The exploration and construction of maps in unknown environments is a challenge for robotics. The proposed method is facing this problem by combining effective techniques for planning, SLAM, and a new exploration approach based on the Voronoi Fast Marching method. The final goal of the exploration task is to build a map of the environment that previously the robot did not know. The exploration ...

Dental radiographs have been widely used by dentists in monitoring the progress of the periodontal defect treatment. And more importantly, digital dental X-rays make computer aided dental X-rays analysis possible and convenience. In digital dental X-rays the regions of the cysts are of low contrast and the pixel intensity distribution is not homogenous so cyst segmentation is a complex problem ...

We present a numerical method for computing the signed distance to a piecewise-smooth surface defined as the zero set of a function. It is based on a marching method by Kim [Kim01] and a hybrid discretization of firstand second-order discretizations of the signed distance function equation. If the solution is smooth at a point and at all of the points in the domain of dependence of that point, ...

The purpose of this work is to define a new algorithm for converting a CSG representation into a B-Rep representation. Usually this conversion is done determining the union, intersection or difference from two B-Rep represented solids. Due to the lack of explicit representation of surface boundaries, CSG models must be converted into B-Rep solid models when a description based on polygonal mesh...

We present a method to characterize the topology of the level sets of trilinearly interpolated scalar fields. Our characterization is based on Morse theory, and in particular a variant called Stratified Morse theory capable of treating the piecewise-smooth aspect of trilinear interpolation. Algorithms such as Marching Cubes generate approximations to these level sets to a varying degree of fide...

We present a new Fast Marching algorithm for a non-convex eikonal equation modeling front evolutions in the normal direction. The algorithm is an extension of the Fast Marching Method since the new scheme can deal with a time-dependent velocity without any restriction on its sign. We analyze the properties of the algorithm and we prove its convergence in the class of discontinuous viscosity sol...

This paper presents an alternative way to calculate the next approximate point in marching techniques for the computation of the intersection of two parametric surfaces. Di ering from the classical methods, the algorithm is based on the approximate osculating circle instead of tangent vector to estimate the next point. It provides closer estimation and a larger marching step in each iteration w...

The Fast Marching Method is a numerical algorithm for solving the Eikonal equation on a rectangular orthogonal mesh in O(M log M) steps, where M is the total number of grid points. In this paper we extend the Fast Marching Method to triangulated domains with the same computational complexity. As an application, we provide an optimal time algorithm for computing the geodesic distances and thereb...

The effect of a continuous 110-km march with a 20-kg backpack load on intraocular pressure (IOP), plasma osmolarity, blood lactate, pH, and other related laboratory parameters was studied in 22 healthy young volunteers. Intraocular pressure decreased significantly at all marching intervals and returned to baseline level 3 hr after the completion of marching. The maximal average reduction during...