Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map

2011 ◽  
Vol 59 (2) ◽  
pp. 84-100 ◽  
Author(s):  
Robert Cupec ◽  
Ivan Aleksi ◽  
Günther Schmidt
Icarus ◽  
2019 ◽  
Vol 319 ◽  
pp. 812-827 ◽  
Author(s):  
R.S. Park ◽  
A.T. Vaughan ◽  
A.S. Konopliv ◽  
A.I. Ermakov ◽  
N. Mastrodemos ◽  
...  

2019 ◽  
Vol 55 (8) ◽  
Author(s):  
Rui Shi ◽  
Xianguo Tuo ◽  
Jianbo Yang ◽  
Yi Cheng ◽  
Honglong Zheng ◽  
...  

Author(s):  
M. A. Azzaoui ◽  
M. Adnani ◽  
H. El Belrhiti ◽  
I. E. Chaouki ◽  
L. Masmoudi

<p><strong>Abstract.</strong> Crescent sand dunes called barchans are the fastest moving sand dunes in the desert, causing disturbance for infrastructure and threatening human settlements. Their study is of great interest for urban planners and geologists interested in desertification (Hugenholtz et al., 2012). In order to study them at a large scale, the use of remote sensing is necessary. Indeed, barchans can be part of barchan fields which can be composed of thousands of dunes (Elbelrhiti et al.2008). Our region of interest is located in the south of Morocco, near the city of Laayoune, where barchans are stretching over a 400&amp;thinsp;km corridor of sand dunes.</p><p> We used image processing techniques based on machine learning approaches to detect both the location and the outlines of barchan dunes. The process we developed combined two main parts: The first one consists of the detection of crescent shaped dunes in satellite images using a supervised learning method and the second one is the mapping of barchans contours (windward, brink and leeward) defining their 2D pattern.</p><p> For the detection, we started by image enhancement techniques using contrast adjustment by histogram equalization along with noise reduction filters. We then used a supervised learning method: We annotated the samples and trained a hierarchical cascade classifier that we tested with both Haar and LBP features (Viola et Jones, 2001; Liao et al., 2007). Then, we merged positive bounding boxes exceeding a defined overlapping ratio. The positive examples were then qualified to the second part of our approach, where the exact contours were mapped using an image processing algorithm: We trained an ASM (Active Shape Model) (Cootes et al., 1995) to recognize the contours of barchans. We started by selecting a sample with 100 barchan dunes with 30 landmarks (10 landmarks for each one of the 3 outlines). We then aligned the shapes using Procrustes analysis, before proceeding to reduce the dimensionality using PCA. Finally, we tested different descriptors for the profiles matching: HOG features were used to construct a multivariate Gaussian model, and then SURF descriptors were fed an SVM. The result was a recursive model that successfully mapped the contours of barchans dunes.</p><p> We experimented with IKONOS high resolution satellite images. The use of IKONOS high resolution satellite images proved useful not only to have a good accuracy, but also allowed to map the contours of barchans sand dunes with a high precision. Overall, the execution time of the combined methods was very satisfying.</p>


2019 ◽  
Vol 9 (1) ◽  
Author(s):  
Marzia Buscema ◽  
Simone E. Hieber ◽  
Georg Schulz ◽  
Hans Deyhle ◽  
Alexander Hipp ◽  
...  

Abstract Atherosclerotic arteries exhibit characteristic constrictions and substantial deviations from cylindrical shape. Therefore, determining the artery’s cross-section along the centerline is challenging, although high-resolution isotropic three-dimensional data are available. Herein, we apply high-resolution computed tomography in absorption and phase to a plaque-containing human artery post-mortem, through the course of the preparation stages for histology. We identify the impact of paraffin embedding and decalcification on the artery lumen. For automatic extraction of lumen’s cross-section along centerline we present a dedicated pipeline. Comparing fixated tissue before and after paraffin embedding gives rise to shape changes with lumen reduction to 50–80%. The histological slicing induces further deformations with respect to tomography. Data acquired after decalcification show debris unintentionally distributed within the vessel preventing the reliable automatic lumen segmentation. Comparing tomography of laboratory- and synchrotron-radiation-based X rays by means of joint histogram analysis leads us to conclude that advanced desktop tomography is capable of quantifying the artery’s lumen as an essential input for blood flow simulations. The results indicate that the most reliable lumen quantification is achieved by imaging the non-decalcified specimen fixed in formalin, using phase contrast modality and a dedicated processing pipeline. This study focusses on a methodology to quantitatively evaluate diseased artery segments post-mortem and provides unique structural parameters on the treatment-induced local shrinkage, which will be the basis of future studies on the flow in vessels affected by constrictions.


2011 ◽  
Vol 7 (S283) ◽  
pp. 302-303
Author(s):  
Stavros Akras ◽  
Jose-Alberto López ◽  
Wolfgang Steffen

AbstractWe present high resolution long-slit spectra from the San Pedro Martir kinematic catalogue (López et al. 2012) of plantetary nebulae M1-32 and M2-42 and their modeled PV diagrams using the 3-D morpho-kinematic code SHAPE. We find high-speed collimated outflows, surrounded by a equatorial thick torus/ring. The same SHAPE model is able to fit both planetary nebulae assuming one cylindrical velocity field for the outflows and one Hubble-law for the torus/ring concluding that they may be akin objects which just appear at different projections.


2019 ◽  
Vol 630 ◽  
pp. A9 ◽  
Author(s):  
C. Feller ◽  
S. Fornasier ◽  
S. Ferrari ◽  
P. H. Hasselmann ◽  
A. Barucci ◽  
...  

Context. From August 2014 to September 2016, the Rosetta spacecraft followed comet 67P/Churyumov–Gerasimenko along its orbit. After the comet passed perihelion, Rosetta performed a flyby manoeuvre over the Imhotep–Khepry transition in April 2016. The OSIRIS/Narrow-Angle-Camera (NAC) acquired 112 observations with mainly three broadband filters (centered at 480, 649, and 743 nm) at a resolution of up to 0.53 m/px and for phase angles between 0.095° and 62°. Aims. We have investigated the morphological and spectrophotometrical properties of this area using the OSIRIS/NAC high-resolution observations. Methods. We assembled the observations into coregistered color cubes. Using a 3D shape model, we produced the illumination conditions and georeference for each observation. We mapped the observations of the transition to investigate its geomorphology. Observations were photometrically corrected using the Lommel–Seeliger disk law. Spectrophotometric analyses were performed on the coregistered color cubes. These data were used to estimate the local phase reddening. Results. The Imhotep–Khepry transition hosts numerous and varied types of terrains and features. We observe an association between a feature’s nature, its reflectance, and its spectral slopes. Fine material deposits exhibit an average reflectance and spectral slope, while terrains with diamictons, consolidated material, degraded outcrops, or features such as somber boulders present a lower-than-average reflectance and higher-than-average spectral slope. Bright surfaces present here a spectral behavior consistent with terrains enriched in water-ice. We find a phase-reddening slope of 0.064 ± 0.001%/100 nm/° at 2.7 au outbound, similar to the one obtained at 2.3 au inbound during the February 2015 flyby. Conclusions. Identified as the source region of multiple jets and a host of water-ice material, the Imhotep–Khepry transition appeared in April 2016, close to the frost line, to further harbor several potential locations with exposed water-ice material among its numerous different morphological terrain units.


1998 ◽  
Vol 59 (3-5) ◽  
pp. 303-317 ◽  
Author(s):  
L.L. Strow ◽  
D.C. Tobin ◽  
W.W. Mcmillan ◽  
S.E. Hannon ◽  
W.L. Smith ◽  
...  

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