36,632 research outputs found

    Directed Exploration using a Modified Distance Transform

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    Mobile robots operating in unknown environments need to build maps. To do so they must have an exploration algorithm to plan a path. This algorithm should guarantee that the whole of the environment, or at least some designated area, will be mapped. The path should also be optimal in some sense and not simply a "random walk" which is clearly inefficient. When multiple robots are involved, the algorithm also needs to take advantage of the fact that the robots can share the task. In this paper we discuss a modification to the well-known distance transform that satisfies these requirements

    Robust semi-automated path extraction for visualising stenosis of the coronary arteries

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    Computed tomography angiography (CTA) is useful for diagnosing and planning treatment of heart disease. However, contrast agent in surrounding structures (such as the aorta and left ventricle) makes 3-D visualisation of the coronary arteries difficult. This paper presents a composite method employing segmentation and volume rendering to overcome this issue. A key contribution is a novel Fast Marching minimal path cost function for vessel centreline extraction. The resultant centreline is used to compute a measure of vessel lumen, which indicates the degree of stenosis (narrowing of a vessel). Two volume visualisation techniques are presented which utilise the segmented arteries and lumen measure. The system is evaluated and demonstrated using synthetic and clinically obtained datasets

    The Locus Algorithm II: A robust software system to maximise the quality of fields of view for Differential Photometry

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    We present the software system developed to implement the Locus Algorithm, a novel algorithm designed to maximise the performance of differential photometry systems by optimising the number and quality of reference stars in the Field of View with the target. Firstly, we state the design requirements, constraints and ambitions for the software system required to implement this algorithm. Then, a detailed software design is presented for the system in operation. Next, the data design including file structures used and the data environment required for the system are defined. Finally, we conclude by illustrating the scaling requirements which mandate a high-performance computing implementation of this system, which is discussed in the other papers in this series

    A graph-based mathematical morphology reader

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    This survey paper aims at providing a "literary" anthology of mathematical morphology on graphs. It describes in the English language many ideas stemming from a large number of different papers, hence providing a unified view of an active and diverse field of research

    Extracting Tree-structures in CT data by Tracking Multiple Statistically Ranked Hypotheses

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    In this work, we adapt a method based on multiple hypothesis tracking (MHT) that has been shown to give state-of-the-art vessel segmentation results in interactive settings, for the purpose of extracting trees. Regularly spaced tubular templates are fit to image data forming local hypotheses. These local hypotheses are used to construct the MHT tree, which is then traversed to make segmentation decisions. However, some critical parameters in this method are scale-dependent and have an adverse effect when tracking structures of varying dimensions. We propose to use statistical ranking of local hypotheses in constructing the MHT tree, which yields a probabilistic interpretation of scores across scales and helps alleviate the scale-dependence of MHT parameters. This enables our method to track trees starting from a single seed point. Our method is evaluated on chest CT data to extract airway trees and coronary arteries. In both cases, we show that our method performs significantly better than the original MHT method.Comment: Accepted for publication at the International Journal of Medical Physics and Practic
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