GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201

Comparative Study of Model-Based and Learning-Based Disparity Map Fusion Methods

Creating an accurate depth map has several, valuable applications including augmented/virtual reality, autonomous navigation, indoor/outdoor mapping, object segmentation, and aerial topography. Current hardware solutions for precise 3D scanning are relatively expensive. To combat hardware costs, software alternatives based on stereoscopic images have previously been proposed. However, software solutions are less accurate than hardware solutions, such as laser scanning, and are subject to a variety of irregularities. Notably, disparity maps generated from stereo images typically fall short in cases of occlusion, near object boundaries, and on repetitive texture regions or texture-less regions. Several post-processing methods are examined in an effort to combine strong algorithm results and alleviate erroneous disparity regions. These methods include basic statistical combinations, histogram-based voting, edge detection guidance, support vector machines (SVMs), and bagged trees. Individual errors and average errors are compared between the newly introduced fusion methods and the existing disparity algorithms. Several acceptable solutions are identified to bridge the gap between 3D scanning and stereo imaging. It is shown that fusing disparity maps can result in lower error rates than individual algorithms across the dataset while maintaining a high level of robustness

Structure and sequence analyses of Bacteroides proteins BVU_4064 and BF1687 reveal presence of two novel predominantly-beta domains, predicted to be involved in lipid and cell surface interactions.

BackgroundN-terminal domains of BVU_4064 and BF1687 proteins from Bacteroides vulgatus and Bacteroides fragilis respectively are members of the Pfam family PF12985 (DUF3869). Proteins containing a domain from this family can be found in most Bacteroides species and, in large numbers, in all human gut microbiome samples. Both BVU_4064 and BF1687 proteins have a consensus lipobox motif implying they are anchored to the membrane, but their functions are otherwise unknown. The C-terminal half of BVU_4064 is assigned to protein family PF12986 (DUF3870); the equivalent part of BF1687 was unclassified.ResultsCrystal structures of both BVU_4064 and BF1687 proteins, solved at the JCSG center, show strikingly similar three-dimensional structures. The main difference between the two is that the two domains in the BVU_4064 protein are connected by a short linker, as opposed to a longer insertion made of 4 helices placed linearly along with a strand that is added to the C-terminal domain in the BF1687 protein. The N-terminal domain in both proteins, corresponding to the PF12985 (DUF3869) domain is a β-sandwich with pre-albumin-like fold, found in many proteins belonging to the Transthyretin clan of Pfam. The structures of C-terminal domains of both proteins, corresponding to the PF12986 (DUF3870) domain in BVU_4064 protein and an unclassified domain in the BF1687 protein, show significant structural similarity to bacterial pore-forming toxins. A helix in this domain is in an analogous position to a loop connecting the second and third strands in the toxin structures, where this loop is implicated to play a role in the toxin insertion into the host cell membrane. The same helix also points to the groove between the N- and C-terminal domains that are loosely held together by hydrophobic and hydrogen bond interactions. The presence of several conserved residues in this region together with these structural determinants could make it a functionally important region in these proteins.ConclusionsStructural analysis of BVU_4064 and BF1687 points to possible roles in mediating multiple interactions on the cell-surface/extracellular matrix. In particular the N-terminal domain could be involved in adhesive interactions, the C-terminal domain and the inter-domain groove in lipid or carbohydrate interactions

Orientation of Paleostress of Raplee Ridge Anticline

During the Laramide Orogeny several major folds were formed in Southern Utah, one of those being the Raplee Ridge anticline. Raplee Ridge is approximately eight miles from Mexican Hat, Utah. The San Juan River cuts through the anticline, exposing the Honaker Trail Formation’s beds of shale and limestone with chert nodules. Accompanying the mountain-scale ductile deformation of the Raplee Ridge anticline are decimeter-scale brittle conjugate fractures in the limestone’s chert nodules. The objective of this study is to compare the orientation of paleostress that formed the Raplee Ridge anticline with the conjugate fractures within the chert nodules to see if the two different styles of deformation could have occurred during the same orogeny

Spartan Daily, May 4, 1965

Volume 52, Issue 114https://scholarworks.sjsu.edu/spartandaily/4715/thumbnail.jp

Output Sensitive Algorithms for Approximate Incidences and Their Applications

An epsilon-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most epsilon from each other. Given a set of points and a set of objects, computing the approximate incidences between them is a major step in many database and web-based applications in computer vision and graphics, including robust model fitting, approximate point pattern matching, and estimating the fundamental matrix in epipolar (stereo) geometry. In a typical approximate incidence problem of this sort, we are given a set P of m points in two or three dimensions, a set S of n objects (lines, circles, planes, spheres), and an error parameter epsilon>0, and our goal is to report all pairs (p,s) in P times S that lie at distance at most epsilon from one another. We present efficient output-sensitive approximation algorithms for quite a few cases, including points and lines or circles in the plane, and points and planes, spheres, lines, or circles in three dimensions. Several of these cases arise in the applications mentioned above. Our algorithms report all pairs at distance 1. Our algorithms are based on simple primal and dual grid decompositions and are easy to implement. We note though that (a) the use of duality, which leads to significant improvements in the overhead cost of the algorithms, appears to be novel for this kind of problems; (b) the correct choice of duality in some of these problems is fairly intricate and requires some care; and (c) the correctness and performance analysis of the algorithms (especially in the more advanced versions) is fairly non-trivial. We analyze our algorithms and prove guaranteed upper bounds on their running time and on the "distortion" parameter alpha. We also briefly describe the motivating applications, and show how they can effectively exploit our solutions. The superior theoretical bounds on the performance of our algorithms, and their simplicity, make them indeed ideal tools for these applications. In a series of preliminary experimentations (not included in this abstract), we substantiate this feeling, and show that our algorithms lead in practice to significant improved performance of the aforementioned applications

Contour Generator Points for Threshold Selection and a Novel Photo-Consistency Measure for Space Carving

Space carving has emerged as a powerful method for multiview scene reconstruction. Although a wide variety of methods have been proposed, the quality of the reconstruction remains highly-dependent on the photometric consistency measure, and the threshold used to carve away voxels. In this paper, we present a novel photo-consistency measure that is motivated by a multiset variant of the chamfer distance. The new measure is robust to high amounts of within-view color variance and also takes into account the projection angles of back-projected pixels. Another critical issue in space carving is the selection of the photo-consistency threshold used to determine what surface voxels are kept or carved away. In this paper, a reliable threshold selection technique is proposed that examines the photo-consistency values at contour generator points. Contour generators are points that lie on both the surface of the object and the visual hull. To determine the threshold, a percentile ranking of the photo-consistency values of these generator points is used. This improved technique is applicable to a wide variety of photo-consistency measures, including the new measure presented in this paper. Also presented in this paper is a method to choose between photo-consistency measures, and voxel array resolutions prior to carving using receiver operating characteristic (ROC) curves