Multi-View Object Instance Recognition in an Industrial Context

We present a fast object recognition system coding shape by viewpoint invariant geometric relations and appearance information. In our advanced industrial work-cell, the system can observe the work space of the robot by three pairs of Kinect and stereo cameras allowing for reliable and complete object information. From these sensors, we derive global viewpoint invariant shape features and robust color features making use of color normalization techniques. We show that in such a set-up, our system can achieve high performance already with a very low number of training samples, which is crucial for user acceptance and that the use of multiple views is crucial for performance. This indicates that our approach can be used in controlled but realistic industrial contexts that require—besides high reliability—fast processing and an intuitive and easy use at the end-user side.European UnionDanish Council for Strategic Researc

Multi-View Object Instance Recognition in an Industrial Context

We present a fast object recognition system coding shape by viewpoint invariant geometric relations and appearance information. In our advanced industrial work-cell, the system can observe the work space of the robot by three pairs of Kinect and stereo cameras allowing for reliable and complete object information. From these sensors, we derive global viewpoint invariant shape features and robust color features making use of color normalization techniques. We show that in such a set-up, our system can achieve high performance already with a very low number of training samples, which is crucial for user acceptance and that the use of multiple views is crucial for performance. This indicates that our approach can be used in controlled but realistic industrial contexts that require—besides high reliability—fast processing and an intuitive and easy use at the end-user side.European UnionDanish Council for Strategic Researc

Primary Tuberculosis of the Maxillary Sinus: A case report

Tuberculosis is up-to-date a leading cause of human suffering and loss of life. Although tuberculosis is a systemic disease, primary tuberculosis of the paranasal sinuses is rare. It should be kept in mind in any undiagnosed or atypical clinical infection or inflammation in this region. We present here a case of primary paranasal sinuses tuberculosis in an elderly Sudanese woman. Although Sudan is one of the highest three countries in the incidence of tuberculosis, this is the first case to be reported in Suda

Manipulation monitoring and robot intervention in complex manipulation sequences

Trabajo presentado al IX Robotics Science and Systems: "Workshop on Robotic Monitoring" (RSS-WRM), celebrado en Berkeley (US) del 12 al 16 de julio de 2014.-- et al.Compared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and inattention, which may cause errors. This motivates automated monitoring systems that verify the correct execution of manipulation sequences. To be practical, such a monitoring system should not require laborious programming.The research leading to these results has received funding from the European Community’s Seventh Framework Programme FP7/2007-2013 (Specific Programme Cooperation, Theme 3, Information and Communication Technologies) under grant agreement no. 269959, IntellAct.Peer Reviewe

Using Surfaces and Surface Relations in an Early Cognitive Vision System

The final publication is available at Springer via http://dx.doi.org/10.1007/s00138-015-0705-yWe present a deep hierarchical visual system with two parallel hierarchies for edge and surface information. In the two hierarchies, complementary visual information is represented on different levels of granularity together with the associated uncertainties and confidences. At all levels, geometric and appearance information is coded explicitly in 2D and 3D allowing to access this information separately and to link between the different levels. We demonstrate the advantages of such hierarchies in three applications covering grasping, viewpoint independent object representation, and pose estimation.European Community’s Seventh Framework Programme FP7/IC

Prospective, multicentre study of screening, investigation and management of hyponatraemia after subarachnoid haemorrhage in the UK and Ireland

Background: Hyponatraemia often occurs after subarachnoid haemorrhage (SAH). However, its clinical significance and optimal management are uncertain. We audited the screening, investigation and management of hyponatraemia after SAH. Methods: We prospectively identified consecutive patients with spontaneous SAH admitted to neurosurgical units in the United Kingdom or Ireland. We reviewed medical records daily from admission to discharge, 21 days or death and extracted all measurements of serum sodium to identify hyponatraemia (<135 mmol/L). Main outcomes were death/dependency at discharge or 21 days and admission duration >10 days. Associations of hyponatraemia with outcome were assessed using logistic regression with adjustment for predictors of outcome after SAH and admission duration. We assessed hyponatraemia-free survival using multivariable Cox regression. Results: 175/407 (43%) patients admitted to 24 neurosurgical units developed hyponatraemia. 5976 serum sodium measurements were made. Serum osmolality, urine osmolality and urine sodium were measured in 30/166 (18%) hyponatraemic patients with complete data. The most frequently target daily fluid intake was >3 L and this did not differ during hyponatraemic or non-hyponatraemic episodes. 26% (n/N=42/164) patients with hyponatraemia received sodium supplementation. 133 (35%) patients were dead or dependent within the study period and 240 (68%) patients had hospital admission for over 10 days. In the multivariable analyses, hyponatraemia was associated with less dependency (adjusted OR (aOR)=0.35 (95% CI 0.17 to 0.69)) but longer admissions (aOR=3.2 (1.8 to 5.7)). World Federation of Neurosurgical Societies grade I–III, modified Fisher 2–4 and posterior circulation aneurysms were associated with greater hazards of hyponatraemia. Conclusions: In this comprehensive multicentre prospective-adjusted analysis of patients with SAH, hyponatraemia was investigated inconsistently and, for most patients, was not associated with changes in management or clinical outcome. This work establishes a basis for the development of evidence-based SAH-specific guidance for targeted screening, investigation and management of high-risk patients to minimise the impact of hyponatraemia on admission duration and to improve consistency of patient care

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries

Depth Measurement Improvement Using Dithering Method in Sensor-shifted Stereo Cameras

The camera stereo system provides the mechanism for obtaining the 3D information of a target point. However, the depth estimation, in particular, suffers from the uncertainty caused by the quantization in the digital images. The dithering approach is a way to reduce the uncertainty of the depth reconstruction by applying a controlled readjustment for the stereo parameters, and estimating the depth from the images acquired before and after the readjustment. The skewed-parallel camera was proposed to be deployed as stereo of camera. The enhancement of the depth reconstruction uncertainty for this kind of stereo by the dithering approach was verified by simulation. This thesis verifies that enhancement by physical experiment. For that purpose, a prototype for the skewed-parallel camera is configured as stereo and used to measure the differential depths of some test targets. For the verification, the average error of the depth reconstruction using dithering approach is compared with the average error by the direct method. The research proves the improvement in the uncertainly of the depth reconstruction for the targets chosen for the experiment