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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Neural computing & applications 6 (1997), S. 142-147 
    ISSN: 1433-3058
    Keywords: Focus of expansion ; Hough parameter plane ; Neural Networks ; Optical flow
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mathematics
    Notes: Abstract In this work we consider the application context of planar passive navigation in which the visual control of locomotion requires only the direction of translation, and not the full set of motion parameters. If the temporally changing optic array is represented as a vector field of optical velocities, the vectors form a radial pattern emanating from a centre point, called the Focus of Expansion (FOE), representing the heading direction. The FOE position is independent of the distances of world surfaces, and does not require assumptions about surface shape and smoothness. We investigate the performance of an artificial neural network for the computation of the image position of the FOE of an Optical Flow (OF) field induced by an observer translation relative to a static environment. The network is characterized by a feed-forward architecture, and is trained by a standard supervised back-propagation algorithm which receives as input the pattern of points where the lines generated by 2D vectors are projected using the Hough transform. We present results obtained on a test set of synthetic noisy optical flows and on optical flows computed from real image sequences.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    The international journal of cardiovascular imaging 9 (1993), S. 7-19 
    ISSN: 1573-0743
    Keywords: contrast agents ; echocardiography ; indicator-dilution principles
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract Contrast echocardiography has the potential for measuring cardiac output and regional blood flow. However, accurate quantitation is limited both by the use of non-standard contrast agents and by the electronic signal distortion inherent to the echocardiographic instruments. Thus, the aim of this study is to quantify flow by combining a stable contrast agent and a modified echo equipment, able to sample the radio frequency (RF) signal from a region of interest (ROI) in the echo image. The contrast agent SHU-454 (0.8 ml) was bolus injected into anin vitro calf vein, at 23 flow rates (ranging from 376 to 3620 ml/min) but constant volume and pressure. The ROI was placed in the centre of the vein, the RF signal was processed in real time and transferred to a personal computer to generate time-intensity curves. In the absence of recirculation, contrast washout slope and mean transit time (MTT) of curves (1.11–8.52 seconds) yielded excellent correlations with flow: r=0.93 and 0.95, respectively. To compare the accuracy of RF analysis with that of conventional image processing as to flow quantitation, conventional images were collected in the same flow model by two different scanners: a) the mechanical sector scanner used for RF analysis, and b) a conventional electronic sector scanner. These images were digitized off-line, mean videodensity inside an identical ROI was measured and time-intensity curves were built. MTT by RF was shorter than by videodensitometric analysis of the images generated by the same scanner (p〈0.001). In contrast, MTT by RF was longer than by the conventional scanner (p〈0.001). Significant differences in MTT were also found with changes in the gain setting controls of the conventional scanner. To study the stability of the contrast effect, 6 contrast injections (20 ml) were performed at a constant flow rate during recirculation: the spontaneous decay in RF signal intensity (t1/2=64±8 seconds) was too long to affect MTT significantly. In conclusion, the combination of a stable con trast agent and a modified echocardiographic instrument provides accurate quantitation of flow in anin vitro model; RF analysis is more accurate than conventional processing as to flow quantitation by contrast echocardiography.
    Type of Medium: Electronic Resource
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  • 3
    Electronic Resource
    Electronic Resource
    Springer
    Autonomous robots 8 (2000), S. 129-139 
    ISSN: 1573-7527
    Keywords: 3D structure reconstruction ; projective invariants ; graph matching ; maximum clique ; relaxation labeling
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Our aim is to provide an autonomous vehicle moving into an indoor environment with a visual system to perform a qualitative 3D structure reconstruction of the surrounding environment by recovering the different planar surfaces present in the observed scene. The method is based on qualitative detection of planar surfaces by using projective invariant constraints without the use of depth estimates. The goal is achieved by analyzing two images acquired by observing the scene from two different points of view. The method can be applied to both stereo images and motion images. Our method recovers planar surfaces by clustering high variance interest points whose cross ratio measurements are preserved in two different perspective projections. Once interest points are extracted from each image, the clustering process requires to grouping corresponding points by preserving the cross ratio measurements. We solve the twofold problem of finding corresponding points and grouping the coplanar ones through a global optimization approach based on matching of high relational graphs and clustering on the corresponding association graph through a relaxation labeling algorithm. Through our experimental tests, we found the method to be very fast to converge to a solution, showing how higher order interactions, instead to giving rise to a more complex problem, help to speed-up the optimization process and to reach at same time good results.
    Type of Medium: Electronic Resource
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  • 4
    Electronic Resource
    Electronic Resource
    Springer
    The international journal of cardiovascular imaging 9 (1993), S. 21-27 
    ISSN: 1573-0743
    Keywords: attenuation ; contrast agents ; echocardiography ; indicator-dilution principles
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract The combination of a standardized echographic contrast agent with the analysis of the ultrasonic radio frequency (RF) signal allowedin vitro flow quantitation in a circulation model. The purpose of this study was to investigate both the effects of biological tissues, intervening between probe and insonated structure, and the effects of the angle of incidence between flow and ultrasonic beam on RF flow quantitation. Thus, the contrast agent SHU 454 was intravenously injected (0.4 ml) as a bolus into a circulation model, at variable flow rates, while keeping the pressure and volume of the vessel constant. Injections were performed with saline interposed between probe and vessel and after the addition of the subcutaneous tissue of a pig; injections were also performed using the probe normal to the flow and with an angle of incidence of 45°. Echographic data were recorded by a mechanical sector scanner, capable of sampling the RF signal from a region of interest positioned in the center of the vein. Contrast echo time-intensity curves were generated. As expected, both peak intensity and the area under the curves decreased with intervening tissue (− 58 and − 70% of baseline values, respectively, p〈0.001). Surprisingly, mean transit time also decreased with intervening tissue (from 1.12±0.25 seconds with saline, to 0.92±0.13 seconds with tissue, p〈0.001), thus producing a systematic overestimation of flow (21% on the average). To compensate for signal attenuation, contrast injections were repeated in the presence of tissue after increasing the electronic signal amplification (10 dB), and transit time did not significantly differ from control. Moreover, mean transit time was slightly shorter with an angle of 45° (1.03 ° 0.19 seconds) than with an angle of 90° (1.12±0.25 seconds, p〈0.05). However, when the data collected with both angles of incidence were plotted together, the correlation with flow remained very close (r=0.94). In conclusion: intervening tissue influences flow quantitation by contrast echocardiography: these modifications can be compensated for by increasing the electronic signal amplification; the angle of incidence between flow and ultrasonic beam also influences flow quantitation: however, this influence is trivial, and can be neglected for practical purposes.
    Type of Medium: Electronic Resource
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