Object Recognition and Pose Estimation across Illumination Changes

In this paper, we present a new algorithm for color-based object recognition that detects objects and estimates their pose (position and orientation) in cluttered scenes observed under uncontrolled illumination conditions. As with so many other color-based object-recognition algorithms, color histograms are also fundamental to our approach; however, we use histograms obtained from overlapping subwindows, rather than the entire image. Furthermore, each local histogram is normalized using greyworld normalization in order to be as less sensitive to illumination as possible. An object from a database of prototype objects is identified and located in an input image by matching the subwindow contents. The prototype is detected in the input whenever many good histogram matches are found between the subwindows of the input image and those of the prototype. In essence, normalized color histograms of subwindows are the local features being matched. Once an object has been recognized, its 2D pose is found by approximating the geometrical transformation most consistently mapping the locations of prototype’s subwindows to their matched subwindow locations in the input image

Object recognition by intersection between adapted color histograms

Most of object recognition schemes fail in case of illumination changes between the color image acquisitions. One of the most widely used solutions to cope with this problem is to compare the images by means of the intersection between invariant color histograms. Unlike the classical invariant color histograms approach which independently analyzes each image, we consider each pair constituted by the query image and one of the target images constructed during the retrieval. In this paper, we propose a new approach based on color histograms which are adapted to each pair constituted by the query image and one of the target images. These adapted color histograms are determined so that their intersection is high only when the objects contained in the two images are similar. The adapted color histograms processing is based on an original model of illumination changes based on the rank measures of the pixels within the color component images.Dans cet article, nous abordons le problème de la reconnaissance des objets sous éclairage non contrôlé par la recherche de toutes les images d'une base qui contiennent le même objet que celui représenté dans une image requête. Nous nous intéressons aux problèmes soulevés par les modifications des images couleur consécutives à des changements d'illuminant. Les images considérées dans cet article contiennent un seul objet placé sur un fond uniforme et éclairé avec un illuminant qui diffère d'une image à l'autre. Les méthodes classiques basées sur des histogrammes invariants ne fournissent pas des résultats satisfaisants en termes de reconnaissance d'objets éclairés par différents illuminants. Nous proposons de traiter ce problème, non pas en analysant les images de la base indépendamment les unes des autres, mais en analysant tous les couples constitués de l'image requête et de chacune des images candidates. Plus précisément, nous proposons d'analyser chaque couple d'histogrammes couleur pour comparer le contenu de chaque couple d'images. Pour cela, la procédure détermine un couple d'histogrammes couleur dits « spécifiques » à chaque couple d'histogrammes couleur considéré, de telle sorte que l'intersection entre ces histogrammes couleur spécifiques soit élevée uniquement lorsque les deux objets contenus dans les deux images sont similaires. Cette procédure est basée sur une nouvelle hypothèse sur les conséquences d'un changement d'illuminant qui ne porte pas directement sur les couleurs des pixels, mais sur les mesures de rang des pixels

Natural vs anthropogenic streams in Europe: History, ecology and implications for restoration, river-rewilding and riverine ecosystem services

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this recordIn Europe and North America the prevailing model of “natural” lowland streams is incised-meandering channels with silt-clay floodplains, and this is the typical template for stream restoration. Using both published and new unpublished geological and historical data from Europe we critically review this model, show how it is inappropriate for the European context, and examine the implications for carbon sequestration and Riverine Ecosystem Services (RES) including river rewilding. This paper brings together for the first time, all the pertinent strands of evidence we now have on the long-term trajectories of floodplain system from sediment-based dating to sedaDNA. Floodplain chronostratigraphy shows that early Holocene streams were predominantly multi-channel (anabranching) systems, often choked with vegetation and relatively rarely single-channel actively meandering systems. Floodplains were either non-existent or limited to adjacent organic-filled palaeochannels, spring/valley mires and flushes. This applied to many, if not most, small to medium rivers but also major sections of the larger rivers such as the Thames, Seine, Rhône, Lower Rhine, Vistula and Danube. As shown by radiocarbon and optically stimulated luminescence (OSL) dating during the mid-late Holocene c. 4–2 ka BP, overbank silt-clay deposition transformed European floodplains, covering former wetlands and silting-up secondary channels. This was followed by direct intervention in the Medieval period incorporating weir and mill-based systems – part of a deep engagement with rivers and floodplains which is even reflected in river and floodplain settlement place names. The final transformation was the “industrialisation of channels” through hard-engineering – part of the Anthropocene great acceleration. The primary causative factor in transforming pristine floodplains was accelerated soil erosion caused by deforestation and arable farming, but with effective sediment delivery also reflecting climatic fluctuations. Later floodplain modifications built on these transformed floodplain topographies. So, unlike North America where channel-floodplain transformation was rapid, the transformation of European streams occurred over a much longer time-period with considerable spatial diversity regarding timing and kind of modification. This has had implications for the evolution of RES including reduced carbon sequestration over the past millennia. Due to the multi-faceted combination of catchment controls, ecological change and cultural legacy, it is impractical, if not impossible, to identify an originally natural condition and thus restore European rivers to their pre-transformation state (naturalisation). Nevertheless, attempts to restore to historical (pre-industrial) states allowing for natural floodplain processes can have both ecological and carbon offset benefits, as well as additional abiotic benefits such as flood attenuation and water quality improvements. This includes rewilding using beaver reintroduction which has overall positive benefits on river corridor ecology. New developments, particularly biomolecular methods offer the potential of unifying modern ecological monitoring with the reconstruction of past ecosystems and their trajectories. The sustainable restoration of rivers and floodplains designed to maximise desirable RES and natural capital must be predicated on the awareness that Anthropocene rivers are still largely imprisoned in the banks of their history and this requires acceptance of an increased complexity for the achievement and maintenance of desirable restoration goals.OSL dating from the Severn-Wye Basin was undertaken at the Geochronology Laboratories, University of Gloucestershire under grants from the EU Leader+ Programme (administered by English Heritage) and the Leverhulme Flood and Flow Project (RPG-2016-004)

Comparing time and motion methods to study personnel time in the context of a family planning supply chain intervention in Senegal.

BACKGROUND: A family planning (FP) supply chain intervention was introduced in Senegal in 2012 to reduce contraceptive stock-outs. Labour is the highest cost in low- and middle-income country supply chains. In this paper, we (1) understand time use of personnel working in the FP supply chain at health facilities in Senegal, (2) estimate the validity of self-administered timesheets (STs) relative to continuous observations (COs), and (3) describe the cost of data collection for each method. METHODS: We collected time use data for seven stockroom managers in six facilities using both ST and CO. Activities were categorized as follows: stock management associated with FP, non-FP stock management, other productive activities, non-productive activities, and waiting time. Paired t tests were used to compare the mean differences between the two methods in all categories and in productive time alone. RESULTS: Among all activities, the absolute and relative time spent on productive activities was higher when estimated by ST compared to CO. Conversely, waiting time was underestimated by STs. There was no difference in the relative time spent on non-productive activities. When comparing the distribution of the three productive activity categories, we found no evidence of a difference in relative time percentage estimates between CO and ST (FP stockroom management - 3.0%, 95% CI - 7.4 to 1.4%; non-FP stockroom management 3.4%, 95% CI - 2.8 to 9.6%; and other productive activities - 0.1%, 95% CI - 6.3 to 6.0%). Data collection costs for CO are 140% more than ST. CONCLUSION: STs were not a reliable method for measuring absolute labour time at health facilities in Senegal due to considerable underestimates of time waiting for clients. However, ST had acceptable reliability when examining distribution of productive time. Although CO provides more accurate absolute time estimates, the unit costs for data collection using this method are more than triple those for STs in Senegal

Emergence of Epidemic Neisseria meningitidis Serogroup X Meningitis in Togo and Burkina Faso

Serogroup X meningococci (NmX) historically have caused sporadic and clustered meningitis cases in sub-Saharan Africa. To study recent NmX epidemiology, we analyzed data from population-based, sentinel and passive surveillance, and outbreak investigations of bacterial meningitis in Togo and Burkina Faso during 2006–2010. Cerebrospinal fluid specimens were analyzed by PCR. In Togo during 2006–2009, NmX accounted for 16% of the 702 confirmed bacterial meningitis cases. Kozah district experienced an NmX outbreak in March 2007 with an NmX seasonal cumulative incidence of 33/100,000. In Burkina Faso during 2007–2010, NmX accounted for 7% of the 778 confirmed bacterial meningitis cases, with an increase from 2009 to 2010 (4% to 35% of all confirmed cases, respectively). In 2010, NmX epidemics occurred in northern and central regions of Burkina Faso; the highest district cumulative incidence of NmX was estimated as 130/100,000 during March–April. Although limited to a few districts, we have documented NmX meningitis epidemics occurring with a seasonal incidence previously only reported in the meningitis belt for NmW135 and NmA, which argues for development of an NmX vaccine

Automatic colorimetric calibration of human wounds

Contains fulltext : 88431.pdf (publisher's version ) (Open Access)BACKGROUND: Recently, digital photography in medicine is considered an acceptable tool in many clinical domains, e.g. wound care. Although ever higher resolutions are available, reproducibility is still poor and visual comparison of images remains difficult. This is even more the case for measurements performed on such images (colour, area, etc.). This problem is often neglected and images are freely compared and exchanged without further thought. METHODS: The first experiment checked whether camera settings or lighting conditions could negatively affect the quality of colorimetric calibration. Digital images plus a calibration chart were exposed to a variety of conditions. Precision and accuracy of colours after calibration were quantitatively assessed with a probability distribution for perceptual colour differences (dE_ab). The second experiment was designed to assess the impact of the automatic calibration procedure (i.e. chart detection) on real-world measurements. 40 Different images of real wounds were acquired and a region of interest was selected in each image. 3 Rotated versions of each image were automatically calibrated and colour differences were calculated. RESULTS: 1st Experiment: Colour differences between the measurements and real spectrophotometric measurements reveal median dE_ab values respectively 6.40 for the proper patches of calibrated normal images and 17.75 for uncalibrated images demonstrating an important improvement in accuracy after calibration. The reproducibility, visualized by the probability distribution of the dE_ab errors between 2 measurements of the patches of the images has a median of 3.43 dE* for all calibrated images, 23.26 dE_ab for all uncalibrated images. If we restrict ourselves to the proper patches of normal calibrated images the median is only 2.58 dE_ab! Wilcoxon sum-rank testing (p < 0.05) between uncalibrated normal images and calibrated normal images with proper squares were equal to 0 demonstrating a highly significant improvement of reproducibility. In the second experiment, the reproducibility of the chart detection during automatic calibration is presented using a probability distribution of dE_ab errors between 2 measurements of the same ROI. CONCLUSION: The investigators proposed an automatic colour calibration algorithm that ensures reproducible colour content of digital images. Evidence was provided that images taken with commercially available digital cameras can be calibrated independently of any camera settings and illumination features

Time projection chambers for the T2K near detectors

The T2K experiment is designed to study neutrino oscillation properties by directing a high intensity neutrino beam produced at J-PARC in Tokai, Japan, towards the large Super-Kamiokande detector located 295 km away, in Kamioka, Japan. The experiment includes a sophisticated near detector complex, 280 m downstream of the neutrino production target in order to measure the properties of the neutrino beam and to better understand neutrino interactions at the energy scale below a few GeV. A key element of the near detectors is the ND280 tracker, consisting of two active scintillator-bar target systems surrounded by three large time projection chambers (TPCs) for charged particle tracking. The data collected with the tracker is used to study charged current neutrino interaction rates and kinematics prior to oscillation, in order to reduce uncertainties in the oscillation measurements by the far detector. The tracker is surrounded by the former UA1/Nomad dipole magnet and the TPCs measure the charges, momenta, and particle types of charged particles passing through them. Novel features of the TPC design include its rectangular box layout constructed from composite panels, the use of bulk micromegas detectors for gas amplification, electronics readout based on a new ASIC, and a photoelectron calibration system. This paper describes the design and construction of the TPCs, the micromegas modules, the readout electronics, the gas handling system, and shows the performance of the TPCs as deduced from measurements with particle beams, cosmic rays, and the calibration system

Precise Measurement of the Neutrino Mixing Parameter theta(23) from Muon Neutrino Disappearance in an Off-Axis Beam

New data from the T2K neutrino oscillation experiment produce the most precise measurement of the neutrino mixing parameter theta_{23}. Using an off-axis neutrino beam with a peak energy of 0.6 GeV and a data set corresponding to 6.57 x 10^{20} protons on target, T2K has fit the energy-dependent nu_mu oscillation probability to determine oscillation parameters. Marginalizing over the values of other oscillation parameters yields sin^2 (theta_{23}) = 0.514 +0.055/-0.056 (0.511 +- 0.055), assuming normal (inverted) mass hierarchy. The best-fit mass-squared splitting for normal hierarchy is Delta m^2_{32} = (2.51 +- 0.10) x 10^{-3} eV^2/c^4 (inverted hierarchy: Delta m^2_{13} = (2.48 +- 0.10) x 10^{-3} eV^2/c^4). Adding a model of multinucleon interactions that affect neutrino energy reconstruction is found to produce only small biases in neutrino oscillation parameter extraction at current levels of statistical uncertainty

Measurement of the intrinsic electron neutrino component in the T2K neutrino beam with the ND280 detector

The T2K experiment has reported the first observation of the appearance of electron neutrinos in a muon neutrino beam. The main and irreducible background to the appearance signal comes from the presence in the neutrino beam of a small intrinsic component of electron neutrinos originating from muon and kaon decays. In T2K, this component is expected to represent 1.2% of the total neutrino flux. A measurement of this component using the near detector (ND280), located 280 m from the target, is presented. The charged current interactions of electron neutrinos are selected by combining the particle identification capabilities of both the time projection chambers and electromagnetic calorimeters of ND280. The measured ratio between the observed electron neutrino beam component and the prediction is 1.01 +/- 0.10 providing a direct confirmation of the neutrino fluxes and neutrino cross section modeling used for T2K neutrino oscillation analyses. Electron neutrinos coming from muons and kaons decay are also separately measured, resulting in a ratio with respect to the prediction of 0.68 +/- 0.30 and 1.10 +/- 0.14, respectively