Probabilistic Integration of Intensity and Depth Information for Part-Based Vehicle Detection

International audienceIn this paper, an object class recognition method is presented. The method uses local image features and follows the part-based detection approach. It fuses intensity and depth information in a probabilistic framework. The depth of each local feature is used to weigh the probability of finding the object at a given distance. To train the system for an object class, only a database of images annotated with bounding boxes is required, thus automatizing the extension of the system to different object classes. We apply our method to the problem of detecting vehicles from a moving platform. The experiments with a data set of stereo images in an urban environment show a significant improvement in performance when using both information modalities

A aplicabilidade do método Mézières na escoliose idiopática do adolescente: revisão narrativa

Projeto de Graduação apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Licenciado em FisioterapiaAtualmente, a escoliose idiopática é a mais estudada e representa a maioria dos casos de escoliose. Acomete principalmente o género feminino, e pode evoluir no sentido de um agravamento, sendo importante acompanhar regularmente o paciente numa medida preventiva e/ou terapêutica. Assim, vários métodos de reeducação defendem múltiplas técnicas que podem ser muito semelhantes ou totalmente contraditórias. O método Mézières é uma terapia manual, de conceção global, que aborda o tratamento da escoliose com o intuito de restabelecer o equilíbrio e a harmonia corporal através da recuperação da extensibilidade dos grupos musculares, particularmente do grupo posterior. O princípio deste método, e que revolucionou a ginástica tradicional, determina que as estruturas esqueléticas do corpo humano não são comprimidas pela força da gravidade, mas pela própria força das pessoas. Um trabalho respiratório, uma consciencialização corporal e uma descoberta das compensações serão associados. O principal objetivo desta revisão é analisar a aplicabilidade do método Mézières na escoliose idiopática do adolescente com diferentes técnicas aplicadas.Currently, the idiopathic scoliosis is the most studied and represent most of scoliosis. It affects mainly the female gender, and it can evolve towards a worsening so, is important to follow the patient regularly in a preventive measure and/or therapeutics. Then, several re-education methods stand up for multiple techniques that can be very similar or totally contradictory. Mézières’s method is a manual therapy of global conception that approaches the treatment of the scoliosis with the intention of re-establishing the balance and the corporal harmony, through the recovery of the flexibility of the muscular groups, particularly the posterior chains. The concept of this method, that revolutionized traditional gymnastics, is that the skeletal structures of human body are not compressed by the gravity force, but by the own force of people. A breathing work, a corporal awareness and a discovery of compensations will be associated. The main objective of this revision is to analyse the applicability of the method Mézières in the adolescent’s idiopathic scoliosis with the different techniques applied.N/

Advances in the Bayesian Occupancy Filter framework using robust motion detection technique for dynamic environment monitoring

International audienceThe Bayesian Occupancy Filter provides a framework for grid-based monitoring of the dynamic environment. It allows to estimate dynamic grids, containing both information of occupancy and velocity. Clustering such grids then provides detection of the objects in the observed scene. In this paper we present recent improvements in this framework. First, multiple layers from a laser scanner are fused using opinion pool, to deal with conflicting information. Then a fast motion detection technique based on laser data and odometer/IMU information is used to separate the dynamic environment from the static one. This technique instead of performing a complete SLAM (Simultaneous Localization and Mapping) solution, is based on transferring occupancy information between consecutive data grids, the objective is to avoid false positives (static objects) like other DATMO approaches. Finally, we show the integration with Bayesian Occupancy Filter (BOF) and with the subsequent tracking module called Fast Clustering-Tracking Algorithm (FCTA). We especially show the improvements achieved in tracking results after this integration, for an intelligent vehicle application

Initial Data Identication in Space Dependent Conservation Laws and Hamilton-Jacobi Equations

Consider a Conservation Law and a Hamilton-Jacobi equation with a ux/Hamiltonian depending also on the space variable. We characterize rst the attainable set of the two equations and, second, the set of initial data evolving at a prescribed time into a prescribed prole. An explicit example then shows the deep dierences between the cases of x-independent and x-dependent uxes/Hamiltonians

Finite-time stabilization of a network of strings

We investigate the finite-time stabilization of a tree-shaped network of strings. Transparent boundary conditions are applied at all the external nodes. At any internal node, in addition to the usual continuity conditions, a modified Kirchhoff law incorporating a damping term $\alpha u_t$ with a coefficient $\alpha$ that may depend on the node is considered. We show that for a convenient choice of the sequence of coefficients $\alpha$, any solution of the wave equation on the network becomes constant after a finite time. The condition on the coefficients proves to be sharp at least for a star-shaped tree. Similar results are derived when we replace the transparent boundary condition by the Dirichlet (resp. Neumann) boundary condition at one external node

A aplicabilidade do método Mézières na escoliose idiopática do adolescente: revisão narrativa

Projeto de Graduação apresentado à Universidade Fernando Pessoa como parte dos requisitos para obtenção do grau de Licenciado em FisioterapiaAtualmente, a escoliose idiopática é a mais estudada e representa a maioria dos casos de escoliose. Acomete principalmente o género feminino, e pode evoluir no sentido de um agravamento, sendo importante acompanhar regularmente o paciente numa medida preventiva e/ou terapêutica. Assim, vários métodos de reeducação defendem múltiplas técnicas que podem ser muito semelhantes ou totalmente contraditórias. O método Mézières é uma terapia manual, de conceção global, que aborda o tratamento da escoliose com o intuito de restabelecer o equilíbrio e a harmonia corporal através da recuperação da extensibilidade dos grupos musculares, particularmente do grupo posterior. O princípio deste método, e que revolucionou a ginástica tradicional, determina que as estruturas esqueléticas do corpo humano não são comprimidas pela força da gravidade, mas pela própria força das pessoas. Um trabalho respiratório, uma consciencialização corporal e uma descoberta das compensações serão associados. O principal objetivo desta revisão é analisar a aplicabilidade do método Mézières na escoliose idiopática do adolescente com diferentes técnicas aplicadas.Currently, the idiopathic scoliosis is the most studied and represent most of scoliosis. It affects mainly the female gender, and it can evolve towards a worsening so, is important to follow the patient regularly in a preventive measure and/or therapeutics. Then, several re-education methods stand up for multiple techniques that can be very similar or totally contradictory. Mézières’s method is a manual therapy of global conception that approaches the treatment of the scoliosis with the intention of re-establishing the balance and the corporal harmony, through the recovery of the flexibility of the muscular groups, particularly the posterior chains. The concept of this method, that revolutionized traditional gymnastics, is that the skeletal structures of human body are not compressed by the gravity force, but by the own force of people. A breathing work, a corporal awareness and a discovery of compensations will be associated. The main objective of this revision is to analyse the applicability of the method Mézières in the adolescent’s idiopathic scoliosis with the different techniques applied.N/

Obstacle Detection Based on Fusion Between Stereovision and 2D Laser Scanner

International audienceObstacle detection is an essential task for mobile robots. This subject has been investigated for many years by researchers and a lot of obstacle detection systems have been proposed so far. Yet designing an accurate and totally robust and reliable system remains a challenging task, above all in outdoor environments. Thus, the purpose of this chapter is to present new techniques and tools to design an accurate, robust and reliable obstacle detection system in outdoor environments based on a minimal number of sensors. So far, experiments and assessments of already developed systems show that using a single sensor is not enough to meet the requirements: at least two complementary sensors are needed. In this chapter a stereovision sensor and a 2D laser scanner are considered