104 research outputs found
A contribution to vision-based autonomous helicopter flight in urban environments
A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms
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Comparing Optical-Flow Based Methods for Quantification of Myocardial Deformations on RT3D Ultrasound
This paper presents a new homogeneity measure for variational segmentation with multiple level set functions. We propose to modify the quadratic homogeneity measure to trade off the convexity of the function against a faster rate of convergence. We tested in two series of experiments the performance of this new homogeneity force at converging to appropriate partitioning of brain MRI data sets, over a large range of image spatial resolution and image quality, in terms of tissue homogeneity and contrast
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Coronary Occlusion Detection with 4D Optical Flow Based Strain Estimation on 4D Ultrasound
Real-time three-dimensional echocardiography (RT3DE) offers an efficient way to obtain complete 3D images of the heart over an entire cardiac cycle in just a few seconds. The complex 3D wall motion and temporal information contained in these 4D data sequences has the potential to enhance and supplement other imaging modalities for clinical diagnoses based on cardiac motion analysis. In our previous work, a 4D optical flow based method was developed to estimate dynamic cardiac metrics, including strains and displacements, from 4D ultrasound. In this study, in order to evaluate the ability of our method in detecting ischemic regions, coronary artery occlusion experiments at various locations were performed on five dogs. 4D ultrasound data acquired during these experiments were analyzed with our proposed method. Ischemic regions predicted by the outcome of strain measurements were compared to predictions from cardiac physiology with strong agreement. This is the first direct validation study of our image analysis method for biomechanical prediction and in vivo experimental outcome
Caractérisation géométrique et vélocimétrique d'empilements granulaires par analyse d'image
National audienceSee http://hal.archives-ouvertes.fr/docs/00/59/27/21/ANNEX/r_9NW7X92J.pd
Disparity and Optical Flow Partitioning Using Extended Potts Priors
This paper addresses the problems of disparity and optical flow partitioning
based on the brightness invariance assumption. We investigate new variational
approaches to these problems with Potts priors and possibly box constraints.
For the optical flow partitioning, our model includes vector-valued data and an
adapted Potts regularizer. Using the notation of asymptotically level stable
functions we prove the existence of global minimizers of our functionals. We
propose a modified alternating direction method of minimizers. This iterative
algorithm requires the computation of global minimizers of classical univariate
Potts problems which can be done efficiently by dynamic programming. We prove
that the algorithm converges both for the constrained and unconstrained
problems. Numerical examples demonstrate the very good performance of our
partitioning method
Algorithm for the reconstruction of dynamic objects in CT-scanning using optical flow
Computed Tomography is a powerful imaging technique that allows
non-destructive visualization of the interior of physical objects in different
scientific areas. In traditional reconstruction techniques the object of
interest is mostly considered to be static, which gives artefacts if the object
is moving during the data acquisition. In this paper we present a method that,
given only scan results of multiple successive scans, can estimate the motion
and correct the CT-images for this motion assuming that the motion field is
smooth over the complete domain using optical flow. The proposed method is
validated on simulated scan data. The main contribution is that we show we can
use the optical flow technique from imaging to correct CT-scan images for
motion
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