant improvement. PMID:27093439

  8. 3D Reconstruction of Human Motion from Monocular Image Sequences.

    PubMed

    Wandt, Bastian; Ackermann, Hanno; Rosenhahn, Bodo

    2016-08-01

    This article tackles the problem of estimating non-rigid human 3D shape and motion from image sequences taken by uncalibrated cameras. Similar to other state-of-the-art solutions we factorize 2D observations in camera parameters, base poses and mixing coefficients. Existing methods require sufficient camera motion during the sequence to achieve a correct 3D reconstruction. To obtain convincing 3D reconstructions from arbitrary camera motion, our method is based on a-priorly trained base poses. We show that strong periodic assumptions on the coefficients can be used to define an efficient and accurate algorithm for estimating periodic motion such as walking patterns. For the extension to non-periodic motion we propose a novel regularization term based on temporal bone length constancy. In contrast to other works, the proposed method does not use a predefined skeleton or anthropometric constraints and can handle arbitrary camera motion. We achieve convincing 3D reconstructions, even under the influence of noise and occlusions. Multiple experiments based on a 3D error metric demonstrate the stability of the proposed method. Compared to other state-of-the-art methods our algorithm shows a significant improvement.

  9. Estimating 3D L5/S1 moments and ground reaction forces during trunk bending using a full-body ambulatory inertial motion capture system.

    PubMed

    Faber, G S; Chang, C C; Kingma, I; Dennerlein, J T; van Dieën, J H

    2016-04-11

    Inertial motion capture (IMC) systems have become increasingly popular for ambulatory movement analysis. However, few studies have attempted to use these measurement techniques to estimate kinetic variables, such as joint moments and ground reaction forces (GRFs). Therefore, we investigated the performance of a full-body ambulatory IMC system in estimating 3D L5/S1 moments and GRFs during symmetric, asymmetric and fast trunk bending, performed by nine male participants. Using an ambulatory IMC system (Xsens/MVN), L5/S1 moments were estimated based on the upper-body segment kinematics using a top-down inverse dynamics analysis, and GRFs were estimated based on full-body segment accelerations. As a reference, a laboratory measurement system was utilized: GRFs were measured with Kistler force plates (FPs), and L5/S1 moments were calculated using a bottom-up inverse dynamics model based on FP data and lower-body kinematics measured with an optical motion capture system (OMC). Correspondence between the OMC+FP and IMC systems was quantified by calculating root-mean-square errors (RMSerrors) of moment/force time series and the interclass correlation (ICC) of the absolute peak moments/forces. Averaged over subjects, L5/S1 moment RMSerrors remained below 10Nm (about 5% of the peak extension moment) and 3D GRF RMSerrors remained below 20N (about 2% of the peak vertical force). ICCs were high for the peak L5/S1 extension moment (0.971) and vertical GRF (0.998). Due to lower amplitudes, smaller ICCs were found for the peak asymmetric L5/S1 moments (0.690-0.781) and horizontal GRFs (0.559-0.948). In conclusion, close correspondence was found between the ambulatory IMC-based and laboratory-based estimates of back load. PMID:26795123

  10. Estimating 3D L5/S1 moments and ground reaction forces during trunk bending using a full-body ambulatory inertial motion capture system.

    PubMed

    Faber, G S; Chang, C C; Kingma, I; Dennerlein, J T; van Dieën, J H

    2016-04-11

    Inertial motion capture (IMC) systems have become increasingly popular for ambulatory movement analysis. However, few studies have attempted to use these measurement techniques to estimate kinetic variables, such as joint moments and ground reaction forces (GRFs). Therefore, we investigated the performance of a full-body ambulatory IMC system in estimating 3D L5/S1 moments and GRFs during symmetric, asymmetric and fast trunk bending, performed by nine male participants. Using an ambulatory IMC system (Xsens/MVN), L5/S1 moments were estimated based on the upper-body segment kinematics using a top-down inverse dynamics analysis, and GRFs were estimated based on full-body segment accelerations. As a reference, a laboratory measurement system was utilized: GRFs were measured with Kistler force plates (FPs), and L5/S1 moments were calculated using a bottom-up inverse dynamics model based on FP data and lower-body kinematics measured with an optical motion capture system (OMC). Correspondence between the OMC+FP and IMC systems was quantified by calculating root-mean-square errors (RMSerrors) of moment/force time series and the interclass correlation (ICC) of the absolute peak moments/forces. Averaged over subjects, L5/S1 moment RMSerrors remained below 10Nm (about 5% of the peak extension moment) and 3D GRF RMSerrors remained below 20N (about 2% of the peak vertical force). ICCs were high for the peak L5/S1 extension moment (0.971) and vertical GRF (0.998). Due to lower amplitudes, smaller ICCs were found for the peak asymmetric L5/S1 moments (0.690-0.781) and horizontal GRFs (0.559-0.948). In conclusion, close correspondence was found between the ambulatory IMC-based and laboratory-based estimates of back load.

  11. Influence of center of pressure estimation errors on 3D inverse dynamics solutions during gait at different velocities.

    PubMed

    Camargo-Junior, Franklin; Ackermann, Marko; Loss, Jefferson F; Sacco, Isabel C N

    2013-12-01

    The aim of this study was to investigate the effect of errors in the location of the center of pressure (5 and 10 mm) on lower limb joint moment uncertainties at different gait velocities (1.0, 1.5, and 2.0 m/s). Our hypotheses were that the absolute joint moment uncertainties would be gradually reduced from distal to proximal joints and from higher to lower velocities. Joint moments of five healthy young adults were calculated by inverse dynamics using the bottom-up approach, depending on which estimate the uncertainty propagated. Results indicated that there is a linear relationship between errors in center of pressure and joint moment uncertainties. The absolute moment peak uncertainties expressed on the anatomic reference frames decreased from distal to proximal joints, confirming our first hypothesis, except for the abduction moments. There was an increase in moment uncertainty (up to 0.04 N m/kg for the 10 mm error in the center of pressure) from the lower to higher gait velocity, confirming our second hypothesis, although, once again, not for hip or knee abduction. Finally, depending on the plane of movement and the joint, relative uncertainties experienced variation (between 5 and 31%), and the knee joint moments were the most affected.

  12. Real Time 3D Facial Movement Tracking Using a Monocular Camera.

    PubMed

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-01-01

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

  13. Real Time 3D Facial Movement Tracking Using a Monocular Camera.

    PubMed

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-07-25

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference.

  14. Real Time 3D Facial Movement Tracking Using a Monocular Camera

    PubMed Central

    Dong, Yanchao; Wang, Yanming; Yue, Jiguang; Hu, Zhencheng

    2016-01-01

    The paper proposes a robust framework for 3D facial movement tracking in real time using a monocular camera. It is designed to estimate the 3D face pose and local facial animation such as eyelid movement and mouth movement. The framework firstly utilizes the Discriminative Shape Regression method to locate the facial feature points on the 2D image and fuses the 2D data with a 3D face model using Extended Kalman Filter to yield 3D facial movement information. An alternating optimizing strategy is adopted to fit to different persons automatically. Experiments show that the proposed framework could track the 3D facial movement across various poses and illumination conditions. Given the real face scale the framework could track the eyelid with an error of 1 mm and mouth with an error of 2 mm. The tracking result is reliable for expression analysis or mental state inference. PMID:27463714

  15. 3D rapid mapping

    NASA Astrophysics Data System (ADS)

    Isaksson, Folke; Borg, Johan; Haglund, Leif

    2008-04-01

    In this paper the performance of passive range measurement imaging using stereo technique in real time applications is described. Stereo vision uses multiple images to get depth resolution in a similar way as Synthetic Aperture Radar (SAR) uses multiple measurements to obtain better spatial resolution. This technique has been used in photogrammetry for a long time but it will be shown that it is now possible to do the calculations, with carefully designed image processing algorithms, in e.g. a PC in real time. In order to get high resolution and quantitative data in the stereo estimation a mathematical camera model is used. The parameters to the camera model are settled in a calibration rig or in the case of a moving camera the scene itself can be used for calibration of most of the parameters. After calibration an ordinary TV camera has an angular resolution like a theodolite, but to a much lower price. The paper will present results from high resolution 3D imagery from air to ground. The 3D-results from stereo calculation of image pairs are stitched together into a large database to form a 3D-model of the area covered.

  16. [3-D ultrasound in gastroenterology].

    PubMed

    Zoller, W G; Liess, H

    1994-06-01

    Three-dimensional (3D) sonography represents a development of noninvasive diagnostic imaging by real-time two-dimensional (2D) sonography. The use of transparent rotating scans, comparable to a block of glass, generates a 3D effect. The objective of the present study was to optimate 3D presentation of abdominal findings. Additional investigations were made with a new volumetric program to determine the volume of selected findings of the liver. The results were compared with the estimated volumes of 2D sonography and 2D computer tomography (CT). For the processing of 3D images, typical parameter constellations were found for the different findings, which facilitated processing of 3D images. In more than 75% of the cases examined we found an optimal 3D presentation of sonographic findings with respect to the evaluation criteria developed by us for the 3D imaging of processed data. Great differences were found for the estimated volumes of the findings of the liver concerning the three different techniques applied. 3D ultrasound represents a valuable method to judge morphological appearance in abdominal findings. The possibility of volumetric measurements enlarges its potential diagnostic significance. Further clinical investigations are necessary to find out if definite differentiation between benign and malign findings is possible.

  17. Photogrammetric 3D reconstruction using mobile imaging

    NASA Astrophysics Data System (ADS)

    Fritsch, Dieter; Syll, Miguel

    2015-03-01

    In our paper we demonstrate the development of an Android Application (AndroidSfM) for photogrammetric 3D reconstruction that works on smartphones and tablets likewise. The photos are taken with mobile devices, and can thereafter directly be calibrated using standard calibration algorithms of photogrammetry and computer vision, on that device. Due to still limited computing resources on mobile devices, a client-server handshake using Dropbox transfers the photos to the sever to run AndroidSfM for the pose estimation of all photos by Structure-from-Motion and, thereafter, uses the oriented bunch of photos for dense point cloud estimation by dense image matching algorithms. The result is transferred back to the mobile device for visualization and ad-hoc on-screen measurements.

  18. Three-dimensional (3D) coseismic deformation map produced by the 2014 South Napa Earthquake estimated and modeled by SAR and GPS data integration

    NASA Astrophysics Data System (ADS)

    Polcari, Marco; Albano, Matteo; Fernández, José; Palano, Mimmo; Samsonov, Sergey; Stramondo, Salvatore; Zerbini, Susanna

    2016-04-01

    In this work we present a 3D map of coseismic displacements due to the 2014 Mw 6.0 South Napa earthquake, California, obtained by integrating displacement information data from SAR Interferometry (InSAR), Multiple Aperture Interferometry (MAI), Pixel Offset Tracking (POT) and GPS data acquired by both permanent stations and campaigns sites. This seismic event produced significant surface deformation along the 3D components causing several damages to vineyards, roads and houses. The remote sensing results, i.e. InSAR, MAI and POT, were obtained from the pair of SAR images provided by the Sentinel-1 satellite, launched on April 3rd, 2014. They were acquired on August 7th and 31st along descending orbits with an incidence angle of about 23°. The GPS dataset includes measurements from 32 stations belonging to the Bay Area Regional Deformation Network (BARDN), 301 continuous stations available from the UNAVCO and the CDDIS archives, and 13 additional campaign sites from Barnhart et al, 2014 [1]. These data constrain the horizontal and vertical displacement components proving to be helpful for the adopted integration method. We exploit the Bayes theory to search for the 3D coseismic displacement components. In particular, for each point, we construct an energy function and solve the problem to find a global minimum. Experimental results are consistent with a strike-slip fault mechanism with an approximately NW-SE fault plane. Indeed, the 3D displacement map shows a strong North-South (NS) component, peaking at about 15 cm, a few kilometers far from the epicenter. The East-West (EW) displacement component reaches its maximum (~10 cm) south of the city of Napa, whereas the vertical one (UP) is smaller, although a subsidence in the order of 8 cm on the east side of the fault can be observed. A source modelling was performed by inverting the estimated displacement components. The best fitting model is given by a ~N330° E-oriented and ~70° dipping fault with a prevailing

  19. Europeana and 3D

    NASA Astrophysics Data System (ADS)

    Pletinckx, D.

    2011-09-01

    The current 3D hype creates a lot of interest in 3D. People go to 3D movies, but are we ready to use 3D in our homes, in our offices, in our communication? Are we ready to deliver real 3D to a general public and use interactive 3D in a meaningful way to enjoy, learn, communicate? The CARARE project is realising this for the moment in the domain of monuments and archaeology, so that real 3D of archaeological sites and European monuments will be available to the general public by 2012. There are several aspects to this endeavour. First of all is the technical aspect of flawlessly delivering 3D content over all platforms and operating systems, without installing software. We have currently a working solution in PDF, but HTML5 will probably be the future. Secondly, there is still little knowledge on how to create 3D learning objects, 3D tourist information or 3D scholarly communication. We are still in a prototype phase when it comes to integrate 3D objects in physical or virtual museums. Nevertheless, Europeana has a tremendous potential as a multi-facetted virtual museum. Finally, 3D has a large potential to act as a hub of information, linking to related 2D imagery, texts, video, sound. We describe how to create such rich, explorable 3D objects that can be used intuitively by the generic Europeana user and what metadata is needed to support the semantic linking.

  20. Application of the H/V and SPAC Method to Estimate a 3D Shear Wave Velocity Model, in the City of Coatzacoalcos, Veracruz.

    NASA Astrophysics Data System (ADS)

    Morales, L. E. A. P.; Aguirre, J.; Vazquez Rosas, R.; Suarez, G.; Contreras Ruiz-Esparza, M. G.; Farraz, I.

    2014-12-01

    Methods that use seismic noise or microtremors have become very useful tools worldwide due to its low costs, the relative simplicity in collecting data, the fact that these are non-invasive methods hence there is no need to alter or even perforate the study site, and also these methods require a relatively simple analysis procedure. Nevertheless the geological structures estimated by this methods are assumed to be parallel, isotropic and homogeneous layers. Consequently precision of the estimated structure is lower than that from conventional seismic methods. In the light of these facts this study aimed towards searching a new way to interpret the results obtained from seismic noise methods. In this study, seven triangular SPAC (Aki, 1957) arrays were performed in the city of Coatzacoalcos, Veracruz, varying in sizes from 10 to 100 meters. From the autocorrelation between the stations of each array, a Rayleigh wave phase velocity dispersion curve was calculated. Such dispersion curve was used to obtain a S wave parallel layers velocity (VS) structure for the study site. Subsequently the horizontal to vertical ratio of the spectrum of microtremors H/V (Nogoshi and Igarashi, 1971; Nakamura, 1989, 2000) was calculated for each vertex of the SPAC triangular arrays, and from the H/V spectrum the fundamental frequency was estimated for each vertex. By using the H/V spectral ratio curves interpreted as a proxy to the Rayleigh wave ellipticity curve, a series of VS structures were inverted for each vertex of the SPAC array. Lastly each VS structure was employed to calculate a 3D velocity model, in which the exploration depth was approximately 100 meters, and had a velocity range in between 206 (m/s) to 920 (m/s). The 3D model revealed a thinning of the low velocity layers. This proved to be in good agreement with the variation of the fundamental frequencies observed at each vertex. With the previous kind of analysis a preliminary model can be obtained as a first

  1. Bayesian Estimation of 3D Non-planar Fault Geometry and Slip: An application to the 2011 Megathrust (Mw 9.1) Tohoku-Oki Earthquake

    NASA Astrophysics Data System (ADS)

    Dutta, Rishabh; Jónsson, Sigurjón

    2016-04-01

    Earthquake faults are generally considered planar (or of other simple geometry) in earthquake source parameter estimations. However, simplistic fault geometries likely result in biases in estimated slip distributions and increased fault slip uncertainties. In case of large subduction zone earthquakes, these biases and uncertainties propagate into tsunami waveform modeling and other calculations related to postseismic studies, Coulomb failure stresses, etc. In this research, we parameterize 3D non-planar fault geometry for the 2011 Tohoku-Oki earthquake (Mw 9.1) and estimate these geometrical parameters along with fault slip parameters from onland and offshore GPS using Bayesian inference. This non-planar fault is formed using several 3rd degree polynomials in along-strike (X-Y plane) and along-dip (X-Z plane) directions that are tied together using a triangular mesh. The coefficients of these polynomials constitute the fault geometrical parameters. We use the trench and locations of past seismicity as a priori information to constrain these fault geometrical parameters and the Laplacian to characterize the fault slip smoothness. Hyper-parameters associated to these a priori constraints are estimated empirically and the posterior probability distribution of the model (fault geometry and slip) parameters is sampled using an adaptive Metropolis Hastings algorithm. The across-strike uncertainties in the fault geometry (effectively the local fault location) around high-slip patches increases from 6 km at 10km depth to about 35 km at 50km depth, whereas around low-slip patches the uncertainties are larger (from 7 km to 70 km). Uncertainties in reverse slip are found to be higher at high slip patches than at low slip patches. In addition, there appears to be high correlation between adjacent patches of high slip. Our results demonstrate that we can constrain complex non-planar fault geometry together with fault slip from GPS data using past seismicity as a priori

  2. Estimation of preferential recharge and saltwater intrusion to a coastal groundwater system in central Vietnam by means of 3D stratigraphic modeling

    NASA Astrophysics Data System (ADS)

    Thanh Tam, Vu; Batelaan, Okke; Thanh Le, Tran

    2013-04-01

    Saltwater intrusion is worldwide regarded as a major threat to groundwater resources. Mostly, saltwater intrusion problems are related to sea water level rise or induced intrusion due to excessive groundwater extraction in coastal aquifers. However, the hydrogeological heterogeneity of the subsurface might play an important role in (non-)intrusion as well. We study local (hydro)geological conditions for preferential recharge as well as saltwater intrusion to a coastal groundwater system in Vietnam where geological formations exhibit highly heterogeneous lithologies. A cluster analysis technique combined with a chronographic marker is used to distinguish and map well-log intervals of similar lithological properties in different geological formations. The cluster analysis is carried out on lithological composition, distribution depth and thickness of each lithological distinctive drilling interval of well-logs of 43 groundwater investigation boreholes carried out within the study area. The chronographic marker is a layer of clay originated from weathered basalt rocks, whose color and lithological properties can be distinguished from the other formations. Detailed to coarse 3D stratigraphic models, based on the above analysis, are constructed and used as a tool to estimate preferential recharge paths and saltwater intrusion to the groundwater system under study. Chemical analysis of groundwater water samples is also used to support the estimation. Result of this research work contributes to the interpretation of why the aquifer system of the study area is almost uninfluenced by saltwater intrusion which is relatively common in coastal aquifers of Vietnam.

  3. Local heat transfer estimation in microchannels during convective boiling under microgravity conditions: 3D inverse heat conduction problem using BEM techniques

    NASA Astrophysics Data System (ADS)

    Luciani, S.; LeNiliot, C.

    2008-11-01

    Two-phase and boiling flow instabilities are complex, due to phase change and the existence of several interfaces. To fully understand the high heat transfer potential of boiling flows in microscale's geometry, it is vital to quantify these transfers. To perform this task, an experimental device has been designed to observe flow patterns. Analysis is made up by using an inverse method which allows us to estimate the local heat transfers while boiling occurs inside a microchannel. In our configuration, the direct measurement would impair the accuracy of the searched heat transfer coefficient because thermocouples implanted on the surface minichannels would disturb the established flow. In this communication, we are solving a 3D IHCP which consists in estimating using experimental data measurements the surface temperature and the surface heat flux in a minichannel during convective boiling under several gravity levels (g, 1g, 1.8g). The considered IHCP is formulated as a mathematical optimization problem and solved using the boundary element method (BEM).

  4. 3D vision assisted flexible robotic assembly of machine components

    NASA Astrophysics Data System (ADS)

    Ogun, Philips S.; Usman, Zahid; Dharmaraj, Karthick; Jackson, Michael R.

    2015-12-01

    Robotic assembly systems either make use of expensive fixtures to hold components in predefined locations, or the poses of the components are determined using various machine vision techniques. Vision-guided assembly robots can handle subtle variations in geometries and poses of parts. Therefore, they provide greater flexibility than the use of fixtures. However, the currently established vision-guided assembly systems use 2D vision, which is limited to three degrees of freedom. The work reported in this paper is focused on flexible automated assembly of clearance fit machine components using 3D vision. The recognition and the estimation of the poses of the components are achieved by matching their CAD models with the acquired point cloud data of the scene. Experimental results obtained from a robot demonstrating the assembly of a set of rings on a shaft show that the developed system is not only reliable and accurate, but also fast enough for industrial deployment.

  5. Robust 3D reconstruction with an RGB-D camera.

    PubMed

    Wang, Kangkan; Zhang, Guofeng; Bao, Hujun

    2014-11-01

    We present a novel 3D reconstruction approach using a low-cost RGB-D camera such as Microsoft Kinect. Compared with previous methods, our scanning system can work well in challenging cases where there are large repeated textures and significant depth missing problems. For robust registration, we propose to utilize both visual and geometry features and combine SFM technique to enhance the robustness of feature matching and camera pose estimation. In addition, a novel prior-based multicandidates RANSAC is introduced to efficiently estimate the model parameters and significantly speed up the camera pose estimation under multiple correspondence candidates. Even when serious depth missing occurs, our method still can successfully register all frames together. Loop closure also can be robustly detected and handled to eliminate the drift problem. The missing geometry can be completed by combining multiview stereo and mesh deformation techniques. A variety of challenging examples demonstrate the effectiveness of the proposed approach.

  6. 3d-3d correspondence revisited

    NASA Astrophysics Data System (ADS)

    Chung, Hee-Joong; Dimofte, Tudor; Gukov, Sergei; Sułkowski, Piotr

    2016-04-01

    In fivebrane compactifications on 3-manifolds, we point out the importance of all flat connections in the proper definition of the effective 3d {N}=2 theory. The Lagrangians of some theories with the desired properties can be constructed with the help of homological knot invariants that categorify colored Jones polynomials. Higgsing the full 3d theories constructed this way recovers theories found previously by Dimofte-Gaiotto-Gukov. We also consider the cutting and gluing of 3-manifolds along smooth boundaries and the role played by all flat connections in this operation.

  7. 3d-3d correspondence revisited

    DOE PAGES

    Chung, Hee -Joong; Dimofte, Tudor; Gukov, Sergei; Sułkowski, Piotr

    2016-04-21

    In fivebrane compactifications on 3-manifolds, we point out the importance of all flat connections in the proper definition of the effective 3d N = 2 theory. The Lagrangians of some theories with the desired properties can be constructed with the help of homological knot invariants that categorify colored Jones polynomials. Higgsing the full 3d theories constructed this way recovers theories found previously by Dimofte-Gaiotto-Gukov. As a result, we also consider the cutting and gluing of 3-manifolds along smooth boundaries and the role played by all flat connections in this operation.

  8. Autofocus for 3D imaging

    NASA Astrophysics Data System (ADS)

    Lee-Elkin, Forest

    2008-04-01

    Three dimensional (3D) autofocus remains a significant challenge for the development of practical 3D multipass radar imaging. The current 2D radar autofocus methods are not readily extendable across sensor passes. We propose a general framework that allows a class of data adaptive solutions for 3D auto-focus across passes with minimal constraints on the scene contents. The key enabling assumption is that portions of the scene are sparse in elevation which reduces the number of free variables and results in a system that is simultaneously solved for scatterer heights and autofocus parameters. The proposed method extends 2-pass interferometric synthetic aperture radar (IFSAR) methods to an arbitrary number of passes allowing the consideration of scattering from multiple height locations. A specific case from the proposed autofocus framework is solved and demonstrates autofocus and coherent multipass 3D estimation across the 8 passes of the "Gotcha Volumetric SAR Data Set" X-Band radar data.

  9. 3D Transient Hydraulic Tomography (3DTHT): An Efficient Field and Modeling Method for High-Resolution Estimation of Aquifer Heterogeneity

    NASA Astrophysics Data System (ADS)

    Barrash, W.; Cardiff, M. A.; Kitanidis, P. K.

    2012-12-01

    The distribution of hydraulic conductivity (K) is a major control on groundwater flow and contaminant transport. Our limited ability to determine 3D heterogeneous distributions of K is a major reason for increased costs and uncertainties associated with virtually all aspects of groundwater contamination management (e.g., site investigations, risk assessments, remediation method selection/design/operation, monitoring system design/operation). Hydraulic tomography (HT) is an emerging method for directly estimating the spatially variable distribution of K - in a similar fashion to medical or geophysical imaging. Here we present results from 3D transient field-scale experiments (3DTHT) which capture the heterogeneous K distribution in a permeable, moderately heterogeneous, coarse fluvial unconfined aquifer at the Boise Hydrogeophysical Research Site (BHRS). The results are verified against high-resolution K profiles from multi-level slug tests at BHRS wells. The 3DTHT field system for well instrumentation and data acquisition/feedback is fully modular and portable, and the in-well packer-and-port system is easily assembled and disassembled without expensive support equipment or need for gas pressurization. Tests are run for 15-20 min and the aquifer is allowed to recover while the pumping equipment is repositioned between tests. The tomographic modeling software developed uses as input observations of temporal drawdown behavior from each of numerous zones isolated in numerous observation wells during a series of pumping tests conducted from numerous isolated intervals in one or more pumping wells. The software solves for distributed K (as well as storage parameters Ss and Sy, if desired) and estimates parameter uncertainties using: a transient 3D unconfined forward model in MODFLOW, the adjoint state method for calculating sensitivities (Clemo 2007), and the quasi-linear geostatistical inverse method (Kitanidis 1995) for the inversion. We solve for K at >100,000 sub-m3

  10. 3D facial expression modeling for recognition

    NASA Astrophysics Data System (ADS)

    Lu, Xiaoguang; Jain, Anil K.; Dass, Sarat C.

    2005-03-01

    Current two-dimensional image based face recognition systems encounter difficulties with large variations in facial appearance due to the pose, illumination and expression changes. Utilizing 3D information of human faces is promising for handling the pose and lighting variations. While the 3D shape of a face does not change due to head pose (rigid) and lighting changes, it is not invariant to the non-rigid facial movement and evolution, such as expressions and aging effect. We propose a facial surface matching framework to match multiview facial scans to a 3D face model, where the (non-rigid) expression deformation is explicitly modeled for each subject, resulting in a person-specific deformation model. The thin plate spline (TPS) is applied to model the deformation based on the facial landmarks. The deformation is applied to the 3D neutral expression face model to synthesize the corresponding expression. Both the neutral and the synthesized 3D surface models are used to match a test scan. The surface registration and matching between a test scan and a 3D model are achieved by a modified Iterative Closest Point (ICP) algorithm. Preliminary experimental results demonstrate that the proposed expression modeling and recognition-by-synthesis schemes improve the 3D matching accuracy.

  11. Semi-automatic 2D-to-3D conversion of human-centered videos enhanced by age and gender estimation

    NASA Astrophysics Data System (ADS)

    Fard, Mani B.; Bayazit, Ulug

    2014-01-01

    In this work, we propose a feasible 3D video generation method to enable high quality visual perception using a monocular uncalibrated camera. Anthropometric distances between face standard landmarks are approximated based on the person's age and gender. These measurements are used in a 2-stage approach to facilitate the construction of binocular stereo images. Specifically, one view of the background is registered in initial stage of video shooting. It is followed by an automatically guided displacement of the camera toward its secondary position. At the secondary position the real-time capturing is started and the foreground (viewed person) region is extracted for each frame. After an accurate parallax estimation the extracted foreground is placed in front of the background image that was captured at the initial position. So the constructed full view of the initial position combined with the view of the secondary (current) position, form the complete binocular pairs during real-time video shooting. The subjective evaluation results present a competent depth perception quality through the proposed system.

  12. Different scenarios for inverse estimation of soil hydraulic parameters from double-ring infiltrometer data using HYDRUS-2D/3D

    NASA Astrophysics Data System (ADS)

    Mashayekhi, Parisa; Ghorbani-Dashtaki, Shoja; Mosaddeghi, Mohammad Reza; Shirani, Hossein; Nodoushan, Ali Reza Mohammadi

    2016-04-01

    In this study, HYDRUS-2D/3D was used to simulate ponded infiltration through double-ring infiltrometers into a hypothetical loamy soil profile. Twelve scenarios of inverse modelling (divided into three groups) were considered for estimation of Mualem-van Genuchten hydraulic parameters. In the first group, simulation was carried out solely using cumulative infiltration data. In the second group, cumulative infiltration data plus water content at h = -330 cm (field capacity) were used as inputs. In the third group, cumulative infiltration data plus water contents at h = -330 cm (field capacity) and h = -15 000 cm (permanent wilting point) were used simultaneously as predictors. The results showed that numerical inverse modelling of the double-ring infiltrometer data provided a reliable alternative method for determining soil hydraulic parameters. The results also indicated that by reducing the number of hydraulic parameters involved in the optimization process, the simulation error is reduced. The best one in infiltration simulation which parameters α, n, and Ks were optimized using the infiltration data and field capacity as inputs. Including field capacity as additional data was important for better optimization/definition of soil hydraulic functions, but using field capacity and permanent wilting point simultaneously as additional data increased the simulation error.

  13. The impact of 3D volume of interest definition on accuracy and precision of activity estimation in quantitative SPECT and planar processing methods

    NASA Astrophysics Data System (ADS)

    He, Bin; Frey, Eric C.

    2010-06-01

    Accurate and precise estimation of organ activities is essential for treatment planning in targeted radionuclide therapy. We have previously evaluated the impact of processing methodology, statistical noise and variability in activity distribution and anatomy on the accuracy and precision of organ activity estimates obtained with quantitative SPECT (QSPECT) and planar (QPlanar) processing. Another important factor impacting the accuracy and precision of organ activity estimates is accuracy of and variability in the definition of organ regions of interest (ROI) or volumes of interest (VOI). The goal of this work was thus to systematically study the effects of VOI definition on the reliability of activity estimates. To this end, we performed Monte Carlo simulation studies using randomly perturbed and shifted VOIs to assess the impact on organ activity estimates. The 3D NCAT phantom was used with activities that modeled clinically observed 111In ibritumomab tiuxetan distributions. In order to study the errors resulting from misdefinitions due to manual segmentation errors, VOIs of the liver and left kidney were first manually defined. Each control point was then randomly perturbed to one of the nearest or next-nearest voxels in three ways: with no, inward or outward directional bias, resulting in random perturbation, erosion or dilation, respectively, of the VOIs. In order to study the errors resulting from the misregistration of VOIs, as would happen, e.g. in the case where the VOIs were defined using a misregistered anatomical image, the reconstructed SPECT images or projections were shifted by amounts ranging from -1 to 1 voxels in increments of with 0.1 voxels in both the transaxial and axial directions. The activity estimates from the shifted reconstructions or projections were compared to those from the originals, and average errors were computed for the QSPECT and QPlanar methods, respectively. For misregistration, errors in organ activity estimations were

  14. The impact of 3D volume of interest definition on accuracy and precision of activity estimation in quantitative SPECT and planar processing methods.

    PubMed

    He, Bin; Frey, Eric C

    2010-06-21

    Accurate and precise estimation of organ activities is essential for treatment planning in targeted radionuclide therapy. We have previously evaluated the impact of processing methodology, statistical noise and variability in activity distribution and anatomy on the accuracy and precision of organ activity estimates obtained with quantitative SPECT (QSPECT) and planar (QPlanar) processing. Another important factor impacting the accuracy and precision of organ activity estimates is accuracy of and variability in the definition of organ regions of interest (ROI) or volumes of interest (VOI). The goal of this work was thus to systematically study the effects of VOI definition on the reliability of activity estimates. To this end, we performed Monte Carlo simulation studies using randomly perturbed and shifted VOIs to assess the impact on organ activity estimates. The 3D NCAT phantom was used with activities that modeled clinically observed (111)In ibritumomab tiuxetan distributions. In order to study the errors resulting from misdefinitions due to manual segmentation errors, VOIs of the liver and left kidney were first manually defined. Each control point was then randomly perturbed to one of the nearest or next-nearest voxels in three ways: with no, inward or outward directional bias, resulting in random perturbation, erosion or dilation, respectively, of the VOIs. In order to study the errors resulting from the misregistration of VOIs, as would happen, e.g. in the case where the VOIs were defined using a misregistered anatomical image, the reconstructed SPECT images or projections were shifted by amounts ranging from -1 to 1 voxels in increments of with 0.1 voxels in both the transaxial and axial directions. The activity estimates from the shifted reconstructions or projections were compared to those from the originals, and average errors were computed for the QSPECT and QPlanar methods, respectively. For misregistration, errors in organ activity estimations were

  15. A fully automatic, threshold-based segmentation method for the estimation of the Metabolic Tumor Volume from PET images: validation on 3D printed anthropomorphic oncological lesions

    NASA Astrophysics Data System (ADS)

    Gallivanone, F.; Interlenghi, M.; Canervari, C.; Castiglioni, I.

    2016-01-01

    18F-Fluorodeoxyglucose (18F-FDG) Positron Emission Tomography (PET) is a standard functional diagnostic technique to in vivo image cancer. Different quantitative paramters can be extracted from PET images and used as in vivo cancer biomarkers. Between PET biomarkers Metabolic Tumor Volume (MTV) has gained an important role in particular considering the development of patient-personalized radiotherapy treatment for non-homogeneous dose delivery. Different imaging processing methods have been developed to define MTV. The different proposed PET segmentation strategies were validated in ideal condition (e.g. in spherical objects with uniform radioactivity concentration), while the majority of cancer lesions doesn't fulfill these requirements. In this context, this work has a twofold objective: 1) to implement and optimize a fully automatic, threshold-based segmentation method for the estimation of MTV, feasible in clinical practice 2) to develop a strategy to obtain anthropomorphic phantoms, including non-spherical and non-uniform objects, miming realistic oncological patient conditions. The developed PET segmentation algorithm combines an automatic threshold-based algorithm for the definition of MTV and a k-means clustering algorithm for the estimation of the background. The method is based on parameters always available in clinical studies and was calibrated using NEMA IQ Phantom. Validation of the method was performed both in ideal (e.g. in spherical objects with uniform radioactivity concentration) and non-ideal (e.g. in non-spherical objects with a non-uniform radioactivity concentration) conditions. The strategy to obtain a phantom with synthetic realistic lesions (e.g. with irregular shape and a non-homogeneous uptake) consisted into the combined use of standard anthropomorphic phantoms commercially and irregular molds generated using 3D printer technology and filled with a radioactive chromatic alginate. The proposed segmentation algorithm was feasible in a

  16. 3D and Education

    NASA Astrophysics Data System (ADS)

    Meulien Ohlmann, Odile

    2013-02-01

    Today the industry offers a chain of 3D products. Learning to "read" and to "create in 3D" becomes an issue of education of primary importance. 25 years professional experience in France, the United States and Germany, Odile Meulien set up a personal method of initiation to 3D creation that entails the spatial/temporal experience of the holographic visual. She will present some different tools and techniques used for this learning, their advantages and disadvantages, programs and issues of educational policies, constraints and expectations related to the development of new techniques for 3D imaging. Although the creation of display holograms is very much reduced compared to the creation of the 90ies, the holographic concept is spreading in all scientific, social, and artistic activities of our present time. She will also raise many questions: What means 3D? Is it communication? Is it perception? How the seeing and none seeing is interferes? What else has to be taken in consideration to communicate in 3D? How to handle the non visible relations of moving objects with subjects? Does this transform our model of exchange with others? What kind of interaction this has with our everyday life? Then come more practical questions: How to learn creating 3D visualization, to learn 3D grammar, 3D language, 3D thinking? What for? At what level? In which matter? for whom?

  17. Variability in Dengue Titer Estimates from Plaque Reduction Neutralization Tests Poses a Challenge to Epidemiological Studies and Vaccine Development

    PubMed Central

    Salje, Henrik; Rodríguez-Barraquer, Isabel; Rainwater-Lovett, Kaitlin; Nisalak, Ananda; Thaisomboonsuk, Butsaya; Thomas, Stephen J.; Fernandez, Stefan; Jarman, Richard G.; Yoon, In-Kyu; Cummings, Derek A. T.

    2014-01-01

    Background Accurate determination of neutralization antibody titers supports epidemiological studies of dengue virus transmission and vaccine trials. Neutralization titers measured using the plaque reduction neutralization test (PRNT) are believed to provide a key measure of immunity to dengue viruses, however, the assay's variability is poorly understood, making it difficult to interpret the significance of any assay reading. In addition there is limited standardization of the neutralization evaluation point or statistical model used to estimate titers across laboratories, with little understanding of the optimum approach. Methodology/Principal Findings We used repeated assays on the same two pools of serum using five different viruses (2,319 assays) to characterize the variability in the technique under identical experimental conditions. We also assessed the performance of multiple statistical models to interpolate continuous values of neutralization titer from discrete measurements from serial dilutions. We found that the variance in plaque reductions for individual dilutions was 0.016, equivalent to a 95% confidence interval of 0.45–0.95 for an observed plaque reduction of 0.7. We identified PRNT75 as the optimum evaluation point with a variance of 0.025 (log10 scale), indicating a titer reading of 1∶500 had 95% confidence intervals of 1∶240–1∶1000 (2.70±0.31 on a log10 scale). The choice of statistical model was not important for the calculation of relative titers, however, cloglog regression out-performed alternatives where absolute titers are of interest. Finally, we estimated that only 0.7% of assays would falsely detect a four-fold difference in titers between acute and convalescent sera where no true difference exists. Conclusions Estimating and reporting assay uncertainty will aid the interpretation of individual titers. Laboratories should perform a small number of repeat assays to generate their own variability estimates. These could be used

  18. An automated image-based method of 3D subject-specific body segment parameter estimation for kinetic analyses of rapid movements.

    PubMed

    Sheets, Alison L; Corazza, Stefano; Andriacchi, Thomas P

    2010-01-01

    Accurate subject-specific body segment parameters (BSPs) are necessary to perform kinetic analyses of human movements with large accelerations, or no external contact forces or moments. A new automated topographical image-based method of estimating segment mass, center of mass (CM) position, and moments of inertia is presented. Body geometry and volume were measured using a laser scanner, then an automated pose and shape registration algorithm segmented the scanned body surface, and identified joint center (JC) positions. Assuming the constant segment densities of Dempster, thigh and shank masses, CM locations, and moments of inertia were estimated for four male subjects with body mass indexes (BMIs) of 19.7-38.2. The subject-specific BSP were compared with those determined using Dempster and Clauser regression equations. The influence of BSP and BMI differences on knee and hip net forces and moments during a running swing phase were quantified for the subjects with the smallest and largest BMIs. Subject-specific BSP for 15 body segments were quickly calculated using the image-based method, and total subject masses were overestimated by 1.7-2.9%.When compared with the Dempster and Clauser methods, image-based and regression estimated thigh BSP varied more than the shank parameters. Thigh masses and hip JC to thigh CM distances were consistently larger, and each transverse moment of inertia was smaller using the image-based method. Because the shank had larger linear and angular accelerations than the thigh during the running swing phase, shank BSP differences had a larger effect on calculated intersegmental forces and moments at the knee joint than thigh BSP differences did at the hip. It was the net knee kinetic differences caused by the shank BSP differences that were the largest contributors to the hip variations. Finally, BSP differences produced larger kinetic differences for the subject with larger segment masses, suggesting that parameter accuracy is more

  19. An automated image-based method of 3D subject-specific body segment parameter estimation for kinetic analyses of rapid movements.

    PubMed

    Sheets, Alison L; Corazza, Stefano; Andriacchi, Thomas P

    2010-01-01

    Accurate subject-specific body segment parameters (BSPs) are necessary to perform kinetic analyses of human movements with large accelerations, or no external contact forces or moments. A new automated topographical image-based method of estimating segment mass, center of mass (CM) position, and moments of inertia is presented. Body geometry and volume were measured using a laser scanner, then an automated pose and shape registration algorithm segmented the scanned body surface, and identified joint center (JC) positions. Assuming the constant segment densities of Dempster, thigh and shank masses, CM locations, and moments of inertia were estimated for four male subjects with body mass indexes (BMIs) of 19.7-38.2. The subject-specific BSP were compared with those determined using Dempster and Clauser regression equations. The influence of BSP and BMI differences on knee and hip net forces and moments during a running swing phase were quantified for the subjects with the smallest and largest BMIs. Subject-specific BSP for 15 body segments were quickly calculated using the image-based method, and total subject masses were overestimated by 1.7-2.9%.When compared with the Dempster and Clauser methods, image-based and regression estimated thigh BSP varied more than the shank parameters. Thigh masses and hip JC to thigh CM distances were consistently larger, and each transverse moment of inertia was smaller using the image-based method. Because the shank had larger linear and angular accelerations than the thigh during the running swing phase, shank BSP differences had a larger effect on calculated intersegmental forces and moments at the knee joint than thigh BSP differences did at the hip. It was the net knee kinetic differences caused by the shank BSP differences that were the largest contributors to the hip variations. Finally, BSP differences produced larger kinetic differences for the subject with larger segment masses, suggesting that parameter accuracy is more

  20. Evaluation of patient DVH-based QA metrics for prostate VMAT: correlation between accuracy of estimated 3D patient dose and magnitude of MLC misalignment.

    PubMed

    Kadoya, Noriyuki; Saito, Masahide; Ogasawara, Makoto; Fujita, Yukio; Ito, Kengo; Sato, Kiyokazu; Kishi, Kazuma; Dobashi, Suguru; Takeda, Ken; Jingu, Keiichi

    2015-05-08

    The purpose of this study was to evaluate the accuracy of commercially available software, using patient DVH-based QA metrics, by investigating the correlation between estimated 3D patient dose and magnitude of MLC misalignments. We tested 3DVH software with an ArcCHECK. Two different calculating modes of ArcCHECK Planned Dose Perturbation (ACPDP) were used: "Normal Sensitivity" and "High Sensitivity". Ten prostate cancer patients treated with hypofractionated VMAT (67.6 Gy/26 Fr) in our hospital were studied. For the baseline plan, we induced MLC errors (-0.75, -0.5, -0.25, 0.25, 0.5, and 0.75 mm for each single bank). We calculated the dose differences between the ACPDP dose with error and TPS dose with error using gamma passing rates and using DVH-based QA metrics. The correlations between dose estimation error and MLC position error varied with each structure and metric. A comparison using 1%/1 mm gamma index showed that the larger was the MLC error-induced, the worse were the gamma passing rates. Slopes of linear fit to dose estimation error versus MLC position error for mean dose and D95 to the PTV were 1.76 and 1.40% mm-1, respectively, for "Normal Sensitivity", and -0.53 and -0.88% mm-1, respectively, for "High Sensitivity", showing better accuracy for "High Sensitivity" than "Normal Sensitivity". On the other hand, the slopes for mean dose to the rectum and bladder, V35 to the rectum and bladder and V55 to the rectum and bladder, were -1.00, -0.55, -2.56, -1.25, -3.53, and -1.85%mm-1, respectively, for "Normal Sensitivity", and -2.89, -2.39, -4.54, -3.12, -6.24, and -4.11% mm-1, respectively, for "High Sensitivity", showing significant better accuracy for "Normal Sensitivity" than "High Sensitivity". Our results showed that 3DVH had some residual error for both sensitivities. Furthermore, we found that "Normal Sensitivity" might have better accuracy for the DVH metric for the PTV and that "High Sensitivity" might have better accuracy for DVH metrics for

  1. The yearly rate of Relative Thalamic Atrophy (yrRTA): a simple 2D/3D method for estimating deep gray matter atrophy in Multiple Sclerosis

    PubMed Central

    Menéndez-González, Manuel; Salas-Pacheco, José M.; Arias-Carrión, Oscar

    2014-01-01

    Despite a strong correlation to outcome, the measurement of gray matter (GM) atrophy is not being used in daily clinical practice as a prognostic factor and monitor the effect of treatments in Multiple Sclerosis (MS). This is mainly because the volumetric methods available to date are sophisticated and difficult to implement for routine use in most hospitals. In addition, the meanings of raw results from volumetric studies on regions of interest are not always easy to understand. Thus, there is a huge need of a methodology suitable to be applied in daily clinical practice in order to estimate GM atrophy in a convenient and comprehensive way. Given the thalamus is the brain structure found to be more consistently implied in MS both in terms of extent of atrophy and in terms of prognostic value, we propose a solution based in this structure. In particular, we propose to compare the extent of thalamus atrophy with the extent of unspecific, global brain atrophy, represented by ventricular enlargement. We name this ratio the “yearly rate of Relative Thalamic Atrophy” (yrRTA). In this report we aim to describe the concept of yrRTA and the guidelines for computing it under 2D and 3D approaches and explain the rationale behind this method. We have also conducted a very short crossectional retrospective study to proof the concept of yrRTA. However, we do not seek to describe here the validity of this parameter since these researches are being conducted currently and results will be addressed in future publications. PMID:25206331

  2. The yearly rate of Relative Thalamic Atrophy (yrRTA): a simple 2D/3D method for estimating deep gray matter atrophy in Multiple Sclerosis.

    PubMed

    Menéndez-González, Manuel; Salas-Pacheco, José M; Arias-Carrión, Oscar

    2014-01-01

    Despite a strong correlation to outcome, the measurement of gray matter (GM) atrophy is not being used in daily clinical practice as a prognostic factor and monitor the effect of treatments in Multiple Sclerosis (MS). This is mainly because the volumetric methods available to date are sophisticated and difficult to implement for routine use in most hospitals. In addition, the meanings of raw results from volumetric studies on regions of interest are not always easy to understand. Thus, there is a huge need of a methodology suitable to be applied in daily clinical practice in order to estimate GM atrophy in a convenient and comprehensive way. Given the thalamus is the brain structure found to be more consistently implied in MS both in terms of extent of atrophy and in terms of prognostic value, we propose a solution based in this structure. In particular, we propose to compare the extent of thalamus atrophy with the extent of unspecific, global brain atrophy, represented by ventricular enlargement. We name this ratio the "yearly rate of Relative Thalamic Atrophy" (yrRTA). In this report we aim to describe the concept of yrRTA and the guidelines for computing it under 2D and 3D approaches and explain the rationale behind this method. We have also conducted a very short crossectional retrospective study to proof the concept of yrRTA. However, we do not seek to describe here the validity of this parameter since these researches are being conducted currently and results will be addressed in future publications.

  3. The yearly rate of Relative Thalamic Atrophy (yrRTA): a simple 2D/3D method for estimating deep gray matter atrophy in Multiple Sclerosis.

    PubMed

    Menéndez-González, Manuel; Salas-Pacheco, José M; Arias-Carrión, Oscar

    2014-01-01

    Despite a strong correlation to outcome, the measurement of gray matter (GM) atrophy is not being used in daily clinical practice as a prognostic factor and monitor the effect of treatments in Multiple Sclerosis (MS). This is mainly because the volumetric methods available to date are sophisticated and difficult to implement for routine use in most hospitals. In addition, the meanings of raw results from volumetric studies on regions of interest are not always easy to understand. Thus, there is a huge need of a methodology suitable to be applied in daily clinical practice in order to estimate GM atrophy in a convenient and comprehensive way. Given the thalamus is the brain structure found to be more consistently implied in MS both in terms of extent of atrophy and in terms of prognostic value, we propose a solution based in this structure. In particular, we propose to compare the extent of thalamus atrophy with the extent of unspecific, global brain atrophy, represented by ventricular enlargement. We name this ratio the "yearly rate of Relative Thalamic Atrophy" (yrRTA). In this report we aim to describe the concept of yrRTA and the guidelines for computing it under 2D and 3D approaches and explain the rationale behind this method. We have also conducted a very short crossectional retrospective study to proof the concept of yrRTA. However, we do not seek to describe here the validity of this parameter since these researches are being conducted currently and results will be addressed in future publications. PMID:25206331

  4. 3D Imaging.

    ERIC Educational Resources Information Center

    Hastings, S. K.

    2002-01-01

    Discusses 3 D imaging as it relates to digital representations in virtual library collections. Highlights include X-ray computed tomography (X-ray CT); the National Science Foundation (NSF) Digital Library Initiatives; output peripherals; image retrieval systems, including metadata; and applications of 3 D imaging for libraries and museums. (LRW)

  5. A fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium.

    PubMed

    Koolwal, Aditya B; Barbagli, Federico; Carlson, Christopher R; Liang, David H

    2011-12-01

    We present a method for real-time, freehand 3D ultrasound (3D-US) reconstruction of moving anatomy, with specific application towards guiding the catheter ablation procedure in the left atrium. Using an intracardiac echo (ICE) catheter with a pose (position/orientation) sensor mounted to its tip, we continually mosaic 2D-ICE images of a left atrium phantom model to form a 3D-US volume. Our mosaicing strategy employs a probabilistic framework based on simultaneous localization and mapping (SLAM), a technique commonly used in mobile robotics for creating maps of unexplored environments. The measured ICE catheter tip pose provides an initial estimate for compounding 2D-ICE image data into the 3D-US volume. However, we simultaneously consider the overlap-consistency shared between 2D-ICE images and the 3D-US volume, computing a "corrected" tip pose if need be to ensure spatially-consistent reconstruction. This allows us to compensate for anatomic movement and sensor drift that would otherwise cause motion artifacts in the 3D-US volume. Our approach incorporates 2D-ICE data immediately after acquisition, allowing us to continuously update the registration parameters linking sensor coordinates to 3D-US coordinates. This, in turn, enables real-time localization and display of sensorized therapeutic catheters within the 3D-US volume for facilitating procedural guidance.

  6. A fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium.

    PubMed

    Koolwal, Aditya B; Barbagli, Federico; Carlson, Christopher R; Liang, David H

    2011-12-01

    We present a method for real-time, freehand 3D ultrasound (3D-US) reconstruction of moving anatomy, with specific application towards guiding the catheter ablation procedure in the left atrium. Using an intracardiac echo (ICE) catheter with a pose (position/orientation) sensor mounted to its tip, we continually mosaic 2D-ICE images of a left atrium phantom model to form a 3D-US volume. Our mosaicing strategy employs a probabilistic framework based on simultaneous localization and mapping (SLAM), a technique commonly used in mobile robotics for creating maps of unexplored environments. The measured ICE catheter tip pose provides an initial estimate for compounding 2D-ICE image data into the 3D-US volume. However, we simultaneously consider the overlap-consistency shared between 2D-ICE images and the 3D-US volume, computing a "corrected" tip pose if need be to ensure spatially-consistent reconstruction. This allows us to compensate for anatomic movement and sensor drift that would otherwise cause motion artifacts in the 3D-US volume. Our approach incorporates 2D-ICE data immediately after acquisition, allowing us to continuously update the registration parameters linking sensor coordinates to 3D-US coordinates. This, in turn, enables real-time localization and display of sensorized therapeutic catheters within the 3D-US volume for facilitating procedural guidance. PMID:22014856

  7. Accurate three-dimensional pose recognition from monocular images using template matched filtering

    NASA Astrophysics Data System (ADS)

    Picos, Kenia; Diaz-Ramirez, Victor H.; Kober, Vitaly; Montemayor, Antonio S.; Pantrigo, Juan J.

    2016-06-01

    An accurate algorithm for three-dimensional (3-D) pose recognition of a rigid object is presented. The algorithm is based on adaptive template matched filtering and local search optimization. When a scene image is captured, a bank of correlation filters is constructed to find the best correspondence between the current view of the target in the scene and a target image synthesized by means of computer graphics. The synthetic image is created using a known 3-D model of the target and an iterative procedure based on local search. Computer simulation results obtained with the proposed algorithm in synthetic and real-life scenes are presented and discussed in terms of accuracy of pose recognition in the presence of noise, cluttered background, and occlusion. Experimental results show that our proposal presents high accuracy for 3-D pose estimation using monocular images.

  8. Estimation of regional myocardial mass at risk based on distal arterial lumen volume and length using 3D micro-CT images

    PubMed Central

    Le, Huy; Wong, Jerry T.; Molloi, Sabee

    2008-01-01

    The determination of regional myocardial mass at risk distal to a coronary occlusion provides valuable prognostic information for a patient with coronary artery disease. The coronary arterial system follows a design rule which allows for the use of arterial branch length and lumen volume to estimate regional myocardial mass at risk. Image processing techniques, such as segmentation, skeletonization, and arterial network tracking, are presented for extracting anatomical details of the coronary arterial system using micro-computed tomography (CT). Moreover, a method of assigning tissue voxels to their corresponding arterial branches is presented to determine the dependent myocardial region. The proposed micro-CT technique was utilized to investigate the relationship between the sum of the distal coronary arterial branch lengths and volumes to the dependent regional myocardial mass using a polymer cast of a porcine heart. The correlations of the logarithm of the total distal arterial lengths (L) to the logarithm of the regional myocardial mass (M) for the left anterior descending (LAD), left circumflex (LCX) and right coronary (RCA) arteries were log(L) = 0.73log(M)+ 0.09 (R= 0.78), log(L) = 0.82log(M)+ 0.05 (R= 0.77), and log(L) = 0.85log(M)+ 0.05 (R= 0.87)s, respectively. The correlation of the logarithm of the total distal arterial lumen volumes (V) to the logarithm of the regional myocardial mass for the LAD, LCX and RCA were log(V) = 0.93log(M)− 1.65 (R= 0.81), log(V) = 1.02log(M) −1.79 (R= 0.78), and log(V) = 1.17log(M)− 2.10 (R= 0.82), respectively. These morphological relations did not change appreciably for diameter truncations of 600 to 1400 µm. The results indicate that the image processing procedures successfully extracted information from a large 3D dataset of the coronary arterial tree to provide prognostic indications in the form of arterial tree parameters and anatomical area at risk. PMID:18595659

  9. 2D-3D Registration of CT Vertebra Volume to Fluoroscopy Projection: A Calibration Model Assessment

    NASA Astrophysics Data System (ADS)

    Bifulco, P.; Cesarelli, M.; Allen, R.; Romano, M.; Fratini, A.; Pasquariello, G.

    2009-12-01

    This study extends a previous research concerning intervertebral motion registration by means of 2D dynamic fluoroscopy to obtain a more comprehensive 3D description of vertebral kinematics. The problem of estimating the 3D rigid pose of a CT volume of a vertebra from its 2D X-ray fluoroscopy projection is addressed. 2D-3D registration is obtained maximising a measure of similarity between Digitally Reconstructed Radiographs (obtained from the CT volume) and real fluoroscopic projection. X-ray energy correction was performed. To assess the method a calibration model was realised a sheep dry vertebra was rigidly fixed to a frame of reference including metallic markers. Accurate measurement of 3D orientation was obtained via single-camera calibration of the markers and held as true 3D vertebra position; then, vertebra 3D pose was estimated and results compared. Error analysis revealed accuracy of the order of 0.1 degree for the rotation angles of about 1 mm for displacements parallel to the fluoroscopic plane, and of order of 10 mm for the orthogonal displacement.

  10. Three-dimensional face pose detection and tracking using monocular videos: tool and application.

    PubMed

    Dornaika, Fadi; Raducanu, Bogdan

    2009-08-01

    Recently, we have proposed a real-time tracker that simultaneously tracks the 3-D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed methods-the initialization and tracking-for enhancing the human-machine interaction functionality of an AIBO robot. More precisely, we show how the orientation of the robot's camera (or any active vision system) can be controlled through the estimation of the user's head pose. Applications based on head-pose imitation such as telepresence, virtual reality, and video games can directly exploit the proposed techniques. Experiments on real videos confirm the robustness and usefulness of the proposed methods. PMID:19336335

  11. Three-dimensional face pose detection and tracking using monocular videos: tool and application.

    PubMed

    Dornaika, Fadi; Raducanu, Bogdan

    2009-08-01

    Recently, we have proposed a real-time tracker that simultaneously tracks the 3-D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed methods-the initialization and tracking-for enhancing the human-machine interaction functionality of an AIBO robot. More precisely, we show how the orientation of the robot's camera (or any active vision system) can be controlled through the estimation of the user's head pose. Applications based on head-pose imitation such as telepresence, virtual reality, and video games can directly exploit the proposed techniques. Experiments on real videos confirm the robustness and usefulness of the proposed methods.

  12. Statistical bias in 3-D reconstruction from a monocular video.

    PubMed

    Roy-Chowdhury, Amit K; Chellappa, Rama

    2005-08-01

    The present state-of-the-art in computing the error statistics in three-dimensional (3-D) reconstruction from video concentrates on estimating the error covariance. A different source of error which has not received much attention is the fact that the reconstruction estimates are often significantly statistically biased. In this paper, we derive a precise expression for the bias in the depth estimate, based on the continuous (differentiable) version of structure from motion (SfM). Many SfM algorithms, or certain portions of them, can be posed in a linear least-squares (LS) framework Ax = b. Examples include initialization procedures for bundle adjustment or algorithms that alternately estimate depth and camera motion. It is a well-known fact that the LS estimate is biased if the system matrix A is noisy. In SfM, the matrix A contains point correspondences, which are always difficult to obtain precisely; thus, it is expected that the structure and motion estimates in such a formulation of the problem would be biased. Existing results on the minimum achievable variance of the SfM estimator are extended by deriving a generalized Cramer-Rao lower bound. A detailed analysis of the effect of various camera motion parameters on the bias is presented. We conclude by presenting the effect of bias compensation on reconstructing 3-D face models from rendered images. PMID:16121454

  13. Inferring 3D kinematics of carpal bones from single view fluoroscopic sequences.

    PubMed

    Chen, Xin; Graham, Jim; Hutchinson, Charles; Muir, Lindsay

    2011-01-01

    We present a novel framework for inferring 3D carpal bone kinematics and bone shapes from a single view fluoroscopic sequence. A hybrid statistical model representing both the kinematics and shape variation of the carpal bones is built, based on a number of 3D CT data sets obtained from different subjects at different poses. Given a fluoroscopic sequence, the wrist pose, carpal bone kinematics and bone shapes are estimated iteratively by matching the statistical model with the 2D images. A specially designed cost function enables smoothed parameter estimation across frames. We have evaluated the proposed method on both simulated data and real fluoroscopic sequences. It was found that the relative positions between carpal bones can be accurately estimated, which is potentially useful for detection of conditions such as scapholunate dissociation.

  14. Pose-Invariant Face Recognition via RGB-D Images.

    PubMed

    Sang, Gaoli; Li, Jing; Zhao, Qijun

    2016-01-01

    Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions. PMID:26819581

  15. Pose-Invariant Face Recognition via RGB-D Images

    PubMed Central

    Sang, Gaoli; Li, Jing; Zhao, Qijun

    2016-01-01

    Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions. PMID:26819581

  16. Assessing 3D tunnel position in ACL reconstruction using a novel single image 3D-2D registration

    NASA Astrophysics Data System (ADS)

    Kang, X.; Yau, W. P.; Otake, Y.; Cheung, P. Y. S.; Hu, Y.; Taylor, R. H.

    2012-02-01

    The routinely used procedure for evaluating tunnel positions following anterior cruciate ligament (ACL) reconstructions based on standard X-ray images is known to pose difficulties in terms of obtaining accurate measures, especially in providing three-dimensional tunnel positions. This is largely due to the variability in individual knee joint pose relative to X-ray plates. Accurate results were reported using postoperative CT. However, its extensive usage in clinical routine is hampered by its major requirement of having CT scans of individual patients, which is not available for most ACL reconstructions. These difficulties are addressed through the proposed method, which aligns a knee model to X-ray images using our novel single-image 3D-2D registration method and then estimates the 3D tunnel position. In the proposed method, the alignment is achieved by using a novel contour-based 3D-2D registration method wherein image contours are treated as a set of oriented points. However, instead of using some form of orientation weighting function and multiplying it with a distance function, we formulate the 3D-2D registration as a probability density estimation using a mixture of von Mises-Fisher-Gaussian (vMFG) distributions and solve it through an expectation maximization (EM) algorithm. Compared with the ground-truth established from postoperative CT, our registration method in an experiment using a plastic phantom showed accurate results with errors of (-0.43°+/-1.19°, 0.45°+/-2.17°, 0.23°+/-1.05°) and (0.03+/-0.55, -0.03+/-0.54, -2.73+/-1.64) mm. As for the entry point of the ACL tunnel, one of the key measurements, it was obtained with high accuracy of 0.53+/-0.30 mm distance errors.

  17. Estimating a structural bottle neck for eye-brain transfer of visual information from 3D-volumes of the optic nerve head from a commercial OCT device

    NASA Astrophysics Data System (ADS)

    Malmberg, Filip; Sandberg-Melin, Camilla; Söderberg, Per G.

    2016-03-01

    The aim of this project was to investigate the possibility of using OCT optic nerve head 3D information captured with a Topcon OCT 2000 device for detection of the shortest distance between the inner limit of the retina and the central limit of the pigment epithelium around the circumference of the optic nerve head. The shortest distance between these boundaries reflects the nerve fiber layer thickness and measurement of this distance is interesting for follow-up of glaucoma.

  18. Radiochromic 3D Detectors

    NASA Astrophysics Data System (ADS)

    Oldham, Mark

    2015-01-01

    Radiochromic materials exhibit a colour change when exposed to ionising radiation. Radiochromic film has been used for clinical dosimetry for many years and increasingly so recently, as films of higher sensitivities have become available. The two principle advantages of radiochromic dosimetry include greater tissue equivalence (radiologically) and the lack of requirement for development of the colour change. In a radiochromic material, the colour change arises direct from ionising interactions affecting dye molecules, without requiring any latent chemical, optical or thermal development, with important implications for increased accuracy and convenience. It is only relatively recently however, that 3D radiochromic dosimetry has become possible. In this article we review recent developments and the current state-of-the-art of 3D radiochromic dosimetry, and the potential for a more comprehensive solution for the verification of complex radiation therapy treatments, and 3D dose measurement in general.

  19. 3-D Seismic Interpretation

    NASA Astrophysics Data System (ADS)

    Moore, Gregory F.

    2009-05-01

    This volume is a brief introduction aimed at those who wish to gain a basic and relatively quick understanding of the interpretation of three-dimensional (3-D) seismic reflection data. The book is well written, clearly illustrated, and easy to follow. Enough elementary mathematics are presented for a basic understanding of seismic methods, but more complex mathematical derivations are avoided. References are listed for readers interested in more advanced explanations. After a brief introduction, the book logically begins with a succinct chapter on modern 3-D seismic data acquisition and processing. Standard 3-D acquisition methods are presented, and an appendix expands on more recent acquisition techniques, such as multiple-azimuth and wide-azimuth acquisition. Although this chapter covers the basics of standard time processing quite well, there is only a single sentence about prestack depth imaging, and anisotropic processing is not mentioned at all, even though both techniques are now becoming standard.

  20. Spatial distribution of Hydrocarbon Reservoirs in the West Korea Bay Basin in the northern part of the Yellow Sea, estimated by 3D gravity forward modeling

    NASA Astrophysics Data System (ADS)

    Choi, Sungchan; Ryu, In-Chang; Götze, H.-J.; Chae, Y.

    2016-10-01

    Although an amount of hydrocarbon has been discovered in the West Korea Bay Basin (WKBB), located in the North Korean offshore area, geophysical investigations associated with these hydrocarbon reservoirs are not permitted because of the current geopolitical situation. Interpretation of satellite- derived potential field data can be alternatively used to image the three-dimensional (3D) density distribution in the sedimentary basin associated with hydrocarbon deposits. We interpreted the TRIDENT satellite-derived gravity field data to provide detailed insights into the spatial distribution of sedimentary density structures in the WKBB. We used 3D forward density modeling for the interpretation that incorporated constraints from existing geological and geophysical information. The gravity data interpretation and the 3D forward modeling showed that there are two modeled areas in the central subbasin that are characterized by very low density structures, with a maximum density of about 2000 kg/m3, indicating some type of hydrocarbon reservoir. One of the anticipated hydrocarbon reservoirs is located in the southern part of the central subbasin with a volume of about 250 km3 at a depth of about 3000 m in the Cretaceous/Jurassic layer. The other hydrocarbon reservoir should exist in the northern part of the central subbasin, with an average volume of about 300 km3 at a depth of about 2500 m.

  1. Bootstrapping 3D fermions

    DOE PAGES

    Iliesiu, Luca; Kos, Filip; Poland, David; Pufu, Silviu S.; Simmons-Duffin, David; Yacoby, Ran

    2016-03-17

    We study the conformal bootstrap for a 4-point function of fermions <ψψψψ> in 3D. We first introduce an embedding formalism for 3D spinors and compute the conformal blocks appearing in fermion 4-point functions. Using these results, we find general bounds on the dimensions of operators appearing in the ψ × ψ OPE, and also on the central charge CT. We observe features in our bounds that coincide with scaling dimensions in the GrossNeveu models at large N. Finally, we also speculate that other features could coincide with a fermionic CFT containing no relevant scalar operators.

  2. RGB-D Indoor Plane-based 3D-Modeling using Autonomous Robot

    NASA Astrophysics Data System (ADS)

    Mostofi, N.; Moussa, A.; Elhabiby, M.; El-Sheimy, N.

    2014-11-01

    3D model of indoor environments provide rich information that can facilitate the disambiguation of different places and increases the familiarization process to any indoor environment for the remote users. In this research work, we describe a system for visual odometry and 3D modeling using information from RGB-D sensor (Camera). The visual odometry method estimates the relative pose of the consecutive RGB-D frames through feature extraction and matching techniques. The pose estimated by visual odometry algorithm is then refined with iterative closest point (ICP) method. The switching technique between ICP and visual odometry in case of no visible features suppresses inconsistency in the final developed map. Finally, we add the loop closure to remove the deviation between first and last frames. In order to have a semantic meaning out of 3D models, the planar patches are segmented from RGB-D point clouds data using region growing technique followed by convex hull method to assign boundaries to the extracted patches. In order to build a final semantic 3D model, the segmented patches are merged using relative pose information obtained from the first step.

  3. Venus in 3D

    NASA Astrophysics Data System (ADS)

    Plaut, J. J.

    1993-08-01

    Stereographic images of the surface of Venus which enable geologists to reconstruct the details of the planet's evolution are discussed. The 120-meter resolution of these 3D images make it possible to construct digital topographic maps from which precise measurements can be made of the heights, depths, slopes, and volumes of geologic structures.

  4. 3D reservoir visualization

    SciTech Connect

    Van, B.T.; Pajon, J.L.; Joseph, P. )

    1991-11-01

    This paper shows how some simple 3D computer graphics tools can be combined to provide efficient software for visualizing and analyzing data obtained from reservoir simulators and geological simulations. The animation and interactive capabilities of the software quickly provide a deep understanding of the fluid-flow behavior and an accurate idea of the internal architecture of a reservoir.

  5. Random-profiles-based 3D face recognition system.

    PubMed

    Kim, Joongrock; Yu, Sunjin; Lee, Sangyoun

    2014-01-01

    In this paper, a noble nonintrusive three-dimensional (3D) face modeling system for random-profile-based 3D face recognition is presented. Although recent two-dimensional (2D) face recognition systems can achieve a reliable recognition rate under certain conditions, their performance is limited by internal and external changes, such as illumination and pose variation. To address these issues, 3D face recognition, which uses 3D face data, has recently received much attention. However, the performance of 3D face recognition highly depends on the precision of acquired 3D face data, while also requiring more computational power and storage capacity than 2D face recognition systems. In this paper, we present a developed nonintrusive 3D face modeling system composed of a stereo vision system and an invisible near-infrared line laser, which can be directly applied to profile-based 3D face recognition. We further propose a novel random-profile-based 3D face recognition method that is memory-efficient and pose-invariant. The experimental results demonstrate that the reconstructed 3D face data consists of more than 50 k 3D point clouds and a reliable recognition rate against pose variation.

  6. Random-Profiles-Based 3D Face Recognition System

    PubMed Central

    Joongrock, Kim; Sunjin, Yu; Sangyoun, Lee

    2014-01-01

    In this paper, a noble nonintrusive three-dimensional (3D) face modeling system for random-profile-based 3D face recognition is presented. Although recent two-dimensional (2D) face recognition systems can achieve a reliable recognition rate under certain conditions, their performance is limited by internal and external changes, such as illumination and pose variation. To address these issues, 3D face recognition, which uses 3D face data, has recently received much attention. However, the performance of 3D face recognition highly depends on the precision of acquired 3D face data, while also requiring more computational power and storage capacity than 2D face recognition systems. In this paper, we present a developed nonintrusive 3D face modeling system composed of a stereo vision system and an invisible near-infrared line laser, which can be directly applied to profile-based 3D face recognition. We further propose a novel random-profile-based 3D face recognition method that is memory-efficient and pose-invariant. The experimental results demonstrate that the reconstructed 3D face data consists of more than 50 k 3D point clouds and a reliable recognition rate against pose variation. PMID:24691101

  7. 3D model-based detection and tracking for space autonomous and uncooperative rendezvous

    NASA Astrophysics Data System (ADS)

    Shang, Yang; Zhang, Yueqiang; Liu, Haibo

    2015-10-01

    In order to fully navigate using a vision sensor, a 3D edge model based detection and tracking technique was developed. Firstly, we proposed a target detection strategy over a sequence of several images from the 3D model to initialize the tracking. The overall purpose of such approach is to robustly match each image with the model views of the target. Thus we designed a line segment detection and matching method based on the multi-scale space technology. Experiments on real images showed that our method is highly robust under various image changes. Secondly, we proposed a method based on 3D particle filter (PF) coupled with M-estimation to track and estimate the pose of the target efficiently. In the proposed approach, a similarity observation model was designed according to a new distance function of line segments. Then, based on the tracking results of PF, the pose was optimized using M-estimation. Experiments indicated that the proposed method can effectively track and accurately estimate the pose of freely moving target in unconstrained environment.

  8. Estimation of three-dimensional knee joint movement using bi-plane x-ray fluoroscopy and 3D-CT

    NASA Astrophysics Data System (ADS)

    Haneishi, Hideaki; Fujita, Satoshi; Kohno, Takahiro; Suzuki, Masahiko; Miyagi, Jin; Moriya, Hideshige

    2005-04-01

    Acquisition of exact information of three-dimensional knee joint movement is desired in plastic surgery. Conventional X-ray fluoroscopy provides dynamic but just two-dimensional projected image. On the other hand, three-dimensional CT provides three-dimensional but just static image. In this paper, a method for acquiring three-dimensional knee joint movement using both bi-plane, dynamic X-ray fluoroscopy and static three-dimensional CT is proposed. Basic idea is use of 2D/3D registration using digitally reconstructed radiograph (DRR) or virtual projection of CT data. Original ideal is not new but the application of bi-plane fluoroscopy to natural bones of knee is reported for the first time. The technique was applied to two volunteers and successful results were obtained. Accuracy evaluation through computer simulation and phantom experiment with a knee joint of a pig were also conducted.

  9. Recovering 3D human body configurations using shape contexts.

    PubMed

    Mori, Greg; Malik, Jitendra

    2006-07-01

    The problem we consider in this paper is to take a single two-dimensional image containing a human figure, locate the joint positions, and use these to estimate the body configuration and pose in three-dimensional space. The basic approach is to store a number of exemplar 2D views of the human body in a variety of different configurations and viewpoints with respect to the camera. On each of these stored views, the locations of the body joints (left elbow, right knee, etc.) are manually marked and labeled for future use. The input image is then matched to each stored view, using the technique of shape context matching in conjunction with a kinematic chain-based deformation model. Assuming that there is a stored view sufficiently similar in configuration and pose, the correspondence process will succeed. The locations of the body joints are then transferred from the exemplar view to the test shape. Given the 2D joint locations, the 3D body configuration and pose are then estimated using an existing algorithm. We can apply this technique to video by treating each frame independently--tracking just becomes repeated recognition. We present results on a variety of data sets.

  10. Interior Reconstruction Using the 3d Hough Transform

    NASA Astrophysics Data System (ADS)

    Dumitru, R.-C.; Borrmann, D.; Nüchter, A.

    2013-02-01

    Laser scanners are often used to create accurate 3D models of buildings for civil engineering purposes, but the process of manually vectorizing a 3D point cloud is time consuming and error-prone (Adan and Huber, 2011). Therefore, the need to characterize and quantify complex environments in an automatic fashion arises, posing challenges for data analysis. This paper presents a system for 3D modeling by detecting planes in 3D point clouds, based on which the scene is reconstructed at a high architectural level through removing automatically clutter and foreground data. The implemented software detects openings, such as windows and doors and completes the 3D model by inpainting.

  11. Sensing and compressing 3-D models

    SciTech Connect

    Krumm, J.

    1998-02-01

    The goal of this research project was to create a passive and robust computer vision system for producing 3-D computer models of arbitrary scenes. Although the authors were unsuccessful in achieving the overall goal, several components of this research have shown significant potential. Of particular interest is the application of parametric eigenspace methods for planar pose measurement of partially occluded objects in gray-level images. The techniques presented provide a simple, accurate, and robust solution to the planar pose measurement problem. In addition, the representational efficiency of eigenspace methods used with gray-level features were successfully extended to binary features, which are less sensitive to illumination changes. The results of this research are presented in two papers that were written during the course of this project. The papers are included in sections 2 and 3. The first section of this report summarizes the 3-D modeling efforts.

  12. Taming supersymmetric defects in 3d-3d correspondence

    NASA Astrophysics Data System (ADS)

    Gang, Dongmin; Kim, Nakwoo; Romo, Mauricio; Yamazaki, Masahito

    2016-07-01

    We study knots in 3d Chern-Simons theory with complex gauge group {SL}(N,{{C}}), in the context of its relation with 3d { N }=2 theory (the so-called 3d-3d correspondence). The defect has either co-dimension 2 or co-dimension 4 inside the 6d (2,0) theory, which is compactified on a 3-manifold \\hat{M}. We identify such defects in various corners of the 3d-3d correspondence, namely in 3d {SL}(N,{{C}}) CS theory, in 3d { N }=2 theory, in 5d { N }=2 super Yang-Mills theory, and in the M-theory holographic dual. We can make quantitative checks of the 3d-3d correspondence by computing partition functions at each of these theories. This Letter is a companion to a longer paper [1], which contains more details and more results.

  13. 3D Audio System

    NASA Technical Reports Server (NTRS)

    1992-01-01

    Ames Research Center research into virtual reality led to the development of the Convolvotron, a high speed digital audio processing system that delivers three-dimensional sound over headphones. It consists of a two-card set designed for use with a personal computer. The Convolvotron's primary application is presentation of 3D audio signals over headphones. Four independent sound sources are filtered with large time-varying filters that compensate for motion. The perceived location of the sound remains constant. Possible applications are in air traffic control towers or airplane cockpits, hearing and perception research and virtual reality development.

  14. Geodesy-based estimates of loading rates on faults beneath the Los Angeles basin with a new, computationally efficient method to model dislocations in 3D heterogeneous media

    NASA Astrophysics Data System (ADS)

    Rollins, C.; Argus, D. F.; Avouac, J. P.; Landry, W.; Barbot, S.

    2015-12-01

    North-south compression across the Los Angeles basin is accommodated by slip on thrust faults beneath the basin that may present significant seismic hazard to Los Angeles. Previous geodesy-based efforts to constrain the distributions and rates of elastic strain accumulation on these faults [Argus et al 2005, 2012] have found that the elastic model used has a first-order impact on the inferred distribution of locking and creep, underlining the need to accurately incorporate the laterally heterogeneous elastic structure and complex fault geometries of the Los Angeles basin into this analysis. We are using Gamra [Landry and Barbot, in prep.], a newly developed adaptive-meshing finite-difference solver, to compute elastostatic Green's functions that incorporate the full 3D regional elastic structure provided by the SCEC Community Velocity Model. Among preliminary results from benchmarks, forward models and inversions, we find that: 1) for a modeled creep source on the edge dislocation geometry from Argus et al [2005], the use of the SCEC CVM material model produces surface velocities in the hanging wall that are up to ~50% faster than those predicted in an elastic halfspace model; 2) in sensitivity-modulated inversions of the Argus et al [2005] GPS velocity field for slip on the same dislocation source, the use of the CVM deepens the inferred locking depth by ≥3 km compared to an elastic halfspace model; 3) when using finite-difference or finite-element models with Dirichlet boundary conditions (except for the free surface) for problems of this scale, it is necessary to set the boundaries at least ~100 km away from any slip source or data point to guarantee convergence within 5% of analytical solutions (a result which may be applicable to other static dislocation modeling problems and which may scale with the size of the area of interest). Here we will present finalized results from inversions of an updated GPS velocity field [Argus et al, AGU 2015] for the inferred

  15. 3-D model-based vehicle tracking.

    PubMed

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter.

  16. 3-D model-based vehicle tracking.

    PubMed

    Lou, Jianguang; Tan, Tieniu; Hu, Weiming; Yang, Hao; Maybank, Steven J

    2005-10-01

    This paper aims at tracking vehicles from monocular intensity image sequences and presents an efficient and robust approach to three-dimensional (3-D) model-based vehicle tracking. Under the weak perspective assumption and the ground-plane constraint, the movements of model projection in the two-dimensional image plane can be decomposed into two motions: translation and rotation. They are the results of the corresponding movements of 3-D translation on the ground plane (GP) and rotation around the normal of the GP, which can be determined separately. A new metric based on point-to-line segment distance is proposed to evaluate the similarity between an image region and an instantiation of a 3-D vehicle model under a given pose. Based on this, we provide an efficient pose refinement method to refine the vehicle's pose parameters. An improved EKF is also proposed to track and to predict vehicle motion with a precise kinematics model. Experimental results with both indoor and outdoor data show that the algorithm obtains desirable performance even under severe occlusion and clutter. PMID:16238061

  17. 2D/3D Visual Tracker for Rover Mast

    NASA Technical Reports Server (NTRS)

    Bajracharya, Max; Madison, Richard W.; Nesnas, Issa A.; Bandari, Esfandiar; Kunz, Clayton; Deans, Matt; Bualat, Maria

    2006-01-01

    A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems

  18. A 3D Monte Carlo Method for Estimation of Patient-specific Internal Organs Absorbed Dose for (99m)Tc-hynic-Tyr(3)-octreotide Imaging.

    PubMed

    Momennezhad, Mehdi; Nasseri, Shahrokh; Zakavi, Seyed Rasoul; Parach, Ali Asghar; Ghorbani, Mahdi; Asl, Ruhollah Ghahraman

    2016-01-01

    Single-photon emission computed tomography (SPECT)-based tracers are easily available and more widely used than positron emission tomography (PET)-based tracers, and SPECT imaging still remains the most prevalent nuclear medicine imaging modality worldwide. The aim of this study is to implement an image-based Monte Carlo method for patient-specific three-dimensional (3D) absorbed dose calculation in patients after injection of (99m)Tc-hydrazinonicotinamide (hynic)-Tyr(3)-octreotide as a SPECT radiotracer. (99m)Tc patient-specific S values and the absorbed doses were calculated with GATE code for each source-target organ pair in four patients who were imaged for suspected neuroendocrine tumors. Each patient underwent multiple whole-body planar scans as well as SPECT imaging over a period of 1-24 h after intravenous injection of (99m)hynic-Tyr(3)-octreotide. The patient-specific S values calculated by GATE Monte Carlo code and the corresponding S values obtained by MIRDOSE program differed within 4.3% on an average for self-irradiation, and differed within 69.6% on an average for cross-irradiation. However, the agreement between total organ doses calculated by GATE code and MIRDOSE program for all patients was reasonably well (percentage difference was about 4.6% on an average). Normal and tumor absorbed doses calculated with GATE were slightly higher than those calculated with MIRDOSE program. The average ratio of GATE absorbed doses to MIRDOSE was 1.07 ± 0.11 (ranging from 0.94 to 1.36). According to the results, it is proposed that when cross-organ irradiation is dominant, a comprehensive approach such as GATE Monte Carlo dosimetry be used since it provides more reliable dosimetric results.

  19. A 3D Monte Carlo Method for Estimation of Patient-specific Internal Organs Absorbed Dose for (99m)Tc-hynic-Tyr(3)-octreotide Imaging.

    PubMed

    Momennezhad, Mehdi; Nasseri, Shahrokh; Zakavi, Seyed Rasoul; Parach, Ali Asghar; Ghorbani, Mahdi; Asl, Ruhollah Ghahraman

    2016-01-01

    Single-photon emission computed tomography (SPECT)-based tracers are easily available and more widely used than positron emission tomography (PET)-based tracers, and SPECT imaging still remains the most prevalent nuclear medicine imaging modality worldwide. The aim of this study is to implement an image-based Monte Carlo method for patient-specific three-dimensional (3D) absorbed dose calculation in patients after injection of (99m)Tc-hydrazinonicotinamide (hynic)-Tyr(3)-octreotide as a SPECT radiotracer. (99m)Tc patient-specific S values and the absorbed doses were calculated with GATE code for each source-target organ pair in four patients who were imaged for suspected neuroendocrine tumors. Each patient underwent multiple whole-body planar scans as well as SPECT imaging over a period of 1-24 h after intravenous injection of (99m)hynic-Tyr(3)-octreotide. The patient-specific S values calculated by GATE Monte Carlo code and the corresponding S values obtained by MIRDOSE program differed within 4.3% on an average for self-irradiation, and differed within 69.6% on an average for cross-irradiation. However, the agreement between total organ doses calculated by GATE code and MIRDOSE program for all patients was reasonably well (percentage difference was about 4.6% on an average). Normal and tumor absorbed doses calculated with GATE were slightly higher than those calculated with MIRDOSE program. The average ratio of GATE absorbed doses to MIRDOSE was 1.07 ± 0.11 (ranging from 0.94 to 1.36). According to the results, it is proposed that when cross-organ irradiation is dominant, a comprehensive approach such as GATE Monte Carlo dosimetry be used since it provides more reliable dosimetric results. PMID:27134562

  20. A 3D Monte Carlo Method for Estimation of Patient-specific Internal Organs Absorbed Dose for 99mTc-hynic-Tyr3-octreotide Imaging

    PubMed Central

    Momennezhad, Mehdi; Nasseri, Shahrokh; Zakavi, Seyed Rasoul; Parach, Ali Asghar; Ghorbani, Mahdi; Asl, Ruhollah Ghahraman

    2016-01-01

    Single-photon emission computed tomography (SPECT)-based tracers are easily available and more widely used than positron emission tomography (PET)-based tracers, and SPECT imaging still remains the most prevalent nuclear medicine imaging modality worldwide. The aim of this study is to implement an image-based Monte Carlo method for patient-specific three-dimensional (3D) absorbed dose calculation in patients after injection of 99mTc-hydrazinonicotinamide (hynic)-Tyr3-octreotide as a SPECT radiotracer. 99mTc patient-specific S values and the absorbed doses were calculated with GATE code for each source-target organ pair in four patients who were imaged for suspected neuroendocrine tumors. Each patient underwent multiple whole-body planar scans as well as SPECT imaging over a period of 1-24 h after intravenous injection of 99mhynic-Tyr3-octreotide. The patient-specific S values calculated by GATE Monte Carlo code and the corresponding S values obtained by MIRDOSE program differed within 4.3% on an average for self-irradiation, and differed within 69.6% on an average for cross-irradiation. However, the agreement between total organ doses calculated by GATE code and MIRDOSE program for all patients was reasonably well (percentage difference was about 4.6% on an average). Normal and tumor absorbed doses calculated with GATE were slightly higher than those calculated with MIRDOSE program. The average ratio of GATE absorbed doses to MIRDOSE was 1.07 ± 0.11 (ranging from 0.94 to 1.36). According to the results, it is proposed that when cross-organ irradiation is dominant, a comprehensive approach such as GATE Monte Carlo dosimetry be used since it provides more reliable dosimetric results. PMID:27134562

  1. 3D face recognition based on matching of facial surfaces

    NASA Astrophysics Data System (ADS)

    Echeagaray-Patrón, Beatriz A.; Kober, Vitaly

    2015-09-01

    Face recognition is an important task in pattern recognition and computer vision. In this work a method for 3D face recognition in the presence of facial expression and poses variations is proposed. The method uses 3D shape data without color or texture information. A new matching algorithm based on conformal mapping of original facial surfaces onto a Riemannian manifold followed by comparison of conformal and isometric invariants computed in the manifold is suggested. Experimental results are presented using common 3D face databases that contain significant amount of expression and pose variations.

  2. Posing Einstein's Question: Questioning Einstein's Pose.

    ERIC Educational Resources Information Center

    Topper, David; Vincent, Dwight E.

    2000-01-01

    Discusses the events surrounding a famous picture of Albert Einstein in which he poses near a blackboard containing a tensor form of his 10 field equations for pure gravity with a question mark after it. Speculates as to the content of Einstein's lecture and the questions he might have had about the equation. (Contains over 30 references.) (WRM)

  3. A 3D interactive method for estimating body segmental parameters in animals: application to the turning and running performance of Tyrannosaurus rex.

    PubMed

    Hutchinson, John R; Ng-Thow-Hing, Victor; Anderson, Frank C

    2007-06-21

    We developed a method based on interactive B-spline solids for estimating and visualizing biomechanically important parameters for animal body segments. Although the method is most useful for assessing the importance of unknowns in extinct animals, such as body contours, muscle bulk, or inertial parameters, it is also useful for non-invasive measurement of segmental dimensions in extant animals. Points measured directly from bodies or skeletons are digitized and visualized on a computer, and then a B-spline solid is fitted to enclose these points, allowing quantification of segment dimensions. The method is computationally fast enough so that software implementations can interactively deform the shape of body segments (by warping the solid) or adjust the shape quantitatively (e.g., expanding the solid boundary by some percentage or a specific distance beyond measured skeletal coordinates). As the shape changes, the resulting changes in segment mass, center of mass (CM), and moments of inertia can be recomputed immediately. Volumes of reduced or increased density can be embedded to represent lungs, bones, or other structures within the body. The method was validated by reconstructing an ostrich body from a fleshed and defleshed carcass and comparing the estimated dimensions to empirically measured values from the original carcass. We then used the method to calculate the segmental masses, centers of mass, and moments of inertia for an adult Tyrannosaurus rex, with measurements taken directly from a complete skeleton. We compare these results to other estimates, using the model to compute the sensitivities of unknown parameter values based upon 30 different combinations of trunk, lung and air sac, and hindlimb dimensions. The conclusion that T. rex was not an exceptionally fast runner remains strongly supported by our models-the main area of ambiguity for estimating running ability seems to be estimating fascicle lengths, not body dimensions. Additionally, the

  4. Regoliths in 3-D

    NASA Technical Reports Server (NTRS)

    Grant, John; Cheng, Andrew; Delamere, Allen; Gorevan, Steven; Korotev, Randy; McKay, David; Schmitt, Harrison; Zarnecki, John

    1996-01-01

    A planetary regolith is any layer of fragments, unconsolidated material that may or may not be textually or compositionally altered relative to underlying substrate and occurs on the outer surface of a solar system body. This includes fragmented material from volcanic, sedimentary, and meteoritic infall sources, and derived by any process (e.g. impact and all other endogenic or exogenic processes). Many measurements that can be made from orbit or from Earth-based observations provide information only about the uppermost portions of a regolith and not the underlying substrate(s). Thus an understanding of the formation processes, physical properties, composition, and evolution of planetary regoliths is essential in answering scientific questions posed by the Committee on Planetary and Lunar Exploration (COMPLEX). This paper provides examples of measurements required to answer these critical science questions.

  5. FUN3D Manual: 12.7

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Carlson, Jan-Renee; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, Bil; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2015-01-01

    This manual describes the installation and execution of FUN3D version 12.7, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  6. FUN3D Manual: 13.0

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Carlson, Jan-Renee; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, Bill; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2016-01-01

    This manual describes the installation and execution of FUN3D version 13.0, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  7. FUN3D Manual: 12.6

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, William L.; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2015-01-01

    This manual describes the installation and execution of FUN3D version 12.6, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  8. FUN3D Manual: 12.5

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, William L.; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2014-01-01

    This manual describes the installation and execution of FUN3D version 12.5, including optional dependent packages. FUN3D is a suite of computational uid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables ecient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  9. FUN3D Manual: 12.9

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Carlson, Jan-Renee; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, Bil; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2016-01-01

    This manual describes the installation and execution of FUN3D version 12.9, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  10. FUN3D Manual: 12.8

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Carlson, Jan-Renee; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, Bil; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2015-01-01

    This manual describes the installation and execution of FUN3D version 12.8, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixed-element unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  11. FUN3D Manual: 12.4

    NASA Technical Reports Server (NTRS)

    Biedron, Robert T.; Derlaga, Joseph M.; Gnoffo, Peter A.; Hammond, Dana P.; Jones, William T.; Kleb, Bil; Lee-Rausch, Elizabeth M.; Nielsen, Eric J.; Park, Michael A.; Rumsey, Christopher L.; Thomas, James L.; Wood, William A.

    2014-01-01

    This manual describes the installation and execution of FUN3D version 12.4, including optional dependent packages. FUN3D is a suite of computational fluid dynamics simulation and design tools that uses mixedelement unstructured grids in a large number of formats, including structured multiblock and overset grid systems. A discretely-exact adjoint solver enables efficient gradient-based design and grid adaptation to reduce estimated discretization error. FUN3D is available with and without a reacting, real-gas capability. This generic gas option is available only for those persons that qualify for its beta release status.

  12. Segmentation of 3D microPET images of the rat brain via the hybrid gaussian mixture method with kernel density estimation.

    PubMed

    Chen, Tai-Been; Chen, Jyh-Cheng; Lu, Henry Horng-Shing

    2012-01-01

    Segmentation of positron emission tomography (PET) is typically achieved using the K-Means method or other approaches. In preclinical and clinical applications, the K-Means method needs a prior estimation of parameters such as the number of clusters and appropriate initialized values. This work segments microPET images using a hybrid method combining the Gaussian mixture model (GMM) with kernel density estimation. Segmentation is crucial to registration of disordered 2-deoxy-2-fluoro-D-glucose (FDG) accumulation locations with functional diagnosis and to estimate standardized uptake values (SUVs) of region of interests (ROIs) in PET images. Therefore, simulation studies are conducted to apply spherical targets to evaluate segmentation accuracy based on Tanimoto's definition of similarity. The proposed method generates a higher degree of similarity than the K-Means method. The PET images of a rat brain are used to compare the segmented shape and area of the cerebral cortex by the K-Means method and the proposed method by volume rendering. The proposed method provides clearer and more detailed activity structures of an FDG accumulation location in the cerebral cortex than those by the K-Means method. PMID:22948355

  13. An initial study on the estimation of time-varying volumetric treatment images and 3D tumor localization from single MV cine EPID images

    SciTech Connect

    Mishra, Pankaj Mak, Raymond H.; Rottmann, Joerg; Bryant, Jonathan H.; Williams, Christopher L.; Berbeco, Ross I.; Lewis, John H.; Li, Ruijiang

    2014-08-15

    Purpose: In this work the authors develop and investigate the feasibility of a method to estimate time-varying volumetric images from individual MV cine electronic portal image device (EPID) images. Methods: The authors adopt a two-step approach to time-varying volumetric image estimation from a single cine EPID image. In the first step, a patient-specific motion model is constructed from 4DCT. In the second step, parameters in the motion model are tuned according to the information in the EPID image. The patient-specific motion model is based on a compact representation of lung motion represented in displacement vector fields (DVFs). DVFs are calculated through deformable image registration (DIR) of a reference 4DCT phase image (typically peak-exhale) to a set of 4DCT images corresponding to different phases of a breathing cycle. The salient characteristics in the DVFs are captured in a compact representation through principal component analysis (PCA). PCA decouples the spatial and temporal components of the DVFs. Spatial information is represented in eigenvectors and the temporal information is represented by eigen-coefficients. To generate a new volumetric image, the eigen-coefficients are updated via cost function optimization based on digitally reconstructed radiographs and projection images. The updated eigen-coefficients are then multiplied with the eigenvectors to obtain updated DVFs that, in turn, give the volumetric image corresponding to the cine EPID image. Results: The algorithm was tested on (1) Eight digital eXtended CArdiac-Torso phantom datasets based on different irregular patient breathing patterns and (2) patient cine EPID images acquired during SBRT treatments. The root-mean-squared tumor localization error is (0.73 ± 0.63 mm) for the XCAT data and (0.90 ± 0.65 mm) for the patient data. Conclusions: The authors introduced a novel method of estimating volumetric time-varying images from single cine EPID images and a PCA-based lung motion model

  14. 3D acoustic atmospheric tomography

    NASA Astrophysics Data System (ADS)

    Rogers, Kevin; Finn, Anthony

    2014-10-01

    This paper presents a method for tomographically reconstructing spatially varying 3D atmospheric temperature profiles and wind velocity fields based. Measurements of the acoustic signature measured onboard a small Unmanned Aerial Vehicle (UAV) are compared to ground-based observations of the same signals. The frequency-shifted signal variations are then used to estimate the acoustic propagation delay between the UAV and the ground microphones, which are also affected by atmospheric temperature and wind speed vectors along each sound ray path. The wind and temperature profiles are modelled as the weighted sum of Radial Basis Functions (RBFs), which also allow local meteorological measurements made at the UAV and ground receivers to supplement any acoustic observations. Tomography is used to provide a full 3D reconstruction/visualisation of the observed atmosphere. The technique offers observational mobility under direct user control and the capacity to monitor hazardous atmospheric environments, otherwise not justifiable on the basis of cost or risk. This paper summarises the tomographic technique and reports on the results of simulations and initial field trials. The technique has practical applications for atmospheric research, sound propagation studies, boundary layer meteorology, air pollution measurements, analysis of wind shear, and wind farm surveys.

  15. Estimation of the maximum allowable loading amount of COD in Luoyuan Bay by a 3-D COD transport and transformation model

    NASA Astrophysics Data System (ADS)

    Wu, Jialin; Li, Keqiang; Shi, Xiaoyong; Liang, Shengkang; Han, Xiurong; Ma, Qimin; Wang, Xiulin

    2014-08-01

    The rapid economic and social developments in the Luoyuan and Lianjiang counties of Fujian Province, China, raise certain environment and ecosystem issues. The unusual phytoplankton bloom and eutrophication, for example, have increased in severity in Luoyuan Bay (LB). The constant increase of nutrient loads has largely caused the environmental degradation in LB. Several countermeasures have been implemented to solve these environmental problems. The most effective of these strategies is the reduction of pollutant loadings into the sea in accordance with total pollutant load control (TPLC) plans. A combined three-dimensional hydrodynamic transport-transformation model was constructed to estimate the marine environmental capacity of chemical oxygen demand (COD). The allowed maximum loadings for each discharge unit in LB were calculated with applicable simulation results. The simulation results indicated that the environmental capacity of COD is approximately 11×104 t year-1 when the water quality complies with the marine functional zoning standards for LB. A pollutant reduction scheme to diminish the present levels of mariculture- and domestic-based COD loadings is based on the estimated marine COD environmental capacity. The obtained values imply that the LB waters could comply with the targeted water quality criteria. To meet the revised marine functional zoning standards, discharge loadings from discharge units 1 and 11 should be reduced to 996 and 3236 t year-1, respectively.

  16. Using strain parameters from 3D restoration modelling to estimate distant off-fault gold potentials, Mount Pleasant Area, Western Australia

    NASA Astrophysics Data System (ADS)

    Kakurina, M.; Mejia-Herrera, P.; Royer, J. J.

    2015-12-01

    Gold deposits are used to be related to fault systems that control metals' transport and accumulation through relatively high permeable discontinuous structures. However, some coeval gold deposits occur at locations far from the main faults. In this case, the permeability of the rock mass is caused by internal damage developed during a deformation event. It is possible to model such development using restoration tools and, consequently, to estimate the strain tensor that measures the deformation. This contribution may provide an explanation of such off-fault gold deposits and certain deformation parameters may be used for a new targeting in exploration surveys. In the present research two SKUA-GOCAD restoration methods were applied to the golden-rich Mount Pleasant area in Western Australia and compared afterwards. One of the restoration methods, provided by the RestorationLab plugin, is based on the Finite Element method and requires a geomechanical model of the area. Another method, GeoChron, is based on the transformation of the coordinates of the present time to a new curvilinear coordinate system of the depositional time. The resulting strain tensors of both methods were used to calculate deformation attributes which together with dilation were studied to estimate their correlation with known gold occurrences using logistic regression function. Therefore, some of the attributes obtained by the RestorationLab approach show higher probability to observe the gold deposit, however, the highest correlation with the gold occurrences was achieved with the gradient of the deformation attribute, obtained by the GeoChron.

  17. Prominent rocks - 3D

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Many prominent rocks near the Sagan Memorial Station are featured in this image, taken in stereo by the Imager for Mars Pathfinder (IMP) on Sol 3. 3D glasses are necessary to identify surface detail. Wedge is at lower left; Shark, Half-Dome, and Pumpkin are at center. Flat Top, about four inches high, is at lower right. The horizon in the distance is one to two kilometers away.

    Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

    Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

  18. 'Diamond' in 3-D

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This 3-D, microscopic imager mosaic of a target area on a rock called 'Diamond Jenness' was taken after NASA's Mars Exploration Rover Opportunity ground into the surface with its rock abrasion tool for a second time.

    Opportunity has bored nearly a dozen holes into the inner walls of 'Endurance Crater.' On sols 177 and 178 (July 23 and July 24, 2004), the rover worked double-duty on Diamond Jenness. Surface debris and the bumpy shape of the rock resulted in a shallow and irregular hole, only about 2 millimeters (0.08 inch) deep. The final depth was not enough to remove all the bumps and leave a neat hole with a smooth floor. This extremely shallow depression was then examined by the rover's alpha particle X-ray spectrometer.

    On Sol 178, Opportunity's 'robotic rodent' dined on Diamond Jenness once again, grinding almost an additional 5 millimeters (about 0.2 inch). The rover then applied its Moessbauer spectrometer to the deepened hole. This double dose of Diamond Jenness enabled the science team to examine the rock at varying layers. Results from those grindings are currently being analyzed.

    The image mosaic is about 6 centimeters (2.4 inches) across.

  19. Martian terrain - 3D

    NASA Technical Reports Server (NTRS)

    1997-01-01

    This area of terrain near the Sagan Memorial Station was taken on Sol 3 by the Imager for Mars Pathfinder (IMP). 3D glasses are necessary to identify surface detail.

    The IMP is a stereo imaging system with color capability provided by 24 selectable filters -- twelve filters per 'eye.' It stands 1.8 meters above the Martian surface, and has a resolution of two millimeters at a range of two meters.

    Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

    Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

  20. 3D fast wavelet network model-assisted 3D face recognition

    NASA Astrophysics Data System (ADS)

    Said, Salwa; Jemai, Olfa; Zaied, Mourad; Ben Amar, Chokri

    2015-12-01

    In last years, the emergence of 3D shape in face recognition is due to its robustness to pose and illumination changes. These attractive benefits are not all the challenges to achieve satisfactory recognition rate. Other challenges such as facial expressions and computing time of matching algorithms remain to be explored. In this context, we propose our 3D face recognition approach using 3D wavelet networks. Our approach contains two stages: learning stage and recognition stage. For the training we propose a novel algorithm based on 3D fast wavelet transform. From 3D coordinates of the face (x,y,z), we proceed to voxelization to get a 3D volume which will be decomposed by 3D fast wavelet transform and modeled after that with a wavelet network, then their associated weights are considered as vector features to represent each training face . For the recognition stage, an unknown identity face is projected on all the training WN to obtain a new vector features after every projection. A similarity score is computed between the old and the obtained vector features. To show the efficiency of our approach, experimental results were performed on all the FRGC v.2 benchmark.

  1. 3D Surface Reconstruction of Plant Seeds by Volume Carving: Performance and Accuracies

    PubMed Central

    Roussel, Johanna; Geiger, Felix; Fischbach, Andreas; Jahnke, Siegfried; Scharr, Hanno

    2016-01-01

    We describe a method for 3D reconstruction of plant seed surfaces, focusing on small seeds with diameters as small as 200 μm. The method considers robotized systems allowing single seed handling in order to rotate a single seed in front of a camera. Even though such systems feature high position repeatability, at sub-millimeter object scales, camera pose variations have to be compensated. We do this by robustly estimating the tool center point from each acquired image. 3D reconstruction can then be performed by a simple shape-from-silhouette approach. In experiments we investigate runtimes, theoretically achievable accuracy, experimentally achieved accuracy, and show as a proof of principle that the proposed method is well sufficient for 3D seed phenotyping purposes. PMID:27375628

  2. Real-Time Large Scale 3d Reconstruction by Fusing Kinect and Imu Data

    NASA Astrophysics Data System (ADS)

    Huai, J.; Zhang, Y.; Yilmaz, A.

    2015-08-01

    Kinect-style RGB-D cameras have been used to build large scale dense 3D maps for indoor environments. These maps can serve many purposes such as robot navigation, and augmented reality. However, to generate dense 3D maps of large scale environments is still very challenging. In this paper, we present a mapping system for 3D reconstruction that fuses measurements from a Kinect and an inertial measurement unit (IMU) to estimate motion. Our major achievements include: (i) Large scale consistent 3D reconstruction is realized by volume shifting and loop closure; (ii) The coarse-to-fine iterative closest point (ICP) algorithm, the SIFT odometry, and IMU odometry are combined to robustly and precisely estimate pose. In particular, ICP runs routinely to track the Kinect motion. If ICP fails in planar areas, the SIFT odometry provides incremental motion estimate. If both ICP and the SIFT odometry fail, e.g., upon abrupt motion or inadequate features, the incremental motion is estimated by the IMU. Additionally, the IMU also observes the roll and pitch angles which can reduce long-term drift of the sensor assembly. In experiments on a consumer laptop, our system estimates motion at 8Hz on average while integrating color images to the local map and saving volumes of meshes concurrently. Moreover, it is immune to tracking failures, and has smaller drift than the state-of-the-art systems in large scale reconstruction.

  3. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera.

    PubMed

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-01-01

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera. PMID:27089344

  4. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera.

    PubMed

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-04-14

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera.

  5. An Alignment Method for the Integration of Underwater 3D Data Captured by a Stereovision System and an Acoustic Camera

    PubMed Central

    Lagudi, Antonio; Bianco, Gianfranco; Muzzupappa, Maurizio; Bruno, Fabio

    2016-01-01

    The integration of underwater 3D data captured by acoustic and optical systems is a promising technique in various applications such as mapping or vehicle navigation. It allows for compensating the drawbacks of the low resolution of acoustic sensors and the limitations of optical sensors in bad visibility conditions. Aligning these data is a challenging problem, as it is hard to make a point-to-point correspondence. This paper presents a multi-sensor registration for the automatic integration of 3D data acquired from a stereovision system and a 3D acoustic camera in close-range acquisition. An appropriate rig has been used in the laboratory tests to determine the relative position between the two sensor frames. The experimental results show that our alignment approach, based on the acquisition of a rig in several poses, can be adopted to estimate the rigid transformation between the two heterogeneous sensors. A first estimation of the unknown geometric transformation is obtained by a registration of the two 3D point clouds, but it ends up to be strongly affected by noise and data dispersion. A robust and optimal estimation is obtained by a statistical processing of the transformations computed for each pose. The effectiveness of the method has been demonstrated in this first experimentation of the proposed 3D opto-acoustic camera. PMID:27089344

  6. Automatic pose correction for image-guided nonhuman primate brain surgery planning

    NASA Astrophysics Data System (ADS)

    Ghafurian, Soheil; Chen, Antong; Hines, Catherine; Dogdas, Belma; Bone, Ashleigh; Lodge, Kenneth; O'Malley, Stacey; Winkelmann, Christopher T.; Bagchi, Ansuman; Lubbers, Laura S.; Uslaner, Jason M.; Johnson, Colena; Renger, John; Zariwala, Hatim A.

    2016-03-01

    Intracranial delivery of recombinant DNA and neurochemical analysis in nonhuman primate (NHP) requires precise targeting of various brain structures via imaging derived coordinates in stereotactic surgeries. To attain targeting precision, the surgical planning needs to be done on preoperative three dimensional (3D) CT and/or MR images, in which the animals head is fixed in a pose identical to the pose during the stereotactic surgery. The matching of the image to the pose in the stereotactic frame can be done manually by detecting key anatomical landmarks on the 3D MR and CT images such as ear canal and ear bar zero position. This is not only time intensive but also prone to error due to the varying initial poses in the images which affects both the landmark detection and rotation estimation. We have introduced a fast, reproducible, and semi-automatic method to detect the stereotactic coordinate system in the image and correct the pose. The method begins with a rigid registration of the subject images to an atlas and proceeds to detect the anatomical landmarks through a sequence of optimization, deformable and multimodal registration algorithms. The results showed similar precision (maximum difference of 1.71 in average in-plane rotation) to a manual pose correction.

  7. 3D Lunar Terrain Reconstruction from Apollo Images

    NASA Technical Reports Server (NTRS)

    Broxton, Michael J.; Nefian, Ara V.; Moratto, Zachary; Kim, Taemin; Lundy, Michael; Segal, Alkeksandr V.

    2009-01-01

    Generating accurate three dimensional planetary models is becoming increasingly important as NASA plans manned missions to return to the Moon in the next decade. This paper describes a 3D surface reconstruction system called the Ames Stereo Pipeline that is designed to produce such models automatically by processing orbital stereo imagery. We discuss two important core aspects of this system: (1) refinement of satellite station positions and pose estimates through least squares bundle adjustment; and (2) a stochastic plane fitting algorithm that generalizes the Lucas-Kanade method for optimal matching between stereo pair images.. These techniques allow us to automatically produce seamless, highly accurate digital elevation models from multiple stereo image pairs while significantly reducing the influence of image noise. Our technique is demonstrated on a set of 71 high resolution scanned images from the Apollo 15 mission

  8. A joint data assimilation system (Tan-Tracker) to simultaneously estimate surface CO2 fluxes and 3-D atmospheric CO2 concentrations from observations

    NASA Astrophysics Data System (ADS)

    Tian, X.; Xie, Z.; Liu, Y.; Cai, Z.; Fu, Y.; Zhang, H.; Feng, L.

    2014-12-01

    We have developed a novel framework ("Tan-Tracker") for assimilating observations of atmospheric CO2 concentrations, based on the POD-based (proper orthogonal decomposition) ensemble four-dimensional variational data assimilation method (PODEn4DVar). The high flexibility and the high computational efficiency of the PODEn4DVar approach allow us to include both the atmospheric CO2 concentrations and the surface CO2 fluxes as part of the large state vector to be simultaneously estimated from assimilation of atmospheric CO2 observations. Compared to most modern top-down flux inversion approaches, where only surface fluxes are considered as control variables, one major advantage of our joint data assimilation system is that, in principle, no assumption on perfect transport models is needed. In addition, the possibility for Tan-Tracker to use a complete dynamic model to consistently describe the time evolution of CO2 surface fluxes (CFs) and the atmospheric CO2 concentrations represents a better use of observation information for recycling the analyses at each assimilation step in order to improve the forecasts for the following assimilations. An experimental Tan-Tracker system has been built based on a complete augmented dynamical model, where (1) the surface atmosphere CO2 exchanges are prescribed by using a persistent forecasting model for the scaling factors of the first-guess net CO2 surface fluxes and (2) the atmospheric CO2 transport is simulated by using the GEOS-Chem three-dimensional global chemistry transport model. Observing system simulation experiments (OSSEs) for assimilating synthetic in situ observations of surface CO2 concentrations are carefully designed to evaluate the effectiveness of the Tan-Tracker system. In particular, detailed comparisons are made with its simplified version (referred to as TT-S) with only CFs taken as the prognostic variables. It is found that our Tan-Tracker system is capable of outperforming TT-S with higher assimilation

  9. A subspace model-based approach to face relighting under unknown lighting and poses.

    PubMed

    Shim, Hyunjung; Luo, Jiebo; Chen, Tsuhan

    2008-08-01

    We present a new approach to face relighting by jointly estimating the pose, reflectance functions, and lighting from as few as one image of a face. Upon such estimation, we can synthesize the face image under any prescribed new lighting condition. In contrast to commonly used face shape models or shape-dependent models, we neither recover nor assume the 3-D face shape during the estimation process. Instead, we train a pose- and pixel-dependent subspace model of the reflectance function using a face database that contains samples of pose and illumination for a large number of individuals (e.g., the CMU PIE database and the Yale database). Using this subspace model, we can estimate the pose, the reflectance functions, and the lighting condition of any given face image. Our approach lends itself to practical applications thanks to many desirable properties, including the preservation of the non-Lambertian skin reflectance properties and facial hair, as well as reproduction of various shadows on the face. Extensive experiments show that, compared to recent representative face relighting techniques, our method successfully produces better results, in terms of subjective and objective quality, without reconstructing a 3-D shape. PMID:18632343

  10. Estimation of pulmonary arterial volume changes in the normal and hypertensive fawn-hooded rat from 3D micro-CT data

    NASA Astrophysics Data System (ADS)

    Molthen, Robert C.; Wietholt, Christian; Haworth, Steven T.; Dawson, Christopher A.

    2002-04-01

    In the study of pulmonary vascular remodeling, much can be learned from observing the morphological changes undergone in the pulmonary arteries of the rat lung when exposed to chronic hypoxia or other challenges which elicit a remodeling response. Remodeling effects include thickening of vessel walls, and loss of wall compliance. Morphometric data can be used to localize the hemodynamic and functional consequences. We developed a CT imaging method for measuring the pulmonary arterial tree over a range of pressures in rat lungs. X-ray micro-focal isotropic volumetric imaging of the arterial tree in the intact rat lung provides detailed information on the size, shape and mechanical properties of the arterial network. In this study, we investigate the changes in arterial volume with step changes in pressure for both normoxic and hypoxic Fawn-Hooded (FH) rats. We show that FH rats exposed to hypoxia tend to have reduced arterial volume changes for the same preload when compared to FH controls. A secondary objective of this work is to quantify various phenotypes to better understand the genetic contribution of vascular remodeling in the lungs. This volume estimation method shows promise in high throughput phenotyping, distinguishing differences in the pulmonary hypertensive rat model.

  11. Precambrian Basement Surface Estimation using Coupled 3D Modeling of Gravity and Aeromagnetic Data in Southeastern Wisconsin and Fond Du Lac County

    NASA Astrophysics Data System (ADS)

    Skalbeck, J.; Koski, A. J.

    2011-12-01

    Increased concerns about groundwater resources in Wisconsin have brought about the need for better understanding of the subsurface geologic structure that lead to developing conceptual hydrogeologic models for numerical simulation of groundwater flow. Models are often based on sparse data from well logs usually located large distances apart and limited in depth. Model assumptions based on limited spatial data typically requires simplification that may add uncertainty to the simulation results and the accuracy of a groundwater model. This research provides another tool for the groundwater modeler to better constrain the conceptual model of a hydrogeologic system. The area near the Waukesha Fault in southeastern Wisconsin provides an excellent research opportunity for our proposed approach because of the strong gravity and aeromagnetic anomalies associated with the fault, the apparent complexity in fault geometry, and uncertainty in Precambrian basement depth and structure. Precambrian basement surface throughout Fond du Lac County is known to be very undulated and this uneven basement topography controls water well yields and zones of stagnant water. Therefore, an accurate estimation of the basement topography in Fond Du Lac County is vital to determining ground water flow and quality of groundwater in this region.

  12. Estimating the relationship between urban 3D morphology and land surface temperature using airborne LiDAR and Landsat-8 Thermal Infrared Sensor data

    NASA Astrophysics Data System (ADS)

    Lee, J. H.

    2015-12-01

    Urban forests are known for mitigating the urban heat island effect and heat-related health issues by reducing air and surface temperature. Beyond the amount of the canopy area, however, little is known what kind of spatial patterns and structures of urban forests best contributes to reducing temperatures and mitigating the urban heat effects. Previous studies attempted to find the relationship between the land surface temperature and various indicators of vegetation abundance using remote sensed data but the majority of those studies relied on two dimensional area based metrics, such as tree canopy cover, impervious surface area, and Normalized Differential Vegetation Index, etc. This study investigates the relationship between the three-dimensional spatial structure of urban forests and urban surface temperature focusing on vertical variance. We use a Landsat-8 Thermal Infrared Sensor image (acquired on July 24, 2014) to estimate the land surface temperature of the City of Sacramento, CA. We extract the height and volume of urban features (both vegetation and non-vegetation) using airborne LiDAR (Light Detection and Ranging) and high spatial resolution aerial imagery. Using regression analysis, we apply empirical approach to find the relationship between the land surface temperature and different sets of variables, which describe spatial patterns and structures of various urban features including trees. Our analysis demonstrates that incorporating vertical variance parameters improve the accuracy of the model. The results of the study suggest urban tree planting is an effective and viable solution to mitigate urban heat by increasing the variance of urban surface as well as evaporative cooling effect.

  13. A joint data assimilation system (Tan-Tracker) to simultaneously estimate surface CO2 fluxes and 3-D atmospheric CO2 concentrations from observations

    NASA Astrophysics Data System (ADS)

    Tian, X.; Xie, Z.; Liu, Y.; Cai, Z.; Fu, Y.; Zhang, H.; Feng, L.

    2013-09-01

    To quantitatively estimate CO2 surface fluxes (CFs) from atmospheric observations, a joint data assimilation system ("Tan-Tracker") is developed by incorporating a joint data assimilation framework into the GEOS-Chem atmospheric transport model. In Tan-Tracker, we choose an identity operator as the CF dynamical model to describe the CFs' evolution, which constitutes an augmented dynamical model together with the GEOS-Chem atmospheric transport model. In this case, the large-scale vector made up of CFs and CO2 concentrations is taken as the prognostic variable for the augmented dynamical model. And thus both CO2 concentrations and CFs are jointly assimilated by using the atmospheric observations (e.g., the in-situ observations or satellite measurements). In contrast, in the traditional joint data assimilation frameworks, CFs are usually treated as the model parameters and form a state-parameter augmented vector jointly with CO2 concentrations. The absence of a CF dynamical model will certainly result in a large waste of observed information since any useful information for CFs' improvement achieved by the current data assimilation procedure could not be used in the next assimilation cycle. Observing system simulation experiments (OSSEs) are carefully designed to evaluate the Tan-Tracker system in comparison to its simplified version (referred to as TT-S) with only CFs taken as the prognostic variables. It is found that our Tan-Tracker system is capable of outperforming TT-S with higher assimilation precision for both CO2 concentrations and CO2 fluxes, mainly due to the simultaneous assimilation of CO2 concentrations and CFs in our Tan-Tracker data assimilation system.

  14. Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

    NASA Astrophysics Data System (ADS)

    Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

    2015-03-01

    The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for roboticallyassisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A small laser-scanning endoscopic camera was attached to a mock minimally-invasive surgical tool that was manipulated toward a region of interest (residual tumor) within a phantom of a debulked brain tumor. Video frames from the endoscope provided features that were matched to the 3D virtual model, which were reconstructed earlier by raster scanning over the surgical field. Camera pose (position and orientation) is recovered by implementing a constrained bundle adjustment algorithm. Navigational error during the approach to fluorescence target (residual tumor) is determined by comparing the calculated camera pose to the measured camera pose using a micro-positioning stage. From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++. Error analysis produced 3-mm distance error and 2.5 degree of orientation error on average. The sources of these errors come from 1) inaccuracy of the 3D virtual model, generated on a calibrated RAVEN robotic platform with stereo tracking; 2) inaccuracy of endoscope intrinsic parameters, such as focal length; and 3) any endoscopic image distortion from scanning irregularities. This work demonstrates feasibility of micro-camera 3D guidance of a robotic surgical tool.

  15. Structured light field 3D imaging.

    PubMed

    Cai, Zewei; Liu, Xiaoli; Peng, Xiang; Yin, Yongkai; Li, Ameng; Wu, Jiachen; Gao, Bruce Z

    2016-09-01

    In this paper, we propose a method by means of light field imaging under structured illumination to deal with high dynamic range 3D imaging. Fringe patterns are projected onto a scene and modulated by the scene depth then a structured light field is detected using light field recording devices. The structured light field contains information about ray direction and phase-encoded depth, via which the scene depth can be estimated from different directions. The multidirectional depth estimation can achieve high dynamic 3D imaging effectively. We analyzed and derived the phase-depth mapping in the structured light field and then proposed a flexible ray-based calibration approach to determine the independent mapping coefficients for each ray. Experimental results demonstrated the validity of the proposed method to perform high-quality 3D imaging for highly and lowly reflective surfaces. PMID:27607639

  16. 3-D transient analysis of pebble-bed HTGR by TORT-TD/ATTICA3D

    SciTech Connect

    Seubert, A.; Sureda, A.; Lapins, J.; Buck, M.; Bader, J.; Laurien, E.

    2012-07-01

    As most of the acceptance criteria are local core parameters, application of transient 3-D fine mesh neutron transport and thermal hydraulics coupled codes is mandatory for best estimate evaluations of safety margins. This also applies to high-temperature gas cooled reactors (HTGR). Application of 3-D fine-mesh transient transport codes using few energy groups coupled with 3-D thermal hydraulics codes becomes feasible in view of increasing computing power. This paper describes the discrete ordinates based coupled code system TORT-TD/ATTICA3D that has recently been extended by a fine-mesh diffusion solver. Based on transient analyses for the PBMR-400 design, the transport/diffusion capabilities are demonstrated and 3-D local flux and power redistribution effects during a partial control rod withdrawal are shown. (authors)

  17. 3D spatial resolution and spectral resolution of interferometric 3D imaging spectrometry.

    PubMed

    Obara, Masaki; Yoshimori, Kyu

    2016-04-01

    Recently developed interferometric 3D imaging spectrometry (J. Opt. Soc. Am A18, 765 [2001]1084-7529JOAOD610.1364/JOSAA.18.000765) enables obtainment of the spectral information and 3D spatial information for incoherently illuminated or self-luminous object simultaneously. Using this method, we can obtain multispectral components of complex holograms, which correspond directly to the phase distribution of the wavefronts propagated from the polychromatic object. This paper focuses on the analysis of spectral resolution and 3D spatial resolution in interferometric 3D imaging spectrometry. Our analysis is based on a novel analytical impulse response function defined over four-dimensional space. We found that the experimental results agree well with the theoretical prediction. This work also suggests a new criterion and estimate method regarding 3D spatial resolution of digital holography. PMID:27139648

  18. SB3D User Manual, Santa Barbara 3D Radiative Transfer Model

    SciTech Connect

    O'Hirok, William

    1999-01-01

    SB3D is a three-dimensional atmospheric and oceanic radiative transfer model for the Solar spectrum. The microphysics employed in the model are the same as used in the model SBDART. It is assumed that the user of SB3D is familiar with SBDART and IDL. SB3D differs from SBDART in that computations are conducted on media in three-dimensions rather than a single column (i.e. plane-parallel), and a stochastic method (Monte Carlo) is employed instead of a numerical approach (Discrete Ordinates) for estimating a solution to the radiative transfer equation. Because of these two differences between SB3D and SBDART, the input and running of SB3D is more unwieldy and requires compromises between model performance and computational expense. Hence, there is no one correct method for running the model and the user must develop a sense to the proper input and configuration of the model.

  19. A cheap and easy method for 3D C-arm reconstruction using elliptic curves

    NASA Astrophysics Data System (ADS)

    Burkhardt, David; Jain, Ameet; Fichtinger, Gabor

    2007-03-01

    For quantitative C-arm fluoroscopy, we had earlier proposed a unified mathematical framework to tackle the issues of pose estimation, correspondence and reconstruction, without the use of external trackers. The method used randomly distributed unknown points in the imaging volume, either naturally present or induced by placing beads on the patient. These points were then inputted to an algorithm that computed the 3D reconstruction. The algorithm had an 8° region of convergence, which in general could be considered sufficient for most applications. Here, we extend the earlier algorithm to make it more robust and clinically acceptable. We propose the use of a circle/ellipse, naturally found in many images. We show that the projection of elliptic curves constrain 5 out of the 6 degrees of freedom of the C-arm pose. To completely recover the true C-arm pose, we use constraints in the form of point correspondences between the images. We provide an algorithm to easily obtain a virtual correspondence across all the images and show that two correspondences can recover the true pose 95% of the time when the seeds employed are separated by a distance of 40 mm. or greater. Phantom experiments across three images indicate a pose estimation accuracy of 1.7° using an ellipse and two sufficiently separated point correspondences. Average execution time in this case is 130 seconds. The method appears to be suffciently accurate for clinical applications and does not require any significant modification of clinical protocol.

  20. Accurate 3D kinematic measurement of temporomandibular joint using X-ray fluoroscopic images

    NASA Astrophysics Data System (ADS)

    Yamazaki, Takaharu; Matsumoto, Akiko; Sugamoto, Kazuomi; Matsumoto, Ken; Kakimoto, Naoya; Yura, Yoshiaki

    2014-04-01

    Accurate measurement and analysis of 3D kinematics of temporomandibular joint (TMJ) is very important for assisting clinical diagnosis and treatment of prosthodontics and orthodontics, and oral surgery. This study presents a new 3D kinematic measurement technique of the TMJ using X-ray fluoroscopic images, which can easily obtain the TMJ kinematic data in natural motion. In vivo kinematics of the TMJ (maxilla and mandibular bone) is determined using a feature-based 2D/3D registration, which uses beads silhouette on fluoroscopic images and 3D surface bone models with beads. The 3D surface models of maxilla and mandibular bone with beads were created from CT scans data of the subject using the mouthpiece with the seven strategically placed beads. In order to validate the accuracy of pose estimation for the maxilla and mandibular bone, computer simulation test was performed using five patterns of synthetic tantalum beads silhouette images. In the clinical applications, dynamic movement during jaw opening and closing was conducted, and the relative pose of the mandibular bone with respect to the maxilla bone was determined. The results of computer simulation test showed that the root mean square errors were sufficiently smaller than 1.0 mm and 1.0 degree. In the results of clinical application, during jaw opening from 0.0 to 36.8 degree of rotation, mandibular condyle exhibited 19.8 mm of anterior sliding relative to maxillary articular fossa, and these measurement values were clinically similar to the previous reports. Consequently, present technique was thought to be suitable for the 3D TMJ kinematic analysis.

  1. 3D Elevation Program—Virtual USA in 3D

    USGS Publications Warehouse

    Lukas, Vicki; Stoker, J.M.

    2016-01-01

    The U.S. Geological Survey (USGS) 3D Elevation Program (3DEP) uses a laser system called ‘lidar’ (light detection and ranging) to create a virtual reality map of the Nation that is very accurate. 3D maps have many uses with new uses being discovered all the time.  

  2. 3D Elevation Program—Virtual USA in 3D

    USGS Publications Warehouse

    Lukas, Vicki; Stoker, J.M.

    2016-04-14

    The U.S. Geological Survey (USGS) 3D Elevation Program (3DEP) uses a laser system called ‘lidar’ (light detection and ranging) to create a virtual reality map of the Nation that is very accurate. 3D maps have many uses with new uses being discovered all the time.  

  3. On detailed 3D reconstruction of large indoor environments

    NASA Astrophysics Data System (ADS)

    Bondarev, Egor

    2015-03-01

    In this paper we present techniques for highly detailed 3D reconstruction of extra large indoor environments. We discuss the benefits and drawbacks of low-range, far-range and hybrid sensing and reconstruction approaches. The proposed techniques for low-range and hybrid reconstruction, enabling the reconstruction density of 125 points/cm3 on large 100.000 m3 models, are presented in detail. The techniques tackle the core challenges for the above requirements, such as a multi-modal data fusion (fusion of a LIDAR data with a Kinect data), accurate sensor pose estimation, high-density scanning and depth data noise filtering. Other important aspects for extra large 3D indoor reconstruction are the point cloud decimation and real-time rendering. In this paper, we present a method for planar-based point cloud decimation, allowing for reduction of a point cloud size by 80-95%. Besides this, we introduce a method for online rendering of extra large point clouds enabling real-time visualization of huge cloud spaces in conventional web browsers.

  4. Lifting Object Detection Datasets into 3D.

    PubMed

    Carreira, Joao; Vicente, Sara; Agapito, Lourdes; Batista, Jorge

    2016-07-01

    While data has certainly taken the center stage in computer vision in recent years, it can still be difficult to obtain in certain scenarios. In particular, acquiring ground truth 3D shapes of objects pictured in 2D images remains a challenging feat and this has hampered progress in recognition-based object reconstruction from a single image. Here we propose to bypass previous solutions such as 3D scanning or manual design, that scale poorly, and instead populate object category detection datasets semi-automatically with dense, per-object 3D reconstructions, bootstrapped from:(i) class labels, (ii) ground truth figure-ground segmentations and (iii) a small set of keypoint annotations. Our proposed algorithm first estimates camera viewpoint using rigid structure-from-motion and then reconstructs object shapes by optimizing over visual hull proposals guided by loose within-class shape similarity assumptions. The visual hull sampling process attempts to intersect an object's projection cone with the cones of minimal subsets of other similar objects among those pictured from certain vantage points. We show that our method is able to produce convincing per-object 3D reconstructions and to accurately estimate cameras viewpoints on one of the most challenging existing object-category detection datasets, PASCAL VOC. We hope that our results will re-stimulate interest on joint object recognition and 3D reconstruction from a single image. PMID:27295458

  5. Real-Time 3D Tracking and Reconstruction on Mobile Phones.

    PubMed

    Prisacariu, Victor Adrian; Kähler, Olaf; Murray, David W; Reid, Ian D

    2015-05-01

    We present a novel framework for jointly tracking a camera in 3D and reconstructing the 3D model of an observed object. Due to the region based approach, our formulation can handle untextured objects, partial occlusions, motion blur, dynamic backgrounds and imperfect lighting. Our formulation also allows for a very efficient implementation which achieves real-time performance on a mobile phone, by running the pose estimation and the shape optimisation in parallel. We use a level set based pose estimation but completely avoid the, typically required, explicit computation of a global distance. This leads to tracking rates of more than 100 Hz on a desktop PC and 30 Hz on a mobile phone. Further, we incorporate additional orientation information from the phone's inertial sensor which helps us resolve the tracking ambiguities inherent to region based formulations. The reconstruction step first probabilistically integrates 2D image statistics from selected keyframes into a 3D volume, and then imposes coherency and compactness using a total variational regularisation term. The global optimum of the overall energy function is found using a continuous max-flow algorithm and we show that, similar to tracking, the integration of per voxel posteriors instead of likelihoods improves the precision and accuracy of the reconstruction.

  6. Action and gait recognition from recovered 3-D human joints.

    PubMed

    Gu, Junxia; Ding, Xiaoqing; Wang, Shengjin; Wu, Youshou

    2010-08-01

    A common viewpoint-free framework that fuses pose recovery and classification for action and gait recognition is presented in this paper. First, a markerless pose recovery method is adopted to automatically capture the 3-D human joint and pose parameter sequences from volume data. Second, multiple configuration features (combination of joints) and movement features (position, orientation, and height of the body) are extracted from the recovered 3-D human joint and pose parameter sequences. A hidden Markov model (HMM) and an exemplar-based HMM are then used to model the movement features and configuration features, respectively. Finally, actions are classified by a hierarchical classifier that fuses the movement features and the configuration features, and persons are recognized from their gait sequences with the configuration features. The effectiveness of the proposed approach is demonstrated with experiments on the Institut National de Recherche en Informatique et Automatique Xmas Motion Acquisition Sequences data set.

  7. Segmentation of densely populated cell nuclei from confocal image stacks using 3D non-parametric shape priors.

    PubMed

    Ong, Lee-Ling S; Wang, Mengmeng; Dauwels, Justin; Asada, H Harry

    2014-01-01

    An approach to jointly estimate 3D shapes and poses of stained nuclei from confocal microscopy images, using statistical prior information, is presented. Extracting nuclei boundaries from our experimental images of cell migration is challenging due to clustered nuclei and variations in their shapes. This issue is formulated as a maximum a posteriori estimation problem. By incorporating statistical prior models of 3D nuclei shapes into level set functions, the active contour evolutions applied on the images is constrained. A 3D alignment algorithm is developed to build the training databases and to match contours obtained from the images to them. To address the issue of aligning the model over multiple clustered nuclei, a watershed-like technique is used to detect and separate clustered regions prior to active contour evolution. Our method is tested on confocal images of endothelial cells in microfluidic devices, compared with existing approaches.

  8. Real-time 3D vision solution for on-orbit autonomous rendezvous and docking

    NASA Astrophysics Data System (ADS)

    Ruel, S.; English, C.; Anctil, M.; Daly, J.; Smith, C.; Zhu, S.

    2006-05-01

    Neptec has developed a vision system for the capture of non-cooperative objects on orbit. This system uses an active TriDAR sensor and a model based tracking algorithm to provide 6 degree of freedom pose information in real-time from mid range to docking. This system was selected for the Hubble Robotic Vehicle De-orbit Module (HRVDM) mission and for a Detailed Test Objective (DTO) mission to fly on the Space Shuttle. TriDAR (triangulation + LIDAR) technology makes use of a novel approach to 3D sensing by combining triangulation and Time-of-Flight (ToF) active ranging techniques in the same optical path. This approach exploits the complementary nature of these sensing technologies. Real-time tracking of target objects is accomplished using 3D model based tracking algorithms developed at Neptec in partnership with the Canadian Space Agency (CSA). The system provides 6 degrees of freedom pose estimation and incorporates search capabilities to initiate and recover tracking. Pose estimation is performed using an innovative approach that is faster than traditional techniques. This performance allows the algorithms to operate in real-time on the TriDAR's flight certified embedded processor. This paper presents results from simulation and lab testing demonstrating that the system's performance meets the requirements of a complete tracking system for on-orbit autonomous rendezvous and docking.

  9. Market study: 3-D eyetracker

    NASA Technical Reports Server (NTRS)

    1977-01-01

    A market study of a proposed version of a 3-D eyetracker for initial use at NASA's Ames Research Center was made. The commercialization potential of a simplified, less expensive 3-D eyetracker was ascertained. Primary focus on present and potential users of eyetrackers, as well as present and potential manufacturers has provided an effective means of analyzing the prospects for commercialization.

  10. 3D World Building System

    ScienceCinema

    None

    2016-07-12

    This video provides an overview of the Sandia National Laboratories developed 3-D World Model Building capability that provides users with an immersive, texture rich 3-D model of their environment in minutes using a laptop and color and depth camera.

  11. 3D World Building System

    SciTech Connect

    2013-10-30

    This video provides an overview of the Sandia National Laboratories developed 3-D World Model Building capability that provides users with an immersive, texture rich 3-D model of their environment in minutes using a laptop and color and depth camera.

  12. LLNL-Earth3D

    SciTech Connect

    2013-10-01

    Earth3D is a computer code designed to allow fast calculation of seismic rays and travel times through a 3D model of the Earth. LLNL is using this for earthquake location and global tomography efforts and such codes are of great interest to the Earth Science community.

  13. Euro3D Science Conference

    NASA Astrophysics Data System (ADS)

    Walsh, J. R.

    2004-02-01

    The Euro3D RTN is an EU funded Research Training Network to foster the exploitation of 3D spectroscopy in Europe. 3D spectroscopy is a general term for spectroscopy of an area of the sky and derives its name from its two spatial + one spectral dimensions. There are an increasing number of instruments which use integral field devices to achieve spectroscopy of an area of the sky, either using lens arrays, optical fibres or image slicers, to pack spectra of multiple pixels on the sky (``spaxels'') onto a 2D detector. On account of the large volume of data and the special methods required to reduce and analyse 3D data, there are only a few centres of expertise and these are mostly involved with instrument developments. There is a perceived lack of expertise in 3D spectroscopy spread though the astronomical community and its use in the armoury of the observational astronomer is viewed as being highly specialised. For precisely this reason the Euro3D RTN was proposed to train young researchers in this area and develop user tools to widen the experience with this particular type of data in Europe. The Euro3D RTN is coordinated by Martin M. Roth (Astrophysikalisches Institut Potsdam) and has been running since July 2002. The first Euro3D science conference was held in Cambridge, UK from 22 to 23 May 2003. The main emphasis of the conference was, in keeping with the RTN, to expose the work of the young post-docs who are funded by the RTN. In addition the team members from the eleven European institutes involved in Euro3D also presented instrumental and observational developments. The conference was organized by Andy Bunker and held at the Institute of Astronomy. There were over thirty participants and 26 talks covered the whole range of application of 3D techniques. The science ranged from Galactic planetary nebulae and globular clusters to kinematics of nearby galaxies out to objects at high redshift. Several talks were devoted to reporting recent observations with newly

  14. 3D printing in dentistry.

    PubMed

    Dawood, A; Marti Marti, B; Sauret-Jackson, V; Darwood, A

    2015-12-01

    3D printing has been hailed as a disruptive technology which will change manufacturing. Used in aerospace, defence, art and design, 3D printing is becoming a subject of great interest in surgery. The technology has a particular resonance with dentistry, and with advances in 3D imaging and modelling technologies such as cone beam computed tomography and intraoral scanning, and with the relatively long history of the use of CAD CAM technologies in dentistry, it will become of increasing importance. Uses of 3D printing include the production of drill guides for dental implants, the production of physical models for prosthodontics, orthodontics and surgery, the manufacture of dental, craniomaxillofacial and orthopaedic implants, and the fabrication of copings and frameworks for implant and dental restorations. This paper reviews the types of 3D printing technologies available and their various applications in dentistry and in maxillofacial surgery. PMID:26657435

  15. PLOT3D user's manual

    NASA Technical Reports Server (NTRS)

    Walatka, Pamela P.; Buning, Pieter G.; Pierce, Larry; Elson, Patricia A.

    1990-01-01

    PLOT3D is a computer graphics program designed to visualize the grids and solutions of computational fluid dynamics. Seventy-four functions are available. Versions are available for many systems. PLOT3D can handle multiple grids with a million or more grid points, and can produce varieties of model renderings, such as wireframe or flat shaded. Output from PLOT3D can be used in animation programs. The first part of this manual is a tutorial that takes the reader, keystroke by keystroke, through a PLOT3D session. The second part of the manual contains reference chapters, including the helpfile, data file formats, advice on changing PLOT3D, and sample command files.

  16. 3D printing in dentistry.

    PubMed

    Dawood, A; Marti Marti, B; Sauret-Jackson, V; Darwood, A

    2015-12-01

    3D printing has been hailed as a disruptive technology which will change manufacturing. Used in aerospace, defence, art and design, 3D printing is becoming a subject of great interest in surgery. The technology has a particular resonance with dentistry, and with advances in 3D imaging and modelling technologies such as cone beam computed tomography and intraoral scanning, and with the relatively long history of the use of CAD CAM technologies in dentistry, it will become of increasing importance. Uses of 3D printing include the production of drill guides for dental implants, the production of physical models for prosthodontics, orthodontics and surgery, the manufacture of dental, craniomaxillofacial and orthopaedic implants, and the fabrication of copings and frameworks for implant and dental restorations. This paper reviews the types of 3D printing technologies available and their various applications in dentistry and in maxillofacial surgery.

  17. Multi-view and 3D deformable part models.

    PubMed

    Pepik, Bojan; Stark, Michael; Gehler, Peter; Schiele, Bernt

    2015-11-01

    As objects are inherently 3D, they have been modeled in 3D in the early days of computer vision. Due to the ambiguities arising from mapping 2D features to 3D models, 3D object representations have been neglected and 2D feature-based models are the predominant paradigm in object detection nowadays. While such models have achieved outstanding bounding box detection performance, they come with limited expressiveness, as they are clearly limited in their capability of reasoning about 3D shape or viewpoints. In this work, we bring the worlds of 3D and 2D object representations closer, by building an object detector which leverages the expressive power of 3D object representations while at the same time can be robustly matched to image evidence. To that end, we gradually extend the successful deformable part model [1] to include viewpoint information and part-level 3D geometry information, resulting in several different models with different level of expressiveness. We end up with a 3D object model, consisting of multiple object parts represented in 3D and a continuous appearance model. We experimentally verify that our models, while providing richer object hypotheses than the 2D object models, provide consistently better joint object localization and viewpoint estimation than the state-of-the-art multi-view and 3D object detectors on various benchmarks (KITTI [2] , 3D object classes [3] , Pascal3D+ [4] , Pascal VOC 2007 [5] , EPFL multi-view cars[6] ). PMID:26440264

  18. PLOT3D/AMES, APOLLO UNIX VERSION USING GMR3D (WITHOUT TURB3D)

    NASA Technical Reports Server (NTRS)

    Buning, P.

    1994-01-01

    PLOT3D is an interactive graphics program designed to help scientists visualize computational fluid dynamics (CFD) grids and solutions. Today, supercomputers and CFD algorithms can provide scientists with simulations of such highly complex phenomena that obtaining an understanding of the simulations has become a major problem. Tools which help the scientist visualize the simulations can be of tremendous aid. PLOT3D/AMES offers more functions and features, and has been adapted for more types of computers than any other CFD graphics program. Version 3.6b+ is supported for five computers and graphic libraries. Using PLOT3D, CFD physicists can view their computational models from any angle, observing the physics of problems and the quality of solutions. As an aid in designing aircraft, for example, PLOT3D's interactive computer graphics can show vortices, temperature, reverse flow, pressure, and dozens of other characteristics of air flow during flight. As critical areas become obvious, they can easily be studied more closely using a finer grid. PLOT3D is part of a computational fluid dynamics software cycle. First, a program such as 3DGRAPE (ARC-12620) helps the scientist generate computational grids to model an object and its surrounding space. Once the grids have been designed and parameters such as the angle of attack, Mach number, and Reynolds number have been specified, a "flow-solver" program such as INS3D (ARC-11794 or COS-10019) solves the system of equations governing fluid flow, usually on a supercomputer. Grids sometimes have as many as two million points, and the "flow-solver" produces a solution file which contains density, x- y- and z-momentum, and stagnation energy for each grid point. With such a solution file and a grid file containing up to 50 grids as input, PLOT3D can calculate and graphically display any one of 74 functions, including shock waves, surface pressure, velocity vectors, and particle traces. PLOT3D's 74 functions are organized into

  19. PLOT3D/AMES, APOLLO UNIX VERSION USING GMR3D (WITH TURB3D)

    NASA Technical Reports Server (NTRS)

    Buning, P.

    1994-01-01

    PLOT3D is an interactive graphics program designed to help scientists visualize computational fluid dynamics (CFD) grids and solutions. Today, supercomputers and CFD algorithms can provide scientists with simulations of such highly complex phenomena that obtaining an understanding of the simulations has become a major problem. Tools which help the scientist visualize the simulations can be of tremendous aid. PLOT3D/AMES offers more functions and features, and has been adapted for more types of computers than any other CFD graphics program. Version 3.6b+ is supported for five computers and graphic libraries. Using PLOT3D, CFD physicists can view their computational models from any angle, observing the physics of problems and the quality of solutions. As an aid in designing aircraft, for example, PLOT3D's interactive computer graphics can show vortices, temperature, reverse flow, pressure, and dozens of other characteristics of air flow during flight. As critical areas become obvious, they can easily be studied more closely using a finer grid. PLOT3D is part of a computational fluid dynamics software cycle. First, a program such as 3DGRAPE (ARC-12620) helps the scientist generate computational grids to model an object and its surrounding space. Once the grids have been designed and parameters such as the angle of attack, Mach number, and Reynolds number have been specified, a "flow-solver" program such as INS3D (ARC-11794 or COS-10019) solves the system of equations governing fluid flow, usually on a supercomputer. Grids sometimes have as many as two million points, and the "flow-solver" produces a solution file which contains density, x- y- and z-momentum, and stagnation energy for each grid point. With such a solution file and a grid file containing up to 50 grids as input, PLOT3D can calculate and graphically display any one of 74 functions, including shock waves, surface pressure, velocity vectors, and particle traces. PLOT3D's 74 functions are organized into

  20. Quasi 3D dosimetry (EPID, conventional 2D/3D detector matrices)

    NASA Astrophysics Data System (ADS)

    Bäck, A.

    2015-01-01

    Patient specific pretreatment measurement for IMRT and VMAT QA should preferably give information with a high resolution in 3D. The ability to distinguish complex treatment plans, i.e. treatment plans with a difference between measured and calculated dose distributions that exceeds a specified tolerance, puts high demands on the dosimetry system used for the pretreatment measurements and the results of the measurement evaluation needs a clinical interpretation. There are a number of commercial dosimetry systems designed for pretreatment IMRT QA measurements. 2D arrays such as MapCHECK® (Sun Nuclear), MatriXXEvolution (IBA Dosimetry) and OCTAVIOUS® 1500 (PTW), 3D phantoms such as OCTAVIUS® 4D (PTW), ArcCHECK® (Sun Nuclear) and Delta4 (ScandiDos) and software for EPID dosimetry and 3D reconstruction of the dose in the patient geometry such as EPIDoseTM (Sun Nuclear) and Dosimetry CheckTM (Math Resolutions) are available. None of those dosimetry systems can measure the 3D dose distribution with a high resolution (full 3D dose distribution). Those systems can be called quasi 3D dosimetry systems. To be able to estimate the delivered dose in full 3D the user is dependent on a calculation algorithm in the software of the dosimetry system. All the vendors of the dosimetry systems mentioned above provide calculation algorithms to reconstruct a full 3D dose in the patient geometry. This enables analyzes of the difference between measured and calculated dose distributions in DVHs of the structures of clinical interest which facilitates the clinical interpretation and is a promising tool to be used for pretreatment IMRT QA measurements. However, independent validation studies on the accuracy of those algorithms are scarce. Pretreatment IMRT QA using the quasi 3D dosimetry systems mentioned above rely on both measurement uncertainty and accuracy of calculation algorithms. In this article, these quasi 3D dosimetry systems and their use in patient specific pretreatment IMRT

  1. 3D holoscopic video imaging system

    NASA Astrophysics Data System (ADS)

    Steurer, Johannes H.; Pesch, Matthias; Hahne, Christopher

    2012-03-01

    Since many years, integral imaging has been discussed as a technique to overcome the limitations of standard still photography imaging systems where a three-dimensional scene is irrevocably projected onto two dimensions. With the success of 3D stereoscopic movies, a huge interest in capturing three-dimensional motion picture scenes has been generated. In this paper, we present a test bench integral imaging camera system aiming to tailor the methods of light field imaging towards capturing integral 3D motion picture content. We estimate the hardware requirements needed to generate high quality 3D holoscopic images and show a prototype camera setup that allows us to study these requirements using existing technology. The necessary steps that are involved in the calibration of the system as well as the technique of generating human readable holoscopic images from the recorded data are discussed.

  2. 3D dynamic roadmapping for abdominal catheterizations.

    PubMed

    Bender, Frederik; Groher, Martin; Khamene, Ali; Wein, Wolfgang; Heibel, Tim Hauke; Navab, Nassir

    2008-01-01

    Despite rapid advances in interventional imaging, the navigation of a guide wire through abdominal vasculature remains, not only for novice radiologists, a difficult task. Since this navigation is mostly based on 2D fluoroscopic image sequences from one view, the process is slowed down significantly due to missing depth information and patient motion. We propose a novel approach for 3D dynamic roadmapping in deformable regions by predicting the location of the guide wire tip in a 3D vessel model from the tip's 2D location, respiratory motion analysis, and view geometry. In a first step, the method compensates for the apparent respiratory motion in 2D space before backprojecting the 2D guide wire tip into three dimensional space, using a given projection matrix. To countervail the error connected to the projection parameters and the motion compensation, as well as the ambiguity caused by vessel deformation, we establish a statistical framework, which computes a reliable estimate of the guide wire tip location within the 3D vessel model. With this 2D-to-3D transfer, the navigation can be performed from arbitrary viewing angles, disconnected from the static perspective view of the fluoroscopic sequence. Tests on a realistic breathing phantom and on synthetic data with a known ground truth clearly reveal the superiority of our approach compared to naive methods for 3D roadmapping. The concepts and information presented in this paper are based on research and are not commercially available. PMID:18982662

  3. A Bayesian framework for human body pose tracking from depth image sequences.

    PubMed

    Zhu, Youding; Fujimura, Kikuo

    2010-01-01

    This paper addresses the problem of accurate and robust tracking of 3D human body pose from depth image sequences. Recovering the large number of degrees of freedom in human body movements from a depth image sequence is challenging due to the need to resolve the depth ambiguity caused by self-occlusions and the difficulty to recover from tracking failure. Human body poses could be estimated through model fitting using dense correspondences between depth data and an articulated human model (local optimization method). Although it usually achieves a high accuracy due to dense correspondences, it may fail to recover from tracking failure. Alternately, human pose may be reconstructed by detecting and tracking human body anatomical landmarks (key-points) based on low-level depth image analysis. While this method (key-point based method) is robust and recovers from tracking failure, its pose estimation accuracy depends solely on image-based localization accuracy of key-points. To address these limitations, we present a flexible Bayesian framework for integrating pose estimation results obtained by methods based on key-points and local optimization. Experimental results are shown and performance comparison is presented to demonstrate the effectiveness of the proposed approach.

  4. Spatially resolved 3D noise

    NASA Astrophysics Data System (ADS)

    Haefner, David P.; Preece, Bradley L.; Doe, Joshua M.; Burks, Stephen D.

    2016-05-01

    When evaluated with a spatially uniform irradiance, an imaging sensor exhibits both spatial and temporal variations, which can be described as a three-dimensional (3D) random process considered as noise. In the 1990s, NVESD engineers developed an approximation to the 3D power spectral density (PSD) for noise in imaging systems known as 3D noise. In this correspondence, we describe how the confidence intervals for the 3D noise measurement allows for determination of the sampling necessary to reach a desired precision. We then apply that knowledge to create a smaller cube that can be evaluated spatially across the 2D image giving the noise as a function of position. The method presented here allows for both defective pixel identification and implements the finite sampling correction matrix. In support of the reproducible research effort, the Matlab functions associated with this work can be found on the Mathworks file exchange [1].

  5. Accepting the T3D

    SciTech Connect

    Rich, D.O.; Pope, S.C.; DeLapp, J.G.

    1994-10-01

    In April, a 128 PE Cray T3D was installed at Los Alamos National Laboratory`s Advanced Computing Laboratory as part of the DOE`s High-Performance Parallel Processor Program (H4P). In conjunction with CRI, the authors implemented a 30 day acceptance test. The test was constructed in part to help them understand the strengths and weaknesses of the T3D. In this paper, they briefly describe the H4P and its goals. They discuss the design and implementation of the T3D acceptance test and detail issues that arose during the test. They conclude with a set of system requirements that must be addressed as the T3D system evolves.

  6. Combinatorial 3D Mechanical Metamaterials

    NASA Astrophysics Data System (ADS)

    Coulais, Corentin; Teomy, Eial; de Reus, Koen; Shokef, Yair; van Hecke, Martin

    2015-03-01

    We present a class of elastic structures which exhibit 3D-folding motion. Our structures consist of cubic lattices of anisotropic unit cells that can be tiled in a complex combinatorial fashion. We design and 3d-print this complex ordered mechanism, in which we combine elastic hinges and defects to tailor the mechanics of the material. Finally, we use this large design space to encode smart functionalities such as surface patterning and multistability.

  7. 3D stochastic inversion of magnetic data

    NASA Astrophysics Data System (ADS)

    Shamsipour, Pejman; Chouteau, Michel; Marcotte, Denis

    2011-04-01

    A stochastic inversion method based on a geostatistical approach is presented to recover 3D susceptibility models from magnetic data. The aim of applying geostatistics is to provide quantitative descriptions of natural variables distributed in space or in time and space. Cokriging, the method which is used in this paper, is a method of estimation that minimizes the theoretical estimation error variance by using auto- and cross-correlations of several variables. The covariances for total field, susceptibility and total field-susceptibility are estimated using the observed data. Then, the susceptibility is cokriged or simulated as the primary variable. In order to avoid the natural tendency of the estimated structure to lay near the surface, depth weighting is included in the cokriging system. The algorithm assumes there is no remanent magnetization and the observation data represent only induced magnetization effects. The method is applied on different synthetic models to demonstrate its suitability for 3D inversion of magnetic data. A case study using ground measurements of total field at the Perseverance mine (Quebec, Canada) is presented. The recovered 3D susceptibility model provides beneficial information that can be used to analyze the geology of massive sulfide for the domain under study.

  8. Measurement error analysis of the 3D four-wheel aligner

    NASA Astrophysics Data System (ADS)

    Zhao, Qiancheng; Yang, Tianlong; Huang, Dongzhao; Ding, Xun

    2013-10-01

    Positioning parameters of four-wheel have significant effects on maneuverabilities, securities and energy saving abilities of automobiles. Aiming at this issue, the error factors of 3D four-wheel aligner, which exist in extracting image feature points, calibrating internal and exeternal parameters of cameras, calculating positional parameters and measuring target pose, are analyzed respectively based on the elaborations of structure and measurement principle of 3D four-wheel aligner, as well as toe-in and camber of four-wheel, kingpin inclination and caster, and other major positional parameters. After that, some technical solutions are proposed for reducing the above error factors, and on this basis, a new type of aligner is developed and marketed, it's highly estimated among customers because the technical indicators meet requirements well.

  9. Multibaseline IFSAR for 3D target reconstruction

    NASA Astrophysics Data System (ADS)

    Ertin, Emre; Moses, Randolph L.; Potter, Lee C.

    2008-04-01

    We consider three dimensional target construction from SAR data collected on multiple complete circular apertures at different elevation angle. The 3-D resolution of circular SAR systems is constrained by two factors: the sparse sampling in elevation and the limited azimuthal persistence of the reflectors in the scene. Three dimensional target reconstruction with multipass circular SAR data is further complicated by nonuniform elevation spacing in real flight paths and non-constant elevation angle throughout the circular pass. In this paper we first develop parametric spectral estimation methods that extend standard IFSAR method of height estimation to apertures at more than two elevation angles. Next, we show that linear interpolation of the phase history data leads to unsatisfactory performance in 3-D reconstruction from nonuniformly sampled elevation passes. We then present a new sparsity regularized interpolation algorithm to preprocess nonuniform elevation samples to create a virtual uniform linear array geometry. We illustrate the performance of the proposed method using simulated backscatter data.

  10. LASTRAC.3d: Transition Prediction in 3D Boundary Layers

    NASA Technical Reports Server (NTRS)

    Chang, Chau-Lyan

    2004-01-01

    Langley Stability and Transition Analysis Code (LASTRAC) is a general-purpose, physics-based transition prediction code released by NASA for laminar flow control studies and transition research. This paper describes the LASTRAC extension to general three-dimensional (3D) boundary layers such as finite swept wings, cones, or bodies at an angle of attack. The stability problem is formulated by using a body-fitted nonorthogonal curvilinear coordinate system constructed on the body surface. The nonorthogonal coordinate system offers a variety of marching paths and spanwise waveforms. In the extreme case of an infinite swept wing boundary layer, marching with a nonorthogonal coordinate produces identical solutions to those obtained with an orthogonal coordinate system using the earlier release of LASTRAC. Several methods to formulate the 3D parabolized stability equations (PSE) are discussed. A surface-marching procedure akin to that for 3D boundary layer equations may be used to solve the 3D parabolized disturbance equations. On the other hand, the local line-marching PSE method, formulated as an easy extension from its 2D counterpart and capable of handling the spanwise mean flow and disturbance variation, offers an alternative. A linear stability theory or parabolized stability equations based N-factor analysis carried out along the streamline direction with a fixed wavelength and downstream-varying spanwise direction constitutes an efficient engineering approach to study instability wave evolution in a 3D boundary layer. The surface-marching PSE method enables a consistent treatment of the disturbance evolution along both streamwise and spanwise directions but requires more stringent initial conditions. Both PSE methods and the traditional LST approach are implemented in the LASTRAC.3d code. Several test cases for tapered or finite swept wings and cones at an angle of attack are discussed.

  11. From 3D view to 3D print

    NASA Astrophysics Data System (ADS)

    Dima, M.; Farisato, G.; Bergomi, M.; Viotto, V.; Magrin, D.; Greggio, D.; Farinato, J.; Marafatto, L.; Ragazzoni, R.; Piazza, D.

    2014-08-01

    In the last few years 3D printing is getting more and more popular and used in many fields going from manufacturing to industrial design, architecture, medical support and aerospace. 3D printing is an evolution of bi-dimensional printing, which allows to obtain a solid object from a 3D model, realized with a 3D modelling software. The final product is obtained using an additive process, in which successive layers of material are laid down one over the other. A 3D printer allows to realize, in a simple way, very complex shapes, which would be quite difficult to be produced with dedicated conventional facilities. Thanks to the fact that the 3D printing is obtained superposing one layer to the others, it doesn't need any particular work flow and it is sufficient to simply draw the model and send it to print. Many different kinds of 3D printers exist based on the technology and material used for layer deposition. A common material used by the toner is ABS plastics, which is a light and rigid thermoplastic polymer, whose peculiar mechanical properties make it diffusely used in several fields, like pipes production and cars interiors manufacturing. I used this technology to create a 1:1 scale model of the telescope which is the hardware core of the space small mission CHEOPS (CHaracterising ExOPlanets Satellite) by ESA, which aims to characterize EXOplanets via transits observations. The telescope has a Ritchey-Chrétien configuration with a 30cm aperture and the launch is foreseen in 2017. In this paper, I present the different phases for the realization of such a model, focusing onto pros and cons of this kind of technology. For example, because of the finite printable volume (10×10×12 inches in the x, y and z directions respectively), it has been necessary to split the largest parts of the instrument in smaller components to be then reassembled and post-processed. A further issue is the resolution of the printed material, which is expressed in terms of layers

  12. Thermal 3D modeling system based on 3-view geometry

    NASA Astrophysics Data System (ADS)

    Yu, Sunjin; Kim, Joongrock; Lee, Sangyoun

    2012-11-01

    In this paper, we propose a novel thermal three-dimensional (3D) modeling system that includes 3D shape, visual, and thermal infrared information and solves a registration problem among these three types of information. The proposed system consists of a projector, a visual camera and, a thermal camera (PVT). To generate 3D shape information, we use a structured light technique, which consists of a visual camera and a projector. A thermal camera is added to the structured light system in order to provide thermal information. To solve the correspondence problem between the three sensors, we use three-view geometry. Finally, we obtain registered PVT data, which includes visual, thermal, and 3D shape information. Among various potential applications such as industrial measurements, biological experiments, military usage, and so on, we have adapted the proposed method to biometrics, particularly for face recognition. With the proposed method, we obtain multi-modal 3D face data that includes not only textural information but also data regarding head pose, 3D shape, and thermal information. Experimental results show that the performance of the proposed face recognition system is not limited by head pose variation which is a serious problem in face recognition.

  13. YouDash3D: exploring stereoscopic 3D gaming for 3D movie theaters

    NASA Astrophysics Data System (ADS)

    Schild, Jonas; Seele, Sven; Masuch, Maic

    2012-03-01

    Along with the success of the digitally revived stereoscopic cinema, events beyond 3D movies become attractive for movie theater operators, i.e. interactive 3D games. In this paper, we present a case that explores possible challenges and solutions for interactive 3D games to be played by a movie theater audience. We analyze the setting and showcase current issues related to lighting and interaction. Our second focus is to provide gameplay mechanics that make special use of stereoscopy, especially depth-based game design. Based on these results, we present YouDash3D, a game prototype that explores public stereoscopic gameplay in a reduced kiosk setup. It features live 3D HD video stream of a professional stereo camera rig rendered in a real-time game scene. We use the effect to place the stereoscopic effigies of players into the digital game. The game showcases how stereoscopic vision can provide for a novel depth-based game mechanic. Projected trigger zones and distributed clusters of the audience video allow for easy adaptation to larger audiences and 3D movie theater gaming.

  14. Remote 3D Medical Consultation

    NASA Astrophysics Data System (ADS)

    Welch, Greg; Sonnenwald, Diane H.; Fuchs, Henry; Cairns, Bruce; Mayer-Patel, Ketan; Yang, Ruigang; State, Andrei; Towles, Herman; Ilie, Adrian; Krishnan, Srinivas; Söderholm, Hanna M.

    Two-dimensional (2D) video-based telemedical consultation has been explored widely in the past 15-20 years. Two issues that seem to arise in most relevant case studies are the difficulty associated with obtaining the desired 2D camera views, and poor depth perception. To address these problems we are exploring the use of a small array of cameras to synthesize a spatially continuous range of dynamic three-dimensional (3D) views of a remote environment and events. The 3D views can be sent across wired or wireless networks to remote viewers with fixed displays or mobile devices such as a personal digital assistant (PDA). The viewpoints could be specified manually or automatically via user head or PDA tracking, giving the remote viewer virtual head- or hand-slaved (PDA-based) remote cameras for mono or stereo viewing. We call this idea remote 3D medical consultation (3DMC). In this article we motivate and explain the vision for 3D medical consultation; we describe the relevant computer vision/graphics, display, and networking research; we present a proof-of-concept prototype system; and we present some early experimental results supporting the general hypothesis that 3D remote medical consultation could offer benefits over conventional 2D televideo.

  15. Speaking Volumes About 3-D

    NASA Technical Reports Server (NTRS)

    2002-01-01

    In 1999, Genex submitted a proposal to Stennis Space Center for a volumetric 3-D display technique that would provide multiple users with a 360-degree perspective to simultaneously view and analyze 3-D data. The futuristic capabilities of the VolumeViewer(R) have offered tremendous benefits to commercial users in the fields of medicine and surgery, air traffic control, pilot training and education, computer-aided design/computer-aided manufacturing, and military/battlefield management. The technology has also helped NASA to better analyze and assess the various data collected by its satellite and spacecraft sensors. Genex capitalized on its success with Stennis by introducing two separate products to the commercial market that incorporate key elements of the 3-D display technology designed under an SBIR contract. The company Rainbow 3D(R) imaging camera is a novel, three-dimensional surface profile measurement system that can obtain a full-frame 3-D image in less than 1 second. The third product is the 360-degree OmniEye(R) video system. Ideal for intrusion detection, surveillance, and situation management, this unique camera system offers a continuous, panoramic view of a scene in real time.

  16. Gender and ethnicity specific generic elastic models from a single 2D image for novel 2D pose face synthesis and recognition.

    PubMed

    Heo, Jingu; Savvides, Marios

    2012-12-01

    In this paper, we propose a novel method for generating a realistic 3D human face from a single 2D face image for the purpose of synthesizing new 2D face images at arbitrary poses using gender and ethnicity specific models. We employ the Generic Elastic Model (GEM) approach, which elastically deforms a generic 3D depth-map based on the sparse observations of an input face image in order to estimate the depth of the face image. Particularly, we show that Gender and Ethnicity specific GEMs (GE-GEMs) can approximate the 3D shape of the input face image more accurately, achieving a better generalization of 3D face modeling and reconstruction compared to the original GEM approach. We qualitatively validate our method using publicly available databases by showing each reconstructed 3D shape generated from a single image and new synthesized poses of the same person at arbitrary angles. For quantitative comparisons, we compare our synthesized results against 3D scanned data and also perform face recognition using synthesized images generated from a single enrollment frontal image. We obtain promising results for handling pose and expression changes based on the proposed method. PMID:22201062

  17. 3D-Printed Microfluidics.

    PubMed

    Au, Anthony K; Huynh, Wilson; Horowitz, Lisa F; Folch, Albert

    2016-03-14

    The advent of soft lithography allowed for an unprecedented expansion in the field of microfluidics. However, the vast majority of PDMS microfluidic devices are still made with extensive manual labor, are tethered to bulky control systems, and have cumbersome user interfaces, which all render commercialization difficult. On the other hand, 3D printing has begun to embrace the range of sizes and materials that appeal to the developers of microfluidic devices. Prior to fabrication, a design is digitally built as a detailed 3D CAD file. The design can be assembled in modules by remotely collaborating teams, and its mechanical and fluidic behavior can be simulated using finite-element modeling. As structures are created by adding materials without the need for etching or dissolution, processing is environmentally friendly and economically efficient. We predict that in the next few years, 3D printing will replace most PDMS and plastic molding techniques in academia.

  18. Student-Posed Problems

    NASA Astrophysics Data System (ADS)

    Harper, Kathleen A.; Etkina, Eugenia

    2002-10-01

    As part of weekly reports,1 structured journals in which students answer three standard questions each week, they respond to the prompt, If I were the instructor, what questions would I ask or problems assign to determine if my students understood the material? An initial analysis of the results shows that some student-generated problems indicate fundamental misunderstandings of basic physical concepts. A further investigation explores the relevance of the problems to the week's material, whether the problems are solvable, and the type of problems (conceptual or calculation-based) written. Also, possible links between various characteristics of the problems and conceptual achievement are being explored. The results of this study spark many more questions for further work. A summary of current findings will be presented, along with its relationship to previous work concerning problem posing.2 1Etkina, E. Weekly Reports;A Two-Way Feedback Tool, Science Education, 84, 594-605 (2000). 2Mestre, J.P., Probing Adults Conceptual Understanding and Transfer of Learning Via Problem Posing, Journal of Applied Developmental Psychology, 23, 9-50 (2002).

  19. Rescoring ligand docking poses.

    PubMed

    Zhong, Shijun; Zhang, Youping; Xiu, Zhilong

    2010-05-01

    The ranking of ligand docking poses according to certain scoring systems to identify the best fit is the most important step in virtual database screening for drug discovery. By focusing on method development strategy, this review provides possibilities for constructing rescoring approaches based on an overview of recent developments in the field. These developments can be classified into three categories. The first category involves a scaling approach that employs a factor to scale the primary scoring function. These scaling factors are defined with respect to the geometrical match between the location of a ligand and the target binding site, or defined according to a molecular weight distribution consistent with the empirical range of molecular weights of drug-like compounds. The second category involves consensus scoring approaches that use multiple scoring functions to rank the ligand poses retained in a docking procedure, based on the preliminary ranking according to a primary scoring function. The final category involves the addition of selected accuracy-oriented energy terms, such as the solvent effect and quantum mechanics/molecular mechanics treatments. PMID:20443166

  20. 3D Computations and Experiments

    SciTech Connect

    Couch, R; Faux, D; Goto, D; Nikkel, D

    2004-04-05

    This project consists of two activities. Task A, Simulations and Measurements, combines all the material model development and associated numerical work with the materials-oriented experimental activities. The goal of this effort is to provide an improved understanding of dynamic material properties and to provide accurate numerical representations of those properties for use in analysis codes. Task B, ALE3D Development, involves general development activities in the ALE3D code with the focus of improving simulation capabilities for problems of mutual interest to DoD and DOE. Emphasis is on problems involving multi-phase flow, blast loading of structures and system safety/vulnerability studies.

  1. Fusing inertial sensor data in an extended Kalman filter for 3D camera tracking.

    PubMed

    Erdem, Arif Tanju; Ercan, Ali Özer

    2015-02-01

    In a setup where camera measurements are used to estimate 3D egomotion in an extended Kalman filter (EKF) framework, it is well-known that inertial sensors (i.e., accelerometers and gyroscopes) are especially useful when the camera undergoes fast motion. Inertial sensor data can be fused at the EKF with the camera measurements in either the correction stage (as measurement inputs) or the prediction stage (as control inputs). In general, only one type of inertial sensor is employed in the EKF in the literature, or when both are employed they are both fused in the same stage. In this paper, we provide an extensive performance comparison of every possible combination of fusing accelerometer and gyroscope data as control or measurement inputs using the same data set collected at different motion speeds. In particular, we compare the performances of different approaches based on 3D pose errors, in addition to camera reprojection errors commonly found in the literature, which provides further insight into the strengths and weaknesses of different approaches. We show using both simulated and real data that it is always better to fuse both sensors in the measurement stage and that in particular, accelerometer helps more with the 3D position tracking accuracy, whereas gyroscope helps more with the 3D orientation tracking accuracy. We also propose a simulated data generation method, which is beneficial for the design and validation of tracking algorithms involving both camera and inertial measurement unit measurements in general.

  2. Using a wireless motion controller for 3D medical image catheter interactions

    NASA Astrophysics Data System (ADS)

    Vitanovski, Dime; Hahn, Dieter; Daum, Volker; Hornegger, Joachim

    2009-02-01

    State-of-the-art morphological imaging techniques usually provide high resolution 3D images with a huge number of slices. In clinical practice, however, 2D slice-based examinations are still the method of choice even for these large amounts of data. Providing intuitive interaction methods for specific 3D medical visualization applications is therefore a critical feature for clinical imaging applications. For the domain of catheter navigation and surgery planning, it is crucial to assist the physician with appropriate visualization techniques, such as 3D segmentation maps, fly-through cameras or virtual interaction approaches. There has been an ongoing development and improvement for controllers that help to interact with 3D environments in the domain of computer games. These controllers are based on both motion and infrared sensors and are typically used to detect 3D position and orientation. We have investigated how a state-of-the-art wireless motion sensor controller (Wiimote), developed by Nintendo, can be used for catheter navigation and planning purposes. By default the Wiimote controller only measure rough acceleration over a range of +/- 3g with 10% sensitivity and orientation. Therefore, a pose estimation algorithm was developed for computing accurate position and orientation in 3D space regarding 4 Infrared LEDs. Current results show that for the translation it is possible to obtain a mean error of (0.38cm, 0.41cm, 4.94cm) and for the rotation (0.16, 0.28) respectively. Within this paper we introduce a clinical prototype that allows steering of a virtual fly-through camera attached to the catheter tip by the Wii controller on basis of a segmented vessel tree.

  3. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information

    PubMed Central

    Di, Kaichang; Zhao, Qiang; Wan, Wenhui; Wang, Yexin; Gao, Yunjun

    2016-01-01

    In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. PMID:27529256

  4. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information.

    PubMed

    Di, Kaichang; Zhao, Qiang; Wan, Wenhui; Wang, Yexin; Gao, Yunjun

    2016-08-13

    In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy.

  5. RGB-D SLAM Based on Extended Bundle Adjustment with 2D and 3D Information.

    PubMed

    Di, Kaichang; Zhao, Qiang; Wan, Wenhui; Wang, Yexin; Gao, Yunjun

    2016-01-01

    In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. PMID:27529256

  6. Making Inexpensive 3-D Models

    ERIC Educational Resources Information Center

    Manos, Harry

    2016-01-01

    Visual aids are important to student learning, and they help make the teacher's job easier. Keeping with the "TPT" theme of "The Art, Craft, and Science of Physics Teaching," the purpose of this article is to show how teachers, lacking equipment and funds, can construct a durable 3-D model reference frame and a model gravity…

  7. SNL3dFace

    2007-07-20

    This software distribution contains MATLAB and C++ code to enable identity verification using 3D images that may or may not contain a texture component. The code is organized to support system performance testing and system capability demonstration through the proper configuration of the available user interface. Using specific algorithm parameters the face recognition system has been demonstrated to achieve a 96.6% verification rate (Pd) at 0.001 false alarm rate. The system computes robust facial featuresmore » of a 3D normalized face using Principal Component Analysis (PCA) and Fisher Linear Discriminant Analysis (FLDA). A 3D normalized face is obtained by alighning each face, represented by a set of XYZ coordinated, to a scaled reference face using the Iterative Closest Point (ICP) algorithm. The scaled reference face is then deformed to the input face using an iterative framework with parameters that control the deformed surface regulation an rate of deformation. A variety of options are available to control the information that is encoded by the PCA. Such options include the XYZ coordinates, the difference of each XYZ coordinates from the reference, the Z coordinate, the intensity/texture values, etc. In addition to PCA/FLDA feature projection this software supports feature matching to obtain similarity matrices for performance analysis. In addition, this software supports visualization of the STL, MRD, 2D normalized, and PCA synthetic representations in a 3D environment.« less

  8. SNL3dFace

    SciTech Connect

    Russ, Trina; Koch, Mark; Koudelka, Melissa; Peters, Ralph; Little, Charles; Boehnen, Chris; Peters, Tanya

    2007-07-20

    This software distribution contains MATLAB and C++ code to enable identity verification using 3D images that may or may not contain a texture component. The code is organized to support system performance testing and system capability demonstration through the proper configuration of the available user interface. Using specific algorithm parameters the face recognition system has been demonstrated to achieve a 96.6% verification rate (Pd) at 0.001 false alarm rate. The system computes robust facial features of a 3D normalized face using Principal Component Analysis (PCA) and Fisher Linear Discriminant Analysis (FLDA). A 3D normalized face is obtained by alighning each face, represented by a set of XYZ coordinated, to a scaled reference face using the Iterative Closest Point (ICP) algorithm. The scaled reference face is then deformed to the input face using an iterative framework with parameters that control the deformed surface regulation an rate of deformation. A variety of options are available to control the information that is encoded by the PCA. Such options include the XYZ coordinates, the difference of each XYZ coordinates from the reference, the Z coordinate, the intensity/texture values, etc. In addition to PCA/FLDA feature projection this software supports feature matching to obtain similarity matrices for performance analysis. In addition, this software supports visualization of the STL, MRD, 2D normalized, and PCA synthetic representations in a 3D environment.

  9. 3D Printing: Exploring Capabilities

    ERIC Educational Resources Information Center

    Samuels, Kyle; Flowers, Jim

    2015-01-01

    As 3D printers become more affordable, schools are using them in increasing numbers. They fit well with the emphasis on product design in technology and engineering education, allowing students to create high-fidelity physical models to see and test different iterations in their product designs. They may also help students to "think in three…

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