Whole-brain vasculature reconstruction at the single capillary level

The distinct organization of the brain’s vascular network ensures that it is adequately supplied with oxygen and nutrients. However, despite this fundamental role, a detailed reconstruction of the brain-wide vasculature at the capillary level remains elusive, due to insufficient image quality using the best available techniques. Here, we demonstrate a novel approach that improves vascular demarcation by combining CLARITY with a vascular staining approach that can fill the entire blood vessel lumen and imaging with light-sheet fluorescence microscopy. This method significantly improves image contrast, particularly in depth, thereby allowing reliable application of automatic segmentation algorithms, which play an increasingly important role in high-throughput imaging of the terabyte-sized datasets now routinely produced. Furthermore, our novel method is compatible with endogenous fluorescence, thus allowing simultaneous investigations of vasculature and genetically targeted neurons. We believe our new method will be valuable for future brain-wide investigations of the capillary network

Airborne photogrammetry and LIDAR for DSM extraction and 3D change detection over an urban area : a comparative study

A digital surface model (DSM) extracted from stereoscopic aerial images, acquired in March 2000, is compared with a DSM derived from airborne light detection and ranging (lidar) data collected in July 2009. Three densely built-up study areas in the city centre of Ghent, Belgium, are selected, each covering approximately 0.4 km(2). The surface models, generated from the two different 3D acquisition methods, are compared qualitatively and quantitatively as to what extent they are suitable in modelling an urban environment, in particular for the 3D reconstruction of buildings. Then the data sets, which are acquired at two different epochs t(1) and t(2), are investigated as to what extent 3D (building) changes can be detected and modelled over the time interval. A difference model, generated by pixel-wise subtracting of both DSMs, indicates changes in elevation. Filters are proposed to differentiate 'real' building changes from false alarms provoked by model noise, outliers, vegetation, etc. A final 3D building change model maps all destructed and newly constructed buildings within the time interval t(2) - t(1). Based on the change model, the surface and volume of the building changes can be quantified

optimización da planificación de adquisición de datos LIDAR cara ó modelado 3D de interiores

The main objective of this doctoral thesis is the design, validation and implementation of methodologies that allow the geometric and topological modelling of navigable spaces, whether inside buildings or urban environments, to be integrated into three-dimensional geographic information systems (GIS-3D). The input data of this work will consist mainly of point clouds (which can be classified) acquired by LiDAR systems both indoors and outdoors. In addition, the use of BIM infrastructure models and cadastral maps is proposed depending on their availability. Point clouds provide a large amount of environmental information with high accuracy compared to data offered by other acquisition technologies. However, the lack of data structure and volume requires a great deal of processing effort. For this reason, the first step is to structure the data by dividing the input cloud into simpler entities that facilitate subsequent processes. For this first division, the physical elements present in the cloud will be considered, since they can be walls in the case of interior environments or kerbs in the case of exteriors. In order to generate navigation routes adapted to different mobile agents, the next objective will try to establish a semantic subdivision of space according to the functionalities of space. In the case of internal environments, it is possible to use BIM models to evaluate the results and the use of cadastral maps that support the division of the urban environment. Once the navigable space is divided, the design of topologically coherent navigation networks will be parameterized both geometrically and topologically. For this purpose, several spatial discretization techniques, such as 3D tessellations, will be studied to facilitate the establishment of topological relationships, adjacency, connectivity and inclusion between subspaces. Based on the geometric characterization and the topological relations established in the previous phase, the creation of three-dimensional navigation networks with multimodal support will be addressed and different levels of detail will be considered according to the mobility specifications of each agent and its purpose. Finally, the possibility of integrating the networks generated in a GIS-3D visualization system will be considered. For the correct visualization, the level of detail can be adjusted according to geometry and semantics. Aspects such as the type of user or transport, mobility, rights of access to spaces, etc. They must be considered at all times.El objetivo principal de esta tesis doctoral es el diseño, la validación y la implementación de metodologías que permitan el modelado geométrico y topológico de espacios navegables, ya sea de interiores de edificios o entornos urbanos, para integrarse en sistemas de información geográfica tridimensional (SIG). -3D). Los datos de partida de este trabajo consistirán principalmente en nubes de puntos (que pueden estar clasificados) adquiridas por sistemas LiDAR tanto en interiores como en exteriores. Además, se propone el uso de modelos BIM de infraestructuras y mapas catastrales en función de su disponibilidad. Las nubes de puntos proporcionan una gran cantidad de información del entorno con gran precisión con respecto a los datos ofrecidos por otras tecnologías de adquisición. Sin embargo, la falta de estructura de datos y su volumen requiere un gran esfuerzo de procesamiento. Por este motivo, el primer paso que se debe realizar consiste en estructurar los datos dividiendo la nube de entrada en entidades más simples que facilitan los procesos posteriores. Para esta primera división se considerarán los elementos físicos presentes en la nube, ya que pueden ser paredes en el caso de entornos interiores o bordillos en el caso de los exteriores. Con el propósito de generar rutas de navegación adaptadas a diferentes agentes móviles, el próximo objetivo intentará establecer una subdivisión semántica del espacio de acuerdo con las funcionalidades del espacio. En el caso de entornos internos, es posible utilizar modelos BIM para evaluar los resultados y el uso de mapas catastrales que sirven de apoyo en la división del entorno urbano. Una vez que se divide el espacio navegable, se parametrizará tanto geométrica como topológicamente al diseño de redes de navegación topológicamente coherentes. Para este propósito, se estudiarán varias técnicas de discretización espacial, como las teselaciones 3D, para facilitar el establecimiento de relaciones topológicas, la adyacencia, la conectividad y la inclusión entre subespacios. A partir de la caracterización geométrica y las relaciones topológicas establecidas en la fase anterior, se abordará la creación de redes de navegación tridimensionales con soporte multimodal y se considerarán diversos niveles de detalle según las especificaciones de movilidad de cada agente y su propósito. Finalmente, se contemplará la posibilidad de integrar las redes generadas en un sistema de visualización tridimensional 3D SIG 3D. Para la correcta visualización, el nivel de detalle se puede ajustar en función de la geometría y la semántica. Aspectos como el tipo de usuario o transporte, movilidad, derechos de acceso a espacios, etc. Deben ser considerados en todo momento.O obxectivo principal desta tese doutoral é o deseño, validación e implementación de metodoloxías que permitan o modelado xeométrico e topolóxico de espazos navegables, ben sexa de interiores de edificios ou de entornos urbanos, ca fin de seren integrados en Sistemas de Información Xeográfica tridimensionais (SIX-3D). Os datos de partida deste traballo constarán principalmente de nubes de puntos (que poden estar clasificadas) adquiridas por sistemas LiDAR tanto en interiores como en exteriores. Ademáis plantease o uso de modelos BIM de infraestruturas e mapas catastrais dependendo da súa dispoñibilidade. As nubes de puntos proporcionan unha gran cantidade de información do entorno cunha gran precisión respecto os datos que ofrecen outras tecnoloxías de adquisición. Sen embargo, a falta de estrutura dos datos e a seu volume esixe un amplo esforzo de procesado. Por este motivo o primeiro paso a levar a cabo consiste nunha estruturación dos datos mediante a división da nube de entrada en entidades máis sinxelas que faciliten os procesos posteriores. Para esta primeira división consideraranse elementos físicos presentes na nube como poden ser paredes no caso de entornos interiores ou bordillos no caso de exteriores. Coa finalidade de xerar rutas de navegación adaptadas a distintos axentes móbiles, o seguinte obxectivo tratará de establecer unha subdivisión semántica do espazo de acordo as funcionalidades do espazo. No caso de entornos interiores plantease a posibilidade de empregar modelos BIM para avaliar os resultados e o uso de mapas catastrais que sirvan de apoio na división do entorno urbano. Unha vez divido o espazo navigable parametrizarase tanto xeométricamente como topolóxicamene de cara ao deseño de redes de navegación topolóxicamente coherentes. Para este fin estudaranse varias técnicas de discretización de espazos como como son as teselacións 3D co obxectivo de facilitar establecer relacións topolóxicas, de adxacencia, conectividade e inclusión entre subespazos. A partir da caracterización xeométrica e das relación topolóxicas establecidas na fase previa abordarase a creación de redes de navegación tridimensionais con soporte multi-modal e considerando varios niveis de detalle de acordo as especificacións de mobilidade de cada axente e a súa finalidade. Finalmente comtemplarase a posibilidade de integrar as redes xeradas nun sistema SIX 3D visualización tridimensional. Para a correcta visualización o nivel de detalle poderá axustarse en base a xeometría e a semántica. Aspectos como o tipo de usuario ou transporte, mobilidade, dereitos de acceso a espazos, etc. deberán ser considerados en todo momento

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Whole-brain vasculature reconstruction at the single capillary level

The distinct organization of the brain’s vascular network ensures that it is adequately supplied with oxygen and nutrients. However, despite this fundamental role, a detailed reconstruction of the brain-wide vasculature at the capillary level remains elusive, due to insufficient image quality using the best available techniques. Here, we demonstrate a novel approach that improves vascular demarcation by combining CLARITY with a vascular staining approach that can fill the entire blood vessel lumen and imaging with light-sheet fluorescence microscopy. This method significantly improves image contrast, particularly in depth, thereby allowing reliable application of automatic segmentation algorithms, which play an increasingly important role in high-throughput imaging of the terabyte-sized datasets now routinely produced. Furthermore, our novel method is compatible with endogenous fluorescence, thus allowing simultaneous investigations of vasculature and genetically targeted neurons. We believe our new method will be valuable for future brain-wide investigations of the capillary network

Interactive semantic mapping: Experimental evaluation

Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping