2012
Journal article
Restricted
Branched covers of the sphere and the prime-degree conjecture
Pascali M A, Petronio C
To a branched cover ${widetilde{Sigma} to Sigma}$ between closed, connected, and orientable surfaces, one associates a branch datum, which consists of ? and ${widetilde{Sigma}}$ , the total degree d, and the partitions of d given by the collections of local degrees over the branching points. This datum must satisfy the Riemann-Hurwitz formula. A candidate surface cover is an abstract branch datum, a priori not coming from a branched cover, but satisfying the Riemann- Hurwitz formula. The old Hurwitz problem asks which candidate surface covers are realizable by branched covers. It is now known that all candidate covers are realizable when ? has positive genus, but not all are when ? is the 2-sphere. However, a long-standing conjecture asserts that candidate covers with prime degree are realizable. To a candidate surface cover, one can associate one ${widetilde {X} dashrightarrow X}$ between 2-orbifolds, and in Pascali and Petronio (Trans Am Math Soc 361:5885-5920, 2009), we have completely analyzed the candidate surface covers such that either X is bad, spherical, or Euclidean, or both X and ${widetilde{X}}$ are rigid hyperbolic orbifolds, thus also providing strong supporting evidence for the prime-degree conjecture. In this paper, using a variety of different techniques, we continue this analysis, carrying it out completely for the case where X is hyperbolic and rigid and ${widetilde{X}}$ has a 2-dimensional Teichmüller space. We find many more realizable and non-realizable candidate covers, providing more support for the prime-degree conjecture.Source: ANNALI DI MATEMATICA PURA ED APPLICATA, vol. 191 (issue 3), pp. 563-594
Pascali M A, Petronio C
To a branched cover ${widetilde{Sigma} to Sigma}$ between closed, connected, and orientable surfaces, one associates a branch datum, which consists of ? and ${widetilde{Sigma}}$ , the total degree d, and the partitions of d given by the collections of local degrees over the branching points. This datum must satisfy the Riemann-Hurwitz formula. A candidate surface cover is an abstract branch datum, a priori not coming from a branched cover, but satisfying the Riemann- Hurwitz formula. The old Hurwitz problem asks which candidate surface covers are realizable by branched covers. It is now known that all candidate covers are realizable when ? has positive genus, but not all are when ? is the 2-sphere. However, a long-standing conjecture asserts that candidate covers with prime degree are realizable. To a candidate surface cover, one can associate one ${widetilde {X} dashrightarrow X}$ between 2-orbifolds, and in Pascali and Petronio (Trans Am Math Soc 361:5885-5920, 2009), we have completely analyzed the candidate surface covers such that either X is bad, spherical, or Euclidean, or both X and ${widetilde{X}}$ are rigid hyperbolic orbifolds, thus also providing strong supporting evidence for the prime-degree conjecture. In this paper, using a variety of different techniques, we continue this analysis, carrying it out completely for the case where X is hyperbolic and rigid and ${widetilde{X}}$ has a 2-dimensional Teichmüller space. We find many more realizable and non-realizable candidate covers, providing more support for the prime-degree conjecture.Source: ANNALI DI MATEMATICA PURA ED APPLICATA, vol. 191 (issue 3), pp. 563-594
See at:
CNR IRIS 
| CNR IRIS | link.springer.com
2016
Other
Restricted
SEMEOTICONS - Software integration report
Pascali M A, Righi M, Favilla R, Giannakakis G, Manousos D, Pediaditis M, Larsson M, Henriquez P, Bjorgan A, Vitali I, Nicoletta A, Simantiraki O, Gimeno M
This deliverable summarizes the activities carried out in the Task 8.5 to integrate the software modules outputting from WP3, WP4, WP5, WP6 and WP7 till the end of May 2016.Project(s): SEMEOTICONS
Pascali M A, Righi M, Favilla R, Giannakakis G, Manousos D, Pediaditis M, Larsson M, Henriquez P, Bjorgan A, Vitali I, Nicoletta A, Simantiraki O, Gimeno M
This deliverable summarizes the activities carried out in the Task 8.5 to integrate the software modules outputting from WP3, WP4, WP5, WP6 and WP7 till the end of May 2016.Project(s): SEMEOTICONS
2015
Other
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SEMEOTICONS - D6.1 User's profiling tools
Genitsaridi I, Chiarugi F, Marias K, Tsiknakis M, Coppini G, Morales M, Marraccini P, Giorgi D, Pascali M A
This document reports on the activities performed in Task 6.1 "User's profiling". The reported activities on this task have been undertaken between month 1 and 18 of the project. The task was ended in month 18 with the release of this deliverable D6.1 "User's profiling tools". The accurate definition of the user's profile is necessary to set, for each subject, a reliable starting point for the wellness status assessment. Many medical and behavioural data such as: age, height, weight, cholesterol level, phenotype, habits, sports, others may influence the user's profile. Also the psychological information, such as anxiety, stress, and attitude towards health issues should be taken into account because of their strong relevance in the choice of the support to be provided by the system.Project(s): SEMEOTICONS
Genitsaridi I, Chiarugi F, Marias K, Tsiknakis M, Coppini G, Morales M, Marraccini P, Giorgi D, Pascali M A
This document reports on the activities performed in Task 6.1 "User's profiling". The reported activities on this task have been undertaken between month 1 and 18 of the project. The task was ended in month 18 with the release of this deliverable D6.1 "User's profiling tools". The accurate definition of the user's profile is necessary to set, for each subject, a reliable starting point for the wellness status assessment. Many medical and behavioural data such as: age, height, weight, cholesterol level, phenotype, habits, sports, others may influence the user's profile. Also the psychological information, such as anxiety, stress, and attitude towards health issues should be taken into account because of their strong relevance in the choice of the support to be provided by the system.Project(s): SEMEOTICONS
2022
Journal article
Open Access
Horticultural therapy may reduce psychological and physiological stress in adolescents with anorexia nervosa: a pilot study
Curzio O, Billeci L, Belmonti V, Colantonio S, Cotrozzi L, De Pasquale Cf, Morales Ma, Nali C, Pascali Ma, Venturi F, Tonacci A, Zannoni N, Maestro S
Studies in psychiatric populations have found a positive effect of Horticultural therapy (HCT) on reductions in stress levels. The main objective of the present pilot study was to evaluate the impact of the addition of HCT to conventional clinical treatment (Treatment as Usual, TaU) in a sample of six female adolescents with anorexia nervosa restricting type (AN-R), as compared to six AN-R patients, matched for sex and age, under TaU only. This is a prospective, non-profit, pilot study on patients with a previous diagnosis of AN-R and BMI < 16, recruited in 2020 in clinical settings. At enrolment (T0) and after treatment completion (TF), psychiatric assessment was performed. At T0, all the patients underwent: baseline electrocardiogram acquisition with a wearable chest strap for recording heart rate and its variability; skin conductance registration and thermal mapping of the individual's face. An olfactory identification test was administered both to evaluate the olfactory sensoriality and to assess the induced stress. One-way analyses of variance (ANOVAs) were performed to analyze modifications in clinical and physiological variables, considering time (T0, TF) as a within-subjects factor and group (experimental vs. control) as between-subjects factors. When the ANOVA was significant, post hoc analysis was performed by Paired Sample T-tests. Only in the HCT group, stress response levels, as measured by the biological parameters, improved over time. The body uneasiness level and the affective problem measures displayed a significant improvement in the HCT subjects. HCT seems to have a positive influence on stress levels in AN-R.Source: NUTRIENTS, vol. 14 (issue 24)
Curzio O, Billeci L, Belmonti V, Colantonio S, Cotrozzi L, De Pasquale Cf, Morales Ma, Nali C, Pascali Ma, Venturi F, Tonacci A, Zannoni N, Maestro S
Studies in psychiatric populations have found a positive effect of Horticultural therapy (HCT) on reductions in stress levels. The main objective of the present pilot study was to evaluate the impact of the addition of HCT to conventional clinical treatment (Treatment as Usual, TaU) in a sample of six female adolescents with anorexia nervosa restricting type (AN-R), as compared to six AN-R patients, matched for sex and age, under TaU only. This is a prospective, non-profit, pilot study on patients with a previous diagnosis of AN-R and BMI < 16, recruited in 2020 in clinical settings. At enrolment (T0) and after treatment completion (TF), psychiatric assessment was performed. At T0, all the patients underwent: baseline electrocardiogram acquisition with a wearable chest strap for recording heart rate and its variability; skin conductance registration and thermal mapping of the individual's face. An olfactory identification test was administered both to evaluate the olfactory sensoriality and to assess the induced stress. One-way analyses of variance (ANOVAs) were performed to analyze modifications in clinical and physiological variables, considering time (T0, TF) as a within-subjects factor and group (experimental vs. control) as between-subjects factors. When the ANOVA was significant, post hoc analysis was performed by Paired Sample T-tests. Only in the HCT group, stress response levels, as measured by the biological parameters, improved over time. The body uneasiness level and the affective problem measures displayed a significant improvement in the HCT subjects. HCT seems to have a positive influence on stress levels in AN-R.Source: NUTRIENTS, vol. 14 (issue 24)
See at:
CNR IRIS 
| ISTI Repository | www.mdpi.com | CNR IRIS
2021
Conference article
Open Access
Learning topology: bridging computational topology and machine learning
Moroni D, Pascali Ma
Topology is a classical branch of mathematics, born essentially from Euler's studies in the XVII century, which deals with the abstract notion of shape and geometry. Last decades were characterised by a renewed interest in topology and topology-based tools, due to the birth of computational topology and Topological Data Analysis (TDA). A large and novel family of methods and algorithms computing topological features and descriptors (e.g. persistent homology) have proved to be effective tools for the analysis of graphs, 3d objects, 2D images, and even heterogeneous datasets. This survey is intended to be a concise but complete compendium that, offering the essential basic references, allows you to orient yourself among the recent advances in TDA and its applications, with an eye to those related to machine learning and deep learning.
Moroni D, Pascali Ma
Topology is a classical branch of mathematics, born essentially from Euler's studies in the XVII century, which deals with the abstract notion of shape and geometry. Last decades were characterised by a renewed interest in topology and topology-based tools, due to the birth of computational topology and Topological Data Analysis (TDA). A large and novel family of methods and algorithms computing topological features and descriptors (e.g. persistent homology) have proved to be effective tools for the analysis of graphs, 3d objects, 2D images, and even heterogeneous datasets. This survey is intended to be a concise but complete compendium that, offering the essential basic references, allows you to orient yourself among the recent advances in TDA and its applications, with an eye to those related to machine learning and deep learning.
See at:
CNR IRIS | link.springer.com | ISTI Repository | CNR IRIS
2020
Other
Open Access
Final report on IAPR TC16
Moroni D, Pascali Ma, Paulus D, Yashina V, Gurevich I
The report accounts for the activities of TC16 on "Algebraic and Discrete Mathematical Techniques in Pattern Recognition and Image Analysis" of the International Association for Pattern Recognition during the term 2019-2020.
Moroni D, Pascali Ma, Paulus D, Yashina V, Gurevich I
The report accounts for the activities of TC16 on "Algebraic and Discrete Mathematical Techniques in Pattern Recognition and Image Analysis" of the International Association for Pattern Recognition during the term 2019-2020.
See at:
CNR IRIS | ISTI Repository | CNR IRIS
2021
Journal article
Open Access
Learning topology: bridging computational topology and machine learning
Moroni D, Pascali Ma
Topology is a classical branch of mathematics, born essentially from Euler's studies in the XVII century, which deals with the abstract notion of shape and geometry. Last decades were characterized by a renewed interest in topology and topology-based tools, due to the birth of computational topology and topological data analysis (TDA). A large and novel family of methods and algorithms computing topological features and descriptors (e.g., persistent homology) have proved to be effective tools for the analysis of graphs, 3D objects, 2D images, and even heterogeneous datasets. This survey is intended to be a concise but complete compendium that, offering the essential basic references, allows you to orient yourself among the recent advances in TDA and its applications, with an eye to those related to machine learning and deep learning.Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 31 (issue 3), pp. 443-453
Moroni D, Pascali Ma
Topology is a classical branch of mathematics, born essentially from Euler's studies in the XVII century, which deals with the abstract notion of shape and geometry. Last decades were characterized by a renewed interest in topology and topology-based tools, due to the birth of computational topology and topological data analysis (TDA). A large and novel family of methods and algorithms computing topological features and descriptors (e.g., persistent homology) have proved to be effective tools for the analysis of graphs, 3D objects, 2D images, and even heterogeneous datasets. This survey is intended to be a concise but complete compendium that, offering the essential basic references, allows you to orient yourself among the recent advances in TDA and its applications, with an eye to those related to machine learning and deep learning.Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 31 (issue 3), pp. 443-453
See at:
CNR IRIS | link.springer.com | ISTI Repository | CNR IRIS | CNR IRIS
2021
Journal article
Open Access
On some scientific results of the ICPR-2020
Gurevich Ib, Moroni D, Pascali Ma, Yashina Vv
Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 31, pp. 357-363
Gurevich Ib, Moroni D, Pascali Ma, Yashina Vv
Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 31, pp. 357-363
See at:
CNR IRIS | link.springer.com | ISTI Repository | CNR IRIS
2021
Conference article
Open Access
Discriminating stress from cognitive load using contactless thermal imaging devices
Gioia F, Pascali Ma, Greco A, Colantonio S, Scilingo Ep
This study proposes long wave infrared technology as a contactless alternative to wearable devices for stress detection. To this aim, we studied the change in facial thermal distribution of 17 healthy subjects in response to different stressors (Stroop Test, Mental Arithmetic Test). During the experimental sessions the electrodermal activity (EDA) and the facial thermal response were simultaneously recorded from each subject. It is well known from the literature that EDA can be considered a reliable marker for the psychological state variation, therefore we used it as a reference signal to validate the thermal results. Statistical analysis was performed to evaluate significant differences in the thermal features between stress and non-stress conditions, as well as between stress and cognitive load. Our results are in line with the outcomes of previous studies and show significant differences in the temperature trends over time between stress and resting conditions. As a new result, we found that the mean temperature changes of some less studied facial regions, e.g., the right cheek, are able not only to significantly discriminate between resting and stressful conditions, but also allow to recognize the typology of stressors. This outcome not only directs future studies to consider the thermal patterns of less explored facial regions as possible correlates of mental states, but more importantly it suggests that different psychological states could potentially be discriminated in a contactless manner.
Gioia F, Pascali Ma, Greco A, Colantonio S, Scilingo Ep
This study proposes long wave infrared technology as a contactless alternative to wearable devices for stress detection. To this aim, we studied the change in facial thermal distribution of 17 healthy subjects in response to different stressors (Stroop Test, Mental Arithmetic Test). During the experimental sessions the electrodermal activity (EDA) and the facial thermal response were simultaneously recorded from each subject. It is well known from the literature that EDA can be considered a reliable marker for the psychological state variation, therefore we used it as a reference signal to validate the thermal results. Statistical analysis was performed to evaluate significant differences in the thermal features between stress and non-stress conditions, as well as between stress and cognitive load. Our results are in line with the outcomes of previous studies and show significant differences in the temperature trends over time between stress and resting conditions. As a new result, we found that the mean temperature changes of some less studied facial regions, e.g., the right cheek, are able not only to significantly discriminate between resting and stressful conditions, but also allow to recognize the typology of stressors. This outcome not only directs future studies to consider the thermal patterns of less explored facial regions as possible correlates of mental states, but more importantly it suggests that different psychological states could potentially be discriminated in a contactless manner.
See at:
CNR IRIS | ieeexplore.ieee.org | ISTI Repository | CNR IRIS | CNR IRIS
2022
Journal article
Open Access
On some scientific results of the IMTA-VIII-2022: 8th International Workshop "Image Mining: Theory and Applications"
Gurevich Ib, Moroni D, Pascali Ma, Yashina Vv
Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 32 (issue 3), pp. 460-465
Gurevich Ib, Moroni D, Pascali Ma, Yashina Vv
Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 32 (issue 3), pp. 460-465
See at:
CNR IRIS | link.springer.com | ISTI Repository | CNR IRIS
2022
Other
Open Access
Final report on IAPR TC16
Moroni D, Pascali Ma, Paulus D, Yashina V, Gurevich I
The report accounts for the activities of TC16 on "Algebraic and Discrete Mathematical Techniques in Pattern Recognition and Image Analysis" of the International Association for Pattern Recognition during the term 2021-2022. It has been submitted to Prof. Lele Akarun and evaluated by IAPR ExCo for the renewal of the Technical Committee 16 which was granted on July 14, 2022.
Moroni D, Pascali Ma, Paulus D, Yashina V, Gurevich I
The report accounts for the activities of TC16 on "Algebraic and Discrete Mathematical Techniques in Pattern Recognition and Image Analysis" of the International Association for Pattern Recognition during the term 2021-2022. It has been submitted to Prof. Lele Akarun and evaluated by IAPR ExCo for the renewal of the Technical Committee 16 which was granted on July 14, 2022.
See at:
CNR IRIS | ISTI Repository | CNR IRIS
2015
Conference article
Open Access
Signal processing for underwater archaeology
Moroni D, Pascali M A, Reggiannini M, Salvetti O
About three million wrecks lie scattered on the oceans' seafloors. This huge patrimony is actually threatened by criminal enterprises having advanced tools available for localization and rescue operations. ARROWS, a currently ongoing EU FP7 project, is an example of the effective commitment between cultural institutions and the scientific community towards the safeguard of the sunken cultural heritage. ARROWS is devoted to advanced technologies and tools for mapping, diagnosing, cleaning, and securing underwater and coastal archaeological sites. A fleet of Autonomous Underwater Vehicles (AUVs) will be manufactured with the purpose of surveying the seabed and sensing the underwater environment by means of proper payload sensors (digital cameras, side scan and multi-beam sonars). This paper describes a set of underwater scene understanding procedures specifically tailored to the purposes addressed in the ARROWS frame. In particular the data collected by the AUVs during the acquisition campaigns will be processed to detect targets of interest located on the seabed. The main approach adopted in the object detection procedures is to highlight the amount of regularity in the captured data. This can be pursued by exploiting computer vision algorithms that perform i) the recognition of geometrical curves ii) the classification of seafloor areas by means of textural pattern analysis iii) a large scale map generation to return an overall view of the site and iv) a reliable object recognition process performing the integration of the available multi modal information. Moreover the collected raw data together with the analysis output results will be stored to allow for an offline deep analysis of the archaeological findings. This will represent a powerful tool to be used by expert users or by the general public to enjoy the underwater cultural heritage.Project(s): ARROWS
Moroni D, Pascali M A, Reggiannini M, Salvetti O
About three million wrecks lie scattered on the oceans' seafloors. This huge patrimony is actually threatened by criminal enterprises having advanced tools available for localization and rescue operations. ARROWS, a currently ongoing EU FP7 project, is an example of the effective commitment between cultural institutions and the scientific community towards the safeguard of the sunken cultural heritage. ARROWS is devoted to advanced technologies and tools for mapping, diagnosing, cleaning, and securing underwater and coastal archaeological sites. A fleet of Autonomous Underwater Vehicles (AUVs) will be manufactured with the purpose of surveying the seabed and sensing the underwater environment by means of proper payload sensors (digital cameras, side scan and multi-beam sonars). This paper describes a set of underwater scene understanding procedures specifically tailored to the purposes addressed in the ARROWS frame. In particular the data collected by the AUVs during the acquisition campaigns will be processed to detect targets of interest located on the seabed. The main approach adopted in the object detection procedures is to highlight the amount of regularity in the captured data. This can be pursued by exploiting computer vision algorithms that perform i) the recognition of geometrical curves ii) the classification of seafloor areas by means of textural pattern analysis iii) a large scale map generation to return an overall view of the site and iv) a reliable object recognition process performing the integration of the available multi modal information. Moreover the collected raw data together with the analysis output results will be stored to allow for an offline deep analysis of the archaeological findings. This will represent a powerful tool to be used by expert users or by the general public to enjoy the underwater cultural heritage.Project(s): ARROWS
See at:
CNR IRIS | ISTI Repository | www.scitepress.org | CNR IRIS | CNR IRIS
2013
Journal article
Restricted
Underwater scene understanding by optical and acoustic data integration
Moroni D, Pascali Ma, Reggiannini M, Salvetti O
A new method is proposed to integrate 3D optical and acoustic images relative to the same underwater environment. The combination of optical and acoustic sensors in terms of uniform reference system, geo-referencing and time allows: (i) integration cascade (operational level), (ii) safety data acquisition in various domains (distance from ground, turbid water, vegetation, etc.), (iii) replanning of missions in progress. Furthermore, data fusion can be faced according to different approaches: (a) stratification of referenced data layers, (b) correlation of quantities of different nature, (c) comparison of extracted features: 2D geometries (segments, elementary curves) and 3D (planes, simple surfaces), repetitive patterns, (d) integration of semantic information, (e) template matching for recognizing known structures, (f) creation and refinement of probability maps as a measure of optical (geometry, texture) and acoustic (elevation or reflectivity maps) properties. A set of geometrical and textural feature extraction algorithms is applied to the multi-sensor images and the output results are compared. We aim thus at emphasizing the geometric features correspondences (e.g., lines or different kind of curves), instead of descriptor-based individual feature matching.Source: PROCEEDINGS OF MEETINGS ON ACOUSTICS, vol. 17, pp. 1-10
Moroni D, Pascali Ma, Reggiannini M, Salvetti O
A new method is proposed to integrate 3D optical and acoustic images relative to the same underwater environment. The combination of optical and acoustic sensors in terms of uniform reference system, geo-referencing and time allows: (i) integration cascade (operational level), (ii) safety data acquisition in various domains (distance from ground, turbid water, vegetation, etc.), (iii) replanning of missions in progress. Furthermore, data fusion can be faced according to different approaches: (a) stratification of referenced data layers, (b) correlation of quantities of different nature, (c) comparison of extracted features: 2D geometries (segments, elementary curves) and 3D (planes, simple surfaces), repetitive patterns, (d) integration of semantic information, (e) template matching for recognizing known structures, (f) creation and refinement of probability maps as a measure of optical (geometry, texture) and acoustic (elevation or reflectivity maps) properties. A set of geometrical and textural feature extraction algorithms is applied to the multi-sensor images and the output results are compared. We aim thus at emphasizing the geometric features correspondences (e.g., lines or different kind of curves), instead of descriptor-based individual feature matching.Source: PROCEEDINGS OF MEETINGS ON ACOUSTICS, vol. 17, pp. 1-10
2012
Conference article
Restricted
Mapping techniques of underwater environments by optical-acoustic data integration
Moroni D, Pascali Ma, Reggiannini M, Salvetti O
A new method is proposed to integrate 3D optical and acoustic images relative to the same underwater environment. The combination of optical and acoustic sensors in terms of uniform reference system, georeferencing and time allows: (i) integration cascade (operational level), (ii) safety data acquisition in various domains (distance from ground, turbid water, vegetation, etc.), (iii) replanning of missions in progress. Furthermore, data fusion can be faced according to different approaches: (a) stratification of referenced data layers, (b) correlation of quantities of different nature, (c) comparison of extracted features: 2D geometries (segments, elementary curves) and 3D (planes, simple surfaces), repetitive patterns, (d) integration of semantic information, (e) template matching for recognizing known structures, (f) creation and refinement of probability maps as a measure of optical (geometry, texture) and acoustic (elevation or reflectivity maps) properties. Unlike most of the existing approaches that perform recognition and matching of different interesting relevant points appearing in two images, we look at the correspondence of salient features present both in optical and acoustic images representing the same scene. A set of geometrical and textural feature extraction algorithms is applied to the multi-sensor images and compared with the output results. We aim thus at emphasizing the geometric structure alignment of features (e.g., lines or different kind of curves), instead of descriptor-based individual feature matching. This is due to the fact that optical and acoustic image properties and patch statistics of corresponding features are generally quite different. Besides, the spatial layout of features is preserved in both maps.
Moroni D, Pascali Ma, Reggiannini M, Salvetti O
A new method is proposed to integrate 3D optical and acoustic images relative to the same underwater environment. The combination of optical and acoustic sensors in terms of uniform reference system, georeferencing and time allows: (i) integration cascade (operational level), (ii) safety data acquisition in various domains (distance from ground, turbid water, vegetation, etc.), (iii) replanning of missions in progress. Furthermore, data fusion can be faced according to different approaches: (a) stratification of referenced data layers, (b) correlation of quantities of different nature, (c) comparison of extracted features: 2D geometries (segments, elementary curves) and 3D (planes, simple surfaces), repetitive patterns, (d) integration of semantic information, (e) template matching for recognizing known structures, (f) creation and refinement of probability maps as a measure of optical (geometry, texture) and acoustic (elevation or reflectivity maps) properties. Unlike most of the existing approaches that perform recognition and matching of different interesting relevant points appearing in two images, we look at the correspondence of salient features present both in optical and acoustic images representing the same scene. A set of geometrical and textural feature extraction algorithms is applied to the multi-sensor images and compared with the output results. We aim thus at emphasizing the geometric structure alignment of features (e.g., lines or different kind of curves), instead of descriptor-based individual feature matching. This is due to the fact that optical and acoustic image properties and patch statistics of corresponding features are generally quite different. Besides, the spatial layout of features is preserved in both maps.
See at:
CNR IRIS | CNR IRIS | www.proceedings.com
2013
Other
Open Access
Metodi per l'elaborazione, il riconoscimento e l'integrazione automatica di mappe ottiche ed acustiche subacquee = Methods for automatic processing, recognition and integration of underwater optical and acoustic maps
Moroni D, Pascali M A, Reggiannini M, Salvetti O
Data acquired from optical and acoustic sensors placed on autonomous underwater vehicles are processed by means of automated Computer Vision procedures. Photometric distortions in optical images are rectified by calibration of the optical system, whereas Slant/Ground Range algorithms applied to acoustic maps correct the geometrical distortions typically arising in acoustic detection. Environmental noise affecting both data kinds are removed implementing appropriate filters. Furthermore, the signal is processed by maps registration and geo-referencing algorithms, features and pattern recognition, texture recognition and classification algorithms. Three-dimensional seabed reconstruction from optical images (Structure From Motion) and acoustic maps (Shape From Shading) allows a straight comparison between the two 3D models describing the same scene. A procedure returns the fusion of the two data types.
Moroni D, Pascali M A, Reggiannini M, Salvetti O
Data acquired from optical and acoustic sensors placed on autonomous underwater vehicles are processed by means of automated Computer Vision procedures. Photometric distortions in optical images are rectified by calibration of the optical system, whereas Slant/Ground Range algorithms applied to acoustic maps correct the geometrical distortions typically arising in acoustic detection. Environmental noise affecting both data kinds are removed implementing appropriate filters. Furthermore, the signal is processed by maps registration and geo-referencing algorithms, features and pattern recognition, texture recognition and classification algorithms. Three-dimensional seabed reconstruction from optical images (Structure From Motion) and acoustic maps (Shape From Shading) allows a straight comparison between the two 3D models describing the same scene. A procedure returns the fusion of the two data types.
See at:
CNR IRIS | www.edizioni.cnr.it | CNR IRIS
2013
Other
Open Access
Ambiente sottomarino virtuale per la visualizzazione di mappe 3D d'interesse archeologico = Virtual underwater environment for 3D maps visualization of archaeological interest
Magrini M, Pascali M A, Salvetti O
A Virtual reality laboratory has been set-up in order to visualize and enjoy the 3D reconstruction of an underwater environment based on simulated or real data. More in detail, exploiting the development of computer graphics for video games, we are working on a method to render the reconstruction from real data photorealistic, immersive, interactive, and easy to use. Data should come from successful missions of Autonomous Underwater Vehicles (AUVs) used in the Project; thus the scene represents large-scale sea-floor maps showing interesting archaeological findings. It will be possible to add more information to the virtual scene, like for example: more detailed 3D reconstructions of single archaeologic objects (amphoras, relicts, coins), links to historic sources relevant for the discovery, multimedia material and other information useful to make the virtual navigation a complete and satisfying experience for any kind of user.
Magrini M, Pascali M A, Salvetti O
A Virtual reality laboratory has been set-up in order to visualize and enjoy the 3D reconstruction of an underwater environment based on simulated or real data. More in detail, exploiting the development of computer graphics for video games, we are working on a method to render the reconstruction from real data photorealistic, immersive, interactive, and easy to use. Data should come from successful missions of Autonomous Underwater Vehicles (AUVs) used in the Project; thus the scene represents large-scale sea-floor maps showing interesting archaeological findings. It will be possible to add more information to the virtual scene, like for example: more detailed 3D reconstructions of single archaeologic objects (amphoras, relicts, coins), links to historic sources relevant for the discovery, multimedia material and other information useful to make the virtual navigation a complete and satisfying experience for any kind of user.
See at:
CNR IRIS | www.edizioni.cnr.it | CNR IRIS
2013
Conference article
Open Access
Multi-sensor data fusion for underwater archaeological investigation
Moroni D, Pascali M A, Reggiannini M, Salvetti O
The primary purpose of this work consists in treating optical and acoustic signals in order to extract useful information for applications in underwater archaeology. Data are processed to assess the presence of geometrically regular elements, potentially indicating handmade objects lying on the seafloor. Geometrical elements are recognized by means of suitable algorithms and their statistical persistence in the data stream is employed as a descriptor. Multi-sensor data are processed by applying segmentation and classification procedures based on a geometrical pattern analysis, with the purpose of discerning different materials. We basically seek for meaningful features in the data in order to perform robust object recognition, also in case of unfavorable environmental conditions. Finally we define a unique data fusion model that can be exploited for exhaustive interpretation of the underwater scene.
Moroni D, Pascali M A, Reggiannini M, Salvetti O
The primary purpose of this work consists in treating optical and acoustic signals in order to extract useful information for applications in underwater archaeology. Data are processed to assess the presence of geometrically regular elements, potentially indicating handmade objects lying on the seafloor. Geometrical elements are recognized by means of suitable algorithms and their statistical persistence in the data stream is employed as a descriptor. Multi-sensor data are processed by applying segmentation and classification procedures based on a geometrical pattern analysis, with the purpose of discerning different materials. We basically seek for meaningful features in the data in order to perform robust object recognition, also in case of unfavorable environmental conditions. Finally we define a unique data fusion model that can be exploited for exhaustive interpretation of the underwater scene.
See at:
CNR IRIS | ISTI Repository | CNR IRIS
2013
Conference article
Restricted
Curve recognition for underwater wrecks and handmade artefacts
Moroni D, Pascali M A, Reggiannini M, Salvetti O
In the framework of the development of autonomous vehicle in order to perform a survey of extreme environments, such as the seabed, the demand for computer vision to support the on-board decision system is increasing. In particular we devote this work to improve the existing underwater curve detection procedures. We propose a method that statistically highlights archaeological artefacts among its environment, weighting properly the persistence of meaningful curves in the video sequence.To this aim we made use of an existing parameterless algorithm ELSD, suitable for digital image processing.
Moroni D, Pascali M A, Reggiannini M, Salvetti O
In the framework of the development of autonomous vehicle in order to perform a survey of extreme environments, such as the seabed, the demand for computer vision to support the on-board decision system is increasing. In particular we devote this work to improve the existing underwater curve detection procedures. We propose a method that statistically highlights archaeological artefacts among its environment, weighting properly the persistence of meaningful curves in the video sequence.To this aim we made use of an existing parameterless algorithm ELSD, suitable for digital image processing.
2014
Journal article
Restricted
Underwater manmade and archaeological object detection in optical and acoustic data.
Moroni D, Pascali M A, Reggiannini M, Salvetti O
We propose a method designed for processing acoustic and optical data producing information about the presence of man-made and archaeological objects lying on the seabed. This method statistically highlights this type of artifacts among surrounding environment, weighting properly the persistence of meaningful curves in a video sequence, or in a sonogram. To this aim, we made use of the ELSD algorithm, a parameterless method inspired by Gestalt principles which has proven to provide promising results.Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 24 (issue 2), pp. 310-317
Moroni D, Pascali M A, Reggiannini M, Salvetti O
We propose a method designed for processing acoustic and optical data producing information about the presence of man-made and archaeological objects lying on the seabed. This method statistically highlights this type of artifacts among surrounding environment, weighting properly the persistence of meaningful curves in a video sequence, or in a sonogram. To this aim, we made use of the ELSD algorithm, a parameterless method inspired by Gestalt principles which has proven to provide promising results.Source: PATTERN RECOGNITION AND IMAGE ANALYSIS, vol. 24 (issue 2), pp. 310-317
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2015
Journal article
Open Access
The ARROWS project: adapting and developing robotics technologies for underwater archaeology
Allotta B, Costanzi R, Ridolfi A, Colombo C, Bellavia F, Fanfani M, Pazzaglia F, Salvetti O, Moroni D, Pascali M A, Reggiannini M, Kruusmaa M, Salumae T, Frost G, Tsiogkas N, Lane D M, Cocco M, Gualdesi L, Roig D, Gündogdu H T, Tekdemir E I, Can Dede M I, Baines S, Agneto F, Selvaggio P, Tusa S, Zangara S, Dresen U, Latti P, Saar T, Daviddi W
ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) Technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign. ARROWS methodology is to identify the archaeologists requirements in all phases of the campaign and to propose related technological solutions. Starting from the necessities identified by archaeological project partners in collaboration with the Archaeology Advisory Group, a board composed of European archaeologists from outside ARROWS, the aim is the development of a heterogeneous team of cooperating AUVs capable of comply with a complete archaeological autonomous mission. Three new di erent AUVs have been designed in the framework of the project according to the archaeologists' indications: MARTA, characterized by a strong hardware modularity for ease of payload and propulsion systems configuration change; U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A Size AUV, a vehicle of small dimensions and weight easily deployable even by a single person. These three vehicles will cooperate within the project with AUVs already owned by ARROWS partners exploiting a distributed high-level control software based on the World Model Service (WMS), a storage system for the environment knowledge, updated in real-time through online payload data process, in the form of an ontology. The project includes also the development of a cleaning tool for well-known artifacts maintenance operations. The paper presents the current stage of the project that will lead to overall system nal demonstrations, during Summer 2015, in two different scenarios, Sicily (Italy) and Baltic Sea (Estonia).Source: IFAC-PAPERSONLINE, vol. 48 (issue 2), pp. 194-199
Project(s): ARROWS
Allotta B, Costanzi R, Ridolfi A, Colombo C, Bellavia F, Fanfani M, Pazzaglia F, Salvetti O, Moroni D, Pascali M A, Reggiannini M, Kruusmaa M, Salumae T, Frost G, Tsiogkas N, Lane D M, Cocco M, Gualdesi L, Roig D, Gündogdu H T, Tekdemir E I, Can Dede M I, Baines S, Agneto F, Selvaggio P, Tusa S, Zangara S, Dresen U, Latti P, Saar T, Daviddi W
ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) Technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign. ARROWS methodology is to identify the archaeologists requirements in all phases of the campaign and to propose related technological solutions. Starting from the necessities identified by archaeological project partners in collaboration with the Archaeology Advisory Group, a board composed of European archaeologists from outside ARROWS, the aim is the development of a heterogeneous team of cooperating AUVs capable of comply with a complete archaeological autonomous mission. Three new di erent AUVs have been designed in the framework of the project according to the archaeologists' indications: MARTA, characterized by a strong hardware modularity for ease of payload and propulsion systems configuration change; U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A Size AUV, a vehicle of small dimensions and weight easily deployable even by a single person. These three vehicles will cooperate within the project with AUVs already owned by ARROWS partners exploiting a distributed high-level control software based on the World Model Service (WMS), a storage system for the environment knowledge, updated in real-time through online payload data process, in the form of an ontology. The project includes also the development of a cleaning tool for well-known artifacts maintenance operations. The paper presents the current stage of the project that will lead to overall system nal demonstrations, during Summer 2015, in two different scenarios, Sicily (Italy) and Baltic Sea (Estonia).Source: IFAC-PAPERSONLINE, vol. 48 (issue 2), pp. 194-199
Project(s): ARROWS
See at:
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