We propose an approach for estimating the error in depth data provided by generic 3D sensors, which are modern devices capable of generating an image (RGB data) and a depth map (distance) or other similar 2.5D structure (e.g. stereo disparity) of the scene. Our approach starts capturing images of a checkerboard pattern devised for the method. Then proceed with the construction of a dense depth map using functions that generally comes with the device SDK (based on disparity or depth). The 2D processing of RGB data is performed next to find the checkerboard corners. Clouds of corner points are finally created (in 3D), over which an RMS error estimation is computed. We come up with a multi-platform system and its verification and evaluation has been done, using the development kit of the board nVIDIA Jetson TK1 with the MS Kinects v1/v2 and the Stereolabs ZED camera. So the main contribution is the error determination procedure that does not need any data set or benchmark, thus relying only on data acquired on-the-fly. With a simple checkerboard, our approach is able to determine the error for any device. Envisioned application is on 3D reconstruction for robotic vision, with a series of 3D vision sensors embarked in robots (UAV of type quadcopter and terrestrial robots) for high-precision map construction, which can be used for sensing and monitoring.

This study aims to assess the feasibility of delineating and identifying mineral ores from hyperspectral images of tin-tungsten mine excavation faces using machine-learning classification. We compiled a set of hand samples of minerals of interest from a tin-tungsten mine and analyzed two types of hyperspectral images: 1) images acquired with a laboratory set-up under close-to-optimal conditions; and 2) scan of a simulated mine face using a field set-up, under conditions closer to those in the gallery. We have analyzed the following minerals: cassiterite (tin ore), wolframite (tungsten ore), chalcopyrite, malachite, muscovite, and quartz. Classification (Linear Discriminant Analysis, Singular Vector Machines and Random Forest) of laboratory spectra had a very high overall accuracy rate (98%), slightly lower if the 450 – 950 nm and 950 – 1780 nm ranges are considered independently, and much lower (74.5%) for simulated conventional RGB imagery. Classification accuracy for the simulation was lower than in the laboratory but still high (85%), likely a consequence of the lower spatial resolution. All three classification methods performed similarly in this case, with Random Forest producing results of slightly higher accuracy. The user’s accuracy for wolframite was 85%, but cassiterite was often confused with wolframite (user’s accuracy: 70%). A lumped ore category achieved 94.9% user’s accuracy. Our study confirms the suitability of hyperspectral imaging to record the spatial distribution of ore mineralization in progressing tungsten-tin mine faces.

SAMHD1 is a deoxynucleotide triphosphate (dNTP) triphosphohydrolase with important roles in the control of cell proliferation and apoptosis, either through the regulation of intracellular dNTPs levels or the modulation of the DNA damage response. However, SAMHD1 role in cancer evolution is still unknown. We performed the first in-depth study of SAMHD1 role in advanced solid tumors, by analyzing samples of 128 patients treated with chemotherapy agents based on platinum derivatives and/or antimetabolites and developing novel in vitro knock-out models to explore the mechanisms driving SAMHD1 function in cancer. Low or no expression of SAMHD1 was associated with a positive prognosis in breast, ovarian and non-small cell lung cancer (NSCLC) cancer patients. A predictive value was associated to low-SAMHD1 expression in NSCLC and ovarian patients treated with antimetabolites in combination with platinum derivatives. In vitro, SAMHD1 knock-out cells showed increased γ-H2AX and apoptosis suggesting that SAMHD1 depletion induces DNA damage leading to cell death. In vitro treatment with platinum-derived drugs significantly enhanced γ-H2AX and apoptotic markers expression in knock-out cells, indicating a synergic effect of SAMHD1 depletion and platinum-based treatment. SAMHD1 expression represents a new strong prognostic and predictive biomarker in solid tumors and thus, modulation of SAMHD1 function may constitute a promising target for the improvement of cancer therapy.