Abstract: This work covers the problem of 3D reconstruction, recognition and 6DOF pose estimation. The goal of this project is to reconstruct a 3D scene and to align an object model of the industrial pieces onto the reconstructed scene. The reconstruction algorithm is based on stereo techniques and the recognition algorithm is based on SHOT descriptors computed on a set of uniform keypoints. Correspondences are used to estimate a first 6DOF transformation that maps the model onto the scene and then ICP algorithm is used to refine the transformation. In order to check the effectiveness of the proposed algorithm, several experiments were performed. These experiments were conducted on a lab environment in order to get results under the same conditions in all of them. Although obtained results are not real time results, the proposed algorithm ends up with high rates of object recognition.

Abstract: Endoscopy is the process in which a camera is introduced inside a human.
Given that endoscopy provides realistic images (in contrast to other modalities) and allows non-invase minimal intervention procedures (which can aid in diagnosis and surgical interventions), its use has spreaded during last decades.
In this project we will focus on bronchoscopic procedures, during which the camera is introduced through the trachea in order to have a diagnostic of the patient. The diagnostic interventions are focused on: degree of stenosis (reduction in tracheal area), prosthesis or early diagnosis of tumors. In the first case, assessment of the luminal area and the calculation of the diameters of the tracheal rings are required. A main limitation is that all the process is done by hand,
which means that the doctor takes all the measurements and decisions just by looking at the screen. As far as we know there is no computational framework for helping the doctors in the diagnosis.
This project will consist of analysing bronchoscopic videos in order to extract useful information for the diagnostic of the degree of stenosis. In particular we will focus on segmentation of the tracheal rings. As a result of this project several strategies (for detecting tracheal rings) had been implemented in order to compare their performance.

Abstract: Accurate computation of optical flow is a key-point in many image processing fields. Detection of anomalous and unpredicted agents (such as pedestrians, bikers or cars) in urban scenes or pathology discrimination in medical imaging sequences, to mention just a two. The above kinds sequences present two main difficulties for standard optical flow techniques. On one hand, variability in acquisition conditions (illuminance, medical imaging modality, ...) force an alterantive representation for images fulfilling the britghtness constancy constrain. On the hand, current variational schemes produce oversmoothed fields unable to properly model discontinuous behaviours such as collisions or functionless pathological areas. This master project explores the abilities and limitations of local and global optical flow approaches. The master student will put especial emphasis in the theoretical grounds behind in order to design a variational framework combining the theoretical advantages of the considered techniques. In particular an optical flow based on Gabor phase tracking (developed in the group for medical imaging) will be generalized to urban scenes.

Abstract: The Diagnosis of Left Ventricle (LV) pathologies is related to regional wall motion analysis. Health indicator scores such as the rotation and the torsion are useful for the diagnose of the Left Ventricle (LV) function. However, this requires proper identification of LV segments. On one hand, manual segmentation is robust, but it is slow and requires medical expertise. On the other hand, the tag pattern in Tagged Magnetic Resonance (TMR) sequences is a problem for the automatic segmentation of the LV boundaries. Consequently, we propose a method based in the classical formulation of parametric Snakes, combined with Active Shape models. Our semantic definition of the LV is tagged tissue that experiences motion in the systolic cycle. This defines two energy potentials for the Snake convergence. Additionally, the mean shape corrects excessive deviation from the anatomical shape. We have validated our approach in 15 healthy volunteers and two short axis cuts. In this way, we have compared the automatic segmentations to manual shapes outlined by medical experts. Also, we have explored the accuracy of clinical scores computed using automatic contours. The results show minor divergence in the approximation and the manual segmentations as well as robust computation of clinical scores in all cases. From this we conclude that the proposed method is a promising support tool for clinical analysis.

Abstract: A usual tool in cardiac disease diagnosis is vessel plaque assessment by analysis of IVUS sequences. Manual detection of lumen-intima, intima-media and media-adventitia vessel borders is the main activity of physicians in the process of plaque quantification. Large variety in vessel border descriptors, as well as, shades, artifacts and blurred response due to ultrasound physical properties troubles automated media-adventitia segmentation. This experimental work presents a solution to such a complex problem. The process blends advanced anisotropic filtering operators and statistic classification techniques, achieving an efficient vessel border modelling strategy. First of all, we introduce the theoretic base of the method. After that, we show the steps of the algorithm, validating the method with statistics that show that the media-adventitia border detection achieves an accuracy in the range of inter-observer variability regardless of plaque nature, vessel geometry and incomplete vessel borders. Finally, we present a little Matlab application to the automatic media-adventitia border.