Lam, Kin Kwok. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2011. / Includes bibliographical references (leaves 99-103). / Abstracts in English and Chinese. / Abstract --- p.ii / 摘要 --- p.iii / Acknowledgements --- p.iv / Table of Contents --- p.v / List of Figures --- p.viii / List of Tables --- p.xi / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Intrinsic Problem of Today's Pose Estimation Systems --- p.1 / Chapter 1.2 --- Multi-sensors Data Fusion --- p.2 / Chapter 1.3 --- Objectives and Contributions --- p.3 / Chapter 1.4 --- Organization of the dissertation --- p.4 / Chapter Chapter 2 --- Architecture of Sensing System --- p.5 / Chapter 2.1 --- Hardware for Pose Estimation System --- p.5 / Chapter 2.2 --- Software for Pose Estimation System --- p.6 / Chapter Chapter 3 --- Inertial Measurement System --- p.7 / Chapter 3.1 --- Basic knowledge of Inertial Measurement System --- p.7 / Chapter 3.2 --- Strapdown Inertial Navigation --- p.8 / Chapter 3.2.1 --- Tracking Orientation --- p.9 / Chapter 3.2.2 --- Discussion of Attitude Representations --- p.14 / Chapter 3.2.3 --- Tracking Position --- p.16 / Chapter 3.3 --- Summary of Strapdown Inertial Navigation --- p.16 / Chapter Chapter 4 --- Visual Tracking System --- p.17 / Chapter 4.1 --- Background of Visual Tracking System --- p.17 / Chapter 4.2 --- Basic knowledge of Camera Calibration and Model --- p.18 / Chapter 4.2.1 --- Related Coordinate Frames --- p.18 / Chapter 4.2.2 --- Pinhole Camera Model --- p.20 / Chapter 4.2.3 --- Calibration for Nonlinear Model --- p.21 / Chapter 4.3 --- Implementation of Process to Calibrate Camera --- p.22 / Chapter 4.3.1 --- Image Capture and Corners Extraction --- p.22 / Chapter 4.3.2 --- Camera Calibration --- p.23 / Chapter 4.4 --- Perspective-n-Point Problem --- p.25 / Chapter 4.5 --- Camera Pose Estimation Algorithms --- p.26 / Chapter 4.5.1 --- Pose Estimation Using Quadrangular Targets --- p.27 / Chapter 4.5.2 --- Efficient Perspective-n-Point Camera Pose Estimation --- p.31 / Chapter 4.5.3 --- Linear N-Point Camera Pose Determination --- p.33 / Chapter 4.5.4 --- Pose Estimation from Orthography and Scaling with Iterations --- p.36 / Chapter 4.6 --- Experimental Results of Camera Pose Estimation Algorithms --- p.40 / Chapter 4.6.1 --- Simulation Test --- p.40 / Chapter 4.6.2 --- Real Images Test --- p.43 / Chapter 4.6.3 --- Summary --- p.46 / Chapter Chapter 5 --- Kalman Filter --- p.47 / Chapter 5.1 --- Linear Dynamic System Model --- p.48 / Chapter 5.2 --- Time Update --- p.48 / Chapter 5.3 --- Measurement Update --- p.49 / Chapter 5.3.1 --- Maximum a Posterior Probability --- p.49 / Chapter 5.3.2 --- Batch Least-Square Estimation --- p.51 / Chapter 5.3.3 --- Measurement Update in Kalman Filter --- p.54 / Chapter 5.4 --- Summary of Kalman Filter --- p.56 / Chapter Chapter 6 --- Extended Kalman Filter --- p.58 / Chapter 6.1 --- Linearization of Nonlinear Systems --- p.58 / Chapter 6.2 --- Extended Kalman Filter --- p.59 / Chapter Chapter 7 --- Unscented Kalman Filter --- p.61 / Chapter 7.1 --- Least-square Estimator Structure --- p.61 / Chapter 7.2 --- Unscented Transform --- p.62 / Chapter 7.3 --- Unscented Kalman Filter --- p.64 / Chapter Chapter 8 --- Data Fusion Algorithm --- p.68 / Chapter 8.1 --- Traditional Multi-Sensor Data Fusion --- p.69 / Chapter 8.1.1 --- Measurement Fusion --- p.69 / Chapter 8.1.2 --- Track-to-Track Fusion --- p.71 / Chapter 8.2 --- Multi-Sensor Data Fusion using Extended Kalman Filter --- p.72 / Chapter 8.2.1 --- Time Update Model --- p.73 / Chapter 8.2.2 --- Measurement Update Model --- p.74 / Chapter 8.3 --- Multi-Sensor Data Fusion using Unscented Kalman Filter --- p.75 / Chapter 8.3.1 --- Time Update Model --- p.75 / Chapter 8.3.2 --- Measurement Update Model --- p.76 / Chapter 8.4 --- Simulation Test --- p.76 / Chapter 8.5 --- Experimental Test --- p.80 / Chapter 8.5.1 --- Rotational Test --- p.81 / Chapter 8.5.2 --- Translational Test --- p.86 / Chapter Chapter 9 --- Future Work --- p.93 / Chapter 9.1 --- Zero Velocity Compensation --- p.93 / Chapter 9.1.1 --- Stroke Segmentation --- p.93 / Chapter 9.1.2 --- Zero Velocity Compensation (ZVC) --- p.94 / Chapter 9.1.3 --- Experimental Results --- p.94 / Chapter 9.2 --- Random Sample Consensus Algorithm (RANSAC) --- p.96 / Chapter Chapter 10 --- Conclusion --- p.97 / Bibliography --- p.99

用投影機替代傳統的顯示器可在較小尺寸的設備上得到較大尺寸的顯示，從而彌補了傳統顯示器移動性差的不足。投影機照相機系統通過不可感知的結構光，在顯示視頻內容的同時具備了三維傳感能力，從而可為自然人機交互提供良好的平臺。投影機照相機系統在人機交互中的應用主要包括以下四個核心內容: (1)同時顯示和傳感，即如何在最低限度的影響原始投影的前提下，使得普通視頻投影機既是顯示設備又是三維傳感器;(2) 三維信息的理解:即如何通過利用額外的信息來彌補稀疏點云的不足，從而改善系統性能; (3) 分割:即如何在不斷變化投影內容的影響下得到準確的分割(4) 姿態識別:即如何從單張圖像中得到三維姿態。本文將針對上述四個方面進行深入的研究和探討，並提出改造方案。 / 首先，為了解決嵌入編碼不可見性與編碼恢復魯棒性之間的矛盾，本文提出一種在編解碼兩端同時具備抗噪能力的方法。我們使用特殊設計的幾何圖元和較大的海明距離來編碼，從而增強了抗噪聲干擾能力。同時在解碼端，我們使用事先通過訓練得到的幾何圖元檢測器來檢測和識別嵌入圖像的編碼，從而解決了因噪聲干擾使用傳統結構光中的分割方法很難提取嵌入編碼的困難。 / 其次在三維信息的理解方面，我們提出了一個通過不可感知結構光來實現六自由度頭部姿態估計的方法。首先，通過精心設計的投影策略和照相機-投影機的同步，在不可感知結構光的照射下，我們得到了模式圖和與之相對應的紋理圖。然後，在紋理圖中使用主動表觀模型定位二維面部特徵，在模式圖中通用結構光方法計算出點雲坐標，結合上述兩種信息來計算面部特征點的三維坐標。最后，通過不同幀中對應特征點三維坐標間的相關矩陣的奇異值分解來估計頭部的朝向和位移。 / 在分割方面，我們提出一種在投影機-照相機系統下由粗到精的手部分割方法。首先手部區域先通過對比度顯著性檢測的方法粗略分割出來，然後通過保護邊界的平滑方法保證分割區域的一致性，最后精確的分割結果自置信度分析得到。 / 最後，我們又探討如何僅使用投影機和照相機將在普通桌面上的投影區域轉化成觸摸屏的方案。我們將一種經過統計分析得到的隨機二元編碼嶽入到普通投影內容中，從而在用戶沒有感知的情況下，使得投影機-照相機系統具備三維感知的能力。最終手指是否觸及桌面是通過投影機-照相機-桌面系統的標定信息，精准的手部區域分割和手指尖定位，投影機投影平面勻照相機圖像平面的單應映射以及最入投影的編碼來確定。 / The use of a projector in place of traditional display device would dissociate display size from device size, making portability much less an issue. Associated with camera, the projector-camera system allows simultaneous video display and 3D acquisition through imperceptible structured light sensing, providing a vivid and immersed platform for natural human-computer interaction. Key issues involved in the approach include: (1) Simultaneous Display and Acquisition: how to make normal video projector not only a display device but also a 3D sensor even with the prerequisite of incurring minimum disturbance to the original projection; (2) 3D Information Interpretation: how to interpret the spare depth information with the assistance of some additional cues to enhance the system performance; (3) Segmentation: how to acquire accurate segmentation in the presence of the incessant variation of the projected video content; (4) Posture Recognition: how to infer 3D posture from single image. This thesis aims at providing improved solutions to each of these issues. / To address the conflict between imperceptibility of the embedded codes and the robustness of code retrieval, noise-tolerant schemes to both the coding and decoding stages are introduced. At the coding end, specifically designed primitive shapes and large Hamming distance are employed to enhance tolerance toward noise. At the decoding end, pre-trained primitive shape detectors are used to detect and identify the embedded codes a task difficult to achieve by segmentation that is used in general structured light methods, for the weakly embedded information is generally interfered by substantial noise. / On 3D information interpretation, a system that estimates 6-DOF head pose by imperceptible structured light sensing is proposed. First, through elaborate pattern projection strategy and camera-projector synchronization, pattern-illuminated images and the corresponding scene-texture image are captured with imperceptible patterned illumination. Then, 3D positions of the key facial feature points are derived by a combination of the 2D facial feature points in the scene-texture image localized by AAM and the point cloud generated by structured light sensing. Eventually, the head orientation and translation are estimated by SVD of a correlation matrix that is generated from the 3D corresponding feature point pairs over different frames. / On the segmentation issue, we describe a coarse-to-fine hand segmentation method for projector-camera system. After rough segmentation by contrast saliency detection and mean shift-based discontinuity-preserved smoothing, the refined result is confirmed through confidence evaluation. / Finally, we address how an HCI (Human-Computer Interface) with small device size, large display, and touch input facility can be made possible by a mere projector and camera. The realization is through the use of a properly embedded structured light sensing scheme that enables a regular light-colored table surface to serve the dual roles of both a projection screen and a touch-sensitive display surface. A random binary pattern is employed to code structured light in pixel accuracy, which is embedded into the regular projection display in a way that the user perceives only regular display but not the structured pattern hidden in the display. With the projection display on the table surface being imaged by a camera, the observed image data, plus the known projection content, can work together to probe the 3D world immediately above the table surface, like deciding if there is a finger present and if the finger touches the table surface, and if so at what position on the table surface the finger tip makes the contact. All the decisions hinge upon a careful calibration of the projector-camera-table surface system, intelligent segmentation of the hand in the image data, and exploitation of the homography mapping existing between the projector’s display panel and the camera’s image plane. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Dai, Jingwen. / Thesis (Ph.D.)--Chinese University of Hong Kong, 2012. / Includes bibliographical references (leaves 155-182). / Abstract also in Chinese. / Abstract --- p.i / 摘要 --- p.iv / Acknowledgement --- p.vi / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Challenges --- p.2 / Chapter 1.2.1 --- Simultaneous Display and Acquisition --- p.2 / Chapter 1.2.2 --- 3D Information Interpretation --- p.3 / Chapter 1.2.3 --- Segmentation --- p.4 / Chapter 1.2.4 --- Posture Recognition --- p.4 / Chapter 1.3 --- Objective --- p.5 / Chapter 1.4 --- Organization of the Thesis --- p.5 / Chapter 2 --- Background --- p.9 / Chapter 2.1 --- Projector-Camera System --- p.9 / Chapter 2.1.1 --- Projection Technologies --- p.10 / Chapter 2.1.2 --- Researches in ProCams --- p.16 / Chapter 2.2 --- Natural Human-Computer Interaction --- p.24 / Chapter 2.2.1 --- Head Pose --- p.25 / Chapter 2.2.2 --- Hand Gesture --- p.33 / Chapter 3 --- Head Pose Estimation by ISL --- p.41 / Chapter 3.1 --- Introduction --- p.42 / Chapter 3.2 --- Previous Works --- p.44 / Chapter 3.2.1 --- Head Pose Estimation --- p.44 / Chapter 3.2.2 --- Imperceptible Structured Light --- p.46 / Chapter 3.3 --- Method --- p.47 / Chapter 3.3.1 --- Pattern Projection Strategy for Imperceptible Structured Light Sensing --- p.47 / Chapter 3.3.2 --- Facial Feature Localization --- p.48 / Chapter 3.3.3 --- 6 DOF Head Pose Estimation --- p.54 / Chapter 3.4 --- Experiments --- p.57 / Chapter 3.4.1 --- Overview of Experiment Setup --- p.57 / Chapter 3.4.2 --- Test Dataset Collection --- p.58 / Chapter 3.4.3 --- Results --- p.59 / Chapter 3.5 --- Summary --- p.63 / Chapter 4 --- Embedding Codes into Normal Projection --- p.65 / Chapter 4.1 --- Introduction --- p.66 / Chapter 4.2 --- Previous Works --- p.68 / Chapter 4.3 --- Method --- p.70 / Chapter 4.3.1 --- Principle of Embedding Imperceptible Codes --- p.70 / Chapter 4.3.2 --- Design of Embedded Pattern --- p.73 / Chapter 4.3.3 --- Primitive Shape Identification and Decoding --- p.76 / Chapter 4.3.4 --- Codeword Retrieval --- p.77 / Chapter 4.4 --- Experiments --- p.79 / Chapter 4.4.1 --- Overview of Experiment Setup --- p.79 / Chapter 4.4.2 --- Embedded Code Imperceptibility Evaluation --- p.81 / Chapter 4.4.3 --- Primitive Shape Detection Accuracy Evaluation --- p.82 / Chapter 4.5 --- Sensitivity Evaluation --- p.84 / Chapter 4.5.1 --- Working Distance --- p.85 / Chapter 4.5.2 --- Projection Surface Orientation --- p.87 / Chapter 4.5.3 --- Projection Surface Shape --- p.88 / Chapter 4.5.4 --- Projection Surface Texture --- p.91 / Chapter 4.5.5 --- Projector-Camera System --- p.91 / Chapter 4.6 --- Applications --- p.95 / Chapter 4.6.1 --- 3D Reconstruction with Normal Video Projection --- p.95 / Chapter 4.6.2 --- Sensing Surrounding Environment on Mobile Robot Platform --- p.97 / Chapter 4.6.3 --- Natural Human-Computer Interaction --- p.99 / Chapter 4.7 --- Summary --- p.99 / Chapter 5 --- Hand Segmentation in PROCAMS --- p.102 / Chapter 5.1 --- Previous Works --- p.103 / Chapter 5.2 --- Method --- p.106 / Chapter 5.2.1 --- Rough Segmentation by Contrast Saliency --- p.106 / Chapter 5.2.2 --- Mean-Shift Region Smoothing --- p.108 / Chapter 5.2.3 --- Precise Segmentation by Fusing --- p.110 / Chapter 5.3 --- Experiments --- p.111 / Chapter 5.4 --- Summary --- p.115 / Chapter 6 --- Surface Touch-Sensitive Display --- p.116 / Chapter 6.1 --- Introduction --- p.117 / Chapter 6.2 --- Previous Works --- p.119 / Chapter 6.3 --- Priors in Pro-Cam System --- p.122 / Chapter 6.3.1 --- Homography Estimation --- p.123 / Chapter 6.3.2 --- Radiometric Prediction --- p.124 / Chapter 6.4 --- Embedding Codes into Video Projection --- p.125 / Chapter 6.4.1 --- Imperceptible Structured Light --- p.125 / Chapter 6.4.2 --- Embedded Pattern Design Strategy and Statistical Analysis --- p.126 / Chapter 6.5 --- Touch Detection using Homography and Embedded Code --- p.129 / Chapter 6.5.1 --- Hand Segmentation --- p.130 / Chapter 6.5.2 --- Fingertip Detection --- p.130 / Chapter 6.5.3 --- Touch Detection Through Homography --- p.131 / Chapter 6.5.4 --- From Resistive Touching to Capacitive Touching --- p.133 / Chapter 6.6 --- Experiments --- p.135 / Chapter 6.6.1 --- System Initialization --- p.137 / Chapter 6.6.2 --- Display Quality Evaluation --- p.139 / Chapter 6.6.3 --- Touch Accuracy Evaluation --- p.141 / Chapter 6.6.4 --- Trajectory Tracking Evaluation --- p.145 / Chapter 6.6.5 --- Multiple-Touch Evaluation --- p.145 / Chapter 6.6.6 --- Efficiency Evaluation --- p.147 / Chapter 6.7 --- Summary --- p.149 / Chapter 7 --- Conclusion and Future Work --- p.150 / Chapter 7.1 --- Conclusion and Contributions --- p.150 / Chapter 7.2 --- Related Publications --- p.152 / Chapter 7.3 --- Future Work --- p.153 / Bibliography --- p.155

by Po-Ming Wong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1997. / Includes bibliographical references (leaves 94-100). / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Introduction --- p.1 / Chapter 1.2 --- Image Data --- p.2 / Chapter 1.2.1 --- Feature Detection --- p.2 / Chapter 1.3 --- Neural Networks --- p.4 / Chapter 1.4 --- Invariant Object Recognition --- p.5 / Chapter 1.5 --- Thesis Outline --- p.7 / Chapter 2 --- Feature Extraction --- p.8 / Chapter 2.1 --- Review of the Principle Component Analysis (PCA) Method --- p.9 / Chapter 2.1.1 --- Theory --- p.10 / Chapter 2.2 --- Covariance Operator --- p.13 / Chapter 2.3 --- Corner Extraction Method --- p.16 / Chapter 2.3.1 --- Corner Detection on the Surface of an Object --- p.16 / Chapter 2.3.2 --- Corner Detection at Boundary Region --- p.17 / Chapter 2.3.3 --- Steps in Corner Detection Process --- p.21 / Chapter 2.4 --- Experiment Results and Discussion --- p.23 / Chapter 2.4.1 --- Features Localization --- p.27 / Chapter 2.4.2 --- Preparing Feature Points for Matching Process --- p.32 / Chapter 2.5 --- Summary --- p.32 / Chapter 3 --- Invariant Graph Matching Using High-Order Hopfield Network --- p.36 / Chapter 3.1 --- Review of the Hopfield Network --- p.37 / Chapter 3.1.1 --- 3D Image Matching Algorithm --- p.40 / Chapter 3.1.2 --- Iteration Algorithm --- p.44 / Chapter 3.2 --- Third-order Hopfield Network --- p.45 / Chapter 3.3 --- Experimental Results --- p.49 / Chapter 3.4 --- Summary --- p.58 / Chapter 4 --- Hopfield Network for 2D and 3D Mirror-Symmetric Image Match- ing --- p.59 / Chapter 4.1 --- Introduction --- p.59 / Chapter 4.2 --- Geometric Symmetry --- p.60 / Chapter 4.3 --- Motivation --- p.62 / Chapter 4.4 --- Third-order Hopfield Network for Solving 2D Symmetry Problems --- p.66 / Chapter 4.5 --- Forth-order Hopfield Network for Solving 3D Symmetry Problem --- p.71 / Chapter 4.6 --- Experiment Results --- p.78 / Chapter 4.7 --- Summary --- p.88 / Chapter 5 --- Conclusion --- p.90 / Chapter 5.1 --- Results and Contributions --- p.90 / Chapter 5.2 --- Future Work --- p.92 / Bibliography --- p.94

Chou Yun-Sum, Bailey. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2001. / Includes bibliographical references (leaves 89-92). / Abstracts in English and Chinese. / List of Symbol / Chapter Chapter 1 --- Introduction / Chapter 1.1 --- The Goal: Euclidean Reconstruction --- p.1 / Chapter 1.2 --- Historical background --- p.2 / Chapter 1.3 --- Scope of the thesis --- p.2 / Chapter 1.4 --- Thesis Outline --- p.3 / Chapter Chapter 2 --- An introduction to stereo vision and 3D shape reconstruction / Chapter 2.1 --- Homogeneous Coordinates --- p.4 / Chapter 2.2 --- Camera Model / Chapter 2.2.1 --- Pinhole Camera Model --- p.5 / Chapter 2.3 --- Camera Calibration --- p.11 / Chapter 2.4 --- Geometry of Binocular System --- p.14 / Chapter 2.5 --- Stereo Matching --- p.15 / Chapter 2.5.1 --- Accuracy of Corresponding Point --- p.17 / Chapter 2.5.2 --- The Stereo Matching Approach --- p.18 / Chapter 2.5.2.1 --- Intensity-based stereo matching --- p.19 / Chapter 2.5.2.2 --- Feature-based stereo matching --- p.20 / Chapter 2.5.3 --- Matching Constraints --- p.20 / Chapter 2.6 --- 3D Reconstruction --- p.22 / Chapter 2.7 --- Recent development on self calibration --- p.24 / Chapter 2.8 --- Summary of the Chapter --- p.25 / Chapter Chapter 3 --- Camera Calibration / Chapter 3.1 --- Introduction --- p.26 / Chapter 3.2 --- Camera Self-calibration --- p.27 / Chapter 3.3 --- Self-calibration under general camera motion --- p.27 / Chapter 3.3.1 --- The absolute Conic Based Techniques --- p.28 / Chapter 3.3.2 --- A Stratified approach for self-calibration by Pollefeys --- p.33 / Chapter 3.3.3 --- Pollefeys self-calibration with Absolute Quadric --- p.34 / Chapter 3.3.4 --- Newsam's self-calibration with linear algorithm --- p.34 / Chapter 3.4 --- Camera Self-calibration under specially designed motion sequence / Chapter 3.4. 1 --- Hartley's self-calibration by pure rotations --- p.35 / Chapter 3.4.1.1 --- Summary of the Algorithm / Chapter 3.4.2 --- Pollefeys self-calibration with variant focal length --- p.36 / Chapter 3.4.2.1 --- Summary of the Algorithm / Chapter 3.4.3 --- Faugeras self-calibration of a 1D Projective Camera --- p.38 / Chapter 3.5 --- Summary of the Chapter --- p.39 / Chapter Chapter 4 --- Self-calibration under Planar motions / Chapter 4.1 --- Introduction --- p.40 / Chapter 4.2 --- 1D Projective Camera Self-calibration --- p.41 / Chapter 4.2.1 --- 1-D camera model --- p.42 / Chapter 4.2.2 --- 1-D Projective Camera Self-calibration Algorithms --- p.44 / Chapter 4.2.3 --- Planar motion detection --- p.45 / Chapter 4.2.4 --- Self-calibration under horizontal planar motions --- p.46 / Chapter 4.2.5 --- Self-calibration under three different planar motions --- p.47 / Chapter 4.2.6 --- Result analysis on self-calibration Experiments --- p.49 / Chapter 4.3 --- Essential Matrix and Triangulation --- p.51 / Chapter 4.4 --- Merge of Partial 3D models --- p.51 / Chapter 4.5 --- Summary of the Reconstruction Algorithms --- p.53 / Chapter 4.6 --- Experimental Results / Chapter 4.6.1 --- Experiment 1 : A Simulated Box --- p.54 / Chapter 4.6.2 --- Experiment 2 : A Real Building --- p.57 / Chapter 4.6.3 --- Experiment 3 : A Sun Flower --- p.58 / Chapter 4.7 --- Conclusion --- p.59 / Chapter Chapter 5 --- Building Reconstruction using a linear camera self- calibration technique / Chapter 5.1 --- Introduction --- p.60 / Chapter 5.2 --- Metric Reconstruction from Partially Calibrated image / Chapter 5.2.1 --- Partially Calibrated Camera --- p.62 / Chapter 5.2.2 --- Optimal Computation of Fundamental Matrix (F) --- p.63 / Chapter 5.2.3 --- Linearly Recovering Two Focal Lengths from F --- p.64 / Chapter 5.2.4 --- Essential Matrix and Triangulation --- p.66 / Chapter 5.3 --- Experiments and Discussions --- p.67 / Chapter 5.4 --- Conclusion --- p.71 / Chapter Chapter 6 --- Refine the basic model with detail depth information by a Model-Based Stereo technique / Chapter 6.1 --- Introduction --- p.72 / Chapter 6.2 --- Model Based Epipolar Geometry / Chapter 6.2.1 --- Overview --- p.74 / Chapter 6.2.2 --- Warped offset image preparation --- p.76 / Chapter 6.2.3 --- Epipolar line calculation --- p.78 / Chapter 6.2.4 --- Actual corresponding point finding by stereo matching --- p.80 / Chapter 6.2.5 --- Actual 3D point generated by Triangulation --- p.80 / Chapter 6.3 --- Summary of the Algorithms --- p.81 / Chapter 6.4 --- Experiments and discussions --- p.83 / Chapter 6.5 --- Conclusion --- p.85 / Chapter Chapter 7 --- Conclusions / Chapter 7.1 --- Summary --- p.86 / Chapter 7.2 --- Future Work --- p.88 / BIBLIOGRAPHY --- p.89

Lee Keung Tat. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2003. / Includes bibliographical references (leaves 81-86). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Contribution --- p.3 / Chapter 1.3 --- Previous Work --- p.5 / Chapter 1.4 --- Thesis Organization --- p.9 / Chapter 2 --- Overview --- p.10 / Chapter 3 --- Data Acquisition --- p.14 / Chapter 3.1 --- Acquiring the Surface Model --- p.14 / Chapter 3.2 --- Camera Calibration --- p.16 / Chapter 3.3 --- Capturing Image with Camera Pose --- p.18 / Chapter 3.3.1 --- Fastrack --- p.19 / Chapter 3.3.2 --- Tracking the Camera Pose --- p.21 / Chapter 3.3.3 --- Calibrating the Tracking System --- p.23 / Chapter 3.4 --- Summary --- p.32 / Chapter 4 --- Data Fusion --- p.33 / Chapter 4.1 --- Converting Surface Model to Point-Based Model --- p.33 / Chapter 4.2 --- Registering the Radiance Values onto the Point-Based Model --- p.36 / Chapter 4.3 --- Scattered Data Fitting --- p.40 / Chapter 4.3.1 --- Spherical Delaunay Triangulation --- p.41 / Chapter 4.3.2 --- Hierarchical Spherical Triangulation --- p.46 / Chapter 4.3.3 --- Interpolation --- p.49 / Chapter 4.4 --- Data Compression --- p.50 / Chapter 4.5 --- Summary --- p.52 / Chapter 5 --- Multiresolution Point-Based Representation and Rendering --- p.53 / Chapter 5.1 --- Multiresolution Point-Based Representation --- p.55 / Chapter 5.1.1 --- Construction --- p.57 / Chapter 5.2 --- Rendering --- p.62 / Chapter 5.2.1 --- Culling --- p.63 / Chapter 5.2.2 --- Drawing the Node --- p.66 / Chapter 5.3 --- Summary --- p.68 / Chapter 6 --- Experimental Results --- p.69 / Chapter 6.1 --- Tested Objects --- p.69 / Chapter 6.2 --- Evaluation --- p.70 / Chapter 6.3 --- Summary --- p.78 / Chapter 7 --- Conclusion --- p.79 / Chapter 7.1 --- Summary --- p.79 / Chapter 7.2 --- Future Direction --- p.80 / Bibliography --- p.81

Existe um conceito difundido entre professores de educação física, fisioterapeutas e ortopedistas que o joelho não deve ser demasiadamente anteriorizado em relação à ponta do pé na direção ântero-posterior durante qualquer tipo de agachamento de modo a diminuir a carga mecânica imposta ao joelho. No entanto, são escassas as evidências quantitativas que corroboram este conceito. Este trabalho tem como objetivo estimar forças e torque na articulação do joelho em indivíduos saudáveis durante o exercício de agachamento livre com peso em dois modos diferentes de execução: a) joelho não ultrapassando a linha vertical que passa pelos dedos do pé; b) joelho ultrapassando essa linha vertical. Os sujeitos realizaram o agachamento com o pé direito sobre uma plataforma de força que mensurou os torques e forças de reação do solo. O membro inferior direito dos indivíduos (pé, perna e coxa) foram filmados com cinco câmeras digitais. Visando reconstruir o movimento dos segmentos, nós utilizamos a técnica de calibração do sistema anatômico (CAST), aumentando assim, a acurácia na reconstrução da posição tridimensional dos segmentos. O centro articular do quadril foi determinado pelo método rotacional e as forças e torques articulares internos líquidos foram determinados por dinâmica inversa. Os resultados obtidos mostram que o pico da carga mecânica no joelho, quando esse passa em média 11cm da linha do pé, é cerca de 31% maior na condição em que o joelho ultrapassa a linha do pé. Esses resultados implicam que não passar o joelho da linha do pé diminui a força de compressão patelofemoral, levando assim a uma menor solicitação mecânica nesta articulação. / There is a wide spread notion among health professionals that during a squat exercise the knee should not pass forward the forefoot region in order to not overload the knee joint. However, it seems there isn’t scientific literature to support or negate this concept. The goal of this paper is to investigate the effect of different foot-knee positions on the knee joint moment and on the patelofemoral force during squat, which was performed into two different ways: a) knee do not passing the forefoot region; b) knee passing the forefoot region. The subjects performed the squat exercise with the right foot on a force plate that measured the ground reaction force and moment components. The subject’s right leg (foot, shank, and thigh) and pelvis were filmed with five digital cameras. In order to reconstruct the segments’ movement, we used the Calibrated Anatomical System Technique (CAST), improving the accuracy on three-dimensional reconstruction of segment’s position. The hip center was determined by the rotational method and the internal net forces and torques were estimated by inverse dynamics. The results showed that during the condition were knee passed the forefoot region, the knee passed 11 cm on average, what resulted in a peak of mechanical load on the knee 30% higher in relation to the do not pass condition. Based on these results it is suggested that the knee should not pass the forefoot region during squatting in order to decrease the patelofemoral force.

O melanoma representa 4% dos tipos de neoplasias cutâneas e causa 79% de morte por doenças de pele no mundo. Um dos grandes problemas relacionados ao tratamento de melanoma advém da sua resistência às terapias convencionais e, assim, a terapia fotodinâmica surgiu como uma alternativa terapêutica promissora, devido ao seu papel no tratamento de diversos tipos de câncer, além de outras doenças de pele. Ela é baseada no acúmulo seletivo de uma molécula fotoativa no tecido alvo, seguida da iluminação por uma fonte de luz, cujo comprimento de onda é específico para a excitação dessa molécula, ocasionando no dano celular. Neste estudo, foram realizados experimentos in vitro investigando a resposta fotodinâmica em melanoma humano, através de um modelo de tumor tridimensional por levitação magnética. Inicialmente, um protocolo de obtenção dos tumores de melanoma foi desenvolvido para avaliação da terapia em diferentes doses de luz e concentrações de fotossensibilizador. Em seguida, ensaios de cinética e quantificação intracelular com dois fotossensibilizadores, Photogem® e Photodithazine®, também foram feitos com o intuito de averiguar a sua distribuição, bem como tempo de internalização nos tumores. Tendo estabelecido que a incubação por 16 horas com Photodithazine® foi o parâmetro experimental mais adequado, a terapia fotodinâmica foi realizada, em sessão única, com irradiação em 660 nm em tumores de duas diferentes espessuras. Logo, testes de citotoxicidade foram utilizados para comparar os resultados de ambas as condições, onde se notou que o aumento na espessura atenuou o dano oxidativo decorrente da terapia. Além disso, foi observado que o acréscimo na dose de luz não acarretou em mudanças muito significativas na morte celular. No entanto, o maior dano celular, de aproximadamente 90% de morte, foi obtido com 100 μg/mL de Photodithazine® e iluminação com 60 J/cm², resultando na desagregação dos tumores, efeitos promissores da terapia no melanoma. Uma possível alternativa sugerida para aprimorar a eficiência fotodinâmica, seria a aplicação de mais sessões de terapia fotodinâmica, uma vez que os experimentos realizados nesse trabalho foram com uma sessão e, esse procedimento, poderia ocasionar em maior morte celular. / Melanoma accounts for 4% of skin cancers and causes 79% of death from skin diseases worldwide. A major problem associated with melanoma treatment is due to its increasingly resistance to conventional therapies. Thus, photodynamic therapy has emerged as a promising alternative modality to several types of cancer and other skin disorders. It generally involves the selective accumulation of a photoactive molecule in target tissue, followed by illumination with light source of an appropriate wavelength, to excite this molecule, resulting in cell damage. This study sought to investigate the photodynamic response in human melanoma, through a three dimensional tumor model by magnetic levitation. Initially, a protocol to obtain melanoma tumors was developed, to evaluate the therapy at different doses of light and photosensitizer concentrations. Posteriorly, kinetic assays and intracellular quantification with two photosensitizers, Photogem® and Photodithazine®, were also carried out in order to ascertain its distribution, as well as time internalization in tumors. Having established that incubation for 16 hours with Photodithazine® was the most suitable experimental parameter, photodynamic therapy was performed in a single session, with irradiation of 660 nm in two tumors, different in thicknesses. Therefore, cytotoxicity tests were used to compare the results of both conditions, where it was noted that the increased tumor depth may attenuate oxidative damage, induced by the therapy. Furthermore, it was observed that the increase in light dose did not result in significant changes in cell death. Nevertheless, the greater cell damage, approximately 90% kill was obtained with 100 ug/mL Photodithazine® and illumination with 60 J / cm², causing tumor breakdown, which is a promising effect in melanoma therapy. An alternative suggested to enhance the photodynamic efficiency, would be to apply more sessions of photodynamic therapy, so this procedure could result in increased cell death.

Orientador: Rosângela Doin de Almeida / Banca: Elza Yasuko Passini / Banca: Miguel Cezar Sanches / Resumo: Este estudo apresenta uma investigação sobre procedimentos com modelos tridimensionais no ensino-aprendizagem do mapa de relevo. Na pesquisa realizada com alunos de uma classe de 5.a série do ensino fundamental de uma escola estadual da cidade de Rio Claro (SP), observou-se que um modelo tridimensional da área onde está situada a escola favorece o desenvolvimento de formas mais avançadas de representação gráfica do relevo pelos alunos e pode originar a noção de curvas de nível. O estudo tem como base a teoria de Jean Piaget sobre a representação do espaço pela criança e a evolução do desenho infantil / Abstract: This study presents an investigation on procedures with three-dimensional models in the teaching-learning of the relief map. In the research accomplihed with students of a class of 5th series of the Fundamental Teaching of a state school placed in Rio Claro city (SP), it was observed that a three-dimensional model of the area , favors the development in ways more assaults of graphic representation of the relief for the students and it can originate the notion of level curves. The study is based on the Jean Piaget's theory about the representation of the space for the child and the evolution of the infantile drawing / Mestre

INTRODUÇÃO: A função renal fetal é avaliada tradicionalmente pelo aspecto ultrassonográfico, pela análise bioquímica da urina fetal, somada com o diagnóstico exato da natureza da lesão. A análise bioquímica da urina é uma avaliação invasiva e apresenta riscos maternos e fetais. A avaliação por meio da ultrassonografia é método não invasivo e a presença de oligoâmnio é indicativo de displasia renal grave, contudo, de diagnóstico tardio nos casos de patologia renal fetal. O volume renal fetal pode correlacionar-se com a sua função e pode ser avaliado por meio da ultrassonografia bidimensional. Entretanto, esse método apresenta subestimação no cálculo de volume, enquanto por meio da ultrassonografia tridimensional há maior precisão e acurácia em avaliar o volume renal fetal. A ultrassonografia Power Doppler tridimensional é o exame ideal para avaliar a vascularização de parênquima de órgãos fetais e pode ser útil na avaliação da função do rim fetal. OBJETIVOS: O presente estudo tem por objetivos utilizar a ultrassonografia tridimensional acoplado ao Power Doppler e elaborar curvas com valores de referência do volume e dos índices de vascularização dos rins fetais segundo a idade gestacional. MÉTODOS: Realizou-se estudo prospectivo e transversal em gestantes sem patologia, com fetos únicos normais, entre 20 semanas completas a 39 semanas e 6 dias, que foram avaliados por meio da ultrassonografia tridimensional acoplada ao Power Doppler. Foram calculados o volume e os índices de vascularização dos rins fetais, construindo-se as curvas de normalidade. Os testes foram realizados com nível de significância de 5%. A variação intra e interobservador também foi analisada. RESULTADOS: Duzentos e treze fetos foram analisados, sendo que, em 211 casos, analisou-se o rim direito; em 209 o rim esquerdo e, em 204, os índices de vascularização. Os resultados foram ilustrados em gráficos de dispersão com os respectivos intervalos de normalidade com os percentis 5, 10, 25, 50, 75, 90 e 95 e criou-se uma tabela com as equações para estimar as medidas dos volumes renais e dos índices de vascularização pelos modelos de regressão. A avaliação intra e interobservador das mensurações do volume e dos índices de vascularização dos rins fetais apresentou boa reprodutibilidade. CONCLUSÃO: As medidas dos volumes renais fetais variam de forma exponencial, ao longo da idade gestacional, de acordo com os valores de referência propostos e as medidas dos índices de vascularização renais fetais, exceto o índice de fluxo, variam também de forma exponencial, ao longo da idade gestacional, de acordo com os valores de referência apresentados / INTRODUCTION: The fetal renal function is traditionally evaluated by ultrasound aspect, by biochemical analysis of fetal urine together with an accurate diagnosis of the nature of the lesion. Biochemical analysis of the urine is a invasive evaluation and presents risks maternal and fetal. The evaluation by means of ultrasound is noninvasive method and the presence of oligohydramnios is indicative of renal dysplasia serious, however of late diagnosis in cases of renal pathology fetal. The volume fetal renal can correlate with its function and may be assessed by means of twodimensional ultrasound. However, this method presents an underestimation in the calculation of volume, already by means of three-dimensional ultrasonography shows greater precision and accuracy in assessing the volume fetal renal. The threedimensional Power Doppler ultrasonography is the ideal examination to evaluate the vascularization of the parenchyma of fetal organs and may be useful in the evaluation of the function of the fetal kidney. OBJECTIVES: This study aims to use threedimensional ultrasonography coupled to Power Doppler and elaborate curves with reference values of the volume and indices of vascularization of fetal kidneys according to the gestational age. METHODS: A prospective study was performed and cross-sectional in pregnant women without pathology with fetuses only normal between 20 full weeks to 39 weeks and 6 days that were evaluated by means of three-dimensional ultrasonography coupled to Power Doppler. We calculated the volume and the index of vascularization of fetal kidneys, built to the curves of normality. The tests were performed with significance level of 5 %. The variation intra and interobserver were also analyzed. RESULTS: Two hundred and thirteen fetuses were analyzed, in 211 cases examined whether the right kidney; in 209, the left kidney and in 204 the indexes of vascularization. The results were illustrated in dispersion graphs with their normal ranges with percentiles 5, 10, 25, 50, 75, 90 and 95 and created a table with the equations to estimate measures of renal volume and indices of vascularization by the regression models. To assess intra and interobserver measurements of volume and indices of vascularization of fetal kidneys showed good reproducibility. CONCLUSION: The measures of renal volume fetal vary exponentially, along the gestational age, of agreement with the values of reference proposed and the measures of the indices of vascularization fetal renal, except the flow index, also vary exponentially, along the gestational age, of agreement with the reference values presented

Este estudo se propõe a falar sobre as maquetes de apresentação, que são executadas por profissionais especializados, para o Mercado Imobiliário. Foi feito um levantamento sobre como este mercado trabalha atualmente no Brasil, estudando metodologias, materiais e maquinários utilizados. Para tanto, foram feitas visitas técnicas a três das principais empresas especializadas no setor, documentando fotograficamente as formas de trabalho, os materiais mais utilizados e quais máquinas podem ser encontradas. Foi analisada, também, uma das inovações mais recentes e revolucionárias nesta área que é a Fabricação Digital (FD), que, além de influenciar diretamente o setor de construção de maquetes, está alterando a metodologia de trabalho dos arquitetos e designers, pois torna muito mais tênue a linha entre o desenho digital e a execução do modelo físico. Para tanto, foi feita uma visita técnica em um dos doze FabLabs Livres SP, abertos a todos os interessados na cidade de São Paulo, onde foi avaliado omaquinário disponível e suas possibilidades de uso, bem como o acesso aesta nova tecnologia disponibilizada pela Prefeitura Municipal de São Paulo. Estes Laboratórios são abertos ao público e oferecem, além do acesso direto às máquinas, cursos que ensinam a projetar e utilizar esta nova tecnologia. / This study intends to talk about the models of presentation, which are carried out by specialized professionals, for the Real Estate Market. A survey was made on how this market currently works in Brazil, studying methodologies, materials and machinery used. For that, technical visits were made to three of the main companies specialized in this sector, photographically documenting the forms of work, the most used materials and which machines were found there. It was also analyzed one of the most recent and revolutionary innovations in this area that is Digital Fabrication (FD), which, in addition to directly influencing the model construction sector, is changing the architects\' and designers\' working methodology since it makes thinner the line between the digital drawing and the completion of the physical model. A technical visit was made to one of the twelve FabLabs Livres SP, open to all interested in the city of São Paulo, where the available machinery and their possibilities of use were evaluated, as well as the access to this new technology provided by the City Hall Municipality of São Paulo. These laboratories are open to the public and offer courses on how to design and use this new technology. In addition, they offer direct access to the machines.