3D Geometric Analysis of Tubular Objects based on Surface Normal Accumulation

This paper proposes a simple and efficient method for the reconstruction and extraction of geometric parameters from 3D tubular objects. Our method constructs an image that accumulates surface normal information, then peaks within this image are located by tracking. Finally, the positions of these are optimized to lie precisely on the tubular shape centerline. This method is very versatile, and is able to process various input data types like full or partial mesh acquired from 3D laser scans, 3D height map or discrete volumetric images. The proposed algorithm is simple to implement, contains few parameters and can be computed in linear time with respect to the number of surface faces. Since the extracted tube centerline is accurate, we are able to decompose the tube into rectilinear parts and torus-like parts. This is done with a new linear time 3D torus detection algorithm, which follows the same principle of a previous work on 2D arc circle recognition. Detailed experiments show the versatility, accuracy and robustness of our new method.Comment: in 18th International Conference on Image Analysis and Processing, Sep 2015, Genova, Italy. 201

Automatic and semi-automatic extraction of curvilinear features from SAR images

Extraction of curvilinear features from synthetic aperture radar (SAR) images is important for automatic recognition of various targets, such as fences, surrounding the buildings. The bright pixels which constitute curvilinear features in SAR images are usually disrupted and also degraded by high amount of speckle noise which makes extraction of such curvilinear features very difficult. In this paper an approach for the extraction of curvilinear features from SAR images is presented. The proposed approach is based on searching the curvilinear features as an optimum unidirectional path crossing over the vertices of the features determined after a despeckling operation. The proposed method can be used in a semi-automatic mode if the user supplies the starting vertex or in an automatic mode otherwise. In the semi-automatic mode, the proposed method produces reasonably accurate real-time solutions for SAR images

The Eddy Experiment: accurate GNSS-R ocean altimetry from low altitude aircraft

During the Eddy Experiment, two synchronous GPS receivers were flown at 1 km altitude to collect L1 signals and their reflections from the sea surface for assessment of altimetric precision and accuracy. Wind speed (U10) was around 10 m/s, and SWH up to 2 m. A geophysical parametric waveform model was used for retracking and estimation of the lapse between the direct and reflected signals with a 1-second precision of 3 m. The lapse was used to estimate the SSH along the track using a differential model. The RMS error of the 20 km averaged GNSS-R absolute altimetric solution with respect to Jason-1 SSH and a GPS buoy measurement was of 10 cm, with a 2 cm mean difference. Multipath and retracking parameter sensitivity due to the low altitude are suspected to have degraded accuracy. This result provides an important milestone on the road to a GNSS-R mesoscale altimetry space mission.Comment: All Starlab authors have contributed significantly; the Starlab Author list has been ordered randoml

Multi-stage Suture Detection for Robot Assisted Anastomosis based on Deep Learning

In robotic surgery, task automation and learning from demonstration combined with human supervision is an emerging trend for many new surgical robot platforms. One such task is automated anastomosis, which requires bimanual needle handling and suture detection. Due to the complexity of the surgical environment and varying patient anatomies, reliable suture detection is difficult, which is further complicated by occlusion and thread topologies. In this paper, we propose a multi-stage framework for suture thread detection based on deep learning. Fully convolutional neural networks are used to obtain the initial detection and the overlapping status of suture thread, which are later fused with the original image to learn a gradient road map of the thread. Based on the gradient road map, multiple segments of the thread are extracted and linked to form the whole thread using a curvilinear structure detector. Experiments on two different types of sutures demonstrate the accuracy of the proposed framework.Comment: Submitted to ICRA 201