Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real-time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.Comment: submitted to IROS 201

Towards Intelligent Telerobotics: Visualization and Control of Remote Robot

Human-machine cooperative or co-robotics has been recognized as the next generation of robotics. In contrast to current systems that use limited-reasoning strategies or address problems in narrow contexts, new co-robot systems will be characterized by their flexibility, resourcefulness, varied modeling or reasoning approaches, and use of real-world data in real time, demonstrating a level of intelligence and adaptability seen in humans and animals. The research I focused is in the two sub-field of co-robotics: teleoperation and telepresence. We firstly explore the ways of teleoperation using mixed reality techniques. I proposed a new type of display: hybrid-reality display (HRD) system, which utilizes commodity projection device to project captured video frame onto 3D replica of the actual target surface. It provides a direct alignment between the frame of reference for the human subject and that of the displayed image. The advantage of this approach lies in the fact that no wearing device needed for the users, providing minimal intrusiveness and accommodating users eyes during focusing. The field-of-view is also significantly increased. From a user-centered design standpoint, the HRD is motivated by teleoperation accidents, incidents, and user research in military reconnaissance etc. Teleoperation in these environments is compromised by the Keyhole Effect, which results from the limited field of view of reference. The technique contribution of the proposed HRD system is the multi-system calibration which mainly involves motion sensor, projector, cameras and robotic arm. Due to the purpose of the system, the accuracy of calibration should also be restricted within millimeter level. The followed up research of HRD is focused on high accuracy 3D reconstruction of the replica via commodity devices for better alignment of video frame. Conventional 3D scanner lacks either depth resolution or be very expensive. We proposed a structured light scanning based 3D sensing system with accuracy within 1 millimeter while robust to global illumination and surface reflection. Extensive user study prove the performance of our proposed algorithm. In order to compensate the unsynchronization between the local station and remote station due to latency introduced during data sensing and communication, 1-step-ahead predictive control algorithm is presented. The latency between human control and robot movement can be formulated as a linear equation group with a smooth coefficient ranging from 0 to 1. This predictive control algorithm can be further formulated by optimizing a cost function. We then explore the aspect of telepresence. Many hardware designs have been developed to allow a camera to be placed optically directly behind the screen. The purpose of such setups is to enable two-way video teleconferencing that maintains eye-contact. However, the image from the see-through camera usually exhibits a number of imaging artifacts such as low signal to noise ratio, incorrect color balance, and lost of details. Thus we develop a novel image enhancement framework that utilizes an auxiliary color+depth camera that is mounted on the side of the screen. By fusing the information from both cameras, we are able to significantly improve the quality of the see-through image. Experimental results have demonstrated that our fusion method compares favorably against traditional image enhancement/warping methods that uses only a single image

Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing

Multi-camera systems are being deployed in a variety of vehicles and mobile robots today. To eliminate the need for cost and labor intensive maintenance and calibration, continuous self-calibration is highly desirable. In this book we present such an approach for self-calibration of multi-Camera systems for vehicle surround sensing. In an extensive evaluation we assess our algorithm quantitatively using real-world data

Techniques for effective and efficient fire detection from social media images

Social media could provide valuable information to support decision making in crisis management, such as in accidents, explosions and fires. However, much of the data from social media are images, which are uploaded in a rate that makes it impossible for human beings to analyze them. Despite the many works on image analysis, there are no fire detection studies on social media. To fill this gap, we propose the use and evaluation of a broad set of content-based image retrieval and classification techniques for fire detection. Our main contributions are: (i) the development of the Fast-Fire Detection method (FFDnR), which combines feature extractor and evaluation functions to support instance-based learning, (ii) the construction of an annotated set of images with ground-truth depicting fire occurrences -- the FlickrFire dataset, and (iii) the evaluation of 36 efficient image descriptors for fire detection. Using real data from Flickr, our results showed that FFDnR was able to achieve a precision for fire detection comparable to that of human annotators. Therefore, our work shall provide a solid basis for further developments on monitoring images from social media.Comment: 12 pages, Proceedings of the International Conference on Enterprise Information Systems. Specifically: Marcos Bedo, Gustavo Blanco, Willian Oliveira, Mirela Cazzolato, Alceu Costa, Jose Rodrigues, Agma Traina, Caetano Traina, 2015, Techniques for effective and efficient fire detection from social media images, ICEIS, 34-4

Lagrangian filtered density function for LES-based stochastic modelling of turbulent dispersed flows

The Eulerian-Lagrangian approach based on Large-Eddy Simulation (LES) is one of the most promising and viable numerical tools to study turbulent dispersed flows when the computational cost of Direct Numerical Simulation (DNS) becomes too expensive. The applicability of this approach is however limited if the effects of the Sub-Grid Scales (SGS) of the flow on particle dynamics are neglected. In this paper, we propose to take these effects into account by means of a Lagrangian stochastic SGS model for the equations of particle motion. The model extends to particle-laden flows the velocity-filtered density function method originally developed for reactive flows. The underlying filtered density function is simulated through a Lagrangian Monte Carlo procedure that solves for a set of Stochastic Differential Equations (SDEs) along individual particle trajectories. The resulting model is tested for the reference case of turbulent channel flow, using a hybrid algorithm in which the fluid velocity field is provided by LES and then used to advance the SDEs in time. The model consistency is assessed in the limit of particles with zero inertia, when "duplicate fields" are available from both the Eulerian LES and the Lagrangian tracking. Tests with inertial particles were performed to examine the capability of the model to capture particle preferential concentration and near-wall segregation. Upon comparison with DNS-based statistics, our results show improved accuracy and considerably reduced errors with respect to the case in which no SGS model is used in the equations of particle motion