An Improved Skin Lesion Matching Scheme in Total Body Photography.

Total body photography is used for early detection of malignant melanoma, primarily as a means of temporal skin surface monitoring. In a prior work, we presented a scanner with a set of algorithms to map and detect changes in pigmented skin lesions, thus demonstrating that it is possible to fully automate the process of total body image acquisition and processing. The key procedure in these algorithms is skin lesion matching that determines whether two images depict the same real lesion.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area.

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints.

Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems.