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A Jackal UGV 79 A.1 Main Characteristics
POLITECNICO DI TORINO Master of Science in Mechatronic Engineering Master’s Degree Thesis GPS-based autonomous navigation of unmanned ground vehicles in precision agriculture applications Supervisor Candidate Prof. Marcello CHIABERGE Simone CERRATO October 2020 Abstract The global population is growing exponentially and the actual agricultural tech- niques and resources will not be able to feed every person on the Earth in a few years. To account for this serious problem, groups of research are focusing their attention on precision agriculture, because it looks for the improvement of the productivity and efficiency of both agricultural and farming production processes, while reducing the environmental impact, exploiting automation and robotics. The thesis aims to design and develop a solution, based on GPS, for the autonomous navigation problem in precision agriculture, using only few sensors: an Inertial Measurement Unit, a GPS receiver and a depth camera, in order to be cost effec- tive. The proposed goal has been achieved through a system of inter-operating sub-components, that have to share information and collaborate each other in order to provide a complete autonomous navigation. In particular, the main involved entities are: a localization filter, a global and a local path planning algorithms and an obstacle avoidance approach, that have been developed and can cooperate each other by means of the Robot Operating System. Eventually, the proposed solution has been tested in a simulation environment, through different possible scenarios providing good results in each of them. However, it may be considered as a starting point for future improvement in the field of autonomous navigation for precision agriculture. -
Tonal Artifactualizations: Light-To-Dark in Still Imagery and Effects on Perception
TONAL ARTIFACTUALIZATIONS: LIGHT-TO-DARK IN STILL IMAGERY AND EFFECTS ON PERCEPTION By GREGORY BERNARD POINDEXTER Bachelor of Science in Communication Oral Roberts University Tulsa, Oklahoma. 1985 Submitted to the Faculty of the Graduate College of the Oklahoma State University in partial fulfillment of the requirements for the Degree of MASTER OF SCIENCE May, 2012 TONAL ARTIFACTUALIZATIONS: LIGHT-TO-DARK IN STILL IN STILL IMAGERY AND EFFECTS ON PERCEPTION Thesis Approved: Lori K. McKinnon, Ph.D. Thesis Adviser Cynthia Nichols, Ph.D. Todd Arnold, Ph.D. Sheryl A. Tucker, Ph.D. Dean of the Graduate College ii TABLE OF CONTENTS Chapter Page I. INTRODUCTION......................................................................................................1 Cognitive Framework (Background of the Problem) ..............................................2 Statement of the Problem.........................................................................................5 Rationale ..................................................................................................................6 Theoretical Framework............................................................................................7 Assumptions.............................................................................................................8 Outline of the Following Chapters...........................................................................9 II. REVIEW OF LITERATURE..................................................................................10 A -
Stereoscopic Vision, Stereoscope, Selection of Stereo Pair and Its Orientation
International Journal of Science and Research (IJSR) ISSN (Online): 2319-7064 Impact Factor (2012): 3.358 Stereoscopic Vision, Stereoscope, Selection of Stereo Pair and Its Orientation Sunita Devi Research Associate, Haryana Space Application Centre (HARSAC), Department of Science & Technology, Government of Haryana, CCS HAU Campus, Hisar – 125 004, India , Abstract: Stereoscope is to deflect normally converging lines of sight, so that each eye views a different image. For deriving maximum benefit from photographs they are normally studied stereoscopically. Instruments in use today for three dimensional studies of aerial photographs. If instead of looking at the original scene, we observe photos of that scene taken from two different viewpoints, we can under suitable conditions, obtain a three dimensional impression from the two dimensional photos. This impression may be very similar to the impression given by the original scene, but in practice this is rarely so. A pair of photograph taken from two cameras station but covering some common area constitutes and stereoscopic pair which when viewed in a certain manner gives an impression as if a three dimensional model of the common area is being seen. Keywords: Remote Sensing (RS), Aerial Photograph, Pocket or Lens Stereoscope, Mirror Stereoscope. Stereopair, Stere. pair’s orientation 1. Introduction characteristics. Two eyes must see two images, which are only slightly different in angle of view, orientation, colour, A stereoscope is a device for viewing a stereoscopic pair of brightness, shape and size. (Figure: 1) Human eyes, fixed on separate images, depicting left-eye and right-eye views of same object provide two points of observation which are the same scene, as a single three-dimensional image. -
Scalable Multi-View Stereo Camera Array for Real World Real-Time Image Capture and Three-Dimensional Displays
Scalable Multi-view Stereo Camera Array for Real World Real-Time Image Capture and Three-Dimensional Displays Samuel L. Hill B.S. Imaging and Photographic Technology Rochester Institute of Technology, 2000 M.S. Optical Sciences University of Arizona, 2002 Submitted to the Program in Media Arts and Sciences, School of Architecture and Planning in Partial Fulfillment of the Requirements for the Degree of Master of Science in Media Arts and Sciences at the Massachusetts Institute of Technology June 2004 © 2004 Massachusetts Institute of Technology. All Rights Reserved. Signature of Author:<_- Samuel L. Hill Program irlg edia Arts and Sciences May 2004 Certified by: / Dr. V. Michael Bove Jr. Principal Research Scientist Program in Media Arts and Sciences ZA Thesis Supervisor Accepted by: Andrew Lippman Chairperson Department Committee on Graduate Students MASSACHUSETTS INSTITUTE OF TECHNOLOGY Program in Media Arts and Sciences JUN 172 ROTCH LIBRARIES Scalable Multi-view Stereo Camera Array for Real World Real-Time Image Capture and Three-Dimensional Displays Samuel L. Hill Submitted to the Program in Media Arts and Sciences School of Architecture and Planning on May 7, 2004 in Partial Fulfillment of the Requirements for the Degree of Master of Science in Media Arts and Sciences Abstract The number of three-dimensional displays available is escalating and yet the capturing devices for multiple view content are focused on either single camera precision rigs that are limited to stationary objects or the use of synthetically created animations. In this work we will use the existence of inexpensive digital CMOS cameras to explore a multi- image capture paradigm and the gathering of real world real-time data of active and static scenes. -
Neuroophthalmology
Neuroophthalmology MAREK MICHALEC, MD PHD Clinic of Ophthalmology Faculty Hospital Brno and Masaryk University Version 12/2019 Content • Visual pathway affection • Diseases and affections of optic nerve • Optic chiasm pathology • Pathology of retrochiasmic part • Eye movement disorders • Binocular diplopia • Pupillary reaction abnormalities • Anisocoria • Combined disorders Examination - part I • Medical history • subjective (visual loss, diplopia) • When it started/ how long lasts it? • Does it change in time/ during the day? • Any progression? • What about the fellow eye? • Other signs? • Personal medical history? • Pharmacological history? • objective (pupillary dysfunction, eye movement disorders, ptosis of upper eyelid, red eye) Examination - part II • Visual acuity • Without and with correction • Monocular vision / binocular vision • Basic ophthalmological examination • Anterior segment (by slit lamp) • Posterior segment - arteficial mydriasis is essential (indirect ophthalmoscopy) • Visual field examination (static / kinetic perimetry) Examination - part III • Basic examination (GP) • Neurological examination • Intracranial conditions (including MRI) • neurological signs • Endocrinology • Thyroid associated orbitopathy / ophthalmopathy • Pituitary dysfunction Examination - part IV • Imaging techniques • Ultrasonography (eye bulb, orbit) • X-ray of skull (orbit, paranasal cavities) • Computerised Tomography of head (brain, skull bones, orbital bones) • MRI of head (brain, orbital structures) Optic nerve disorders Clinical signs • -
RETINAL DISORDERS Eye63 (1)
RETINAL DISORDERS Eye63 (1) Retinal Disorders Last updated: May 9, 2019 CENTRAL RETINAL ARTERY OCCLUSION (CRAO) ............................................................................... 1 Pathophysiology & Ophthalmoscopy ............................................................................................... 1 Etiology ............................................................................................................................................ 2 Clinical Features ............................................................................................................................... 2 Diagnosis .......................................................................................................................................... 2 Treatment ......................................................................................................................................... 2 BRANCH RETINAL ARTERY OCCLUSION ................................................................................................ 3 CENTRAL RETINAL VEIN OCCLUSION (CRVO) ..................................................................................... 3 Pathophysiology & Etiology ............................................................................................................ 3 Clinical Features ............................................................................................................................... 3 Diagnosis ......................................................................................................................................... -
For the Thrill of It: Leopold, Loeb, and the Murder That Shocked Jazz Age
For the Thrill of It Leopold, Loeb, and the Murder That Shocked Chicago Simon Baatz The problem I thus pose is…what type of man shall be bred, shall be willed, for being higher in value…. This higher type has appeared often—but as a fortunate accident, as an exception, never as something willed…. Success in individual cases is constantly encountered in the most widely different places and cultures: here we really do find a higher type that is, in relation to mankind as a whole, a kind of superman. Such fortunate accidents of great success have always been possible and will perhaps always be possible. Friedrich Nietzsche, The Antichrist, Sections 3, 4 “I’m reminded of a little article you wrote, ‘On Crime,’ or something like that, I forget the exact title. I had the pleasure of reading it a couple of months ago in the Periodical.” “My article? In the Periodical Review?” Raskolnikov asked in surprise…. Raskolnikov really hadn’t known anything about it…. “That’s right. And you maintain that the act of carrying out a crime is always accompanied by illness. Very, very original, but personally that wasn’t the part of your article that really interested me. There was a certain idea slipped in at the end, unfortunately you only hint at it, and unclearly…. In short, it contains, if you recall, a certain reference to the notion that there may be certain kinds of people in the world who can…I mean not that they are able, but that they are endowed with the right to commit all sorts of crimes and excesses, and the law, as it were, was not written for them. -
Ministry of Public Health of Ukraine Ukrainian Medical Stomatological Academy
Ministry of Public Health of Ukraine Ukrainian Medical Stomatological Academy Approved At the meeting of the department of neurological diseases with neurosurgery and medical genetic "__"__ ____________20___ Protocol №________ Head of department _______________ prof. Delva M.Yu. METHODICAL INSTRUCTIONS FOR THE INDEPENDENT WORK OF STUDENTS FOR PREPARATION TO PRACTICAL CLASSES AND DURING PRACTICAL CLASSES Academic subject Neurology The module № 1 General neurology Topic Syndromes of defeat oculomotor nerves. Pathology of olfactory and visual analyzers. Year of study IV Faculty Foreign Students Training (Medicine) Poltava 20___ 1.Relevance of the topic: the olfactory and visual analyzers play a role in receptor function of the nervous system. With the functions of these disorders analyzers, as well as with oculomotor disturbances faced by doctors of different specialties - neurologists, ophthalmologists, neurosurgeons, pediatricians, phthisiatricians, endocrinologists, internists. Violations of the functions of these analyzers is observed in a variety of inflammatory, demyelinating processes, tumors, trauma, endocrine disorders. The correct methodological approach to the study of functions, pathological changes of the olfactory and visual analyzers, oculomotor nerves makes it possible to deliver topical and clinical diagnosis and treatment in a timely manner. 2. Specific Objectives: To investigate the function of I, II, III, IV, VI pairs of cranial nerves, identify signs of a lesion of the nerve disorder Examine the identification functions -
Optimised Implementation of Dense Stereo Correspondence for Resource Limited Hardware
Journal of Computer Science Original Research Paper Optimised Implementation of Dense Stereo Correspondence for Resource Limited Hardware 1,2 Deepambika Vadekkettathu Anirudhan and 3,4 Malangai Abdul Rahiman 1Department of ECE, Karpagam Academy of Higher Education, Coimbatore, Tamilnadu, India 2Department of ECE, LBS Institute of Technology for Women, Trivandrum, Kerala, India 3Karpagam Academy of Higher Education, Coimbatore, Tamilnadu, India 4Pro-Vice Chancellor, APJ Abdul Kalam Technological University, Trivandrum, Kerala, India Article history Abstract: Computer stereo vision is a passive sensing technique that Received: 21-06-2018 helps to recover 3D information of an environment from 2D images. Revised: 16-07-2018 The stereo correspondence is a challenging task that finds out matching Accepted: 17-10-2018 pixels between the stereo image pair based on Lambertian criteria and its result is a disparity space image. The depth of the objects from the Corresponding Author: Deepambika V.A. camera can be calculated from this disparity value by using the principle Department of ECE, LBS of triangulation. For the vision guided robot navigation, the requirement Institute of Technology for of stereo matching algorithms on low power dedicated hardware that Women, Trivandrum, Kerala, can achieve a high frame rate is unambiguous. A new, highly optimized India implementation of correlation based, Sum of Absolute Differences Email: [email protected] correspondences algorithm on a low cost resource limited FPGA is presented here. This System-on-Programmable-Chip architecture based system achieved a higher frame rate of 50 fps with 64 disparity levels without using a microprocessor. On performance evaluation, the disparity map shows a maximum error of 0.308% only. -
Algorithms for Single Image Random Dot Stereograms
Displaying 3D Images: Algorithms for Single Image Random Dot Stereograms Harold W. Thimbleby,† Stuart Inglis,‡ and Ian H. Witten§* Abstract This paper describes how to generate a single image which, when viewed in the appropriate way, appears to the brain as a 3D scene. The image is a stereogram composed of seemingly random dots. A new, simple and symmetric algorithm for generating such images from a solid model is given, along with the design parameters and their influence on the display. The algorithm improves on previously-described ones in several ways: it is symmetric and hence free from directional (right-to-left or left-to-right) bias, it corrects a slight distortion in the rendering of depth, it removes hidden parts of surfaces, and it also eliminates a type of artifact that we call an “echo”. Random dot stereograms have one remaining problem: difficulty of initial viewing. If a computer screen rather than paper is used for output, the problem can be ameliorated by shimmering, or time-multiplexing of pixel values. We also describe a simple computational technique for determining what is present in a stereogram so that, if viewing is difficult, one can ascertain what to look for. Keywords: Single image random dot stereograms, SIRDS, autostereograms, stereoscopic pictures, optical illusions † Department of Psychology, University of Stirling, Stirling, Scotland. Phone (+44) 786–467679; fax 786–467641; email [email protected] ‡ Department of Computer Science, University of Waikato, Hamilton, New Zealand. Phone (+64 7) 856–2889; fax 838–4155; email [email protected]. § Department of Computer Science, University of Waikato, Hamilton, New Zealand. -
Acquired Colour Vision Defects in Glaucoma—Their Detection and Clinical Significance
1396 Br J Ophthalmol 1999;83:1396–1402 Br J Ophthalmol: first published as 10.1136/bjo.83.12.1396 on 1 December 1999. Downloaded from PERSPECTIVE Acquired colour vision defects in glaucoma—their detection and clinical significance Mireia Pacheco-Cutillas, Arash Sahraie, David F Edgar Colour vision defects associated with ocular disease have The aims of this paper are: been reported since the 17th century. Köllner1 in 1912 + to provide a review of the modern literature on acquired wrote an acute description of the progressive nature of col- colour vision in POAG our vision loss secondary to ocular disease, dividing defects + to diVerentiate the characteristics of congenital and into “blue-yellow” and “progressive red-green blindness”.2 acquired defects, in order to understand the type of This classification has become known as Köllner’s rule, colour vision defect associated with glaucomatous although it is often imprecisely stated as “patients with damage retinal disease develop blue-yellow discrimination loss, + to compare classic clinical and modern methodologies whereas optic nerve disease causes red-green discrimina- (including modern computerised techniques) for tion loss”. Exceptions to Köllner’s rule34 include some assessing visual function mediated through chromatic optic nerve diseases, notably glaucoma, which are prima- mechanisms rily associated with blue-yellow defects, and also some reti- + to assess the eVects of acquired colour vision defects on nal disorders such as central cone degeneration which may quality of life in patients with POAG. result in red-green defects. Indeed, in some cases, there might be a non-specific chromatic loss. Comparing congenital and acquired colour vision Colour vision defects in glaucoma have been described defects since 18835 and although many early investigations Congenital colour vision deficiencies result from inherited indicated that red-green defects accompanied glaucoma- cone photopigment abnormalities. -
Real Time Distance Calculation Using Stereo Vision Technique
Real Time Distance Calculation using Stereo Vision Technique Session 2005-2009 Project Advisor Mr. Khan Asmar Azar Submitted by: Ahmed Tassaduq 050620-158 Aisha Ashraf 050620-128 Fatima Zehra Hassan 060820-089 Shajieuddin Hyder Khan 050620-086 Department of Electrical Engineering University of Management and Technology Real Time Distance Calculation Using Stereo Vision Technique Page i A report submitted to the Department of Electrical Engineering In partial fulfillment of the requirements for the Degree Bachelor of Science in Electrical Engineering by Ahmed Tassaduq (050620-158) Aisha Ashraf (050620-128) Fatima Zehra Hassan (060820-089) Shajieuddin Hyder Khan (050620-086) University of Management and Technology October 12, 2009 Real Time Distance Calculation Using Stereo Vision Technique Page ii CERTIFICATE OF APPROVAL It is certified that the work contained in this project report, entitled “Real Time Distance Calculation using Stereo Vision Technique” carried out by Ahmed Tassaduq (050620-158) Aisha Ashraf (050620-128) Fatima Zehra Hassan (060820-089) Shajieuddin Hyder Khan (050620-086) Under the supervision of Mr. Khan Asmar Azar for the partial fulfillment of the degree requirement of Bachelor in Electrical Engineering Approved By ________________ __________________ Dr. Aziz Bhatti Khan Asmar Azar Dean SST Project Advisor Real Time Distance Calculation Using Stereo Vision Technique Page iii Acknowledgements We truly acknowledge the cooperation and help make by our advisor Mr. Khan Asmar Azar, University of Management and Technology. He has been a constant source of guidance throughout the course of this project. We would also like to thank Mr. Saeed-ur-Rehman Turk, Government College University, Lahore for his help and guidance in understanding many important issues.