8 research outputs found
Controlling of Robot Movements by On-Board Camera
Tato studentská práce pojednává o základnĂm zpracovánĂ obrazu a jeho následnĂ©m vyuĹľitĂ automatickĂ˝mi systĂ©my, zejmĂ©na pro vyuĹľitĂ pĹ™i orientaci v prostoru a detekci pĹ™ekážek v robotice. Dále je v tĂ©to práci navrĹľena implementace základnĂho rozpoznávánĂ pĹ™ekážek a popis implementace pro konkrĂ©tnĂ aplikaci na robotu Surveyor SRV-1.This student paper discusses the basic image processing and it's use in automatic systems, particularly for use in space orientation and obstacle detection for robots. Additionally, the work show concept implementation of the basic obstacles recognition and description of actual implementation for specific application an the robot Surveyor SRV-1.
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Imaging fluorescent determination of energetics of chloroplast division and related matters
During exploration of imaging photosynthetic fluorimetry of Arabidopsis thaliana mutants, we discovered a novel phenomenon wherein photosynthetic efficiency (defined in Ning et al., 1995) is shown to plot in discrete groups. This exploration resulted first in the development of a spectrofluorometric method that apparently allows for in vivo observation of division of chloroplast populations in leaves of Arabidopsis thaliana mutants and in the wild-type. Testing the phenomenon, we examined leaves of monocot plants in which the progression of leaf development and greening follows a linear course upwards along the leaf. The monocots chosen were sugarcane and especially Amaryllis; data from wheat, Narcissus, and other plants are mentioned but not described here. The above results showed that in these plants, chloroplast division phenomenon occurred only where chloroplast division is localized. We found this is also consistent with the postulate that the biphasic energetics observed correspond to the division of this organelle. To verify the phenomenon further, we performed preliminary confocal microscopy studies in Amaryllis; we saw what seemed to be chloroplast division in the zones where the leaves showed the multiple photosynthetic efficiencies and these results supported the concept that our spectroscopic technique is a real and useful method to observe chloroplast division. Here we also present a novel statistical approach allowing quantification of probability in two- dimensional in vivo fluorescence spectroscopy of these biological samples. To automate detection of chloroplast division for future use, we develop a digital image processing program we called a software "tool". This tool analyzes photographs of confocal images, identifies chloroplast division and shows statistical information of identified chloroplasts. The statistical information includes distribution of intensity, area and perimeter of each identified chloroplast. We used several image processing techniques to analyze confocal images, including filtering images, object extracting and algorithms in graph theory. We have implemented a "friendly" GUI (Graphical User Interface) that enables a user to perform operations such as correction, addition and deletion of group(s) easily during the execution of the program. By employing an innovative configuration of image analysis techniques, this software tool is able to identify where chloroplast division is occurring and answer related experimental questions
A Toolset for Visualization, Interaction, and Rendering in Virtual Environments
Diese Arbeit beschäftigt sich mit einigen der interessantesten Kernpunkten
der Erstellung eines VR-Systems: die Vorbereitung und Vorverarbeitung der
Daten, deren Visualisierung, die Interaktion mit den Daten und deren
Darstellung. Es werden problem-zugeschnittene Algorithmen, sowie allgemeine
Strategien zur Lösung der entstehenden Probleme vorgestellt.
Insbesondere wird ein neuer Algorithmus zur Segmentierung von Bild- und
Volumendaten eingefĂĽhrt, der vor allem fĂĽr medizinische Anwendungen relevant
ist. Weiterhin wird detailliert die Visualisierung von Daten erläutert, die
einen Zeitparameter enthalten. Dabei wird eine Reihe von Visualisierungs-
und Interaktionswerkzeugen zur Analyse historischer Daten demonstriert.
Desweiteren wird der Frage nach der Navigation und der Manipulation entfernter
Objekte nachgegangen und eine neue Interaktionsmetapher vorgestellt: die
Durch-Die-Linse-Metapher (through-the-lens). Basierend auf diesem Konzept
werden verschiedene Navigationswerkzeuge präsentiert, die die Eigenschaften
bekannter Techniken instrumentalisieren, jedoch deren Einschränkungen umgehen
und eine leistungsfähige Interaktion ermöglichen.
SchlieĂźlich werden zwei Algorithmen vorgestellt, die eine schnelle Darstellung
der zu visualisierenden Daten in einer virtuellen Umgebung ermöglichen. Jeder
dieser Algorithmen nutzt typische Eigenschaften der Repräsentation. Erstens
wird ein bild-basierter Ansatz vorgestellt, der auf Merkmalen des
Durch-Die-Linse-Konzeptes beruht. Zweitens wird auf die Stereo-Ausgabe von
groĂźen Szenen im Allgemeinen eingegangen.This work addresses some of the most pressing issues considering the assembly of a virtual reality system: the data preprocessing and preparation, the data visualization, the interaction with the data, and their display. The work presents problem-tailored algorithms, as well as general strategies for tackling the introduced problems. In particular, a new algorithm for segmenting image and volume data is discussed, addressing foremost medical applications in general. Moreover, a detailed discussion on visualization issues of data containing a time dimension is provided, demonstrating a set of visualization and interaction props for the analysis of historical events in time.
We describe a set of tools for simultaneously visualization of various parameters of interest and for interactive study of historical events.
In addition, the navigation in general is analyzed, as well as the remote object
manipulation in virtual environments, presenting a new interaction metaphor: the
through-the-lens metaphor. Based on this new concept, a set of navigation tools is introduced, which exploit features of existing techniques, attempting to overcome their limitations and to enable more powerful interaction.
Finally, in order to enable fast rendering of the visualized data, two algorithms for accelerating the rendering performance of a virtual reality system are proposed. Each of them exploits particular characteristics of the representation: (1) an image-based rendering approach based on the features of the introduced through-the-lens tools is presented, (2) the stereo rendering of large scenes is addressed in general