Search results for "CAME"
showing 10 items of 704 documents
Omnidirectional vision for UAV: applications to attitude, motion and altitude estimation for day and night conditions
2012
International audience; This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable cho…
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
Selective visual odometry for accurate AUV localization
2015
In this paper we present a stereo visual odometry system developed for autonomous underwater vehicle localization tasks. The main idea is to make use of only highly reliable data in the estimation process, employing a robust keypoint tracking approach and an effective keyframe selection strategy, so that camera movements are estimated with high accuracy even for long paths. Furthermore, in order to limit the drift error, camera pose estimation is referred to the last keyframe, selected by analyzing the feature temporal flow. The proposed system was tested on the KITTI evaluation framework and on the New Tsukuba stereo dataset to assess its effectiveness on long tracks and different illumina…
Visual tracking with omnidirectional cameras: an efficient approach
2011
International audience; An effective technique for applying visual tracking algorithms to omni- directional image sequences is presented. The method is based on a spherical image representation which allows taking into account the distortions and nonlinear resolution of omnidirectional images. Experimental results show that both deterministic and probabilistic tracking methods can effectively be adapted in order to robustly track an object with an omnidirectional camera.
Three-Dimensional Integral-Imaging Display From Calibrated and Depth-Hole Filtered Kinect Information
2016
We exploit the Kinect capacity of picking up a dense depth map, to display static three-dimensional (3D) images with full parallax. This is done by using the IR and RGB camera of the Kinect. From the depth map and RGB information, we are able to obtain an integral image after projecting the information through a virtual pinhole array. The integral image is displayed on our integral-imaging monitor, which provides the observer with horizontal and vertical perspectives of big 3D scenes. But, due to the Kinect depth-acquisition procedure, many depthless regions appear in the captured depth map. These holes spread to the generated integral image, reducing its quality. To solve this drawback we …
Tracking Moving Objects With a Catadioptric Sensor Using Particle Filter
2011
International audience; Visual tracking in video sequences is a widely developed topic in computer vision applications. However, the emergence of panoramic vision using catadioptric sensors has created the need for new approaches in order to track an object in this type of images. Indeed the non-linear resolution and the geometric distortions due to the insertion of the mirror, make tracking in catadioptric images a very challenging task. This paper describes particle filter for tracking moving object over time using a catadioptric sensor. In this work different problems due to the specificities of the catadioptric systems such as geometry are considered. The obtained results demonstrate an…
Design and Calibration of a Specialized Polydioptric Camera Rig
2017
International audience; It has been observed in the nature that all creatures have evolved highly exclusive sensory organs depending on their habitat and the form of resources availability for their survival. In this project, a novel omnidirectional camera rig, inspired from natural vision sensors, is proposed. It is exclusively designed to operate for highly specified tasks in the field of mobile robotics. Navigation problems on uneven terrains and detection of the moving objects while the robot is itself in motion are the core problems that omnidirectional systems tackle. The proposed omnidirectional system is a compact and a rigid vision system with dioptric cameras that provide a 360° f…
Bevacizumab diminishes inflammation in an acute endotoxin-induced uveitis model
2017
Este artículo se encuentra disponible en la página web de la revista en la siguiente URL: https://www.frontiersin.org/articles/10.3389/fphar.2018.00649/full Introduction: Uveitis is an eye disease characterized by inflammation of the uvea and an early and exhaustive diagnosis is essential for its treatment. The aim of our study is to assess the potential toxicity and anti-inflammatory efficacy of Bevacizumab in an experimental uveitis model by subcutaneously injecting lipopolysaccharide into Lewis rats and to clarify its mechanism. Material and Methods: Blood–aqueous barrier integrity was assessed 24 h after endotoxin-induced uveitis (EIU) by analyzing two parameters: cell count and protein…
Effect of green tea extract on enteric viruses and its application as natural sanitizer
2017
In this work, the effect of green tea extract (GTE) was assessed against murine norovirus (MNV) and hepatitis A virus (HAV) at different temperatures, exposure times and pH conditions. Initially, GTE at 0.5 and 5 mg/ml were individually mixed with each virus at 5 log TCID50/ml and incubated 2 h at 37 °C at different pHs (from 5.5 to 8.5). GTE affected both viruses depending on pH with higher reductions observed in alkaline conditions. Secondly, different concentrations of GTE (0.5 and 5 mg/ml) were mixed with viral suspensions and incubated for 2 or 16 h at 4, 25 and 37 °C at pH 7.2. A concentration-, temperature- and exposure time-dependent response was showed by GTE in suspension tests, w…
Chaperonin of Group I: Oligomeric spectrum and biochemical and biological implications
2018
Chaperonins play various physiological roles and can also be pathogenic. Elucidation of their structure, e.g., oligomeric status and post-translational modifications (PTM), is necessary to understand their functions and mechanisms of action in health and disease. Group I chaperonins form tetradecamers with two stacked heptameric rings. The tetradecamer is considered the typical functional complex for folding of client polypeptides. However, other forms such as the monomer and oligomers with smaller number of subunits than the classical tetradecamer, also occur in cells. The properties and functions of the monomer and oligomers, and their roles in chaperonin-associated diseases are still inc…