Browsing by Author "Chow, Jacky"
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Item Open Access Multi-Sensor Integration for Indoor 3D Reconstruction(2014-05-02) Chow, Jacky; Lichti, Derek; Teskey, WilliamOutdoor maps and navigation information delivered by modern services and technologies like Google Maps and Garmin navigators have revolutionized the lifestyle of many people. Motivated by the desire for similar navigation systems for indoor usage from consumers, advertisers, emergency rescuers/responders, etc., many indoor environments such as shopping malls, museums, casinos, airports, transit stations, offices, and schools need to be mapped. Typically, the environment is first reconstructed by capturing many point clouds from various stations and defining their spatial relationships. Currently, there is a lack of an accurate, rigorous, and speedy method for relating point clouds in indoor, urban, satellite-denied environments. This thesis presents a novel and automatic way for fusing calibrated point clouds obtained using a terrestrial laser scanner and the Microsoft Kinect by integrating them with a low-cost inertial measurement unit. The developed system, titled the Scannect, is the first joint-static-kinematic indoor 3D mapper. Manmade instruments are susceptible to systematic distortions. These uncompensated errors can cause inconsistencies between the map and reality; for example a scale factor error can lead firefighters to the wrong rooms during rescue missions. For terrestrial laser scanners, marker-based user self-calibration has shown effectiveness, but has yet to gain popularity because it can be cumbersome to affix hundreds of targets inside a large room. Previous attempts to expedite this process involved removing the dependency on artificial signalized targets. However, the commonalities and differences of markerless approaches with respect to the marker-based method were not established. This research demonstrated with simulations and real data that using planar features can yield similar calibration results as using markers and much of the knowledge about marker-based calibration is transferable to the plane-based calibration method. For the Microsoft Kinect, there is a limited amount of research dedicated to calibrating the system. Most methods cannot handle the different onboard optical sensors simultaneously. Therefore, a novel and accurate total system calibration algorithm based on the bundle adjustment that can account for all inter-sensor correlations was developed. It is the first and only algorithm that functionally models the misalignments between the infrared camera and projector in addition to providing full variance-covariance information for all calibration parameters. Scan-matching and Kalman filtering are often used together by robots to fuse data from different sensors and perform Simultaneous Localisation and Mapping. However, most research that utilized the Kinect adopted the loosely-coupled paradigm and ignored the time synchronization error between the depth and colour information. A new measurement model that facilitates a tightly-coupled Kalman filter with an arbitrary number of Kinects was proposed. The depth and colour information were treated independently while being aided by inertial measurements, which yielded advantages over existing approaches. For the depth data, a new tightly-coupled iterative closest point algorithm that minimizes the reprojection errors of a triangulation-based 3D camera within an implicit iterative extended Kalman filter framework was developed. When texture variation becomes available, the RGB images automatically update the state vector by using a novel tightly-coupled 5-point visual odometry algorithm without state augmentation.Item Open Access Social Media Policy for Healthcare Providers in Alberta(2020-09-04) Chow, Jacky; Zwicker, JenniferSocial media as a form of communication has been widely adopted by much of the world’s population. Social media platforms allow people to connect with others, share ideas and opinions, stay current on world events, and share content such as videos and photographs. For healthcare professionals, social media can also be use to enhance communication with other healthcare professionals, to improve patient care, and to effectively market ones healthcare services. Along with the benefits of social media come risks. Misuse of social media by healthcare providers can pose risks to patients if the confidentiality of health information is not maintained. Unprofessional behaviour by a healthcare professional on social media can also harm the profession to which they belong by undermining the public’s trust in the profession. Finally, misuse can put the professional at risk if their online behavior results in disciplinary action being taken against them by their regulatory college. It is important that regulatory colleges create policies regarding social media use that respects a regulated member’s choice to use social media while decreasing the risks described above. The purpose of this project was to explore the current state of social media policies developed by healthcare colleges for healthcare providers in Alberta. Semi-structured interviews of administrators from various healthcare colleges in Alberta were conducted. The goal of the interviews was to gain insight on college administrators’ attitudes toward social media use, how online misconduct is being handled, and how colleges are adapting to the constant changes in social media. Data gathered from the interviews was analyzed using an inductive thematic approach to identify major themes in the data. The interviews revealed that different healthcare colleges currently take very different approaches to the issue of social media use by their members. The approaches ranged from some colleges having very specific and constantly evolving guidelines for members, to other colleges that have taken no specific actions to address social media issues. The interviews also showed that different colleges are facing very different social media related issues with no two colleges facing the same set of concerns. Lastly, the interview participants shared very common approaches to dealing with misconduct on social media by their members which focused on education to prevent future problems.