Structured Light

Coded structured light is considered one of the most reliable techniques for recovering the surface of objects. This technique is based on projecting a light pattern and viewing the illuminated scene from one or more points of view. Since the pattern is coded, correspondences between image points and points of the projected pattern can be easily found. The decoded points can be triangulated and 3D information is obtained. We present an overview of the existing techniques, as well as a new and deÿnitive classiÿcation of patterns for structured light sensors. We have implemented a set of representative techniques in this ÿeld and present some comparative results. The advantages and constraints of the di erent patterns are also discussed.

We describe a simple method of obtaining optical sectioning in a conventional wide-field microscope by projecting a single-spatial-frequency grid pattern onto the object. Images taken at three spatial positions of the grid are processed in real time to produce optically sectioned images that are substantially similar to those obtained with confocal microscopes.

We introduce ideas, proposed technologies, and initial results for an office of the future that is based on a unified application of computer vision and computer graphics in a system that combines and builds upon the notions of the CAVE™, tiled display systems, and image-based modeling . The basic idea is to use real-time computer vision techniques to dynamically extract per-pixel depth and reflectance information for the visible surfaces in the office including walls, furniture, objects, and people, and then to either project images on the surfaces, render images of the surfaces , or interpret changes in the surfaces. In the first case, one could designate every-day (potentially irregular) real surfaces in the office to be used as spatially immersive display surfaces, and then project high-resolution graphics and text onto those surfaces. In the second case, one could transmit the dynamic image-based models over a network for display at a remote site. Finally, one could interpret dynamic changes in the surfaces for the purposes of tracking, interaction, or augmented reality applications.

Shape reconstruction using coded structured light is considered one of the most reliable techniques to recover object surfaces. Having a calibrated projector-camera pair, a light pattern is projected onto the scene and imaged by the camera. Correspondences between projected and recovered patterns are found and used to extract 3D surface information. This paper presents an up-to-date review and a new classification of the existing techniques. Some of these techniques have been implemented and compared, obtaining both qualitative and quantitative results. The advantages and drawbacks of the different patterns and their potentials are discussed.

Three-dimensional (3D) image acquisition systems are rapidly becoming more affordable, especially systems based on commodity electronic cameras. At the same time, personal computers with graphics hardware capable of displaying complex 3D models are also becoming inexpensive enough to be available to a large population. As a result, there is potentially an opportunity to consider new virtual reality applications as diverse as cultural heritage and retail sales that will allow people to view realistic 3D objects on home computers.Although there are many physical techniques for acquiring 3D data—including laser scanners, structured light and time-of-flight—there is a basic pipeline of operations for taking the acquired data and producing a usable numerical model. We look at the fundamental problems of range image registration, line-of-sight errors, mesh integration, surface detail and color, and texture mapping. In the area of registration we consider both the problems of finding an initial global alignment using manual and automatic means, and refining this alignment with variations of the Iterative Closest Point methods. To account for scanner line-of-sight errors we compare several averaging approaches. In the area of mesh integration, that is finding a single mesh joining the data from all scans, we compare various methods for computing interpolating and approximating surfaces. We then look at various ways in which surface properties such as color (more properly, spectral reflectance) can be extracted from acquired imagery. Finally, we examine techniques for producing a final model representation that can be efficiently rendered using graphics hardware.

We present a survey of the most significant techniques, used in the last few years, concerning the coded structured light methods employed to get 3D information. In fact, depth perception is one of the most important subjects in computer vision. Stereovision is an attractive and widely used method, but, it is rather limited to make 3D surface maps, due to the correspondence problem. The correspondence problem can be improved using a method based on structured light concept, projecting a given pattern on the measuring surfaces. However, some relations between the projected pattern and the reflected one must be solved. This relationship can be directly found codifying the projected light, so that, each imaged region of the projected pattern carries the needed information to solve the correspondence problem.

Linear perspective projection has served as the dominant imaging model in computer vision. Recent developments in image sensing make the perspective model highly restrictive. This paper presents a general imaging model that can be used to represent an arbitrary imaging system. It is observed that all imaging systems perform a mapping from incoming scene rays to photo-sensitive elements on the image detector. This mapping can be conveniently described using a set of virtual sensing elements called raxels. Raxels include geometric, radiometric and optical properties. We present a novel calibration method that uses structured light patterns to extract the raxel parameters of an arbitrary imaging system. Experimental results for perspective as well as non-perspective imaging systems are included.

Structured-light systems are simple and effective tools to acquire 3D models. Built with off-the-shelf components, a data projector and a camera, they are easy to deploy and compare in precision with expensive laser scanners. But such a high precision is only possible if camera and projector are both accurately calibrated. Robust calibration methods are well established for cameras but, while cameras and projectors can both be described with the same mathematical model, it is not clear how to adapt these methods to projectors. In consequence, many of the proposed projector calibration techniques make use of a simplified model, neglecting lens distortion, resulting in loss of precision. In this paper, we present a novel method to estimate the image coordinates of 3D points in the projector image plane. The method relies on an uncalibrated camera and makes use of local homographies to reach sub-pixel precision. As a result, any camera model can be used to describe the projector, including the extended pinhole model with radial and tangential distortion coefficients, or even those with more complex lens distortion models.

We present an algorithm and the associated capture methodology to acquire and track the detailed 3D shape, bends, and wrinkles of deforming surfaces. Moving 3D data has been difficult to obtain by methods that rely on known surface features, structured light, or silhouettes. Multispectral photometric stereo is an attractive alternative because it can recover a dense normal field from an un-textured surface. We show how to capture such data and register it over time to generate a single deforming surface. Experiments were performed on video sequences of untextured cloth, filmed under spatially separated red, green, and blue light sources. Our first finding is that using zerodepth-silhouettes as the initial boundary condition already produces rather smoothly varying per-frame reconstructions with high detail. Second, when these 3D reconstructions are augmented with 2D optical flow, one can register the first frame's reconstruction to every subsequent frame.

This paper presents the experimental results of 3D underwater reconstructions based on a combination of structured light and stereo-photogrammetry. Structured lighting patterns are projected by a video projector and acquired by a stereo vision system for a whole-field 3D reconstruction. We describe the experimental setup used for the underwater tests in water tank, with different turbidity conditions. The quality of 3D reconstruction comes up to be acceptable even with high turbidity values, despite the heavy presence of scattering and absorption effects. In this work we have tested and analysed the results of a well-known optical technique -frequently used in air for industrial and Cultural Heritage applications -in underwater environment. We also tested the performance of this acquisition method for underwater applications with small field of view.

Specular reflections present difficulties for many areas of computer vision such as stereo and segmentation. To separate specular and diffuse reflection components, previous approaches generally require accurate segmentation, regionally uniform reflectance or structured lighting. To overcome these limiting assumptions, we propose a method based on color analysis and multibaseline stereo that simultaneously estimates the separation and the true depth of specular reflections. First, pixels with a specular component are detected by a novel form of color histogram differencing that utilizes the epipolar constraint. This process uses relevant data from all the stereo images for robustness, and addresses the problem of color occlusions. Based on the Lambertian model of diffuse reflectance, stereo correspondence is then employed to compute for specular pixels their corresponding diffuse components in other views. The results of color-based detection aid the stereo correspondence, which determines both separation and true depth of specular pixels. Our approach integrates color analysis and multibaseline stereo in a synergistic manner to yield accurate separation and depth, as demonstrated by our results on synthetic and real image sequences. † This work was performed while the second author was visiting Microsoft Research, Asia.

: We present a novel yet simple mechanical technique for mitigating the interference when two or more Kinect cameras point at the same part of a physical scene. (a) Interference between overlapping structured light patterns from two regular Kinect cameras pointing at a person produces invalid and noisy depth pixels marked red. (b) Our method reduces noise and invalid pixels in the depth map. (c) The resulting point-cloud shows significant artifacts without our technique. (d) Point-cloud with our technique applied. (e) Our technique can be used to create an entire instrumented room with multiple overlapping Kinect cameras. (f) Meshed output accumulated from multiple Kinects shows reduced interference between cameras (color-coding indicates data from different cameras).

We describe a non-contact profile correction technique for quantitative, wide-field optical measurement of tissue absorption (µ a ) and reduced scattering (µ s ') coefficients, based on geometric correction of the sample's Lambertian (diffuse) reflectance intensity. Since the projection of structured light onto an object is the basis for both phase-shifting profilometry and modulated imaging, we were able to develop a single instrument capable of performing both techniques. In so doing, the surface of the 3-dimensional object could be acquired and used to extract the object's optical properties. The optical properties of flat polydimethylsiloxane (silicone) phantoms with homogenous tissue-like optical properties were extracted, with and without profilometry correction, after vertical translation and tilting of the phantoms at various angles. Objects having a complex shape, including a hemispheric silicone phantom and human fingers, were acquired and similarly processed, with vascular constriction of a finger being readily detectable through changes in its optical properties. Using profilometry correction, the accuracy of extracted absorption and reduced scattering coefficients improved from 2-to 10-fold for surfaces having height variations as much as 3 cm and tilt angles as high as 40°. These data lay the foundation for employing structured light for quantitative imaging during surgery.

In this paper, the procedure developed to calibrate a whole-field optical profilometer and the evaluation of the measurement performance of the system are presented. The sensor is based on the projection of structured light and on active triangulation. The dependence of the measurements on the geometric parameters of the system is shown, as well as the criterion to calibrate the system. From the extensive set of experiments carried out to evaluate the measurement performance, good linearity has been observed, and an overall mean value of the measurement error equal to 40 m, with a variability of about 35 m has been estimated.

Coded structured light is an optical technique based on active stereovision which allows shape acquisition. By projecting a suitable set of light patterns onto the surface of an object and capturing images with a camera, a large number of correspondences can be found and 3D points can be reconstructed by means of triangulation. One-shot techniques are based on projecting an unique pattern so that moving objects can be measured. A major group of techniques in this field define coloured multi-slit or stripe patterns in order to obtain dense reconstructions. The former type of patterns is suitable for locating intensity peaks in the image while the latter is aimed to locate edges. In this paper, we present a new way to design coloured stripe patterns so that both intensity peaks and edges can be located without loss of accuracy and reducing the number of hue levels included in the pattern. The results obtained by the new pattern are quantitatively and qualitatively compared to similar techniques. These results also contribute to a comparison between the peak-based and edge-based reconstruction strategies. q

Virtually all structured light methods assume that the scene and the sources are immersed in pure air and that light is neither scattered nor absorbed. Recently, however, structured lighting has found growing application in underwater and aerial imaging, where scattering effects cannot be ignored. In this paper, we present a comprehensive analysis of two representative methods -light stripe range scanning and photometric stereo -in the presence of scattering. For both methods, we derive physical models for the appearances of a surface immersed in a scattering medium. Based on these models, we present results on (a) the condition for object detectability in light striping and (b) the number of sources required for photometric stereo. In both cases, we demonstrate that while traditional methods fail when scattering is significant, our methods accurately recover the scene (depths, normals, albedos) as well as the properties of the medium. These results are in turn used to restore the appearances of scenes as if they were captured in clear air. Although we have focused on light striping and photometric stereo, our approach can also be extended to other methods such as grid coding, gated and active polarization imaging.

We present a wide-field method for obtaining three-dimensional images of turbid media. By projecting patterns of light of varying spatial frequencies on a sample, we reconstruct quantitative, depth resolved images of absorption contrast. Images are reconstructed using a fast analytic inversion formula and a novel correction to the diffusion approximation for increased accuracy near boundaries. The method provides more accurate quantification of optical absorption and higher resolution than standard diffuse reflectance measurements.

Obtaining automatic 3D profile of objects is one of the most important issues in computer vision. With this information, a large number of applications become feasible: from visual inspection of industrial parts to 3D reconstruction of the environment for mobile robots. In order to achieve 3D data, range finders can be used. Coded structured light approach is one of the most widely used techniques to retrieve 3D information of an unknown surface. An overview of the existing techniques as well as a new classification of patterns for structured light sensors is presented. This kind of systems belong to the group of active triangulation methods, which are based on projecting a light pattern and imaging the illuminated scene from one or more points of view. Since the patterns are coded, correspondences between points of the image(s) and points of the projected pattern can be easily found. Once correspondences are found, a classical triangulation strategy between camera(s) and projector device leads to the reconstruction of the surface. Advantages and constraints of the different patterns are discussed.

An imaging model provides a mathematical description of correspondence between points in a scene and in an image. The dominant imaging model, perspective projection, has long been used to describe traditional cameras as well as the human eye. We propose an imaging model which is flexible enough to represent an arbitrary imaging system. For example using this model we can describe systems using fisheye lenses or compound insect eyes, which violate the assumptions of perspective projection. By relaxing the requirements of perspective projection, we give imaging system designers greater freedom to explore systems which meet other requirements such as compact size and wide field of view. We formulate our model by noting that all imaging systems perform a mapping from incoming scene rays to photosensitive elements on the image detector. This mapping can be conveniently described using a set of virtual sensing elements called raxels. Raxels include geometric, radiometric and optical properties. We present a novel ray based calibration method that uses structured light patterns to extract the raxel parameters of an arbitrary imaging system. Experimental results for perspective as well as non-perspective imaging systems are included.

In this paper we present a scalable 3D video framework for capturing and rendering dynamic scenes. The acquisition system is based on multiple sparsely placed 3D video bricks, each comprising a projector, two grayscale cameras, and a color camera. Relying on structured light with complementary patterns, texture images and pattern-augmented views of the scene are acquired simultaneously by time-multiplexed projections and synchronized camera exposures. Using space-time stereo on the acquired pattern images, high-quality depth maps are extracted, whose corresponding surface samples are merged into a view-independent, point-based 3D data structure. This representation allows for effective photo-consistency enforcement and outlier removal, leading to a significant decrease of visual artifacts and a high resulting rendering quality using EWA volume splatting. Our framework and its view-independent representation allow for simple and straightforward editing of 3D video. In order to demonstrate its flexibility, we show compositing techniques and spatiotemporal effects.

Structured light (SL) sensing is a well-established method of range acquisition for computer vision. We provide thorough discussions of design issues, calibration methodologies, and implementation schemes for SL sensors. The challenges for SL sensor development are described and a ...

The aim of this work was to develop a low-cost automated system to measure the three-dimensional shape of the back in patients with scoliosis. The resulting system uses structured light to illuminate a patient's back from an angle while a digital photograph is taken. The height of the surface is calculated using Fourier transform profilometry with an accuracy of ±1 mm. The surface is related to body axes using bony landmarks on the back that have been palpated and marked with small coloured stickers prior to photographing. Clinical parameters are calculated automatically and presented to the user on a monitor and as a printed report. All data are stored in a database. The database can be interrogated and successive measurements plotted for monitoring the deformity changes. The system developed uses inexpensive hardware and open source software. Accurate surface topography can help the clinician to measure spinal deformity at baseline and monitor changes over time. It can help the patients and their families to assess deformity. Above all it reduces the dependence on serial radiography and reduces radiation exposure when monitoring spinal deformity.

A novel method for noncontact visual measurement of the profile of surfaces is described. Sinusoidal color fringe patterns are projected onto the surface to be measured, which is then viewed with a color camera. From examination of the red, green, and blue components of a single color image the depth at each point on the surface is determined from the calculation of relative phase shifts.

This paper presents a new personal authentication system that simultaneously exploits 2D and 3D palmprint features. The objective of our work is to improve accuracy and robustness of existing palmprint authentication systems using 3D palmprint features.

For structured-light range imaging, color stripes can be used for increasing the number of distinguishable light patterns compared to binary BW stripes. Therefore, an appropriate use of color patterns can reduce the number of light projections and range imaging is achievable in single video frame or in “one shot”. On the other hand, the reliability and range resolution attainable from color stripes is generally lower than those from multiply projected binary BW patterns since color contrast is affected by object color reflectance and ambient light. This paper presents new methods for selecting stripe colors and designing multiple-stripe patterns for “one-shot” and “two-shot” imaging. We show that maximizing color contrast between the stripes in one-shot imaging reduces the ambiguities resulting from colored object surfaces and limitations in sensor/projector resolution. Two-shot imaging adds an extra video frame and maximizes the color contrast between the first and second video frames to diminish the ambiguities even further. Experimental results demonstrate the effectiveness of the presented one-shot and two-shot color-stripe imaging schemes.

We present a novel automatic method for high resolution, non-rigid dense 3D point tracking. High quality dense point clouds of non-rigid geometry moving at video speeds are acquired using a phase-shifting structured light ranging technique. To use such data for the temporal study of subtle motions such as those seen in facial expressions, an efficient non-rigid 3D motion tracking algorithm is needed to establish inter-frame correspondences. The novelty of this paper is the development of an algorithmic framework for 3D tracking that unifies tracking of intensity and geometric features, using harmonic maps with added feature correspondence constraints. While the previous uses of harmonic maps provided only global alignment, the proposed introduction of interior feature constraints allows to track non-rigid deformations accurately as well. The harmonic map between two topological disks is a diffeomorphism with minimal stretching energy and bounded angle distortion. The map is stable, insensitive to resolution changes and is robust to noise. Due to the strong implicit and explicit smoothness constraints imposed by the algorithm and the high-resolution data, the resulting registration/deformation field is smooth, continuous and gives dense one-to-one inter-frame correspondences. Our method is validated through a series of experiments demonstrating its accuracy and efficiency.

We review our progress to date in eliciting dynamically dexterous behaviors from a three degree of freedom direct drive robot manipulator whose real-time stereo cameras provide 60 Hz sampled images of multiple freely falling bodies in highly structured lighting conditions. At present, the robot is capable of forcing a single ping-pong ball into a specified steady state (near) periodic vertical motion by repeated controlled impacts with a rigid paddle. The robot sustains the steady state behavior over long periods (typically thousands and thousands of impacts) and is capable of recovering from significant unexpected adversarial perturbations of the ball's flight phase. Gain tuning experiments corroborate our contention that the stability mechanism underlying the robot's reliability can be attributed to the same nonlinear dynamics responsible for analogous behavior in a one degree of freedom forebear. We are presently extending an algorithm for simultaneously juggling two bodies developed in that earlier work to the three dimensional case.

We report the first experimental realization of all-optical trapping and manipulation of plasmonic nanowires in three dimensions. The optical beam used for trapping is the Fourier transform of a linearly polarized Bessel beam (termed FT-Bessel). The extended depth of focus of this beam enables the use of a retroreflection geometry to cancel radiation pressure in the beam propagation direction, making it possible to trap highly scattering and absorbing silver nanowires. Individual silver nanowires with lengths of several micrometers can be positioned by the trapping beam with a precision better than 100 nm and are oriented by the polarization of the trapping light with a precision of approximately 1°. Multiple nanowires can be trapped simultaneously in spatially separated maxima of the trapping field. Since trapping in the interferometric FT-Bessel potential is robust in bulk solution and near surfaces, it will enable the controlled assembly of metal nanowires into plasmonic nanostructures.

Archaeologists strive to document the process of excavation and discovery as completely as possible. Over the past several decades archaeologists have incorporated a growing number of computerized techniques for documenting archaeological finds. Scanning is one such technique. There are a number of technologies that now allow archaeologists to scan structures, excavation surfaces and in situ artifacts to create high-resolution, 3D data sets. We report here on a trial application of one of these, a structuredlight scanner, to create 3D representations of excavated surfaces and associated artifacts at two Middle Paleolithic sites in southwest France. In each instance, surfaces of approximately 2.5 m 2 were scanned in approximately 1 day. The resulting data sets are very good representations of the originals in terms of colors and spatial details, and as such provided an important piece of archaeological documentation. To use this equipment successfully in the field, however, required solving a number of logistical issues, and the amount of time required to learn to use this equipment was significant. Once these issues are addressed, this technology is appropriate for documenting extraordinary, unique finds where time and costs are offset by the importance of good documentation.

Appropriate comparative animal skeletons are not always available to faunal analysts for use in identifying archaeofaunal remains. This is especially pertinent when working in locations where no comparative collections are available locally, and the archaeological assemblage cannot be transported to another facility. In order to fill this gap, we are building a virtual comparative faunal collection using a structured light scanner to scan modern skeletal material in 3D. The resulting high resolution 3D color models are a valuable resource for identifying fossil specimens. Scan data can be converted into a variety of formats for viewing and can be transported on a portable digital device for use at field or laboratory localities. In addition, scans can be printed three dimensionally to produce a replica of the scanned skeletal part. A particular advantage of this digital technology is that we can eventually create a complete 3D representation of a taxon's skeleton from scans of several components of what are incomplete skeletons of one animal taxon in a museum collection. The results of our project thus far are available to other researchers and educators by means of the internet. A variety of interested parties could benefit from such a collection, including zooarchaeologists, paleontologists, biologists, teachers and museum curators.

Holographic microscopy is increasingly recognized as a promising tool for the study of the central nervous system. Here we present a "holographic module", a simple optical path that can be combined with commercial scanheads for simultaneous imaging and uncaging with structured two-photon light. The present microscope is coupled to two independently tunable lasers and has two principal configurations: holographic imaging combined with galvo-steered uncaging and holographic uncaging combined with conventional scanning imaging. We applied this flexible system for simultaneous two-photon imaging and photostimulation of neuronal cells with complex light patterns, opening new perspectives for the study of brain function in situ and in vivo.

By allowing the estimation of forest structural and biophysical characteristics at different temporal and spatial scales, remote sensing may contribute to our understanding and monitoring of planted forests. Here, we studied 9-year time-series of the Normalized Difference Vegetation Index (NDVI) from the Moderate Resolution Imaging Spectroradiometer (MODIS) on a network of 16 stands in fast-growing Eucalyptus plantations in São Paulo State, Brazil. We aimed to examine the relationships between NDVI time-series spanning entire rotations and stand structural characteristics (volume, dominant height, mean annual increment) in these simple forest ecosystems. Our second objective was to examine spatial and temporal variations of light use efficiency for wood production, by comparing time-series of Absorbed Photosynthetically Active Radiation (APAR) with inventory data.

In this paper, a fast and accurate rail wear measurement method based on simple equipments is presented. The inner rail profile is measured by a line structured light vision sensor. Using the centers of the big and small circle from the rail waist profile as control points, the measured rail profile is registered to the reference profile. The rail wear, including the vertical and horizontal rail wear, is computed by comparing the registered measured profile with the reference profile. The method has three key contributions: (1) the rail waist light stripe center points in the images are located fast and accurately by first tracking the region containing the rail waist light stripe using the Kalman filter and then computing the sub-pixel precision image coordinates by Hessian matrix at pixels. The rail waist profile is segmented automatically into arcs of big and small circles by thresholding the normal angle curve of the measured rail waist profile. The centers of the two circles are used as control points for registering the measured rail profile to the reference profile. (3) The fast location of rail wear points in the images is realized by projecting the rail wear constraint points to the image, which simplifies the problem of computing rail wear from 2d image processing to 1d searching along the line segment connecting two rail wear constraint points. Experiments show that the proposed method can achieve 500 fps measurement frequency. At a train speed of 350 km/h, the interval between two consecutive measurements is about 190 mm. The system is tested on a real running train, and the measurement results are compared with those rail wear measured manually by special gage. The RMS errors of vertical and horizontal rail wears are 0.34 and 0.30 mm, respectively.

A 3-D optical whole-field profilometer based on adaptive projection of structured light is presented. The system is based on the projection of gratings by means of an LCD unit. The gratings can be varied both in contrast and in period, to adapt to the shape of the object under measurement. A video camera acquires at a different angle the object-deformed pattern. Suitable pre-elaboration is performed, to decrease dependence on background illumination and nonuniform reflectivity of the surface. Adaptive demodulation of the pattern allows the object profile to be evaluated.

We introduce a noncontact imaging method utilizing multifrequency structured illumination for improving lateral and axial resolution and contrast of fluorescent molecular probes in thick, multiple-scattering tissue phantoms. The method can be implemented rapidly using a spatial light modulator and a simple image demodulation scheme similar to structured light microscopy in the diffraction regime. However, imaging is performed in the multiple-scattering regime utilizing spatially modulated scalar photon density waves. We demonstrate that by increasing the structured light spatial frequency, fluorescence from deeper structures is suppressed and signals from more superficial objects enhanced. By measuring the spatial frequency dependence of fluorescence, background can be reduced by localizing the signal to a buried fluorescent object. Overall, signal-to-background ratio ͑SBR͒ and resolution improvements are dependent on spatial frequency and object depth/dimension with as much as sevenfold improvement in SBR and 33% improvement in resolution for ϳ1-mm objects buried 3 mm below the surface in tissue-like media with fluorescent background.

Chloroplast glyceraldehyde-3-phosphate dehydrogenase (phosphorylating, E.C. 1.2.1.13) (GAPDH) of higher plants exists as an A2B2 heterotetramer that catalyses the reductive step of the Calvin cycle. In dark chloroplasts the enzyme exhibits a molecular mass of 600 kDa, whereas in illuminated chloroplasts the molecular mass is altered in favor of the more active 150 kDa form. We have expressed in Escherichia coli proteins corresponding to the mature A and B subunits of spinach chloroplast GAPDH (GapA and GapB, respectively) in addition to a derivative of the B subunit lacking the GapB-specific C-terminal extension (CTE). One mg of each of the three proteins so expressed was purified to electrophoretic homogeneity with conventional methods. Spinach GapA purified from E. coli is shown to be a highly active homotetramer (50-70 U/mg) which does not associate under aggregating conditions in vitro to high-molecular-mass (HMM) forms of ca. 600 kDa. Since B4 forms of the enzyme have not been described from any source, we were surprised to find that spinach GapB purified from E. coli was active (15-35 U/mg). Spinach GapB lacking the CTE purified from E. coli is more highly active (130 U/mg) than GapB with the CTE. Under aggregating conditions, GapB lacking the CTE is a tetramer that does not associate to HMM forms whereas GapB with the CTE occurs exclusively as an aggregated HMM form. The data indicate that intertetramer association of chloroplast GAPDH in vitro occurs through GapB-mediated protein-protein interaction.

Automatic Face recognition of people is a challenging problem which has received much attention during the recent years due to its potential multimedia applications in different fields such as 3D videoconference, security applications or video indexing. However, there is no technique that provides a robust solution to all situations and different applications, yet. Face recognition includes a set of challenges like expression variations, occlusions of facial parts, similar identities, resolution of the acquired images, aging of the subjects and many others. Among all these challenges, most of the face recognition techniques have evolved in order to overcome two main problems: illumination and pose variation. Either of these influences can cause serious performance degradation in a 2D face recognition system.Some of the new face recognition strategies tend to overcome both research topics from a 3D perspective. The 3D data points corresponding to the surface of the face may be acquired using different alternatives: A multi camera system (stereoscopy), structured light, range cameras or 3D laser and scanner devices The main advantage of using 3D data is that geometry information does not depend on pose and illumination and therefore the representation of the object does not change with these parameters, making the whole system more robust. Howev-2 er, the main drawback of the majority of 3D face recognition approaches is that they need all the elements of the system to be well calibrated and synchronized to acquire accurate 3D data (texture and depth maps). Moreover, most of them also require the cooperation or collaboration of the subject during a certain period of time. All these requirements can be available during the training stage of many applications. When enrolling a new person in the database, it could be performed off-line, with the help o human interaction and with the cooperation of the subject to be enrolled. On the contrary, the previous conditions are not always available during the test stage. The recognition will be in most of the cases in a semicontrolled or uncontrolled scenario, where the only input of the system will probably consists of a 2D intensity image acquired from a single camera. This leads to a new paradigm where 2D-3D mixed face recognition approaches are used. The idea behind this kind of approaches is that these take profit of the 3D data during the training stage but then they can use either 3D data (when available) or 2D data during the recognition stage. Belonging to this category, some of 2D statistical approaches like Eigenfaces of Fisherfaces have been extended to fit in this new paradigm leading to the Partial Principal Component Analysis (P 2 CA) approach. This algorithm intends to cope with big pose variations (±90 •) by using 180• c ylindrical texture maps for training the system but then only images acquired from a single, normal camera are used for the recognition. These training images provide pose information from different views (2.5D data). Nevertheless they can also be extended to a complete 3D multimodal system where depth and texture information is used. This chapter is structured as follows: First, a brief overview of the state-of-the-art in face recognition is introduced. The most relevant methods are grouped by multimedia scenarios and concrete applications. Afterwards, novel 2D-3D mixed face recognition approaches will be introduced.

This study reports for the ®rst time a therapeutic modality for the suppression of posterior subcapsular cataract (PSC) formation in an animal model (rabbit) of vitrectomy. This therapeutic modality may also have the potential to attenuate/prevent the high incidence of loss of vision due to cataract formation in patients that undergo vitrectomy. Unilateral, partial vitrectomy was performed on 2 . 5 month old Dutch Belted rabbits with vitreous replaced by either commercially available BSS 1 or BSS PLUS 1 (n 16). Alternatively, vitreous was replaced with a proprietary, modi®ed BSS PLUS 1 irrigating solution containing 1 . 25 mM AL-8417 (n 12), 5 . 0 mM AL-12615 (n 5) or 5 . 0 mM AL-17052 (n 9). Age matched, non-operated rabbits were used as controls (n 16). Lenses were analysed by correlative structural (light, scanning electron microscopic and three-dimensional computer-assisted drawings) and optical (low power helium-neon laser scan) quality analysis 6 months following surgery. Results demonstrate that vitreous replacement with an irrigating solution that contains the ester-linked benzopyran, AL-8417, the amide-linked benzopyran pro-drug, AL-17052, or its active metabolite, AL-12615, prevented abnormal post-vitrectomy lens growth, or ®ber formation. Focal length variability (FLV) assessments (sharpness of focus) con®rmed the bene®cial drug effects detected morphologically, with FLV being essentially equal to that of age-matched, non-surgical controls. In contrast, lenses of animals with vitreous replaced solely with BSS 1 or BSS PLUS 1 exhibited signi®cantly higher FLV than both age-matched controls and animals that underwent vitrectomy with drug-containing irrigating solutions. The ability of AL-8417, AL-17052 and its active metabolite, AL-12615, to suppress vitrectomyinduced posterior lens ®ber changes appears to reside in their unique pharmacological pro®le, acting as antioxidant, anti-in¯ammatory and cytostatic agents.

Extensive changes in neural tissue structure and function accompanying Alzheimer's disease (AD) suggest that intrinsic signal optical imaging can provide new contrast mechanisms and insight for assessing AD appearance and progression. In this work, we report the development of a wide-field spatial frequency domain imaging (SFDI) method for non-contact, quantitative in vivo optical imaging of brain tissue composition and function in a triple transgenic mouse AD model (3xTg). SFDI was used to generate optical absorption and scattering maps at up to 17 wavelengths from 650 to 970 nm in 20-month-old 3xTg mice (n = 4) and agematched controls (n = 6). Wavelength-dependent optical properties were used to form images of tissue hemoglobin (oxy-, deoxy-, and total), oxygen saturation, and water. Significant baseline contrast was observed with 13-26% higher average scattering values and elevated water content (52 ± 2% vs. 31 ± 1%); reduced total tissue hemoglobin content (127 ± 9 lM vs. 174 ± 6 lM); and lower tissue oxygen saturation (57 ± 2% vs. 69 ± 3%) in AD vs. control mice. Oxygen inhalation challenges (100% oxygen) resulted in increased levels of tissue oxy-hemoglobin (ctO 2 Hb) and commensurate reductions in deoxy-hemoglobin (ctHHb), with~60-70% slower response times and~7 lM vs.~14 lM overall changes for 3xTg vs. controls, respectively. Our results show that SFDI is capable of revealing quantitative functional contrast in an AD model and may be a useful method for studying dynamic alterations in AD neural tissue composition and physiology.

The trajectories of colloidal particles driven through a periodic potential energy landscape can become kinetically locked in to directions dictated by the landscape's symmetries. When the landscape is realized with forces exerted by a structured light field, the path a given particle follows has been predicted to depend exquisitely sensitively on such properties as the particle's size and refractive index These predictions, however, have not been tested experimentally. Here, we describe measurements of colloidal silica spheres' transport through arrays of holographic optical traps that use holographic video microscopy to track individual spheres' motions in three dimensions and simultaneously to measure each sphere's radius and refractive index with part-per-thousand resolution. These measurements confirm previously untested predictions for the threshold of kinetically locked-in transport, and demonstrate the ability of optical fractionation to sort colloidal spheres with part-per-thousand resolution on multiple characteristics simultaneously.

This work focuses on creating a framework for objectively evaluating the performance of range image segmentation algorithms. The algorithms are evaluated in terms of correct segmentation, over-and under-segmentation, missed and noise regions. A set of images with ground truth was created for this work. The images were captured using a structured light scanner. Images used in the evaluation contain planar, spherical, cylindrical, toroidal and conical surface patches. The di erent surface patches in each image were manually identi ed to establish ground truth for performance evaluation. Two segmentation algorithms from the literature are compared.

Poor visibility conditions due to murky water, bad weather, dust and smoke severely impede the performance of vision systems. Passive methods have been used to restore scene contrast under moderate visibility by digital postprocessing. However, these methods are ineffective when the quality of acquired images is poor to begin with. In this work, we design active lighting and sensing systems for controlling light transport before image formation, and hence obtain higher quality data. First, we present a technique of polarized light striping based on combining polarization imaging and structured light striping. We show that this technique out-performs different existing illumination and sensing methodologies. Second, we present a numerical approach for computing the optimal relative sensor-source position, which results in the best quality image. Our analysis accounts for the limits imposed by sensor noise.

Sinusoidal patterns of spatially modulated near-infrared ͑650 nm͒ structured light are used to interrogate multilayer phantoms and tissue. Diffuse reflectance is imaged at multiple spatial frequencies from 0 -0.3 mm −1 . ac and dc components of the image are fit to a two layer model formulated from the diffusion approximation to the Boltzman transport equation. The two-layer model depends on optical properties ͑absorption, a , and reduced scattering, s Ј͒ in each layer and on top layer thickness ͑d͒. Layered tissue phantoms with variable optical properties in each layer ͑ a = 0.006-0.034 mm −1 and s Ј= 0.89-1.45 mm −1 ͒ were constructed to test the accuracy of the model. Constraining top layer thickness to within 25% of the correct value in a four-parameter fit results in recovery of upper layer optical properties with average accuracies of Ϯ2% for top layer s Ј and Ϯ17% for top layer a . Bottom layer a can then be recovered to an average accuracy of Ϯ25% with two parameter fits. Average accuracies of top and bottom layer absorption can further be improved to 12% and 18%, respectively, by fitting for each alone. Bottom layer scattering and top layer thickness do not vary significantly from initial guesses because of poor sensitivity to these parameters in frequency dependent reflectance data. Measurements of in vivo volar forearm optical properties at 650 nm produced spatially varying skin ͑d =2 mm͒ optical property maps that range from 0.025-0.045 and 1.7-2 mm −1 for upper layer a and s Ј and 0.005-0.015 and 0.5-3 mm −1 for lower layer a and s Ј, respectively. These preliminary results suggest that spatial modulation of the source provides sufficient depth sensitivity to allow noncontact mapping and quantification of layered tissue optical properties using a wide-field, noncontact approach.

Scale and frequency of changes in a lake’s physical structure, light dynamics, and availability of nutrients are closely related to phytoplankton ecology. Since phytoplankton assemblages were first described, phytoplankton ecologists concluded that these assemblages provide insight into phytoplankton responses to environmental changes. Objectives of this study were to investigate ecology of phytoplankton during a complete hydrological cycle in the deepest natural lake in Brazil, Dom Helvécio, and to sort species into the list of assemblages, checking its accordance with environmental changes in a tropical system within the middle Rio Doce Lake district, South-East Brazil. Canonical Correspondence Analysis, t-test, Mann–Whitney U-test, and Kruskal–Wallis test were used to analyze climatological, environmental, and plankton data, which were obtained monthly in 2002. A new phytoplankton assemblage, NA (atelomixis-dependent desmids), is suggested because atelomixis (robust movement of water occurring once a day) contributed to replacement of species in Dom Helvécio Lake. Stability of stratification, water chemistry, and composition of phytoplankton assemblages characterized two periods. The first period occurred in six rainy months (Jan–Mar and Oct–Dec) when the lake was stratified and phytoplankton was dominated by two assemblages: NA and F. The second period occurred in six dry months (Apr–Sep) when the lake was nonstratified and phytoplankton was dominated by four assemblages: S2, X1, A, and LO. Results suggest that phytoplankton in Dom Helvécio Lake was shaped by seasonal and daily changes of water temperature, even with its lower amplitude of variation within 2002 (El Niño year). These changes promoted water column stratification or mixing, reduced light, and increased nutrient availability. Temperature, therefore, is similarly important to phytoplankton ecology in tropical regions as it is in temperate ones. Sorting phytoplankton species into assemblages matched well with environmental changes and periods identified so it is also suggested that this can be further used as an appropriate tool to manage water quality when evaluating tropical lakes.