A Tighter Relaxation for the Relative Pose Problem Between Cameras

This paper tackles the resolution of the Relative Pose problem with optimality guarantees by stating it as an optimization problem over the set of essential matrices that minimizes the squared epipolar error. We relax this non-convex problem with its Shor’s relaxation, a convex program that can be solved by off-the-shelf tools. We follow the empirical observation that redundant but independent constraints tighten the relaxation. For that, we leverage equivalent definitions of the set of essential matrices based on the translation vectors between the cameras. Overconstrained characterizations of the set of essential matrices are derived by the combination of these definitions. Through extensive experiments on synthetic and real data, our proposal is empirically proved to remain tight and to require only 7 milliseconds to be solved even for the overconstrained formulations, finding the optimal solution under a wide variety of configurations, including highly noisy data and outliers. The solver cannot certify the solution only in very extreme cases, e.g.noise 100 pix and number of pair-wise correspondences under 15. The proposal is thus faster than other overconstrained formulations while being faster than the minimal ones, making it suitable for real-world applications that require optimality certification.Open Access funded by Universidad de Malaga / CBUA

The Changing Landscape for Stroke\ua0Prevention in AF: Findings From the GLORIA-AF Registry Phase 2

Background GLORIA-AF (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients with Atrial Fibrillation) is a prospective, global registry program describing antithrombotic treatment patterns in patients with newly diagnosed nonvalvular atrial fibrillation at risk of stroke. Phase 2 began when dabigatran, the first non\u2013vitamin K antagonist oral anticoagulant (NOAC), became available. Objectives This study sought to describe phase 2 baseline data and compare these with the pre-NOAC era collected during phase 1. Methods During phase 2, 15,641 consenting patients were enrolled (November 2011 to December 2014); 15,092 were eligible. This pre-specified cross-sectional analysis describes eligible patients\u2019 baseline characteristics. Atrial fibrillation disease characteristics, medical outcomes, and concomitant diseases and medications were collected. Data were analyzed using descriptive statistics. Results Of the total patients, 45.5% were female; median age was 71 (interquartile range: 64, 78) years. Patients were from Europe (47.1%), North America (22.5%), Asia (20.3%), Latin America (6.0%), and the Middle East/Africa (4.0%). Most had high stroke risk (CHA2DS2-VASc [Congestive heart failure, Hypertension, Age  6575 years, Diabetes mellitus, previous Stroke, Vascular disease, Age 65 to 74 years, Sex category] score  652; 86.1%); 13.9% had moderate risk (CHA2DS2-VASc = 1). Overall, 79.9% received oral anticoagulants, of whom 47.6% received NOAC and 32.3% vitamin K antagonists (VKA); 12.1% received antiplatelet agents; 7.8% received no antithrombotic treatment. For comparison, the proportion of phase 1 patients (of N = 1,063 all eligible) prescribed VKA was 32.8%, acetylsalicylic acid 41.7%, and no therapy 20.2%. In Europe in phase 2, treatment with NOAC was more common than VKA (52.3% and 37.8%, respectively); 6.0% of patients received antiplatelet treatment; and 3.8% received no antithrombotic treatment. In North America, 52.1%, 26.2%, and 14.0% of patients received NOAC, VKA, and antiplatelet drugs, respectively; 7.5% received no antithrombotic treatment. NOAC use was less common in Asia (27.7%), where 27.5% of patients received VKA, 25.0% antiplatelet drugs, and 19.8% no antithrombotic treatment. Conclusions The baseline data from GLORIA-AF phase 2 demonstrate that in newly diagnosed nonvalvular atrial fibrillation patients, NOAC have been highly adopted into practice, becoming more frequently prescribed than VKA in Europe and North America. Worldwide, however, a large proportion of patients remain undertreated, particularly in Asia and North America. (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients With Atrial Fibrillation [GLORIA-AF]; NCT01468701

Human 3D Pose Estimation with a Tilting Camera for Social Mobile Robot Interaction

Human–Robot interaction represents a cornerstone of mobile robotics, especially within the field of social robots. In this context, user localization becomes of crucial importance for the interaction. This work investigates the capabilities of wide field-of-view RGB cameras to estimate the 3D position and orientation (i.e., the pose) of a user in the environment. For that, we employ a social robot endowed with a fish-eye camera hosted in a tilting head and develop two complementary approaches: (1) a fast method relying on a single image that estimates the user pose from the detection of their feet and does not require either the robot or the user to remain static during the reconstruction; and (2) a method that takes some views of the scene while the camera is being tilted and does not need the feet to be visible. Due to the particular setup of the tilting camera, special equations for 3D reconstruction have been developed. In both approaches, a CNN-based skeleton detector (OpenPose) is employed to identify humans within the image. A set of experiments with real data validate our two proposed methods, yielding similar results than commercial RGB-D cameras while surpassing them in terms of coverage of the scene (wider FoV and longer range) and robustness to light conditions

Human 3D Pose Estimation with a Tilting Camera for Social Mobile Robot Interaction.

Human-Robot interaction represents a cornerstone of mobile robotics, especially within the field of social robots. In this context, user localization becomes of crucial importance for the interaction. This work investigates the capabilities of wide field-of-view RGB cameras to estimate the 3D position and orientation (i.e., the pose) of a user in the environment. For that, we employ a social robot endowed with a fish-eye camera hosted in a tilting head and develop two complementary approaches: (1) a fast method relying on a single image that estimates the user pose from the detection of their feet and does not require either the robot or the user to remain static during the reconstruction; and (2) a method that takes some views of the scene while the camera is being tilted and does not need the feet to be visible. Due to the particular setup of the tilting camera, special equations for 3D reconstruction have been developed. In both approaches, a CNN-based skeleton detector (OpenPose) is employed to identify humans within the image. A set of experiments with real data validate our two proposed methods, yielding similar results than commercial RGB-D cameras while surpassing them in terms of coverage of the scene (wider FoV and longer range) and robustness to light conditions

Modalidad auxiliar de investigación: Acta de Evaluación de trabajo de grado en modalidad auxiliar de investigación, para obtener el título de Doctor en Cirugía Dental, en el proyecto titulado “Impacto en la calidad de vida relacionado a enfermedad periodontal en usuarios que asisten a las Unidades Comunitarias de Salud Familiar en el año 2022”

Acta finalización de proceso de grado de cincuenta estudiantes, quienes finalizaron su trabajo de investigación durante periodo de enero 2022 a diciembre 2022, lo que justifica finalización de requisito en Modalidad Auxiliar de investigación del proyecto del Centro de Investigaciones de la Facultad de Odontología de la Universidad de El Salvador, titulado: “Impacto en la calidad de vida relacionado a enfermedad periodontal en usuarios que asisten a las Unidades Comunitarias de Salud Familiar en el año 2022” para obtener el título de Doctor en Cirugía Dental de la Facultad de Odontología de la universidad de el salvador. Por tanto, se da por finalizado su trabajo de grado en modalidad auxiliar de investigación, el día trece de febrero de dos mil veintitrés