الصفحة 13
الصفحة 13
3D-Position Tracking and Control for All-Terrain Robots
Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
3D Segmentation for medical images (OsteoVision) = التقطيع ثلاثي الأبعاد للصور الطبية
With the increasing integration of AI across various sectors, artificial intelligence (AI) is already playing a significant role in the healthcare industry, and its use is expected to grow further. AI systems used in image processing and computer vision algorithms have shown a significant ability to perform many operations such as segmentation, classification, and detection. This project presents the application of computer vision algorithms in the field of medical imaging for diagnostic, therapeutic, and interventional purposes. This thesis explores the use of several computer vision algorithms to address different pathologies, specifically brain tumors (glioma) (see Appendix A) and knee osteoarthritis (OA), as well as tracking the progression of knee osteoarthritis using the Kellgren and Lawrence (KL) grading system, a common method for classifying the severity of OA into five grades. To achieve the desired impact, the project employs various techniques, including 3D segmentation for brain tumors, 2D segmentation for knee joints, and multinomial classification for determining the severity of knee OA injuries. The primary aims of the project are to enhance diagnostic accuracy, assist in creating treatment plans, provide an assistive tool for healthcare providers to make more informed decisions, leverage AI's capabilities to detect abnormalities that might escape the human eye, and streamline workflow. To facilitate these goals, the project incorporates a user-friendly UI, a website, and a Flutter-based mobile application, enabling healthcare providers to efficiently integrate these tools into their practice and improve patient care.
