POSE ESTIMATION AND MAPPING USING CATADIOPTRIC CAMERAS WITH SPHERICAL MIRRORS

Catadioptric cameras have the advantage of broadening the field of view and revealing otherwise occluded object parts. However, they differ geometrically from standard central perspective cameras because of light reflection from the mirror surface which alters the collinearity relation and introduces severe non-linear distortions of the imaged scene. Accommodating for these features, we present in this paper a novel modeling for pose estimation and reconstruction while imaging through spherical mirrors. We derive a closed-form equivalent to the collinearity principle via which we estimate the system’s parameters. Our model yields a resection-like solution which can be developed into a linear one. We show that accurate estimates can be derived with only a small set of control points. Analysis shows that control configuration in the orientation scheme is rather flexible and that high levels of accuracy can be reached in both pose estimation and mapping. Clearly, the ability to model objects which fall outside of the immediate camera field-of-view offers an appealing means to supplement 3-D reconstruction and modeling

Effect of Photodynamic Antibacterial Chemotherapy Combined with Antibiotics on Gram-Positive and Gram-Negative Bacteria

The well-known and rapidly growing phenomenon of bacterial resistance to antibiotics is caused by uncontrolled, excessive and inappropriate use of antibiotics. One of alternatives to antibiotics is Photodynamic Antibacterial Chemotherapy (PACT). In the present study, the effect of PACT using a photosensitizer Rose Bengal alone and in combination with antibiotics including methicillin and derivatives of sulfanilamide synthesized by us was tested against antibiotic-sensitive and antibiotic-resistant clinical isolates of Gram-positive S. aureus and Gram-negative P. aeruginosa. Antibiotic-sensitive and resistant strains of P. aeruginosa were eradicated by Rose Bengal under illumination and by sulfanilamide but were not inhibited by new sulfanilamide derivatives. No increase in sensitivity of P. aeruginosa cells to sulfanilamide was observed upon a combination of Rose Bengal and sulfanilamide under illumination. All tested S. aureus strains (MSSA and MRSA) were effectively inhibited by PACT. When treated with sub-MIC concentrations of Rose Bengal under illumination, the minimum inhibitory concentrations (MIC) of methicillin decreased significantly for MSSA and MRSA strains. In some cases, antibiotic sensitivity of resistant strains can be restored by combining antibiotics with PACT