Search Results (28)

Current security solutions predominantly rely on cloud-based implementations, often neglecting computational resource constraints and operational efficiency. While contemporary methodologies typically require additional training, the few that operate without retraining frequently yield suboptimal performance. To address these limitations, this work leverages a pre-trained MTCNN architecture to detect faces of copyright-protected individuals. We construct a facial landmark database comprising five critical fiducial points, which serves as a supplementary module integrated into the stable diffusion framework, enabling real-time security filtering for synthesized video content. The proposed system utilizes MTCNN models pre-trained in the cloud to build a repository of copyrighted facial signatures, generating a geometric parameter database of facial landmarks. This database, coupled with a parallel verification unit, functions as a plugin within the standard Stable Diffusion pipeline. By leveraging Stable Diffusion’s native decoder, we decode stochastic frames from the U-Net latent representations and perform real-time comparative analysis to identify potential copyright violations in generated video sequences. Upon detecting an infringement, an on-screen display (OSD) alert notifies the user and immediately halts the text-to-video (T2V) generation process. Experimental evaluations demonstrate that our framework effectively mitigates the resource constraints and latency issues inherent in edge deployment scenarios of prior security implementations. Leveraging MTCNN’s proven robustness and extensive edge compatibility for facial recognition, the proposed detection and obfuscation plugin integrates seamlessly with Stable Diffusion while preserving generation quality. Full article

Electrocardiogram waveform delineation is a fundamental task for quantitative cardiac analysis, yet accurate and consistent estimation of waveform boundaries remains challenging due to heart rate variability, inter-subject morphological differences, and nonlinear temporal distortions across cardiac cycles. Conventional rule-based methods and pointwise Dynamic Time Warping approaches are sensitive to amplitude variations and baseline fluctuations, while deep learning–based models require large annotated datasets and often suffer from limited interpretability and generalization. In this study, we propose a morphology-oriented ECG waveform alignment framework based on Pearson correlation–based Dynamic Time Warping (PCDTW). By integrating window-level matching with a correlation-driven cost function, the proposed method explicitly emphasizes local morphological similarity rather than absolute amplitude differences. Each ECG record is aligned using a subject-specific reference cycle constructed from normalized RR intervals, enabling stable correspondence of waveform boundaries without any training process. The proposed method was evaluated on two publicly available databases, the QT Database (QTDB) and the Lobachevsky University Electrocardiography Database (LUDB). Experimental results show that PCDTW significantly reduces QT and QTcB estimation errors compared with conventional DTW variants, demonstrating improved temporal consistency and lower bias across cardiac cycles. In particular, the mean QTcB error was reduced to 28.14 ms, compared with 124.54 ms obtained using conventional DTW. In addition, on LUDB, the overall mean delineation error for the P wave, QRS complex, and T wave boundaries was 10.68 ms, showing comparable or superior performance to state-of-the-art deep learning–based methods despite requiring no external training data. These findings indicate that morphology-aware, correlation-based temporal alignment provides a robust and interpretable alternative for ECG waveform boundary detection under realistic physiological variability. Full article

Continuous blood pressure (BP) monitoring remains a major challenge in wearable healthcare systems, as conventional cuff-based sphygmomanometers are intermittent and unsuitable for long-term use. This study presents a Smart Sock platform for cuffless BP estimation using single-site photoplethysmography (PPG). Unlike approaches based on pulse transit time or fiducial point detection, the proposed framework relies on peak-independent features extracted from PPG and its first and second derivatives, capturing blood volume and hemodynamic dynamics in the lower limb. PPG signals from 60 participants were segmented into overlapping 30 s windows and processed through a unified preprocessing pipeline. A compact set of physiologically meaningful statistical and information-theoretic features was extracted from each window, and temporal lag modelling (5–15 s) was employed to encode short-term hemodynamic memory without explicit peak detection. Multiple regression models were assessed using leakage-safe cross-validation strategies. In a subject-independent diagnosis scenario, the system achieved errors of 8.60 mmHg for systolic BP and 6.42 mmHg for diastolic BP. In a monitoring scenario with single-point calibration, performance substantially improved, yielding mean absolute errors of 1.3–1.7 mmHg and R² > 0.90. These results demonstrate that foot-based PPG, combined with peak-independent feature engineering and temporal context modeling, enables accurate and comfortable continuous personalized blood pressure monitoring after calibration, while subject-independent estimation remains more challenging. Full article

Asymptomatic peripheral artery disease (PAD) poses a silent risk, potentially leading to severe conditions if undetected. Integrating new screening tools into routine general practitioner (GP) visits could enable early detection. This study investigates the feasibility of photoplethysmography (PPG) monitoring for assessing vascular health across different blood pressure (BP) conditions. Custom femoral artery phantoms representing healthy (0.82 MPa), intermediate (1.48 MPa), and atherosclerotic (2.06 MPa) vessels were tested under hypertensive, normotensive, and hypotensive conditions to evaluate PPG’s ability to distinguish between vascular states. Extracted features from the PPG signal, including amplitude, area under the curve (AUC), median upslope–downslope ratio, and median end datum difference, were analysed. Kruskal–Wallis tests revealed significant differences between healthy and unhealthy vessels across BP states, supporting PPG as a screening tool. The fiducial points from the second derivative of the photoplethysmography signal (SDPPG) were analysed. The ${\displaystyle \frac{b}{a}}$ ratio was most pronounced between healthy and unhealthy phantoms under hypertensive conditions (ranging from –2.13 to –2.06), suggesting a change in vascular wall distensibility. Under normotensive conditions, the difference in ${\displaystyle \frac{b}{a}}$ ratios between healthy and unhealthy phantoms was smaller (0.01), and no meaningful difference was observed under hypotensive conditions, suggesting the reduced sensitivity of this metric at lower perfusion pressures. Intermediate states were challenging to detect, particularly under hypotension, suggesting a need for further research. Nonetheless, this study highlights the promise of PPG monitoring in identifying vascular stiffness. Full article

Traditional marker-based photogrammetry systems often require the attachment and removal of a sticker for each measured point, involving labor-intensive manual steps. This paper presents an innovative approach that utilizes raised, cross-shaped markers, referred to as ‘molded markers’, directly embedded into composite pieces. In this study, these markers, commonly employed in other industrial processes, serve as fiducial markers for accurate photogrammetry. A two-stage detection algorithm is developed to accurately identify their centers: initial approximate detection by a Faster R-CNN model, followed by accurate localization using a classical cross center detection algorithm. This study investigates the pertinence of using polarimetric images to guarantee the highest detection rate and accuracy even in adverse lighting conditions. Experimental results demonstrate the viability of using these markers in accurate photogrammetry systems, achieving a median accuracy of 0.170 (interquartile range (IQR) 0.069 to 0.368) mm/m while enhancing automation and system usability. Full article

This paper proposes a camera system designed for local dynamic map (LDM) generation, capable of simultaneously performing object detection, tracking, and 3D position estimation. This paper focuses on improving existing approaches to better suit our application, rather than proposing novel methods. We modified the detection head of YOLOv4 to enhance the detection performance for small objects and to predict fiducial points for 3D position estimation. The modified detector, compared to YOLOv4, shows an improvement of approximately 5% mAP on the Visdrone2019 dataset and around 3% mAP on our database. We also proposed a tracker based on DeepSORT. Unlike DeepSORT, which applies a feature extraction network for each detected object, the proposed tracker applies a feature extraction network once for the entire image. To increase the resolution of feature maps, the tracker integrates the feature aggregation network (FAN) structure into the DeepSORT network. The difference in multiple objects tracking accuracy (MOTA) between the proposed tracker and DeepSORT is minimal at 0.3%. However, the proposed tracker has a consistent computational load, regardless of the number of detected objects, because it extracts a feature map once for the entire image. This characteristic makes it suitable for embedded edge devices. The proposed methods have been implemented on a system on chip (SoC), Qualcomm QCS605, using network pruning and quantization. This enables the entire process to be executed at 10 Hz on this edge device. Full article

The extraction of relevant features from the photoplethysmography signal for estimating certain physiological parameters is a challenging task. Various feature extraction methods have been proposed in the literature. In this study, we present a novel fiducial point extraction algorithm to detect c and d points from the acceleration photoplethysmogram (APG), namely “CnD”. The algorithm allows for the application of various pre-processing techniques, such as filtering, smoothing, and removing baseline drift; the possibility of calculating first, second, and third photoplethysmography derivatives; and the implementation of algorithms for detecting and highlighting APG fiducial points. An evaluation of the CnD indicated a high level of accuracy in the algorithm’s ability to identify fiducial points. Out of 438 APG fiducial c and d points, the algorithm accurately identified 434 points, resulting in an accuracy rate of 99%. This level of accuracy was consistent across all the test cases, with low error rates. These findings indicate that the algorithm has a high potential for use in practical applications as a reliable method for detecting fiducial points. Thereby, it provides a valuable new resource for researchers and healthcare professionals working in the analysis of photoplethysmography signals. Full article

Interest in Unmanned Aerial Vehicles (UAVs) has increased due to their versatility and variety of applications, however their battery life limits their applications. Heterogeneous multi-robot systems can offer a solution to this limitation, by allowing an Unmanned Ground Vehicle (UGV) to serve as a recharging station for the aerial one. Moreover, cooperation between aerial and terrestrial robots allows them to overcome other individual limitations, such as communication link coverage or accessibility, and to solve highly complex tasks, e.g., environment exploration, infrastructure inspection or search and rescue. This work proposes a vision-based approach that enables an aerial robot to autonomously detect, follow, and land on a mobile ground platform. For this purpose, ArUcO fiducial markers are used to estimate the relative pose between the UAV and UGV by processing RGB images provided by a monocular camera on board the UAV. The pose estimation is fed to a trajectory planner and four decoupled controllers to generate speed set-points relative to the UAV. Using a cascade loop strategy, these set-points are then sent to the UAV autopilot for inner loop control. The proposed solution has been tested both in simulation, with a digital twin of a solar farm using ROS, Gazebo and Ardupilot Software-in-the-Loop (SiL); and in the real world at IST Lisbon’s outdoor facilities, with a UAV built on the basis of a DJ550 Hexacopter and a modified Jackal ground robot from DJI and Clearpath Robotics, respectively. Pose estimation, trajectory planning and speed set-point are computed on board the UAV, using a Single Board Computer (SBC) running Ubuntu and ROS, without the need for external infrastructure. Full article

The accurate detection of fiducial points in the impedance cardiography signal (ICG) has a decisive impact on the proper estimation of diagnostic parameters such as stroke volume or cardiac output. It is, therefore, necessary to find an algorithm that is able to assess their positions with great precision. The solution to this problem is, however, quite challenging with regard to the high sensitivity of the ICG technique to the noise and varying morphology of the acquired signals. The aim of this study is to propose a novel method that allows us to overcome these limitations. The developed algorithm is based on Empirical Mode Decomposition (EMD)—an effective technique for processing and analyzing various types of non-stationary signals. We find high correlations between the results obtained from the algorithm and annotated by an expert. This, in turn, implies that the difference in estimation of the diagnostic-relevant parameters is small, which suggests that the method can automatically provide precise clinical information. Full article

Lidar sensors are widely used for environmental perception on autonomous robot vehicles (ARV). The field of view (FOV) of Lidar sensors can be reshaped by positioning plane mirrors in their vicinity. Mirror setups can especially improve the FOV for ground detection of ARVs with 2D-Lidar sensors. This paper presents an overview of several geometric designs and their strengths for certain vehicle types. Additionally, a new and easy-to-implement calibration procedure for setups of 2D-Lidar sensors with mirrors is presented to determine precise mirror orientations and positions, using a single flat calibration object with a pre-aligned simple fiducial marker. Measurement data from a prototype vehicle with a 2D-Lidar with a 2 m range using this new calibration procedure are presented. We show that the calibrated mirror orientations are accurate to less than 0.6° in this short range, which is a significant improvement over the orientation angles taken directly from the CAD. The accuracy of the point cloud data improved, and no significant decrease in distance noise was introduced. We deduced general guidelines for successful calibration setups using our method. In conclusion, a 2D-Lidar sensor and two plane mirrors calibrated with this method are a cost-effective and accurate way for robot engineers to improve the environmental perception of ARVs. Full article

This paper tackles the problem of spacecraft relative navigation to support the reach and capture of a passively cooperative space target using a chaser platform equipped with a robotic arm in the frame of future operations such as On Orbit Servicing and Active Debris Removal. Specifically, it presents a pose determination architecture based on monocular cameras to deal with a space target in GEO equipped with retro-reflective and black-and-white fiducial markers. The proposed architecture covers the entire processing pipeline, i.e., starting from markers’ detection and identification up to pose estimation by solving the Perspective-n-Points problem with a customized implementation of the Levenberg–Marquardt algorithm. It is designed to obtain relative position and attitude measurements of the target’s main body with respect to the chaser, as well as of the robotic arm’s end effector with respect to the selected grasping point. The design of the configuration of fiducial markers to be installed on the target’s approach face to support the pose determination task is also described. A performance assessment is carried out by means of numerical simulations using the Planet and Asteroid Natural Scene Generation Utility tool to produce realistic synthetic images of the target. The proposed approach robustness is evaluated against variable illumination scenarios and considering different uncertainty levels in the knowledge of initial conditions and camera intrinsic parameters. Full article

In this contribution, we present a simple and intuitive approach for estimating the exterior (geometrical) calibration of a Lidar instrument with respect to a camera as well as their synchronization shifting (temporal calibration) during data acquisition. For the geometrical calibration, the 3D rigid transformation of the camera system was estimated with respect to the Lidar frame on the basis of the establishment of 2D to 3D point correspondences. The 2D points were automatically extracted on images by exploiting an AprilTag fiducial marker, while the detection of the corresponding Lidar points was carried out by estimating the center of a custom-made retroreflective target. Both AprilTag and Lidar reflective targets were attached to a planar board (calibration object) following an easy-to-implement set-up, which yielded high accuracy in the determination of the center of the calibration target. After the geometrical calibration procedure, the temporal calibration was carried out by matching the position of the AprilTag to the corresponding Lidar target (after being projected onto the image frame), during the recording of a steadily moving calibration target. Our calibration framework was given as an open-source software implemented in the ROS platform. We have applied our method to the calibration of a four-camera mobile mapping system (MMS) with respect to an integrated Velodyne Lidar sensor and evaluated it against a state-of-the-art chessboard-based method. Although our method was a single-camera-to-Lidar calibration approach, the consecutive calibration of all four cameras with respect to the Lidar sensor yielded highly accurate results, which were exploited in a multi-camera texturing scheme of city point clouds. Full article

Accelerometer-based devices have been employed in seismocardiography fiducial point detection with the aid of quasi-synchronous alignment between echocardiography images and seismocardiogram signals. However, signal misalignments have been observed, due to the heartbeat cycle length variation. This paper not only analyzes the misalignments and detection errors but also proposes to mitigate the issues by introducing reference signals and adynamic time warping (DTW) algorithm. Two diagnostic parameters, the ratio of pre-ejection period to left ventricular ejection time (PEP/LVET) and the Tei index, were examined with two statistical verification approaches: (1) the coefficient of determination (R²) of the parameters versus the left ventricular ejection fraction (LVEF) assessments, and (2) the receiver operating characteristic (ROC) classification to distinguish the heart failure patients with reduced ejection fraction (HFrEF). Favorable R² values were obtained, R² = 0.768 for PEP/LVET versus LVEF and R² = 0.86 for Tei index versus LVEF. The areas under the ROC curve indicate the parameters that are good predictors to identify HFrEF patients, with an accuracy of more than 92%. The proof-of-concept experiments exhibited the effectiveness of the DTW-based quasi-synchronous alignment in seismocardiography fiducial point detection. The proposed approach may enable the standardization of the fiducial point detection and the signal template generation. Meanwhile, the program-generated annotation data may serve as the labeled training set for the supervised machine learning. Full article

The detection of hypertension (HT) is of great importance for the early diagnosis of cardiovascular diseases (CVDs), as subjects with high blood pressure (BP) are asymptomatic until advanced stages of the disease. The present study proposes a classification model to discriminate between normotensive (NTS) and hypertensive (HTS) subjects employing electrocardiographic (ECG) and photoplethysmographic (PPG) recordings as an alternative to traditional cuff-based methods. A total of 913 ECG, PPG and BP recordings from 69 subjects were analyzed. Then, signal preprocessing, fiducial points extraction and feature selection were performed, providing 17 discriminatory features, such as pulse arrival and transit times, that fed machine-learning-based classifiers. The main innovation proposed in this research uncovers the relevance of previous calibration to obtain accurate HT risk assessment. This aspect has been assessed using both close and distant time test measurements with respect to calibration. The k-nearest neighbors-classifier provided the best outcomes with an accuracy for new subjects before calibration of 51.48%. The inclusion of just one calibration measurement into the model improved classification accuracy by 30%, reaching gradually more than 96% with more than six calibration measurements. Accuracy decreased with distance to calibration, but remained outstanding even days after calibration. Thus, the use of PPG and ECG recordings combined with previous subject calibration can significantly improve discrimination between NTS and HTS individuals. This strategy could be implemented in wearable devices for HT risk assessment as well as to prevent CVDs. Full article

The characteristics or aspects of important fiducial points (FPs) in the electrocardiogram (ECG) signal are complicated because of various factors, such as non-stationary effects and low signal-to-noise ratio. Due to the various noises caused by the ECG signal measurement environment and by typical ECG signal deformation due to heart diseases, detecting such FPs becomes a challenging task. In this study, we introduce a novel PQRST complex detector using a one-dimensional bilateral filter (1DBF) and the temporal characteristics of FPs. The 1DBF with noise suppression and edge preservation preserves the P- or T-wave whereas it suppresses the QRS-interval. The 1DBF acts as a background predictor for predicting the background corresponding to the P- and T-waves and the remaining flat interval excluding the QRS-interval. The R-peak and QRS-interval are founded by the difference of the original ECG signal and the predicted background signal. Then, the Q- and S-points and the FPs related to the P- and T-wave are sequentially detected using the determined searching range and detection order based on the detected R-peak. The detection performance of the proposed method is analyzed through the MIT-BIH database (MIT-DB) and the QT database (QT-DB). Full article