Ground Extraction from 3D Lidar Point Clouds

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: PendingGround extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times.This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech

Costos estándares y gerenciales: Analizar los costos conjuntos, subproductos y los estándares en la Empresa Parmalat en el periodo finalizando el mes de diciembre del 2014

El costeo de producción Conjunta es utilizado por empresas que fabrican diferentes productos a partir de insumos compartidos, este es considerado como una extensión del sistema de costeo por procesos por lo cual fue necesario señalar las características de este sistema de costeo. Se definieron los métodos utilizados para asignar los Costos Conjuntos incurridos antes del punto de separación a los coproductos así como también los diferentes tratamientos que se le dan a los subproductos los cuales fueron ejemplificados tomando como base el proceso productivo de la Parmalat industria que por dedicarse al procesamiento de leche y sus derivados utiliza el costeo de producción conjunta. En el presente trabajo investigativo se abordará los costos conjuntos, subproductos y estándares aplicada a la Parmalat, conoceremos conceptos generales, principales características y objetivos, de igual forma conoceremos mediante la aplicación de un caso práctico los principales métodos para asignar los Costos Conjuntos y subproducto realizado durante un mes de operacione

Fast Normalized Cross-Correlation for Template Matching with Rotations

Normalized cross-correlation is the reference approach to carry out template matching on images. When it is computed in Fourier space, it can handle efficiently template translations but it cannot do so with template rotations. Including rotations requires sampling the whole space of rotations, repeating the computation of the correlation each time. This article develops an alternative mathematical theory to handle efficiently, at the same time, rotations and translations. Our proposal has a reduced computational complexity because it does not require to repeatedly sample the space of rotations. To do so, we integrate the information relative to all rotated versions of the template into a unique symmetric tensor template -which is computed only once per template-. Afterward, we demonstrate that the correlation between the image to be processed with the independent tensor components of the tensorial template contains enough information to recover template instance positions and rotations. Our proposed method has the potential to speed up conventional template matching computations by a factor of several magnitude orders for the case of 3D images

Calibration of a wide angle stereoscopic system

This paper was published in OPTICS LETTERS and is made available as an electronic reprint with the permission of OSA. The paper can be found at the following URL on the OSA website: http://dx.doi.org/10.1364/OL.36.003064. Systematic or multiple reproduction or distribution to multiple locations via electronic or other means is prohibited and is subject to penalties under law.Inaccuracies in the calibration of a stereoscopic system appear with errors in point correspondences between both images and inexact points localization in each image. Errors increase if the stereoscopic system is composed of wide angle lens cameras. We propose a technique where detected points in both images are corrected before estimating the fundamental matrix and the lens distortion models. Since points are corrected first, errors in point correspondences and point localization are avoided. To correct point location in both images, geometrical and epipolar constraints are imposed in a nonlinear minimization problem. Geometrical constraints define the point localization in relation to its neighbors in the same image, and eipolar constraints represent the location of one point referred to its corresponding point in the other image. © 2011 Optical Society of America.Ricolfe Viala, C.; Sánchez Salmerón, AJ.; Martínez Berti, E. (2011). Calibration of a wide angle stereoscopic system. Optics Letters. 36(16):3064-3067. doi:10.1364/OL.36.003064S306430673616Zhang, Z., Ma, H., Guo, T., Zhang, S., & Chen, J. (2011). Simple, flexible calibration of phase calculation-based three-dimensional imaging system. Optics Letters, 36(7), 1257. doi:10.1364/ol.36.001257Longuet-Higgins, H. C. (1981). A computer algorithm for reconstructing a scene from two projections. Nature, 293(5828), 133-135. doi:10.1038/293133a0Ricolfe-Viala, C., & Sanchez-Salmeron, A.-J. (2010). Lens distortion models evaluation. Applied Optics, 49(30), 5914. doi:10.1364/ao.49.005914Armangué, X., & Salvi, J. (2003). Overall view regarding fundamental matrix estimation. Image and Vision Computing, 21(2), 205-220. doi:10.1016/s0262-8856(02)00154-3Devernay, F., & Faugeras, O. (2001). Straight lines have to be straight. Machine Vision and Applications, 13(1), 14-24. doi:10.1007/pl0001326

A Comparison of Procedures to Test for Moderators in Mixed-Effects Meta-Regression Models

Several alternative methods are available when testing for moderators in mixed-effects meta-regression models. A simulation study was carried out to compare different methods in terms of their Type I error and statistical power rates. We included the standard (Wald-type) test, the method proposed by Knapp and Hartung (2003) in 2 different versions, the Huber-White method, the likelihood ratio test, and the permutation test in the simulation study. These methods were combined with 7 estimators for the amount of residual heterogeneity in the effect sizes. Our results show that the standard method, applied in most meta-analyses up to date, does not control the Type I error rate adequately, sometimes leading to overly conservative, but usually to inflated, Type I error rates. Of the different methods evaluated, only the Knapp and Hartung method and the permutation test provide adequate control of the Type I error rate across all conditions. Due to its computational simplicity, the Knapp and Hartung method is recommended as a suitable option for most meta-analyses

1D and 3D supramolecular structures exhibiting weak ferromagnetism in three Cu(II) complexes based on malonato and di-alkyl-2,2’-bipyridines

Abstract Manganese coordination polymers {Mn(- fum)(5dmb)(H2O)2}n (1) and {[Mn2(fum)2(4dmb)2] H2O}n (2) (fum= fumarato; 5dmb = 5,50-dimethyl-2,20-bipyridine; 4dmb = 4,40-dimethyl-2,20-bipyridine) were obtained from one-pot, solution reactions under ambient conditions. The fum ligand acquires different coordination modes in the presence of the different dmb ancillary ligands, promoting distinctive crystal structures, including divergent dimensionalities. Thus, X-ray single-crystal data reveal that complex 1 crystallizes in a monoclinic system with C2/c space group and forms an infinite one-dimensional polymer. The Mn(II) center is six-coordinated and displays a distorted octahedral configuration. In addition, the solid-state selfassembly of the polymeric structure of 1 gives rise to a twodimensional (2D) supramolecular framework, mainly through hydrogen bonding. In contrast, complex 2 crystallizes in a monoclinic system with a Cc space group and forms an infinite 2D coordination polymer having dinuclear units. The Mn(II) center has a distorted octahedral configuration. The thermal stabilities of both coordination polymers were investigated. Variable-temperature magnetic measurements show that complex 1 is paramagnetic, while complex 2 exhibits weak antiferromagnetic coupling between adjacent Mn(II) centers.supported by CONACyT project 129293, DGAPA-UNAM project IN106014, and ICYTDF, project PICCO

Metabolic rate and hypoxia tolerance in Girardinichthys multiradiatus (Pisces: Goodeidae), an endemic fish at high altitude in tropical Mexico

Artículo científico JCR Q1The darkedged splitfin (Amarillo fish), Girardinichthys multiradiatus is a vulnerable endemic fish species inhabiting central Mexico's high altitude Upper Lerma Basin, where aquatic hypoxia is exacerbated by low barometric pressures (lower PO2s), large aquatic oxygen changes, poor aquatic systems management and urban, agricultural and industrial pollution. The respiratory physiology of G. multiradiatus under such challenging conditions is unknown - therefore the main goal of the present study was to determine metabolic rates and hypoxia tolerance to elucidate possible physiological adaptations allowing this fish to survive high altitude and increasingly eutrophic conditions. Fish came from two artificial reservoirs – San Elías and Ex Hacienda - considered refuges for this species. Both reservoirs showed high dial PO2 variation, with hypoxic conditions before midday and after 20:00 h, ~4 h of normoxia (15 kPa) from 16:00–20:00, and ~4 h of hyperoxia (16–33 kPa) from 12:00–16:00. Standard metabolic rate at 20 ± 0.5 °C of larvae from Ex Hacienda was significantly higher than those from San Elías, but these differences disappeared in juveniles and adults. Metabolic rate at 20 ± 0.5 °C for adults was 9.8 ± 0.1 SEM μmol O2/g/h. The metabolic scaling exponent for adults was 0.58 for San Elías fish and 0.83 for Ex Hacienda fish, indicating possible ecological effects on this variable. Post-larval fish in Ex Hacienda and all stages in San Elias site showed considerable hypoxia tolerance, with PCrit mean values ranging from 1.9–3.1 kPa, lower than those of many tropical fish at comparable temperatures. Collectively, these data indicate that G. multiradiatus is well adapted for the hypoxia associated with their high-altitude habitat.CONACyT PRODEP-SEP UAEMé

Association between sleep-disordered breathing and breast cancer aggressiveness

Background Sleep-disordered breathing (SDB) has been associated with cancer aggressiveness, but studies focused on specific tumors are lacking. In this pilot study we investigated whether SDB is associated with breast cancer (BC) aggressiveness. Methods 83 consecutive women <65 years diagnosed with primary BC underwent a home respiratory polygraphy. Markers of SDB severity included the apnea-hypopnea index (AHI) and the 4% oxygen desaturation index (ODI4). The Ki67 proliferation index, lack of hormone receptors (HR-), Nottingham Histological Grade (NHG), and tumor stage were used as markers of BC aggressiveness. The association between SDB and molecular subtypes of BC was also assessed. Results The mean (SD) age was 48.8 (8.8) years and body mass index was 27.4 (5.4) Kg/m2. 42 women (50.6%) were post-menopausal. The median (IQR) AHI was 5.1 (2–9.4), and ODI4 was 1.5 (0.5–5.8). The median (IQR) AHI did not differ between the groups with Ki67>28% and Ki6728% and Ki67<29% (51.2% vs 52.3%, p = 0.90), HR- and HR+ (58.3% vs 49.1%, p = 0.47), NHG categories (p = 0.89), different tumor stages (p = 0.71), or molecular subtypes (p = 0.73). These results did not change when the ODI4 was used instead of the AHI. Conclusion Our results do not support an association between the presence or severity of SDB and BC aggressiveness.Asociación de Neumología y Cirugía Torácica del Sur (NEUMOSUR) 1/201

Assessment of the implantation of day-2 human embryos by morphometric nonsubjective parameters

Discuss: You can discuss this article with its authors and with other ASRM members at http:// fertstertforum.com/molinai-implantation-morphometric-nonsubjective/Objective: To demonstrate the usefulness of image analysis in designing objective embryonic morphometric variables. Design: Retrospective study of 214 top-quality day-2 embryo photographs from 50 double-embryo transfers resulting in no pregnancy (group 0) and 57 resulting in twin pregnancy (group 1). Setting: Human reproduction unit. Patient(s): Study of 107 in vitro fertilization intracytoplasmic sperm injection (IVF ICSI) cycles in women age<36 years with doubleembryo transfer of top-quality embryos. Only the first cycle of IVF ICSI was included. Intervention(s): Standard IVF ICSI protocols. Main Outcome Measure(s): The embryo photographs were analyzed using the ImageJ program. The effects of the embryo variables and the clinical variables on embryo implantation were evaluated using a stepwise dichotomous logistic regression. Result(s): Significant differences were observed, owing to the women's ages, internal perimeter, roundness factor, and zona pellucida thickness. Embryos with smaller internal perimeter, circular shape, and thinner zona pellucida were more likely to implant. Conclusion(s): Morphometric variables lower the subjectivity of the current embryo grading systems. These variables are nonsubjective factors to consider when predicting implantation. Embryo image analysis is an accurate tool that can improve IVF ICSI outcomes and reduce the number of twin pregnancies. (Fertil Steril 2014;102:1022 8. 2014 by American Society for Reproductive Medicine.) Key Words: Embryo selection, embryo score, morphological and morphometric embryo variables, images analysis, embryo implantation, embryo grading systemsMolina Botella, MI.; Martinez-Sanchez, JV.; Pertusa, J.; Balasch Parisi, S.; Iniesta, I.; Pellicer, A. (2014). Assessment of the implantation of day-2 human embryos by morphometric nonsubjective parameters. Fertility and Sterility. 102(4):1022-1027. doi:10.1016/j.fertnstert.2014.06.026S10221027102