[EN] The process of repairing skin pressure ulcers, venous or diabetic from a clinical perspective is a continuing problem in which are involved the patient, their family environment and professionals in the field of medicine and nursing. In many occassions it causes an economic cost to the public health, not only by the price of the products that are used in the successive cures, but by the time of dedication of qualified personnel. Among the tasks undertaken by professionals in nursing, during the process of healing skin ulcers, it is the control and monitoring of the evolution of these ulcers, taking into consideration, inter alia, the geometric variables by obtaining the surface and volume of the wound. Dimensional monitoring of progress or setbacks of the ulcers can serve to detect deterioration or efficacy of the treatments applied. Occasionally, and particularly when direct methods of obtaining measurements are used, it is provoked discomfort in patients which has a negative influence on the mood already diminished by a long process of healing. Photogrammetry of nearby object is a technique that allows you to reach sub-millimeter accuracy without having contact over the object to be measured. Their application in dermatology and in particular on the measurement of skin ulcers would enable to obtain three-dimensional photos-realistics models that measure certain geometric parameters as the diameter, maximum depth, surface, volume, etc. Aiming to define a clinical system that allows the realization of three-dimensional measurements of ulcers on the skin, in a way that is quick, simple, economical and contactless way, various tests have been conducted in this thesis, in order to develop, test, and define a technical photogrammetric of applicable nearby object that may be made by health workers maintaining the highest standards in terms of metric accuracy and graphic information. / [ES] El proceso de reparación de las úlceras cutáneas de presión, venosas o diabéticas desde una perspectiva clínica, constituye un continuo problema en el que se ven involucrados el propio paciente, su entorno familiar y profesionales del ámbito de la medicina y la enfermería, comportando en la mayoría de las ocasiones, un coste económico para la sanidad pública, no solamente por el precio de los productos que se utilizan en las sucesivas curas, sino también por el coste de tiempo de dedicación de personal cualificado. Entre las tareas asumidas por los profesionales de la enfermería, durante el proceso de cicatrización de las úlceras cutáneas, se encuentra el control y seguimiento de la evolución de dichas úlceras, teniendo en consideración, entre otros aspectos, las variables geométricas mediante la obtención de la superficie y volumen de la herida. El seguimiento dimensional de avances o retrocesos de las úlceras puede servir para detectar deterioro o eficacia de los tratamientos aplicados. En ocasiones y especialmente cuando se utilizan métodos directos de obtención de las medidas, se provocan molestias en los pacientes que influyen negativamente en el ánimo ya mermado por un largo proceso de curación. La fotogrametría de objeto cercano es una técnica que permite alcanzar precisiones submilimétricas sin tener contacto sobre el objeto a medir, cuya aplicación en dermatología y en concreto en la medición de úlceras cutáneas, haría posible la obtención de modelos tridimensionales fotorrealísticos sobre los que medir determinados parámetros geométricos como el diámetro, la profundidad máxima, la superficie, el volumen, etc. Con el objetivo de definir un sistema clínico que permita la realización de medidas tridimensionales de úlceras en la piel, de una forma rápida, sencilla, económica y sin contacto, se han llevado a cabo diversas pruebas en esta tesis, con el fin de desarrollar, probar y definir una técnica fotogramétrica de objeto cercano aplicable que pueda ser realizada por el propio personal sanitario, manteniendo las máximas exigencias en cuanto a la precisión métrica y la información gráfica. / [CAT] El procés de reparació de les úlceres cutànies de pressió, venoses o diabètiques des d'una perspectiva clínica constituïx un continu problema en què s'hi veuen involucrats el propi pacient, el seu entorn familiar i els professionals de l'àmbit de la medicina i la infermeria, la qual cosa comporta en la majoria de les ocasions, un cost econòmic per a la sanitat pública, no sols pel preu dels productes que s'utilitzen en les successives cures, sinó també pel cost de temps de dedicació del personal qualificat. Entre les tasques assumides pels professionals de la infermeria, durant el procés de cicatrització de les úlceres cutànies, es troba el control i seguiment de l'evolució de les esmentades úlceres, tenint en consideració, entre d'altres aspectes, les variables geomètriques mitjançant l'obtenció de la superfície i el volum de la ferida. El seguiment dimensional d'avenços o retrocessos de les úlceres poden servir per detectar deteriorament o eficàcia dels tractaments aplicats. En ocasions i especialment quan s'utilitzen mètodes directes d'obtenció de les mesures, es provoquen molèsties en els pacients que influïxen negativament en l'ànim ja minvat per un llarg procés curatiu. La fotogrametria d'objecte proper és una tècnica que permet atansar precisions submil¿limètriques sense tindre contacte sobre l'objecte a mesurar, l'aplicació de la qual en dermatologia i en concret en el mesurament d'úlceres cutànies, faria possible l'obtenció de models tridimensionals fotorrealístics sobre els que mesurar determinats paràmetres geomètrics com el diàmetre, la profunditat màxima, la superfície, el volum, etc. Amb l'objectiu de definir un sistema clínic que permeta la realització de mesures tridimensionals d'úlceres en la pell, d'una forma ràpida, senzilla, econòmica i sense contacte, s'han dut a terme diverses proves en aquesta tesi, amb la finalitat de desenvolupar, provar i definir una tècnica fotogramètrica d'objecte proper aplicable que puga ser realitzada pel propi personal sanitari, mantenint les màximes exigències en quant a la precisió mètrica i la informació gràfica. / Buchón Moragues, FF. (2016). SISTEMAS FOTOGRAMÉTRICOS SUBMILIMÉTRICOS DE ADQUISICIÓN DE DATOS TRIDIMENSIONALES APLICADOS A LA DERMATOLOGÍA [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/61952 / TESIS

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision.The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope.The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches.In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision.Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.

Nesta dissertação é apresentado o desenvolvimento de uma ferramenta computacional para o processamento de pares de imagens estereoscópicas obtidos por câmeras aéreas métricas e não métricas. O programa foi desenvolvido na linguagem C++ e foi utilizado a biblioteca OpenGL. O resultado obtido é uma imagem tridimensional de onde pode ser extraídas cotas de altura e formas de terreno. Estas imagens poderão ser usadas no estudo de áreas de risco em encostas. / In this dissertation is presented the development of a computational tool for the processing of pairs of images estereoscópicas obtained by metric and not metric aerial cameras. The program was developed in the program language C++ and the library was used OpenGL. The result of the program is a three-dimensional image from where it can be extracted height quotas and land forms. These images can be used in the study of risk areas on slopes.

Nesta dissertação é apresentado o desenvolvimento de uma ferramenta computacional para o processamento de pares de imagens estereoscópicas obtidos por câmeras aéreas métricas e não métricas. O programa foi desenvolvido na linguagem C++ e foi utilizado a biblioteca OpenGL. O resultado obtido é uma imagem tridimensional de onde pode ser extraídas cotas de altura e formas de terreno. Estas imagens poderão ser usadas no estudo de áreas de risco em encostas. / In this dissertation is presented the development of a computational tool for the processing of pairs of images estereoscópicas obtained by metric and not metric aerial cameras. The program was developed in the program language C++ and the library was used OpenGL. The result of the program is a three-dimensional image from where it can be extracted height quotas and land forms. These images can be used in the study of risk areas on slopes.