Real-Time Tracking of Single and Multiple Objects from Depth-Colour Imagery Using 3D Signed Distance Functions.

We describe a novel probabilistic framework for real-time tracking of multiple objects from combined depth-colour imagery. Object shape is represented implicitly using 3D signed distance functions. Probabilistic generative models based on these functions are developed to account for the observed RGB-D imagery, and tracking is posed as a maximum a posteriori problem. We present first a method suited to tracking a single rigid 3D object, and then generalise this to multiple objects by combining distance functions into a shape union in the frame of the camera. This second model accounts for similarity and proximity between objects, and leads to robust real-time tracking without recourse to bolt-on or ad-hoc collision detection.

[Clinical experience in the diagnosis and therapy of plasmacytoma (author's transl)]. / Klinische Erfahrungen in Diagnostik und Therapie des Plasmozytoms.

8 patients with plasmocytomas were treated with Endoxan and compared with 5 patients without any considerable treatment. Diagnosis, therapy and prognosis of plasmocytoma are discussed. Particularly mentioned are 3 patients with secondary tumours during cytostatic treatment, a plasmocytoma without paraprotein, a tumorous plasmocytoma with double paraproteinemia and a gammopathia with further development into a plasmocytoma 10 years later.