Terrain shape estimation from optical flow, using Kalman filtering

NASA Astrophysics Data System (ADS)

Hoff, William A.; Sklair, Cheryl W.

1990-01-01

As one moves through a static environment, the visual world as projected on the retina seems to flow past. This apparent motion, called optical flow, can be an important source of depth perception for autonomous robots. An important application is in planetary exploration -the landing vehicle must find a safe landing site in rugged terrain, and an autonomous rover must be able to navigate safely through this terrain. In this paper, we describe a solution to this problem. Image edge points are tracked between frames of a motion sequence, and the range to the points is calculated from the displacement of the edge points and the known motion of the camera. Kalman filtering is used to incrementally improve the range estimates to those points, and provide an estimate of the uncertainty in each range. Errors in camera motion and image point measurement can also be modelled with Kalman filtering. A surface is then interpolated to these points, providing a complete map from which hazards such as steeply sloping areas can be detected. Using the method of extended Kalman filtering, our approach allows arbitrary camera motion. Preliminary results of an implementation are presented, and show that the resulting range accuracy is on the order of 1-2% of the range.

Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas

PubMed Central

2018-01-01

This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the sense that it does not see most of the moving objects (e.g., pedestrians, cars) and thus is able to estimate the ego-motion with fewer outliers than is typical with a forward-facing camera. The GNSS and visual information systems are tightly-coupled in a Kalman filter for the final position solution. Experimental results demonstrate the ability of the system to provide satisfactory navigation solutions and better accuracy than the GNSS-only and the loosely-coupled GNSS/vision, 20 percent and 82 percent (in the worst case) respectively, in a deep urban canyon, even in conditions with fewer than four GNSS satellites. PMID:29673230

Tightly-Coupled GNSS/Vision Using a Sky-Pointing Camera for Vehicle Navigation in Urban Areas.

PubMed

Gakne, Paul Verlaine; O'Keefe, Kyle

2018-04-17

This paper presents a method of fusing the ego-motion of a robot or a land vehicle estimated from an upward-facing camera with Global Navigation Satellite System (GNSS) signals for navigation purposes in urban environments. A sky-pointing camera is mounted on the top of a car and synchronized with a GNSS receiver. The advantages of this configuration are two-fold: firstly, for the GNSS signals, the upward-facing camera will be used to classify the acquired images into sky and non-sky (also known as segmentation). A satellite falling into the non-sky areas (e.g., buildings, trees) will be rejected and not considered for the final position solution computation. Secondly, the sky-pointing camera (with a field of view of about 90 degrees) is helpful for urban area ego-motion estimation in the sense that it does not see most of the moving objects (e.g., pedestrians, cars) and thus is able to estimate the ego-motion with fewer outliers than is typical with a forward-facing camera. The GNSS and visual information systems are tightly-coupled in a Kalman filter for the final position solution. Experimental results demonstrate the ability of the system to provide satisfactory navigation solutions and better accuracy than the GNSS-only and the loosely-coupled GNSS/vision, 20 percent and 82 percent (in the worst case) respectively, in a deep urban canyon, even in conditions with fewer than four GNSS satellites.

Vision-based control for flight relative to dynamic environments

NASA Astrophysics Data System (ADS)

Causey, Ryan Scott

The concept of autonomous systems has been considered an enabling technology for a diverse group of military and civilian applications. The current direction for autonomous systems is increased capabilities through more advanced systems that are useful for missions that require autonomous avoidance, navigation, tracking, and docking. To facilitate this level of mission capability, passive sensors, such as cameras, and complex software are added to the vehicle. By incorporating an on-board camera, visual information can be processed to interpret the surroundings. This information allows decision making with increased situational awareness without the cost of a sensor signature, which is critical in military applications. The concepts presented in this dissertation facilitate the issues inherent to vision-based state estimation of moving objects for a monocular camera configuration. The process consists of several stages involving image processing such as detection, estimation, and modeling. The detection algorithm segments the motion field through a least-squares approach and classifies motions not obeying the dominant trend as independently moving objects. An approach to state estimation of moving targets is derived using a homography approach. The algorithm requires knowledge of the camera motion, a reference motion, and additional feature point geometry for both the target and reference objects. The target state estimates are then observed over time to model the dynamics using a probabilistic technique. The effects of uncertainty on state estimation due to camera calibration are considered through a bounded deterministic approach. The system framework focuses on an aircraft platform of which the system dynamics are derived to relate vehicle states to image plane quantities. Control designs using standard guidance and navigation schemes are then applied to the tracking and homing problems using the derived state estimation. Four simulations are implemented in MATLAB that build on the image concepts present in this dissertation. The first two simulations deal with feature point computations and the effects of uncertainty. The third simulation demonstrates the open-loop estimation of a target ground vehicle in pursuit whereas the four implements a homing control design for the Autonomous Aerial Refueling (AAR) using target estimates as feedback.

A robust vision-based sensor fusion approach for real-time pose estimation.

PubMed

Assa, Akbar; Janabi-Sharifi, Farrokh

2014-02-01

Object pose estimation is of great importance to many applications, such as augmented reality, localization and mapping, motion capture, and visual servoing. Although many approaches based on a monocular camera have been proposed, only a few works have concentrated on applying multicamera sensor fusion techniques to pose estimation. Higher accuracy and enhanced robustness toward sensor defects or failures are some of the advantages of these schemes. This paper presents a new Kalman-based sensor fusion approach for pose estimation that offers higher accuracy and precision, and is robust to camera motion and image occlusion, compared to its predecessors. Extensive experiments are conducted to validate the superiority of this fusion method over currently employed vision-based pose estimation algorithms.

Visual Target Tracking in the Presence of Unknown Observer Motion

NASA Technical Reports Server (NTRS)

Williams, Stephen; Lu, Thomas

2009-01-01

Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario.

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Matthies, Larry H.

1998-01-01

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Recommended survey designs for occupancy modelling using motion-activated cameras: insights from empirical wildlife data

PubMed Central

Lewis, Jesse S.; Gerber, Brian D.

2014-01-01

Motion-activated cameras are a versatile tool that wildlife biologists can use for sampling wild animal populations to estimate species occurrence. Occupancy modelling provides a flexible framework for the analysis of these data; explicitly recognizing that given a species occupies an area the probability of detecting it is often less than one. Despite the number of studies using camera data in an occupancy framework, there is only limited guidance from the scientific literature about survey design trade-offs when using motion-activated cameras. A fuller understanding of these trade-offs will allow researchers to maximise available resources and determine whether the objectives of a monitoring program or research study are achievable. We use an empirical dataset collected from 40 cameras deployed across 160 km2 of the Western Slope of Colorado, USA to explore how survey effort (number of cameras deployed and the length of sampling period) affects the accuracy and precision (i.e., error) of the occupancy estimate for ten mammal and three virtual species. We do this using a simulation approach where species occupancy and detection parameters were informed by empirical data from motion-activated cameras. A total of 54 survey designs were considered by varying combinations of sites (10–120 cameras) and occasions (20–120 survey days). Our findings demonstrate that increasing total sampling effort generally decreases error associated with the occupancy estimate, but changing the number of sites or sampling duration can have very different results, depending on whether a species is spatially common or rare (occupancy = ψ) and easy or hard to detect when available (detection probability = p). For rare species with a low probability of detection (i.e., raccoon and spotted skunk) the required survey effort includes maximizing the number of sites and the number of survey days, often to a level that may be logistically unrealistic for many studies. For common species with low detection (i.e., bobcat and coyote) the most efficient sampling approach was to increase the number of occasions (survey days). However, for common species that are moderately detectable (i.e., cottontail rabbit and mule deer), occupancy could reliably be estimated with comparatively low numbers of cameras over a short sampling period. We provide general guidelines for reliably estimating occupancy across a range of terrestrial species (rare to common: ψ = 0.175–0.970, and low to moderate detectability: p = 0.003–0.200) using motion-activated cameras. Wildlife researchers/managers with limited knowledge of the relative abundance and likelihood of detection of a particular species can apply these guidelines regardless of location. We emphasize the importance of prior biological knowledge, defined objectives and detailed planning (e.g., simulating different study-design scenarios) for designing effective monitoring programs and research studies. PMID:25210658

Motion Estimation Utilizing Range Detection-Enhanced Visual Odometry

NASA Technical Reports Server (NTRS)

Morris, Daniel Dale (Inventor); Chang, Hong (Inventor); Friend, Paul Russell (Inventor); Chen, Qi (Inventor); Graf, Jodi Seaborn (Inventor)

2016-01-01

A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.

A Comprehensive Motion Estimation Technique for the Improvement of EIS Methods Based on the SURF Algorithm and Kalman Filter.

PubMed

Cheng, Xuemin; Hao, Qun; Xie, Mengdi

2016-04-07

Video stabilization is an important technology for removing undesired motion in videos. This paper presents a comprehensive motion estimation method for electronic image stabilization techniques, integrating the speeded up robust features (SURF) algorithm, modified random sample consensus (RANSAC), and the Kalman filter, and also taking camera scaling and conventional camera translation and rotation into full consideration. Using SURF in sub-pixel space, feature points were located and then matched. The false matched points were removed by modified RANSAC. Global motion was estimated by using the feature points and modified cascading parameters, which reduced the accumulated errors in a series of frames and improved the peak signal to noise ratio (PSNR) by 8.2 dB. A specific Kalman filter model was established by considering the movement and scaling of scenes. Finally, video stabilization was achieved with filtered motion parameters using the modified adjacent frame compensation. The experimental results proved that the target images were stabilized even when the vibrating amplitudes of the video become increasingly large.

Documenting Western Burrowing Owl Reproduction and Activity Patterns Using Motion-Activated Cameras

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hall, Derek B.; Greger, Paul D.

We used motion-activated cameras to monitor the reproduction and patterns of activity of the Burrowing Owl (Athene cunicularia) above ground at 45 burrows in south-central Nevada during the breeding seasons of 1999, 2000, 2001, and 2005. The 37 broods, encompassing 180 young, raised over the four years represented an average of 4.9 young per successful breeding pair. Young and adult owls were detected at the burrow entrance at all times of the day and night, but adults were detected more frequently during afternoon/early evening than were young. Motion-activated cameras require less effort to implement than other techniques. Limitations include photographingmore » only a small percentage of owl activity at the burrow; not detecting the actual number of eggs, young, or number fledged; and not being able to track individual owls over time. Further work is also necessary to compare the accuracy of productivity estimates generated from motion-activated cameras with other techniques.« less

Simultaneous two-view epipolar geometry estimation and motion segmentation by 4D tensor voting.

PubMed

Tong, Wai-Shun; Tang, Chi-Keung; Medioni, Gérard

2004-09-01

We address the problem of simultaneous two-view epipolar geometry estimation and motion segmentation from nonstatic scenes. Given a set of noisy image pairs containing matches of n objects, we propose an unconventional, efficient, and robust method, 4D tensor voting, for estimating the unknown n epipolar geometries, and segmenting the static and motion matching pairs into n independent motions. By considering the 4D isotropic and orthogonal joint image space, only two tensor voting passes are needed, and a very high noise to signal ratio (up to five) can be tolerated. Epipolar geometries corresponding to multiple, rigid motions are extracted in succession. Only two uncalibrated frames are needed, and no simplifying assumption (such as affine camera model or homographic model between images) other than the pin-hole camera model is made. Our novel approach consists of propagating a local geometric smoothness constraint in the 4D joint image space, followed by global consistency enforcement for extracting the fundamental matrices corresponding to independent motions. We have performed extensive experiments to compare our method with some representative algorithms to show that better performance on nonstatic scenes are achieved. Results on challenging data sets are presented.

Automatic Camera Calibration Using Multiple Sets of Pairwise Correspondences.

PubMed

Vasconcelos, Francisco; Barreto, Joao P; Boyer, Edmond

2018-04-01

We propose a new method to add an uncalibrated node into a network of calibrated cameras using only pairwise point correspondences. While previous methods perform this task using triple correspondences, these are often difficult to establish when there is limited overlap between different views. In such challenging cases we must rely on pairwise correspondences and our solution becomes more advantageous. Our method includes an 11-point minimal solution for the intrinsic and extrinsic calibration of a camera from pairwise correspondences with other two calibrated cameras, and a new inlier selection framework that extends the traditional RANSAC family of algorithms to sampling across multiple datasets. Our method is validated on different application scenarios where a lack of triple correspondences might occur: addition of a new node to a camera network; calibration and motion estimation of a moving camera inside a camera network; and addition of views with limited overlap to a Structure-from-Motion model.

Independent motion detection with a rival penalized adaptive particle filter

NASA Astrophysics Data System (ADS)

Becker, Stefan; Hübner, Wolfgang; Arens, Michael

2014-10-01

Aggregation of pixel based motion detection into regions of interest, which include views of single moving objects in a scene is an essential pre-processing step in many vision systems. Motion events of this type provide significant information about the object type or build the basis for action recognition. Further, motion is an essential saliency measure, which is able to effectively support high level image analysis. When applied to static cameras, background subtraction methods achieve good results. On the other hand, motion aggregation on freely moving cameras is still a widely unsolved problem. The image flow, measured on a freely moving camera is the result from two major motion types. First the ego-motion of the camera and second object motion, that is independent from the camera motion. When capturing a scene with a camera these two motion types are adverse blended together. In this paper, we propose an approach to detect multiple moving objects from a mobile monocular camera system in an outdoor environment. The overall processing pipeline consists of a fast ego-motion compensation algorithm in the preprocessing stage. Real-time performance is achieved by using a sparse optical flow algorithm as an initial processing stage and a densely applied probabilistic filter in the post-processing stage. Thereby, we follow the idea proposed by Jung and Sukhatme. Normalized intensity differences originating from a sequence of ego-motion compensated difference images represent the probability of moving objects. Noise and registration artefacts are filtered out, using a Bayesian formulation. The resulting a posteriori distribution is located on image regions, showing strong amplitudes in the difference image which are in accordance with the motion prediction. In order to effectively estimate the a posteriori distribution, a particle filter is used. In addition to the fast ego-motion compensation, the main contribution of this paper is the design of the probabilistic filter for real-time detection and tracking of independently moving objects. The proposed approach introduces a competition scheme between particles in order to ensure an improved multi-modality. Further, the filter design helps to generate a particle distribution which is homogenous even in the presence of multiple targets showing non-rigid motion patterns. The effectiveness of the method is shown on exemplary outdoor sequences.

Unsupervised markerless 3-DOF motion tracking in real time using a single low-budget camera.

PubMed

Quesada, Luis; León, Alejandro J

2012-10-01

Motion tracking is a critical task in many computer vision applications. Existing motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide spread of commercial applications based on motion tracking. In this paper, we present a novel three degrees of freedom motion tracking system that needs no knowledge on the target object and that only requires a single low-budget camera that can be found installed in most computers and smartphones. Our system estimates, in real time, the three-dimensional position of a nonmodeled unmarked object that may be nonrigid, nonconvex, partially occluded, self-occluded, or motion blurred, given that it is opaque, evenly colored, enough contrasting with the background in each frame, and that it does not rotate. Our system is also able to determine the most relevant object to track in the screen. Our proposal does not impose additional constraints, therefore it allows a market-wide implementation of applications that require the estimation of the three position degrees of freedom of an object.

Novel health monitoring method using an RGB camera.

PubMed

Hassan, M A; Malik, A S; Fofi, D; Saad, N; Meriaudeau, F

2017-11-01

In this paper we present a novel health monitoring method by estimating the heart rate and respiratory rate using an RGB camera. The heart rate and the respiratory rate are estimated from the photoplethysmography (PPG) and the respiratory motion. The method mainly operates by using the green spectrum of the RGB camera to generate a multivariate PPG signal to perform multivariate de-noising on the video signal to extract the resultant PPG signal. A periodicity based voting scheme (PVS) was used to measure the heart rate and respiratory rate from the estimated PPG signal. We evaluated our proposed method with a state of the art heart rate measuring method for two scenarios using the MAHNOB-HCI database and a self collected naturalistic environment database. The methods were furthermore evaluated for various scenarios at naturalistic environments such as a motion variance session and a skin tone variance session. Our proposed method operated robustly during the experiments and outperformed the state of the art heart rate measuring methods by compensating the effects of the naturalistic environment.

Influence of camera parameters on the quality of mobile 3D capture

NASA Astrophysics Data System (ADS)

Georgiev, Mihail; Boev, Atanas; Gotchev, Atanas; Hannuksela, Miska

2010-01-01

We investigate the effect of camera de-calibration on the quality of depth estimation. Dense depth map is a format particularly suitable for mobile 3D capture (scalable and screen independent). However, in real-world scenario cameras might move (vibrations, temp. bend) form their designated positions. For experiments, we create a test framework, described in the paper. We investigate how mechanical changes will affect different (4) stereo-matching algorithms. We also assess how different geometric corrections (none, motion compensation-like, full rectification) will affect the estimation quality (how much offset can be still compensated with "crop" over a larger CCD). Finally, we show how estimated camera pose change (E) relates with stereo-matching, which can be used for "rectification quality" measure.

A Robust Method for Ego-Motion Estimation in Urban Environment Using Stereo Camera

PubMed Central

Ci, Wenyan; Huang, Yingping

2016-01-01

Visual odometry estimates the ego-motion of an agent (e.g., vehicle and robot) using image information and is a key component for autonomous vehicles and robotics. This paper proposes a robust and precise method for estimating the 6-DoF ego-motion, using a stereo rig with optical flow analysis. An objective function fitted with a set of feature points is created by establishing the mathematical relationship between optical flow, depth and camera ego-motion parameters through the camera’s 3-dimensional motion and planar imaging model. Accordingly, the six motion parameters are computed by minimizing the objective function, using the iterative Levenberg–Marquard method. One of key points for visual odometry is that the feature points selected for the computation should contain inliers as much as possible. In this work, the feature points and their optical flows are initially detected by using the Kanade–Lucas–Tomasi (KLT) algorithm. A circle matching is followed to remove the outliers caused by the mismatching of the KLT algorithm. A space position constraint is imposed to filter out the moving points from the point set detected by the KLT algorithm. The Random Sample Consensus (RANSAC) algorithm is employed to further refine the feature point set, i.e., to eliminate the effects of outliers. The remaining points are tracked to estimate the ego-motion parameters in the subsequent frames. The approach presented here is tested on real traffic videos and the results prove the robustness and precision of the method. PMID:27763508

Effects of Different Camera Motions on the Error in Estimates of Epipolar Geometry between Two Dimensional Images in Order to Provide a Framework for Solutions to Vision Based Simultaneous Localization and Mapping (SLAM)

DTIC Science & Technology

2007-09-01

the projective camera matrix (P) which is a 3x4 matrix that is represents both the intrinsic and extrinsic parameters of a camera. It is used to...K contains the intrinsic parameters of the camera and |R t⎡ ⎤⎣ ⎦ represents the extrinsic parameters of the camera. By definition, the extrinsic ... extrinsic parameters are known then the camera is said to be calibrated. If only the intrinsic parameters are known, then the projective camera can

Camera pose estimation for augmented reality in a small indoor dynamic scene

NASA Astrophysics Data System (ADS)

Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

2017-09-01

Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

NASA Technical Reports Server (NTRS)

Johnson, Andrew Edie; Matthies, Larry H.

2000-01-01

We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.

Scene-aware joint global and local homographic video coding

NASA Astrophysics Data System (ADS)

Peng, Xiulian; Xu, Jizheng; Sullivan, Gary J.

2016-09-01

Perspective motion is commonly represented in video content that is captured and compressed for various applications including cloud gaming, vehicle and aerial monitoring, etc. Existing approaches based on an eight-parameter homography motion model cannot deal with this efficiently, either due to low prediction accuracy or excessive bit rate overhead. In this paper, we consider the camera motion model and scene structure in such video content and propose a joint global and local homography motion coding approach for video with perspective motion. The camera motion is estimated by a computer vision approach, and camera intrinsic and extrinsic parameters are globally coded at the frame level. The scene is modeled as piece-wise planes, and three plane parameters are coded at the block level. Fast gradient-based approaches are employed to search for the plane parameters for each block region. In this way, improved prediction accuracy and low bit costs are achieved. Experimental results based on the HEVC test model show that up to 9.1% bit rate savings can be achieved (with equal PSNR quality) on test video content with perspective motion. Test sequences for the example applications showed a bit rate savings ranging from 3.7 to 9.1%.

Motion correction for improved estimation of heart rate using a visual spectrum camera

NASA Astrophysics Data System (ADS)

Tarbox, Elizabeth A.; Rios, Christian; Kaur, Balvinder; Meyer, Shaun; Hirt, Lauren; Tran, Vy; Scott, Kaitlyn; Ikonomidou, Vasiliki

2017-05-01

Heart rate measurement using a visual spectrum recording of the face has drawn interest over the last few years as a technology that can have various health and security applications. In our previous work, we have shown that it is possible to estimate the heart beat timing accurately enough to perform heart rate variability analysis for contactless stress detection. However, a major confounding factor in this approach is the presence of movement, which can interfere with the measurements. To mitigate the effects of movement, in this work we propose the use of face detection and tracking based on the Karhunen-Loewe algorithm in order to counteract measurement errors introduced by normal subject motion, as expected during a common seated conversation setting. We analyze the requirements on image acquisition for the algorithm to work, and its performance under different ranges of motion, changes of distance to the camera, as well and the effect of illumination changes due to different positioning with respect to light sources on the acquired signal. Our results suggest that the effect of face tracking on visual-spectrum based cardiac signal estimation depends on the amplitude of the motion. While for larger-scale conversation-induced motion it can significantly improve estimation accuracy, with smaller-scale movements, such as the ones caused by breathing or talking without major movement errors in facial tracking may interfere with signal estimation. Overall, employing facial tracking is a crucial step in adapting this technology to real-life situations with satisfactory results.

Variation in detection among passive infrared triggered-cameras used in wildlife research

USGS Publications Warehouse

Damm, Philip E.; Grand, James B.; Barnett, Steven W.

2010-01-01

Precise and accurate estimates of demographics such as age structure, productivity, and density are necessary in determining habitat and harvest management strategies for wildlife populations. Surveys using automated cameras are becoming an increasingly popular tool for estimating these parameters. However, most camera studies fail to incorporate detection probabilities, leading to parameter underestimation. The objective of this study was to determine the sources of heterogeneity in detection for trail cameras that incorporate a passive infrared (PIR) triggering system sensitive to heat and motion. Images were collected at four baited sites within the Conecuh National Forest, Alabama, using three cameras at each site operating continuously over the same seven-day period. Detection was estimated for four groups of animals based on taxonomic group and body size. Our hypotheses of detection considered variation among bait sites and cameras. The best model (w=0.99) estimated different rates of detection for each camera in addition to different detection rates for four animal groupings. Factors that explain this variability might include poor manufacturing tolerances, variation in PIR sensitivity, animal behavior, and species-specific infrared radiation. Population surveys using trail cameras with PIR systems must incorporate detection rates for individual cameras. Incorporating time-lapse triggering systems into survey designs should eliminate issues associated with PIR systems.

Method for separating video camera motion from scene motion for constrained 3D displacement measurements

NASA Astrophysics Data System (ADS)

Gauthier, L. R.; Jansen, M. E.; Meyer, J. R.

2014-09-01

Camera motion is a potential problem when a video camera is used to perform dynamic displacement measurements. If the scene camera moves at the wrong time, the apparent motion of the object under study can easily be confused with the real motion of the object. In some cases, it is practically impossible to prevent camera motion, as for instance, when a camera is used outdoors in windy conditions. A method to address this challenge is described that provides an objective means to measure the displacement of an object of interest in the scene, even when the camera itself is moving in an unpredictable fashion at the same time. The main idea is to synchronously measure the motion of the camera and to use those data ex post facto to subtract out the apparent motion in the scene that is caused by the camera motion. The motion of the scene camera is measured by using a reference camera that is rigidly attached to the scene camera and oriented towards a stationary reference object. For instance, this reference object may be on the ground, which is known to be stationary. It is necessary to calibrate the reference camera by simultaneously measuring the scene images and the reference images at times when it is known that the scene object is stationary and the camera is moving. These data are used to map camera movement data to apparent scene movement data in pixel space and subsequently used to remove the camera movement from the scene measurements.

Relative effects of posture and activity on human height estimation from surveillance footage.

PubMed

Ramstrand, Nerrolyn; Ramstrand, Simon; Brolund, Per; Norell, Kristin; Bergström, Peter

2011-10-10

Height estimations based on security camera footage are often requested by law enforcement authorities. While valid and reliable techniques have been established to determine vertical distances from video frames, there is a discrepancy between a person's true static height and their height as measured when assuming different postures or when in motion (e.g., walking). The aim of the research presented in this report was to accurately record the height of subjects as they performed a variety of activities typically observed in security camera footage and compare results to height recorded using a standard height measuring device. Forty-six able bodied adults participated in this study and were recorded using a 3D motion analysis system while performing eight different tasks. Height measurements captured using the 3D motion analysis system were compared to static height measurements in order to determine relative differences. It is anticipated that results presented in this report can be used by forensic image analysis experts as a basis for correcting height estimations of people captured on surveillance footage. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Optical and Acoustic Sensor-Based 3D Ball Motion Estimation for Ball Sport Simulators †.

PubMed

Seo, Sang-Woo; Kim, Myunggyu; Kim, Yejin

2018-04-25

Estimation of the motion of ball-shaped objects is essential for the operation of ball sport simulators. In this paper, we propose an estimation system for 3D ball motion, including speed and angle of projection, by using acoustic vector and infrared (IR) scanning sensors. Our system is comprised of three steps to estimate a ball motion: sound-based ball firing detection, sound source localization, and IR scanning for motion analysis. First, an impulsive sound classification based on the mel-frequency cepstrum and feed-forward neural network is introduced to detect the ball launch sound. An impulsive sound source localization using a 2D microelectromechanical system (MEMS) microphones and delay-and-sum beamforming is presented to estimate the firing position. The time and position of a ball in 3D space is determined from a high-speed infrared scanning method. Our experimental results demonstrate that the estimation of ball motion based on sound allows a wider activity area than similar camera-based methods. Thus, it can be practically applied to various simulations in sports such as soccer and baseball.

Estimation of velocities via optical flow

NASA Astrophysics Data System (ADS)

Popov, A.; Miller, A.; Miller, B.; Stepanyan, K.

2017-02-01

This article presents an approach to the optical flow (OF) usage as a general navigation means providing the information about the linear and angular vehicle's velocities. The term of "OF" came from opto-electronic devices where it corresponds to a video sequence of images related to the camera motion either over static surfaces or set of objects. Even if the positions of these objects are unknown in advance, one can estimate the camera motion provided just by video sequence itself and some metric information, such as distance between the objects or the range to the surface. This approach is applicable to any passive observation system which is able to produce a sequence of images, such as radio locator or sonar. Here the UAV application of the OF is considered since it is historically

Vision-guided gripping of a cylinder

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper.

Dual gait generative models for human motion estimation from a single camera.

PubMed

Zhang, Xin; Fan, Guoliang

2010-08-01

This paper presents a general gait representation framework for video-based human motion estimation. Specifically, we want to estimate the kinematics of an unknown gait from image sequences taken by a single camera. This approach involves two generative models, called the kinematic gait generative model (KGGM) and the visual gait generative model (VGGM), which represent the kinematics and appearances of a gait by a few latent variables, respectively. The concept of gait manifold is proposed to capture the gait variability among different individuals by which KGGM and VGGM can be integrated together, so that a new gait with unknown kinematics can be inferred from gait appearances via KGGM and VGGM. Moreover, a new particle-filtering algorithm is proposed for dynamic gait estimation, which is embedded with a segmental jump-diffusion Markov Chain Monte Carlo scheme to accommodate the gait variability in a long observed sequence. The proposed algorithm is trained from the Carnegie Mellon University (CMU) Mocap data and tested on the Brown University HumanEva data with promising results.

Traffic monitoring with distributed smart cameras

NASA Astrophysics Data System (ADS)

Sidla, Oliver; Rosner, Marcin; Ulm, Michael; Schwingshackl, Gert

2012-01-01

The observation and monitoring of traffic with smart visions systems for the purpose of improving traffic safety has a big potential. Today the automated analysis of traffic situations is still in its infancy--the patterns of vehicle motion and pedestrian flow in an urban environment are too complex to be fully captured and interpreted by a vision system. 3In this work we present steps towards a visual monitoring system which is designed to detect potentially dangerous traffic situations around a pedestrian crossing at a street intersection. The camera system is specifically designed to detect incidents in which the interaction of pedestrians and vehicles might develop into safety critical encounters. The proposed system has been field-tested at a real pedestrian crossing in the City of Vienna for the duration of one year. It consists of a cluster of 3 smart cameras, each of which is built from a very compact PC hardware system in a weatherproof housing. Two cameras run vehicle detection and tracking software, one camera runs a pedestrian detection and tracking module based on the HOG dectection principle. All 3 cameras use sparse optical flow computation in a low-resolution video stream in order to estimate the motion path and speed of objects. Geometric calibration of the cameras allows us to estimate the real-world co-ordinates of detected objects and to link the cameras together into one common reference system. This work describes the foundation for all the different object detection modalities (pedestrians, vehicles), and explains the system setup, tis design, and evaluation results which we have achieved so far.

Robust range estimation with a monocular camera for vision-based forward collision warning system.

PubMed

Park, Ki-Yeong; Hwang, Sun-Young

2014-01-01

We propose a range estimation method for vision-based forward collision warning systems with a monocular camera. To solve the problem of variation of camera pitch angle due to vehicle motion and road inclination, the proposed method estimates virtual horizon from size and position of vehicles in captured image at run-time. The proposed method provides robust results even when road inclination varies continuously on hilly roads or lane markings are not seen on crowded roads. For experiments, a vision-based forward collision warning system has been implemented and the proposed method is evaluated with video clips recorded in highway and urban traffic environments. Virtual horizons estimated by the proposed method are compared with horizons manually identified, and estimated ranges are compared with measured ranges. Experimental results confirm that the proposed method provides robust results both in highway and in urban traffic environments.

Robust Range Estimation with a Monocular Camera for Vision-Based Forward Collision Warning System

PubMed Central

2014-01-01

We propose a range estimation method for vision-based forward collision warning systems with a monocular camera. To solve the problem of variation of camera pitch angle due to vehicle motion and road inclination, the proposed method estimates virtual horizon from size and position of vehicles in captured image at run-time. The proposed method provides robust results even when road inclination varies continuously on hilly roads or lane markings are not seen on crowded roads. For experiments, a vision-based forward collision warning system has been implemented and the proposed method is evaluated with video clips recorded in highway and urban traffic environments. Virtual horizons estimated by the proposed method are compared with horizons manually identified, and estimated ranges are compared with measured ranges. Experimental results confirm that the proposed method provides robust results both in highway and in urban traffic environments. PMID:24558344

Motion Tracker: Camera-Based Monitoring of Bodily Movements Using Motion Silhouettes

PubMed Central

Westlund, Jacqueline Kory; D’Mello, Sidney K.; Olney, Andrew M.

2015-01-01

Researchers in the cognitive and affective sciences investigate how thoughts and feelings are reflected in the bodily response systems including peripheral physiology, facial features, and body movements. One specific question along this line of research is how cognition and affect are manifested in the dynamics of general body movements. Progress in this area can be accelerated by inexpensive, non-intrusive, portable, scalable, and easy to calibrate movement tracking systems. Towards this end, this paper presents and validates Motion Tracker, a simple yet effective software program that uses established computer vision techniques to estimate the amount a person moves from a video of the person engaged in a task (available for download from http://jakory.com/motion-tracker/). The system works with any commercially available camera and with existing videos, thereby affording inexpensive, non-intrusive, and potentially portable and scalable estimation of body movement. Strong between-subject correlations were obtained between Motion Tracker’s estimates of movement and body movements recorded from the seat (r =.720) and back (r = .695 for participants with higher back movement) of a chair affixed with pressure-sensors while completing a 32-minute computerized task (Study 1). Within-subject cross-correlations were also strong for both the seat (r =.606) and back (r = .507). In Study 2, between-subject correlations between Motion Tracker’s movement estimates and movements recorded from an accelerometer worn on the wrist were also strong (rs = .801, .679, and .681) while people performed three brief actions (e.g., waving). Finally, in Study 3 the within-subject cross-correlation was high (r = .855) when Motion Tracker’s estimates were correlated with the movement of a person’s head as tracked with a Kinect while the person was seated at a desk (Study 3). Best-practice recommendations, limitations, and planned extensions of the system are discussed. PMID:26086771

Dynamic Estimation of Rigid Motion from Perspective Views via Recursive Identification of Exterior Differential Systems with Parameters on a Topological Manifold

DTIC Science & Technology

1994-02-15

0. Faugeras. Three dimensional vision, a geometric viewpoint. MIT Press, 1993. [19] 0 . D. Faugeras and S. Maybank . Motion from point mathces...multiplicity of solutions. Int. J. of Computer Vision, 1990. 1201 0.D. Faugeras, Q.T. Luong, and S.J. Maybank . Camera self-calibration: theory and...Kalrnan filter-based algorithms for estimating depth from image sequences. Int. J. of computer vision, 1989. [41] S. Maybank . Theory of

Ubiquitous human upper-limb motion estimation using wearable sensors.

PubMed

Zhang, Zhi-Qiang; Wong, Wai-Choong; Wu, Jian-Kang

2011-07-01

Human motion capture technologies have been widely used in a wide spectrum of applications, including interactive game and learning, animation, film special effects, health care, navigation, and so on. The existing human motion capture techniques, which use structured multiple high-resolution cameras in a dedicated studio, are complicated and expensive. With the rapid development of microsensors-on-chip, human motion capture using wearable microsensors has become an active research topic. Because of the agility in movement, upper-limb motion estimation has been regarded as the most difficult problem in human motion capture. In this paper, we take the upper limb as our research subject and propose a novel ubiquitous upper-limb motion estimation algorithm, which concentrates on modeling the relationship between upper-arm movement and forearm movement. A link structure with 5 degrees of freedom (DOF) is proposed to model the human upper-limb skeleton structure. Parameters are defined according to Denavit-Hartenberg convention, forward kinematics equations are derived, and an unscented Kalman filter is deployed to estimate the defined parameters. The experimental results have shown that the proposed upper-limb motion capture and analysis algorithm outperforms other fusion methods and provides accurate results in comparison to the BTS optical motion tracker.

Neuromorphic Event-Based 3D Pose Estimation

PubMed Central

Reverter Valeiras, David; Orchard, Garrick; Ieng, Sio-Hoi; Benosman, Ryad B.

2016-01-01

Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30–60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occlusions, and cases where the neuromorphic camera and the object are both in motion. PMID:26834547

An improved multi-paths optimization method for video stabilization

NASA Astrophysics Data System (ADS)

Qin, Tao; Zhong, Sheng

2018-03-01

For video stabilization, the difference between original camera motion path and the optimized one is proportional to the cropping ratio and warping ratio. A good optimized path should preserve the moving tendency of the original one meanwhile the cropping ratio and warping ratio of each frame should be kept in a proper range. In this paper we use an improved warping-based motion representation model, and propose a gauss-based multi-paths optimization method to get a smoothing path and obtain a stabilized video. The proposed video stabilization method consists of two parts: camera motion path estimation and path smoothing. We estimate the perspective transform of adjacent frames according to warping-based motion representation model. It works well on some challenging videos where most previous 2D methods or 3D methods fail for lacking of long features trajectories. The multi-paths optimization method can deal well with parallax, as we calculate the space-time correlation of the adjacent grid, and then a kernel of gauss is used to weigh the motion of adjacent grid. Then the multi-paths are smoothed while minimize the crop ratio and the distortion. We test our method on a large variety of consumer videos, which have casual jitter and parallax, and achieve good results.

Efficacy of time-lapse photography and repeated counts abundance estimation for white-tailed deer populations

USGS Publications Warehouse

Keever, Allison; McGowan, Conor P.; Ditchkoff, Stephen S.; Acker, S.A.; Grand, James B.; Newbolt, Chad H.

2017-01-01

Automated cameras have become increasingly common for monitoring wildlife populations and estimating abundance. Most analytical methods, however, fail to account for incomplete and variable detection probabilities, which biases abundance estimates. Methods which do account for detection have not been thoroughly tested, and those that have been tested were compared to other methods of abundance estimation. The goal of this study was to evaluate the accuracy and effectiveness of the N-mixture method, which explicitly incorporates detection probability, to monitor white-tailed deer (Odocoileus virginianus) by using camera surveys and a known, marked population to collect data and estimate abundance. Motion-triggered camera surveys were conducted at Auburn University’s deer research facility in 2010. Abundance estimates were generated using N-mixture models and compared to the known number of marked deer in the population. We compared abundance estimates generated from a decreasing number of survey days used in analysis and by time periods (DAY, NIGHT, SUNRISE, SUNSET, CREPUSCULAR, ALL TIMES). Accurate abundance estimates were generated using 24 h of data and nighttime only data. Accuracy of abundance estimates increased with increasing number of survey days until day 5, and there was no improvement with additional data. This suggests that, for our system, 5-day camera surveys conducted at night were adequate for abundance estimation and population monitoring. Further, our study demonstrates that camera surveys and N-mixture models may be a highly effective method for estimation and monitoring of ungulate populations.

Time-of-flight depth image enhancement using variable integration time

NASA Astrophysics Data System (ADS)

Kim, Sun Kwon; Choi, Ouk; Kang, Byongmin; Kim, James Dokyoon; Kim, Chang-Yeong

2013-03-01

Time-of-Flight (ToF) cameras are used for a variety of applications because it delivers depth information at a high frame rate. These cameras, however, suffer from challenging problems such as noise and motion artifacts. To increase signal-to-noise ratio (SNR), the camera should calculate a distance based on a large amount of infra-red light, which needs to be integrated over a long time. On the other hand, the integration time should be short enough to suppress motion artifacts. We propose a ToF depth imaging method to combine advantages of short and long integration times exploiting an imaging fusion scheme proposed for color imaging. To calibrate depth differences due to the change of integration times, a depth transfer function is estimated by analyzing the joint histogram of depths in the two images of different integration times. The depth images are then transformed into wavelet domains and fused into a depth image with suppressed noise and low motion artifacts. To evaluate the proposed method, we captured a moving bar of a metronome with different integration times. The experiment shows the proposed method could effectively remove the motion artifacts while preserving high SNR comparable to the depth images acquired during long integration time.

MonoSLAM: real-time single camera SLAM.

PubMed

Davison, Andrew J; Reid, Ian D; Molton, Nicholas D; Stasse, Olivier

2007-06-01

We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera.

Cross-Correlation-Based Structural System Identification Using Unmanned Aerial Vehicles

PubMed Central

Yoon, Hyungchul; Hoskere, Vedhus; Park, Jong-Woong; Spencer, Billie F.

2017-01-01

Computer vision techniques have been employed to characterize dynamic properties of structures, as well as to capture structural motion for system identification purposes. All of these methods leverage image-processing techniques using a stationary camera. This requirement makes finding an effective location for camera installation difficult, because civil infrastructure (i.e., bridges, buildings, etc.) are often difficult to access, being constructed over rivers, roads, or other obstacles. This paper seeks to use video from Unmanned Aerial Vehicles (UAVs) to address this problem. As opposed to the traditional way of using stationary cameras, the use of UAVs brings the issue of the camera itself moving; thus, the displacements of the structure obtained by processing UAV video are relative to the UAV camera. Some efforts have been reported to compensate for the camera motion, but they require certain assumptions that may be difficult to satisfy. This paper proposes a new method for structural system identification using the UAV video directly. Several challenges are addressed, including: (1) estimation of an appropriate scale factor; and (2) compensation for the rolling shutter effect. Experimental validation is carried out to validate the proposed approach. The experimental results demonstrate the efficacy and significant potential of the proposed approach. PMID:28891985

Restoration of motion blurred images

NASA Astrophysics Data System (ADS)

Gaxiola, Leopoldo N.; Juarez-Salazar, Rigoberto; Diaz-Ramirez, Victor H.

2017-08-01

Image restoration is a classic problem in image processing. Image degradations can occur due to several reasons, for instance, imperfections of imaging systems, quantization errors, atmospheric turbulence, relative motion between camera or objects, among others. Motion blur is a typical degradation in dynamic imaging systems. In this work, we present a method to estimate the parameters of linear motion blur degradation from a captured blurred image. The proposed method is based on analyzing the frequency spectrum of a captured image in order to firstly estimate the degradation parameters, and then, to restore the image with a linear filter. The performance of the proposed method is evaluated by processing synthetic and real-life images. The obtained results are characterized in terms of accuracy of image restoration given by an objective criterion.

The Accuracy of Conventional 2D Video for Quantifying Upper Limb Kinematics in Repetitive Motion Occupational Tasks

PubMed Central

Chen, Chia-Hsiung; Azari, David; Hu, Yu Hen; Lindstrom, Mary J.; Thelen, Darryl; Yen, Thomas Y.; Radwin, Robert G.

2015-01-01

Objective Marker-less 2D video tracking was studied as a practical means to measure upper limb kinematics for ergonomics evaluations. Background Hand activity level (HAL) can be estimated from speed and duty cycle. Accuracy was measured using a cross correlation template-matching algorithm for tracking a region of interest on the upper extremities. Methods Ten participants performed a paced load transfer task while varying HAL (2, 4, and 5) and load (2.2 N, 8.9 N and 17.8 N). Speed and acceleration measured from 2D video were compared against ground truth measurements using 3D infrared motion capture. Results The median absolute difference between 2D video and 3D motion capture was 86.5 mm/s for speed, and 591 mm/s2 for acceleration, and less than 93 mm/s for speed and 656 mm/s2 for acceleration when camera pan and tilt were within ±30 degrees. Conclusion Single-camera 2D video had sufficient accuracy (< 100 mm/s) for evaluating HAL. Practitioner Summary This study demonstrated that 2D video tracking had sufficient accuracy to measure HAL for ascertaining the American Conference of Government Industrial Hygienists Threshold Limit Value® for repetitive motion when the camera is located within ±30 degrees off the plane of motion when compared against 3D motion capture for a simulated repetitive motion task. PMID:25978764

Effects of camera location on the reconstruction of 3D flare trajectory with two cameras

NASA Astrophysics Data System (ADS)

Özsaraç, Seçkin; Yeşilkaya, Muhammed

2015-05-01

Flares are used as valuable electronic warfare assets for the battle against infrared guided missiles. The trajectory of the flare is one of the most important factors that determine the effectiveness of the counter measure. Reconstruction of the three dimensional (3D) position of a point, which is seen by multiple cameras, is a common problem. Camera placement, camera calibration, corresponding pixel determination in between the images of different cameras and also the triangulation algorithm affect the performance of 3D position estimation. In this paper, we specifically investigate the effects of camera placement on the flare trajectory estimation performance by simulations. Firstly, 3D trajectory of a flare and also the aircraft, which dispenses the flare, are generated with simple motion models. Then, we place two virtual ideal pinhole camera models on different locations. Assuming the cameras are tracking the aircraft perfectly, the view vectors of the cameras are computed. Afterwards, using the view vector of each camera and also the 3D position of the flare, image plane coordinates of the flare on both cameras are computed using the field of view (FOV) values. To increase the fidelity of the simulation, we have used two sources of error. One is used to model the uncertainties in the determination of the camera view vectors, i.e. the orientations of the cameras are measured noisy. Second noise source is used to model the imperfections of the corresponding pixel determination of the flare in between the two cameras. Finally, 3D position of the flare is estimated using the corresponding pixel indices, view vector and also the FOV of the cameras by triangulation. All the processes mentioned so far are repeated for different relative camera placements so that the optimum estimation error performance is found for the given aircraft and are trajectories.

Depth estimation and camera calibration of a focused plenoptic camera for visual odometry

NASA Astrophysics Data System (ADS)

Zeller, Niclas; Quint, Franz; Stilla, Uwe

2016-08-01

This paper presents new and improved methods of depth estimation and camera calibration for visual odometry with a focused plenoptic camera. For depth estimation we adapt an algorithm previously used in structure-from-motion approaches to work with images of a focused plenoptic camera. In the raw image of a plenoptic camera, scene patches are recorded in several micro-images under slightly different angles. This leads to a multi-view stereo-problem. To reduce the complexity, we divide this into multiple binocular stereo problems. For each pixel with sufficient gradient we estimate a virtual (uncalibrated) depth based on local intensity error minimization. The estimated depth is characterized by the variance of the estimate and is subsequently updated with the estimates from other micro-images. Updating is performed in a Kalman-like fashion. The result of depth estimation in a single image of the plenoptic camera is a probabilistic depth map, where each depth pixel consists of an estimated virtual depth and a corresponding variance. Since the resulting image of the plenoptic camera contains two plains: the optical image and the depth map, camera calibration is divided into two separate sub-problems. The optical path is calibrated based on a traditional calibration method. For calibrating the depth map we introduce two novel model based methods, which define the relation of the virtual depth, which has been estimated based on the light-field image, and the metric object distance. These two methods are compared to a well known curve fitting approach. Both model based methods show significant advantages compared to the curve fitting method. For visual odometry we fuse the probabilistic depth map gained from one shot of the plenoptic camera with the depth data gained by finding stereo correspondences between subsequent synthesized intensity images of the plenoptic camera. These images can be synthesized totally focused and thus finding stereo correspondences is enhanced. In contrast to monocular visual odometry approaches, due to the calibration of the individual depth maps, the scale of the scene can be observed. Furthermore, due to the light-field information better tracking capabilities compared to the monocular case can be expected. As result, the depth information gained by the plenoptic camera based visual odometry algorithm proposed in this paper has superior accuracy and reliability compared to the depth estimated from a single light-field image.

FlyCap: Markerless Motion Capture Using Multiple Autonomous Flying Cameras.

PubMed

Xu, Lan; Liu, Yebin; Cheng, Wei; Guo, Kaiwen; Zhou, Guyue; Dai, Qionghai; Fang, Lu

2017-07-18

Aiming at automatic, convenient and non-instrusive motion capture, this paper presents a new generation markerless motion capture technique, the FlyCap system, to capture surface motions of moving characters using multiple autonomous flying cameras (autonomous unmanned aerial vehicles(UAVs) each integrated with an RGBD video camera). During data capture, three cooperative flying cameras automatically track and follow the moving target who performs large-scale motions in a wide space. We propose a novel non-rigid surface registration method to track and fuse the depth of the three flying cameras for surface motion tracking of the moving target, and simultaneously calculate the pose of each flying camera. We leverage the using of visual-odometry information provided by the UAV platform, and formulate the surface tracking problem in a non-linear objective function that can be linearized and effectively minimized through a Gaussian-Newton method. Quantitative and qualitative experimental results demonstrate the plausible surface and motion reconstruction results.

A deep proper motion catalog within the Sloan digital sky survey footprint

DOE Office of Scientific and Technical Information (OSTI.GOV)

Munn, Jeffrey A.; Harris, Hugh C.; Tilleman, Trudy M.

2014-12-01

A new proper motion catalog is presented, combining the Sloan Digital Sky Survey (SDSS) with second epoch observations in the r band within a portion of the SDSS imaging footprint. The new observations were obtained with the 90prime camera on the Steward Observatory Bok 90 inch telescope, and the Array Camera on the U.S. Naval Observatory, Flagstaff Station, 1.3 m telescope. The catalog covers 1098 square degrees to r = 22.0, an additional 1521 square degrees to r = 20.9, plus a further 488 square degrees of lesser quality data. Statistical errors in the proper motions range from 5 masmore » year{sup −1} at the bright end to 15 mas year{sup −1} at the faint end, for a typical epoch difference of six years. Systematic errors are estimated to be roughly 1 mas year{sup −1} for the Array Camera data, and as much as 2–4 mas year{sup −1} for the 90prime data (though typically less). The catalog also includes a second epoch of r band photometry.« less

Detection of obstacles on runway using Ego-Motion compensation and tracking of significant features

NASA Technical Reports Server (NTRS)

Kasturi, Rangachar (Principal Investigator); Camps, Octavia (Principal Investigator); Gandhi, Tarak; Devadiga, Sadashiva

1996-01-01

This report describes a method for obstacle detection on a runway for autonomous navigation and landing of an aircraft. Detection is done in the presence of extraneous features such as tiremarks. Suitable features are extracted from the image and warping using approximately known camera and plane parameters is performed in order to compensate ego-motion as far as possible. Residual disparity after warping is estimated using an optical flow algorithm. Features are tracked from frame to frame so as to obtain more reliable estimates of their motion. Corrections are made to motion parameters with the residual disparities using a robust method, and features having large residual disparities are signaled as obstacles. Sensitivity analysis of the procedure is also studied. Nelson's optical flow constraint is proposed to separate moving obstacles from stationary ones. A Bayesian framework is used at every stage so that the confidence in the estimates can be determined.

Toward an affordable and user-friendly visual motion capture system.

PubMed

Bonnet, V; Sylla, N; Cherubini, A; Gonzáles, A; Azevedo Coste, C; Fraisse, P; Venture, G

2014-01-01

The present study aims at designing and evaluating a low-cost, simple and portable system for arm joint angle estimation during grasping-like motions. The system is based on a single RGB-D camera and three customized markers. The automatically detected and tracked marker positions were used as inputs to an offline inverse kinematic process based on bio-mechanical constraints to reduce noise effect and handle marker occlusion. The method was validated on 4 subjects with different motions. The joint angles were estimated both with the proposed low-cost system and, a stereophotogrammetric system. Comparative analysis shows good accuracy with high correlation coefficient (r= 0.92) and low average RMS error (3.8 deg).

A distributed automatic target recognition system using multiple low resolution sensors

NASA Astrophysics Data System (ADS)

Yue, Zhanfeng; Lakshmi Narasimha, Pramod; Topiwala, Pankaj

2008-04-01

In this paper, we propose a multi-agent system which uses swarming techniques to perform high accuracy Automatic Target Recognition (ATR) in a distributed manner. The proposed system can co-operatively share the information from low-resolution images of different looks and use this information to perform high accuracy ATR. An advanced, multiple-agent Unmanned Aerial Vehicle (UAV) systems-based approach is proposed which integrates the processing capabilities, combines detection reporting with live video exchange, and swarm behavior modalities that dramatically surpass individual sensor system performance levels. We employ real-time block-based motion analysis and compensation scheme for efficient estimation and correction of camera jitter, global motion of the camera/scene and the effects of atmospheric turbulence. Our optimized Partition Weighted Sum (PWS) approach requires only bitshifts and additions, yet achieves a stunning 16X pixel resolution enhancement, which is moreover parallizable. We develop advanced, adaptive particle-filtering based algorithms to robustly track multiple mobile targets by adaptively changing the appearance model of the selected targets. The collaborative ATR system utilizes the homographies between the sensors induced by the ground plane to overlap the local observation with the received images from other UAVs. The motion of the UAVs distorts estimated homography frame to frame. A robust dynamic homography estimation algorithm is proposed to address this, by using the homography decomposition and the ground plane surface estimation.

Adaptive recovery of motion blur point spread function from differently exposed images

NASA Astrophysics Data System (ADS)

Albu, Felix; Florea, Corneliu; Drîmbarean, Alexandru; Zamfir, Adrian

2010-01-01

Motion due to digital camera movement during the image capture process is a major factor that degrades the quality of images and many methods for camera motion removal have been developed. Central to all techniques is the correct recovery of what is known as the Point Spread Function (PSF). A very popular technique to estimate the PSF relies on using a pair of gyroscopic sensors to measure the hand motion. However, the errors caused either by the loss of the translational component of the movement or due to the lack of precision in gyro-sensors measurements impede the achievement of a good quality restored image. In order to compensate for this, we propose a method that begins with an estimation of the PSF obtained from 2 gyro sensors and uses a pair of under-exposed image together with the blurred image to adaptively improve it. The luminance of the under-exposed image is equalized with that of the blurred image. An initial estimation of the PSF is generated from the output signal of 2 gyro sensors. The PSF coefficients are updated using 2D-Least Mean Square (LMS) algorithms with a coarse-to-fine approach on a grid of points selected from both images. This refined PSF is used to process the blurred image using known deblurring methods. Our results show that the proposed method leads to superior PSF support and coefficient estimation. Also the quality of the restored image is improved compared to 2 gyro only approach or to blind image de-convolution results.

Pose-free structure from motion using depth from motion constraints.

PubMed

Zhang, Ji; Boutin, Mireille; Aliaga, Daniel G

2011-10-01

Structure from motion (SFM) is the problem of recovering the geometry of a scene from a stream of images taken from unknown viewpoints. One popular approach to estimate the geometry of a scene is to track scene features on several images and reconstruct their position in 3-D. During this process, the unknown camera pose must also be recovered. Unfortunately, recovering the pose can be an ill-conditioned problem which, in turn, can make the SFM problem difficult to solve accurately. We propose an alternative formulation of the SFM problem with fixed internal camera parameters known a priori. In this formulation, obtained by algebraic variable elimination, the external camera pose parameters do not appear. As a result, the problem is better conditioned in addition to involving much fewer variables. Variable elimination is done in three steps. First, we take the standard SFM equations in projective coordinates and eliminate the camera orientations from the equations. We then further eliminate the camera center positions. Finally, we also eliminate all 3-D point positions coordinates, except for their depths with respect to the camera center, thus obtaining a set of simple polynomial equations of degree two and three. We show that, when there are merely a few points and pictures, these "depth-only equations" can be solved in a global fashion using homotopy methods. We also show that, in general, these same equations can be used to formulate a pose-free cost function to refine SFM solutions in a way that is more accurate than by minimizing the total reprojection error, as done when using the bundle adjustment method. The generalization of our approach to the case of varying internal camera parameters is briefly discussed. © 2011 IEEE

A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators.

PubMed

Ligorio, Gabriele; Sabatini, Angelo Maria

2015-12-19

In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented.

EVA Robotic Assistant Project: Platform Attitude Prediction

NASA Technical Reports Server (NTRS)

Nickels, Kevin M.

2003-01-01

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Camera-pose estimation via projective Newton optimization on the manifold.

PubMed

Sarkis, Michel; Diepold, Klaus

2012-04-01

Determining the pose of a moving camera is an important task in computer vision. In this paper, we derive a projective Newton algorithm on the manifold to refine the pose estimate of a camera. The main idea is to benefit from the fact that the 3-D rigid motion is described by the special Euclidean group, which is a Riemannian manifold. The latter is equipped with a tangent space defined by the corresponding Lie algebra. This enables us to compute the optimization direction, i.e., the gradient and the Hessian, at each iteration of the projective Newton scheme on the tangent space of the manifold. Then, the motion is updated by projecting back the variables on the manifold itself. We also derive another version of the algorithm that employs homeomorphic parameterization to the special Euclidean group. We test the algorithm on several simulated and real image data sets. Compared with the standard Newton minimization scheme, we are now able to obtain the full numerical formula of the Hessian with a 60% decrease in computational complexity. Compared with Levenberg-Marquardt, the results obtained are more accurate while having a rather similar complexity.

Joint Video Stitching and Stabilization from Moving Cameras.

PubMed

Guo, Heng; Liu, Shuaicheng; He, Tong; Zhu, Shuyuan; Zeng, Bing; Gabbouj, Moncef

2016-09-08

In this paper, we extend image stitching to video stitching for videos that are captured for the same scene simultaneously by multiple moving cameras. In practice, videos captured under this circumstance often appear shaky. Directly applying image stitching methods for shaking videos often suffers from strong spatial and temporal artifacts. To solve this problem, we propose a unified framework in which video stitching and stabilization are performed jointly. Specifically, our system takes several overlapping videos as inputs. We estimate both inter motions (between different videos) and intra motions (between neighboring frames within a video). Then, we solve an optimal virtual 2D camera path from all original paths. An enlarged field of view along the virtual path is finally obtained by a space-temporal optimization that takes both inter and intra motions into consideration. Two important components of this optimization are that (1) a grid-based tracking method is designed for an improved robustness, which produces features that are distributed evenly within and across multiple views, and (2) a mesh-based motion model is adopted for the handling of the scene parallax. Some experimental results are provided to demonstrate the effectiveness of our approach on various consumer-level videos and a Plugin, named "Video Stitcher" is developed at Adobe After Effects CC2015 to show the processed videos.

MER-DIMES : a planetary landing application of computer vision

NASA Technical Reports Server (NTRS)

Cheng, Yang; Johnson, Andrew; Matthies, Larry

2005-01-01

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

Image deblurring by motion estimation for remote sensing

NASA Astrophysics Data System (ADS)

Chen, Yueting; Wu, Jiagu; Xu, Zhihai; Li, Qi; Feng, Huajun

2010-08-01

The imagery resolution of imaging systems for remote sensing is often limited by image degradation resulting from unwanted motion disturbances of the platform during image exposures. Since the form of the platform vibration can be arbitrary, the lack of priori knowledge about the motion function (the PSF) suggests blind restoration approaches. A deblurring method which combines motion estimation and image deconvolution both for area-array and TDI remote sensing has been proposed in this paper. The image motion estimation is accomplished by an auxiliary high-speed detector and a sub-pixel correlation algorithm. The PSF is then reconstructed from estimated image motion vectors. Eventually, the clear image can be recovered by the Richardson-Lucy (RL) iterative deconvolution algorithm from the blurred image of the prime camera with the constructed PSF. The image deconvolution for the area-array detector is direct. While for the TDICCD detector, an integral distortion compensation step and a row-by-row deconvolution scheme are applied. Theoretical analyses and experimental results show that, the performance of the proposed concept is convincing. Blurred and distorted images can be properly recovered not only for visual observation, but also with significant objective evaluation increment.

Integrating motion, illumination, and structure in video sequences with applications in illumination-invariant tracking.

PubMed

Xu, Yilei; Roy-Chowdhury, Amit K

2007-05-01

In this paper, we present a theory for combining the effects of motion, illumination, 3D structure, albedo, and camera parameters in a sequence of images obtained by a perspective camera. We show that the set of all Lambertian reflectance functions of a moving object, at any position, illuminated by arbitrarily distant light sources, lies "close" to a bilinear subspace consisting of nine illumination variables and six motion variables. This result implies that, given an arbitrary video sequence, it is possible to recover the 3D structure, motion, and illumination conditions simultaneously using the bilinear subspace formulation. The derivation builds upon existing work on linear subspace representations of reflectance by generalizing it to moving objects. Lighting can change slowly or suddenly, locally or globally, and can originate from a combination of point and extended sources. We experimentally compare the results of our theory with ground truth data and also provide results on real data by using video sequences of a 3D face and the entire human body with various combinations of motion and illumination directions. We also show results of our theory in estimating 3D motion and illumination model parameters from a video sequence.

Two cloud-based cues for estimating scene structure and camera calibration.

PubMed

Jacobs, Nathan; Abrams, Austin; Pless, Robert

2013-10-01

We describe algorithms that use cloud shadows as a form of stochastically structured light to support 3D scene geometry estimation. Taking video captured from a static outdoor camera as input, we use the relationship of the time series of intensity values between pairs of pixels as the primary input to our algorithms. We describe two cues that relate the 3D distance between a pair of points to the pair of intensity time series. The first cue results from the fact that two pixels that are nearby in the world are more likely to be under a cloud at the same time than two distant points. We describe methods for using this cue to estimate focal length and scene structure. The second cue is based on the motion of cloud shadows across the scene; this cue results in a set of linear constraints on scene structure. These constraints have an inherent ambiguity, which we show how to overcome by combining the cloud motion cue with the spatial cue. We evaluate our method on several time lapses of real outdoor scenes.

Computing camera heading: A study

NASA Astrophysics Data System (ADS)

Zhang, John Jiaxiang

2000-08-01

An accurate estimate of the motion of a camera is a crucial first step for the 3D reconstruction of sites, objects, and buildings from video. Solutions to the camera heading problem can be readily applied to many areas, such as robotic navigation, surgical operation, video special effects, multimedia, and lately even in internet commerce. From image sequences of a real world scene, the problem is to calculate the directions of the camera translations. The presence of rotations makes this problem very hard. This is because rotations and translations can have similar effects on the images, and are thus hard to tell apart. However, the visual angles between the projection rays of point pairs are unaffected by rotations, and their changes over time contain sufficient information to determine the direction of camera translation. We developed a new formulation of the visual angle disparity approach, first introduced by Tomasi, to the camera heading problem. Our new derivation makes theoretical analysis possible. Most notably, a theorem is obtained that locates all possible singularities of the residual function for the underlying optimization problem. This allows identifying all computation trouble spots beforehand, and to design reliable and accurate computational optimization methods. A bootstrap-jackknife resampling method simultaneously reduces complexity and tolerates outliers well. Experiments with image sequences show accurate results when compared with the true camera motion as measured with mechanical devices.

Towards automated assistance for operating home medical devices.

PubMed

Gao, Zan; Detyniecki, Marcin; Chen, Ming-Yu; Wu, Wen; Hauptmann, Alexander G; Wactlar, Howard D

2010-01-01

To detect errors when subjects operate a home medical device, we observe them with multiple cameras. We then perform action recognition with a robust approach to recognize action information based on explicitly encoding motion information. This algorithm detects interest points and encodes not only their local appearance but also explicitly models local motion. Our goal is to recognize individual human actions in the operations of a home medical device to see if the patient has correctly performed the required actions in the prescribed sequence. Using a specific infusion pump as a test case, requiring 22 operation steps from 6 action classes, our best classifier selects high likelihood action estimates from 4 available cameras, to obtain an average class recognition rate of 69%.

Holographic motion picture camera with Doppler shift compensation

NASA Technical Reports Server (NTRS)

Kurtz, R. L. (Inventor)

1976-01-01

A holographic motion picture camera is reported for producing three dimensional images by employing an elliptical optical system. There is provided in one of the beam paths (the object or reference beam path) a motion compensator which enables the camera to photograph faster moving objects.

Egomotion Estimation with Optic Flow and Air Velocity Sensors

DTIC Science & Technology

2012-01-22

RUMMELT ADAM J. RUTKOWSKI Acting Technical Advisor, RWW Program Manager This report is...method of distance and groundspeed estimation using an omnidirectional camera, but knowledge of the average scene distance is required. Flight height...varying wind and even over sloped terrain. Our method also does not require any prior knowledge of the environment or the flyer motion states. This

Pose estimation and tracking of non-cooperative rocket bodies using Time-of-Flight cameras

NASA Astrophysics Data System (ADS)

Gómez Martínez, Harvey; Giorgi, Gabriele; Eissfeller, Bernd

2017-10-01

This paper presents a methodology for estimating the position and orientation of a rocket body in orbit - the target - undergoing a roto-translational motion, with respect to a chaser spacecraft, whose task is to match the target dynamics for a safe rendezvous. During the rendezvous maneuver the chaser employs a Time-of-Flight camera that acquires a point cloud of 3D coordinates mapping the sensed target surface. Once the system identifies the target, it initializes the chaser-to-target relative position and orientation. After initialization, a tracking procedure enables the system to sense the evolution of the target's pose between frames. The proposed algorithm is evaluated using simulated point clouds, generated with a CAD model of the Cosmos-3M upper stage and the PMD CamCube 3.0 camera specifications.

Estimation of skeletal movement of human locomotion from body surface shapes using dynamic spatial video camera (DSVC) and 4D human model.

PubMed

Saito, Toshikuni; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Hayashibe, Mitsuhiro; Otake, Yoshito

2006-01-01

We have been developing a DSVC (Dynamic Spatial Video Camera) system to measure and observe human locomotion quantitatively and freely. A 4D (four-dimensional) human model with detailed skeletal structure, joint, muscle, and motor functionality has been built. The purpose of our research was to estimate skeletal movements from body surface shapes using DSVC and the 4D human model. For this purpose, we constructed a body surface model of a subject and resized the standard 4D human model to match with geometrical features of the subject's body surface model. Software that integrates the DSVC system and the 4D human model, and allows dynamic skeletal state analysis from body surface movement data was also developed. We practically applied the developed system in dynamic skeletal state analysis of a lower limb in motion and were able to visualize the motion using geometrically resized standard 4D human model.

Distributed Sensing and Processing for Multi-Camera Networks

NASA Astrophysics Data System (ADS)

Sankaranarayanan, Aswin C.; Chellappa, Rama; Baraniuk, Richard G.

Sensor networks with large numbers of cameras are becoming increasingly prevalent in a wide range of applications, including video conferencing, motion capture, surveillance, and clinical diagnostics. In this chapter, we identify some of the fundamental challenges in designing such systems: robust statistical inference, computationally efficiency, and opportunistic and parsimonious sensing. We show that the geometric constraints induced by the imaging process are extremely useful for identifying and designing optimal estimators for object detection and tracking tasks. We also derive pipelined and parallelized implementations of popular tools used for statistical inference in non-linear systems, of which multi-camera systems are examples. Finally, we highlight the use of the emerging theory of compressive sensing in reducing the amount of data sensed and communicated by a camera network.

Power estimation of martial arts movement using 3D motion capture camera

NASA Astrophysics Data System (ADS)

Azraai, Nur Zaidi; Awang Soh, Ahmad Afiq Sabqi; Mat Jafri, Mohd Zubir

2017-06-01

Motion capture camera (MOCAP) has been widely used in many areas such as biomechanics, physiology, animation, arts, etc. This project is done by approaching physics mechanics and the extended of MOCAP application through sports. Most researchers will use a force plate, but this will only can measure the force of impact, but for us, we are keen to observe the kinematics of the movement. Martial arts is one of the sports that uses more than one part of the human body. For this project, martial art `Silat' was chosen because of its wide practice in Malaysia. 2 performers have been selected, one of them has an experienced in `Silat' practice and another one have no experience at all so that we can compare the energy and force generated by the performers. Every performer will generate a punching with same posture which in this project, two types of punching move were selected. Before the measuring start, a calibration has been done so the software knows the area covered by the camera and reduce the error when analyze by using the T stick that have been pasted with a marker. A punching bag with mass 60 kg was hung on an iron bar as a target. The use of this punching bag is to determine the impact force of a performer when they punch. This punching bag also will be stuck with the optical marker so we can observe the movement after impact. 8 cameras have been used and placed with 2 cameras at every side of the wall with different angle in a rectangular room 270 ft2 and the camera covered approximately 50 ft2. We covered only a small area so less noise will be detected and make the measurement more accurate. A Marker has been pasted on the limb of the entire hand that we want to observe and measure. A passive marker used in this project has a characteristic to reflect the infrared that being generated by the camera. The infrared will reflected to the camera sensor so the marker position can be detected and show in software. The used of many cameras is to increase the precision and improve the accuracy of the marker. Performer movement was recorded and analyzed using software Cortex motion analysis where velocity and acceleration of a performer movement can be measured. With classical mechanics approach we have estimated the power and force of impact and shows that an experienced performer produces more power and force of impact is higher than the inexperienced performer.

CameraHRV: robust measurement of heart rate variability using a camera

NASA Astrophysics Data System (ADS)

Pai, Amruta; Veeraraghavan, Ashok; Sabharwal, Ashutosh

2018-02-01

The inter-beat-interval (time period of the cardiac cycle) changes slightly for every heartbeat; this variation is measured as Heart Rate Variability (HRV). HRV is presumed to occur due to interactions between the parasym- pathetic and sympathetic nervous system. Therefore, it is sometimes used as an indicator of the stress level of an individual. HRV also reveals some clinical information about cardiac health. Currently, HRV is accurately measured using contact devices such as a pulse oximeter. However, recent research in the field of non-contact imaging Photoplethysmography (iPPG) has made vital sign measurements using just the video recording of any exposed skin (such as a person's face) possible. The current signal processing methods for extracting HRV using peak detection perform well for contact-based systems but have poor performance for the iPPG signals. The main reason for this poor performance is the fact that current methods are sensitive to large noise sources which are often present in iPPG data. Further, current methods are not robust to motion artifacts that are common in iPPG systems. We developed a new algorithm, CameraHRV, for robustly extracting HRV even in low SNR such as is common with iPPG recordings. CameraHRV combined spatial combination and frequency demodulation to obtain HRV from the instantaneous frequency of the iPPG signal. CameraHRV outperforms other current methods of HRV estimation. Ground truth data was obtained from FDA-approved pulse oximeter for validation purposes. CameraHRV on iPPG data showed an error of 6 milliseconds for low motion and varying skin tone scenarios. The improvement in error was 14%. In case of high motion scenarios like reading, watching and talking, the error was 10 milliseconds.

Muscle forces analysis in the shoulder mechanism during wheelchair propulsion.

PubMed

Lin, Hwai-Ting; Su, Fong-Chin; Wu, Hong-Wen; An, Kai-Nan

2004-01-01

This study combines an ergometric wheelchair, a six-camera video motion capture system and a prototype computer graphics based musculoskeletal model (CGMM) to predict shoulder joint loading, muscle contraction force per muscle and the sequence of muscular actions during wheelchair propulsion, and also to provide an animated computer graphics model of the relative interactions. Five healthy male subjects with no history of upper extremity injury participated. A conventional manual wheelchair was equipped with a six-component load cell to collect three-dimensional forces and moments experienced by the wheel, allowing real-time measurement of hand/rim force applied by subjects during normal wheelchair operation. An ExpertVision six-camera video motion capture system collected trajectory data of markers attached on anatomical positions. The CGMM was used to simulate and animate muscle action by using an optimization technique combining observed muscular motions with physiological constraints to estimate muscle contraction forces during wheelchair propulsion. The CGMM provides results that satisfactorily match the predictions of previous work, disregarding minor differences which presumably result from differing experimental conditions, measurement technologies and subjects. Specifically, the CGMM shows that the supraspinatus, infraspinatus, anterior deltoid, pectoralis major and biceps long head are the prime movers during the propulsion phase. The middle and posterior deltoid and supraspinatus muscles are responsible for arm return during the recovery phase. CGMM modelling shows that the rotator cuff and pectoralis major play an important role during wheelchair propulsion, confirming the known risk of injury for these muscles during wheelchair propulsion. The CGMM successfully transforms six-camera video motion capture data into a technically useful and visually interesting animated video model of the shoulder musculoskeletal system. The CGMM further yields accurate estimates of muscular forces during motion, indicating that this prototype modelling and analysis technique will aid in study, analysis and therapy of the mechanics and underlying pathomechanics involved in various musculoskeletal overuse syndromes.

Optical flow estimation on image sequences with differently exposed frames

NASA Astrophysics Data System (ADS)

Bengtsson, Tomas; McKelvey, Tomas; Lindström, Konstantin

2015-09-01

Optical flow (OF) methods are used to estimate dense motion information between consecutive frames in image sequences. In addition to the specific OF estimation method itself, the quality of the input image sequence is of crucial importance to the quality of the resulting flow estimates. For instance, lack of texture in image frames caused by saturation of the camera sensor during exposure can significantly deteriorate the performance. An approach to avoid this negative effect is to use different camera settings when capturing the individual frames. We provide a framework for OF estimation on such sequences that contain differently exposed frames. Information from multiple frames are combined into a total cost functional such that the lack of an active data term for saturated image areas is avoided. Experimental results demonstrate that using alternate camera settings to capture the full dynamic range of an underlying scene can clearly improve the quality of flow estimates. When saturation of image data is significant, the proposed methods show superior performance in terms of lower endpoint errors of the flow vectors compared to a set of baseline methods. Furthermore, we provide some qualitative examples of how and when our method should be used.

A Single Camera Motion Capture System for Human-Computer Interaction

NASA Astrophysics Data System (ADS)

Okada, Ryuzo; Stenger, Björn

This paper presents a method for markerless human motion capture using a single camera. It uses tree-based filtering to efficiently propagate a probability distribution over poses of a 3D body model. The pose vectors and associated shapes are arranged in a tree, which is constructed by hierarchical pairwise clustering, in order to efficiently evaluate the likelihood in each frame. Anew likelihood function based on silhouette matching is proposed that improves the pose estimation of thinner body parts, i. e. the limbs. The dynamic model takes self-occlusion into account by increasing the variance of occluded body-parts, thus allowing for recovery when the body part reappears. We present two applications of our method that work in real-time on a Cell Broadband Engine™: a computer game and a virtual clothing application.

A Quasi-Static Method for Determining the Characteristics of a Motion Capture Camera System in a "Split-Volume" Configuration

NASA Technical Reports Server (NTRS)

Miller, Chris; Mulavara, Ajitkumar; Bloomberg, Jacob

2001-01-01

To confidently report any data collected from a video-based motion capture system, its functional characteristics must be determined, namely accuracy, repeatability and resolution. Many researchers have examined these characteristics with motion capture systems, but they used only two cameras, positioned 90 degrees to each other. Everaert used 4 cameras, but all were aligned along major axes (two in x, one in y and z). Richards compared the characteristics of different commercially available systems set-up in practical configurations, but all cameras viewed a single calibration volume. The purpose of this study was to determine the accuracy, repeatability and resolution of a 6-camera Motion Analysis system in a split-volume configuration using a quasistatic methodology.

Rainfall simulation and Structure-from-Motion photogrammetry for the analysis of soil water erosion in Mediterranean vineyards.

PubMed

Prosdocimi, Massimo; Burguet, Maria; Di Prima, Simone; Sofia, Giulia; Terol, Enric; Rodrigo Comino, Jesús; Cerdà, Artemi; Tarolli, Paolo

2017-01-01

Soil water erosion is a serious problem, especially in agricultural lands. Among these, vineyards deserve attention, because they constitute for the Mediterranean areas a type of land use affected by high soil losses. A significant problem related to the study of soil water erosion in these areas consists in the lack of a standardized procedure of collecting data and reporting results, mainly due to a variability among the measurement methods applied. Given this issue and the seriousness of soil water erosion in Mediterranean vineyards, this works aims to quantify the soil losses caused by simulated rainstorms, and compare them with each other depending on two different methodologies: (i) rainfall simulation and (ii) surface elevation change-based, relying on high-resolution Digital Elevation Models (DEMs) derived from a photogrammetric technique (Structure-from-Motion or SfM). The experiments were carried out in a typical Mediterranean vineyard, located in eastern Spain, at very fine scales. SfM data were obtained from one reflex camera and a smartphone built-in camera. An index of sediment connectivity was also applied to evaluate the potential effect of connectivity within the plots. DEMs derived from the smartphone and the reflex camera were comparable with each other in terms of accuracy and capability of estimating soil loss. Furthermore, soil loss estimated with the surface elevation change-based method resulted to be of the same order of magnitude of that one obtained with rainfall simulation, as long as the sediment connectivity within the plot was considered. High-resolution topography derived from SfM revealed to be essential in the sediment connectivity analysis and, therefore, in the estimation of eroded materials, when comparing them to those derived from the rainfall simulation methodology. The fact that smartphones built-in cameras could produce as much satisfying results as those derived from reflex cameras is a high value added for using SfM. Copyright © 2016 Elsevier B.V. All rights reserved.

Correction And Use Of Jitter In Television Images

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Fender, Derek H.; Fender, Antony R. H.

1989-01-01

Proposed system stabilizes jittering television image and/or measures jitter to extract information on motions of objects in image. Alternative version, system controls lateral motion on camera to generate stereoscopic views to measure distances to objects. In another version, motion of camera controlled to keep object in view. Heart of system is digital image-data processor called "jitter-miser", which includes frame buffer and logic circuits to correct for jitter in image. Signals from motion sensors on camera sent to logic circuits and processed into corrections for motion along and across line of sight.

Science with a selfie stick: Plant biomass estimation using smartphone based ‘Structure From Motion’ photogrammetry

USDA-ARS?s Scientific Manuscript database

Significant advancements in photogrammetric Structure-from-Motion (SfM) software, coupled with improvements in the quality and resolution of smartphone cameras, has made it possible to create ultra-fine resolution three-dimensional models of physical objects using an ordinary smartphone. Here we pre...

Dynamic Human Body Modeling Using a Single RGB Camera.

PubMed

Zhu, Haiyu; Yu, Yao; Zhou, Yu; Du, Sidan

2016-03-18

In this paper, we present a novel automatic pipeline to build personalized parametric models of dynamic people using a single RGB camera. Compared to previous approaches that use monocular RGB images, our system can model a 3D human body automatically and incrementally, taking advantage of human motion. Based on coarse 2D and 3D poses estimated from image sequences, we first perform a kinematic classification of human body parts to refine the poses and obtain reconstructed body parts. Next, a personalized parametric human model is generated by driving a general template to fit the body parts and calculating the non-rigid deformation. Experimental results show that our shape estimation method achieves comparable accuracy with reconstructed models using depth cameras, yet requires neither user interaction nor any dedicated devices, leading to the feasibility of using this method on widely available smart phones.

Dynamic Human Body Modeling Using a Single RGB Camera

PubMed Central

Zhu, Haiyu; Yu, Yao; Zhou, Yu; Du, Sidan

2016-01-01

In this paper, we present a novel automatic pipeline to build personalized parametric models of dynamic people using a single RGB camera. Compared to previous approaches that use monocular RGB images, our system can model a 3D human body automatically and incrementally, taking advantage of human motion. Based on coarse 2D and 3D poses estimated from image sequences, we first perform a kinematic classification of human body parts to refine the poses and obtain reconstructed body parts. Next, a personalized parametric human model is generated by driving a general template to fit the body parts and calculating the non-rigid deformation. Experimental results show that our shape estimation method achieves comparable accuracy with reconstructed models using depth cameras, yet requires neither user interaction nor any dedicated devices, leading to the feasibility of using this method on widely available smart phones. PMID:26999159

Plenoptic Image Motion Deblurring.

PubMed

Chandramouli, Paramanand; Jin, Meiguang; Perrone, Daniele; Favaro, Paolo

2018-04-01

We propose a method to remove motion blur in a single light field captured with a moving plenoptic camera. Since motion is unknown, we resort to a blind deconvolution formulation, where one aims to identify both the blur point spread function and the latent sharp image. Even in the absence of motion, light field images captured by a plenoptic camera are affected by a non-trivial combination of both aliasing and defocus, which depends on the 3D geometry of the scene. Therefore, motion deblurring algorithms designed for standard cameras are not directly applicable. Moreover, many state of the art blind deconvolution algorithms are based on iterative schemes, where blurry images are synthesized through the imaging model. However, current imaging models for plenoptic images are impractical due to their high dimensionality. We observe that plenoptic cameras introduce periodic patterns that can be exploited to obtain highly parallelizable numerical schemes to synthesize images. These schemes allow extremely efficient GPU implementations that enable the use of iterative methods. We can then cast blind deconvolution of a blurry light field image as a regularized energy minimization to recover a sharp high-resolution scene texture and the camera motion. Furthermore, the proposed formulation can handle non-uniform motion blur due to camera shake as demonstrated on both synthetic and real light field data.

Visual Odometry Based on Structural Matching of Local Invariant Features Using Stereo Camera Sensor

PubMed Central

Núñez, Pedro; Vázquez-Martín, Ricardo; Bandera, Antonio

2011-01-01

This paper describes a novel sensor system to estimate the motion of a stereo camera. Local invariant image features are matched between pairs of frames and linked into image trajectories at video rate, providing the so-called visual odometry, i.e., motion estimates from visual input alone. Our proposal conducts two matching sessions: the first one between sets of features associated to the images of the stereo pairs and the second one between sets of features associated to consecutive frames. With respect to previously proposed approaches, the main novelty of this proposal is that both matching algorithms are conducted by means of a fast matching algorithm which combines absolute and relative feature constraints. Finding the largest-valued set of mutually consistent matches is equivalent to finding the maximum-weighted clique on a graph. The stereo matching allows to represent the scene view as a graph which emerge from the features of the accepted clique. On the other hand, the frame-to-frame matching defines a graph whose vertices are features in 3D space. The efficiency of the approach is increased by minimizing the geometric and algebraic errors to estimate the final displacement of the stereo camera between consecutive acquired frames. The proposed approach has been tested for mobile robotics navigation purposes in real environments and using different features. Experimental results demonstrate the performance of the proposal, which could be applied in both industrial and service robot fields. PMID:22164016

Motion visualization and estimation for flapping wing systems

NASA Astrophysics Data System (ADS)

Hsu, Tzu-Sheng Shane; Fitzgerald, Timothy; Nguyen, Vincent Phuc; Patel, Trisha; Balachandran, Balakumar

2017-04-01

Studies of fluid-structure interactions associated with flexible structures such as flapping wings require the capture and quantification of large motions of bodies that may be opaque. As a case study, motion capture of a free flying Manduca sexta, also known as hawkmoth, is considered by using three synchronized high-speed cameras. A solid finite element (FE) representation is used as a reference body and successive snapshots in time of the displacement fields are reconstructed via an optimization procedure. One of the original aspects of this work is the formulation of an objective function and the use of shadow matching and strain-energy regularization. With this objective function, the authors penalize the projection differences between silhouettes of the captured images and the FE representation of the deformed body. The process and procedures undertaken to go from high-speed videography to motion estimation are discussed, and snapshots of representative results are presented. Finally, the captured free-flight motion is also characterized and quantified.

IMAX camera (12-IML-1)

NASA Technical Reports Server (NTRS)

1992-01-01

The IMAX camera system is used to record on-orbit activities of interest to the public. Because of the extremely high resolution of the IMAX camera, projector, and audio systems, the audience is afforded a motion picture experience unlike any other. IMAX and OMNIMAX motion picture systems were designed to create motion picture images of superior quality and audience impact. The IMAX camera is a 65 mm, single lens, reflex viewing design with a 15 perforation per frame horizontal pull across. The frame size is 2.06 x 2.77 inches. Film travels through the camera at a rate of 336 feet per minute when the camera is running at the standard 24 frames/sec.

Mapping Land and Water Surface Topography with instantaneous Structure from Motion

NASA Astrophysics Data System (ADS)

Dietrich, J.; Fonstad, M. A.

2012-12-01

Structure from Motion (SfM) has given researchers an invaluable tool for low-cost, high-resolution 3D mapping of the environment. These SfM 3D surface models are commonly constructed from many digital photographs collected with one digital camera (either handheld or attached to aerial platform). This method works for stationary or very slow moving objects. However, objects in motion are impossible to capture with one-camera SfM. With multiple simultaneously triggered cameras, it becomes possible to capture multiple photographs at the same time which allows for the construction 3D surface models of moving objects and surfaces, an instantaneous SfM (ISfM) surface model. In river science, ISfM provides a low-cost solution for measuring a number of river variables that researchers normally estimate or are unable to collect over large areas. With ISfM and sufficient coverage of the banks and RTK-GPS control it is possible to create a digital surface model of land and water surface elevations across an entire channel and water surface slopes at any point within the surface model. By setting the cameras to collect time-lapse photography of a scene it is possible to create multiple surfaces that can be compared using traditional digital surface model differencing. These water surface models could be combined the high-resolution bathymetry to create fully 3D cross sections that could be useful in hydrologic modeling. Multiple temporal image sets could also be used in 2D or 3D particle image velocimetry to create 3D surface velocity maps of a channel. Other applications in earth science include anything where researchers could benefit from temporal surface modeling like mass movements, lava flows, dam removal monitoring. The camera system that was used for this research consisted of ten pocket digital cameras (Canon A3300) equipped with wireless triggers. The triggers were constructed with an Arduino-style microcontroller and off-the-shelf handheld radios with a maximum range of several kilometers. The cameras are controlled from another microcontroller/radio combination that allows for manual or automatic triggering of the cameras. The total cost of the camera system was approximately 1500 USD.

Towards Unmanned Systems for Dismounted Operations in the Canadian Forces

DTIC Science & Technology

2011-01-01

LIDAR , and RADAR) and lower power/mass, passive imaging techniques such as structure from motion and simultaneous localisation and mapping ( SLAM ...sensors and learning algorithms. 5.1.2 Simultaneous localisation and mapping SLAM algorithms concurrently estimate a robot pose and a map of unique...locations and vehicle pose are part of the SLAM state vector and are estimated in each update step. AISS developed a monocular camera-based SLAM

Evaluation of Real-Time Hand Motion Tracking Using a Range Camera and the Mean-Shift Algorithm

NASA Astrophysics Data System (ADS)

Lahamy, H.; Lichti, D.

2011-09-01

Several sensors have been tested for improving the interaction between humans and machines including traditional web cameras, special gloves, haptic devices, cameras providing stereo pairs of images and range cameras. Meanwhile, several methods are described in the literature for tracking hand motion: the Kalman filter, the mean-shift algorithm and the condensation algorithm. In this research, the combination of a range camera and the simple version of the mean-shift algorithm has been evaluated for its capability for hand motion tracking. The evaluation was assessed in terms of position accuracy of the tracking trajectory in x, y and z directions in the camera space and the time difference between image acquisition and image display. Three parameters have been analyzed regarding their influence on the tracking process: the speed of the hand movement, the distance between the camera and the hand and finally the integration time of the camera. Prior to the evaluation, the required warm-up time of the camera has been measured. This study has demonstrated the suitability of the range camera used in combination with the mean-shift algorithm for real-time hand motion tracking but for very high speed hand movement in the traverse plane with respect to the camera, the tracking accuracy is low and requires improvement.

Motion camera based on a custom vision sensor and an FPGA architecture

NASA Astrophysics Data System (ADS)

Arias-Estrada, Miguel

1998-09-01

A digital camera for custom focal plane arrays was developed. The camera allows the test and development of analog or mixed-mode arrays for focal plane processing. The camera is used with a custom sensor for motion detection to implement a motion computation system. The custom focal plane sensor detects moving edges at the pixel level using analog VLSI techniques. The sensor communicates motion events using the event-address protocol associated to a temporal reference. In a second stage, a coprocessing architecture based on a field programmable gate array (FPGA) computes the time-of-travel between adjacent pixels. The FPGA allows rapid prototyping and flexible architecture development. Furthermore, the FPGA interfaces the sensor to a compact PC computer which is used for high level control and data communication to the local network. The camera could be used in applications such as self-guided vehicles, mobile robotics and smart surveillance systems. The programmability of the FPGA allows the exploration of further signal processing like spatial edge detection or image segmentation tasks. The article details the motion algorithm, the sensor architecture, the use of the event- address protocol for velocity vector computation and the FPGA architecture used in the motion camera system.

3D Measurement of Forearm and Upper Arm during Throwing Motion using Body Mounted Sensor

NASA Astrophysics Data System (ADS)

Koda, Hideharu; Sagawa, Koichi; Kuroshima, Kouta; Tsukamoto, Toshiaki; Urita, Kazutaka; Ishibashi, Yasuyuki

The aim of this study is to propose the measurement method of three-dimensional (3D) movement of forearm and upper arm during pitching motion of baseball using inertial sensors without serious consideration of sensor installation. Although high accuracy measurement of sports motion is achieved by using optical motion capture system at present, it has some disadvantages such as the calibration of cameras and limitation of measurement place. Whereas the proposed method for 3D measurement of pitching motion using body mounted sensors provides trajectory and orientation of upper arm by the integration of acceleration and angular velocity measured on upper limb. The trajectory of forearm is derived so that the elbow joint axis of forearm corresponds to that of upper arm. Spatial relation between upper limb and sensor system is obtained by performing predetermined movements of upper limb and utilizing angular velocity and gravitational acceleration. The integration error is modified so that the estimated final position, velocity and posture of upper limb agree with the actual ones. The experimental results of the measurement of pitching motion show that trajectories of shoulder, elbow and wrist estimated by the proposed method are highly correlated to those from the motion capture system within the estimation error of about 10 [%].

An anti-disturbing real time pose estimation method and system

NASA Astrophysics Data System (ADS)

Zhou, Jian; Zhang, Xiao-hu

2011-08-01

Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new method can estimate pose between camera and object when part even all known features are lost, and has a quick response time benefit from GPU parallel computing. The method present here can be used widely in vision-guide techniques to strengthen its intelligence and generalization, which can also play an important role in autonomous navigation and positioning, robots fields at unknown environment. The results of simulation and experiments demonstrate that proposed method could suppress noise effectively, extracted features robustly, and achieve the real time need. Theory analysis and experiment shows the method is reasonable and efficient.

Smartphone-Based Cardiac Rehabilitation Program: Feasibility Study.

PubMed

Chung, Heewon; Ko, Hoon; Thap, Tharoeun; Jeong, Changwon; Noh, Se-Eung; Yoon, Kwon-Ha; Lee, Jinseok

2016-01-01

We introduce a cardiac rehabilitation program (CRP) that utilizes only a smartphone, with no external devices. As an efficient guide for cardiac rehabilitation exercise, we developed an application to automatically indicate the exercise intensity by comparing the estimated heart rate (HR) with the target heart rate zone (THZ). The HR is estimated using video images of a fingertip taken by the smartphone's built-in camera. The introduced CRP app includes pre-exercise, exercise with intensity guidance, and post-exercise. In the pre-exercise period, information such as THZ, exercise type, exercise stage order, and duration of each stage are set up. In the exercise with intensity guidance, the app estimates HR from the pulse obtained using the smartphone's built-in camera and compares the estimated HR with the THZ. Based on this comparison, the app adjusts the exercise intensity to shift the patient's HR to the THZ during exercise. In the post-exercise period, the app manages the ratio of the estimated HR to the THZ and provides a questionnaire on factors such as chest pain, shortness of breath, and leg pain during exercise, as objective and subjective evaluation indicators. As a key issue, HR estimation upon signal corruption due to motion artifacts is also considered. Through the smartphone-based CRP, we estimated the HR accuracy as mean absolute error and root mean squared error of 6.16 and 4.30bpm, respectively, with signal corruption due to motion artifacts being detected by combining the turning point ratio and kurtosis.

Smartphone-Based Cardiac Rehabilitation Program: Feasibility Study

PubMed Central

Chung, Heewon; Yoon, Kwon-Ha; Lee, Jinseok

2016-01-01

We introduce a cardiac rehabilitation program (CRP) that utilizes only a smartphone, with no external devices. As an efficient guide for cardiac rehabilitation exercise, we developed an application to automatically indicate the exercise intensity by comparing the estimated heart rate (HR) with the target heart rate zone (THZ). The HR is estimated using video images of a fingertip taken by the smartphone’s built-in camera. The introduced CRP app includes pre-exercise, exercise with intensity guidance, and post-exercise. In the pre-exercise period, information such as THZ, exercise type, exercise stage order, and duration of each stage are set up. In the exercise with intensity guidance, the app estimates HR from the pulse obtained using the smartphone’s built-in camera and compares the estimated HR with the THZ. Based on this comparison, the app adjusts the exercise intensity to shift the patient’s HR to the THZ during exercise. In the post-exercise period, the app manages the ratio of the estimated HR to the THZ and provides a questionnaire on factors such as chest pain, shortness of breath, and leg pain during exercise, as objective and subjective evaluation indicators. As a key issue, HR estimation upon signal corruption due to motion artifacts is also considered. Through the smartphone-based CRP, we estimated the HR accuracy as mean absolute error and root mean squared error of 6.16 and 4.30bpm, respectively, with signal corruption due to motion artifacts being detected by combining the turning point ratio and kurtosis. PMID:27551969

Power estimation of martial arts movement with different physical, mood, and behavior using motion capture camera

NASA Astrophysics Data System (ADS)

Awang Soh, Ahmad Afiq Sabqi; Mat Jafri, Mohd Zubir; Azraai, Nur Zaidi

2017-07-01

In Malay world, there is a spirit traditional ritual where they use it as healing practices or for normal life. Malay martial arts (silat) also is not exceptional where some branch of silat have spirit traditional ritual where they said can help them in combat. In this paper, we will not use any ritual, instead we will use some medicinal and environment change when they are performing. There will be 2 performers (fighter) selected, one of them have an experience in martial arts training and another performer does not have experience. Motion Capture (MOCAP) camera will help observe and analyze this move. 8 cameras have been placed in the MOCAP room 2 on each side of the wall facing toward the center of the room from every angle. This will help prevent the loss detection of a marker that been stamped on the limb of a performer. Passive marker has been used where it will reflect the infrared to the camera sensor. Infrared is generated by the source around the camera lens. A 60 kg punching bag was hung on the iron bar function as the target for the performer when throws a punch. Markers also have been stamped on the punching bag so we can detect the movement how far can it swing when hit by the performer. 2 performers will perform 2 moves each with the same position and posture. For every 2 moves, we have made the environment change without the performer notice about it. The first 2 punch with normal environment, second part we have played a positive music to change the performer's mood and third part we have put a medicine (cream/oil) on the skin of the performer. This medicine will make the skin feel a little bit hot. This process repeated to another performer with no experience. The position of this marker analyzed by the Cortex Motion Analysis software where from this data, we can estimate the kinetics and kinematics of the performer. It shows that the increase of kinetics for every part because of the change in the environment, and different result for the 2 performers.

Accurate motion parameter estimation for colonoscopy tracking using a regression method

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2010-03-01

Co-located optical and virtual colonoscopy images have the potential to provide important clinical information during routine colonoscopy procedures. In our earlier work, we presented an optical flow based algorithm to compute egomotion from live colonoscopy video, permitting navigation and visualization of the corresponding patient anatomy. In the original algorithm, motion parameters were estimated using the traditional Least Sum of squares(LS) procedure which can be unstable in the context of optical flow vectors with large errors. In the improved algorithm, we use the Least Median of Squares (LMS) method, a robust regression method for motion parameter estimation. Using the LMS method, we iteratively analyze and converge toward the main distribution of the flow vectors, while disregarding outliers. We show through three experiments the improvement in tracking results obtained using the LMS method, in comparison to the LS estimator. The first experiment demonstrates better spatial accuracy in positioning the virtual camera in the sigmoid colon. The second and third experiments demonstrate the robustness of this estimator, resulting in longer tracked sequences: from 300 to 1310 in the ascending colon, and 410 to 1316 in the transverse colon.

3D pose estimation and motion analysis of the articulated human hand-forearm limb in an industrial production environment

NASA Astrophysics Data System (ADS)

Hahn, Markus; Barrois, Björn; Krüger, Lars; Wöhler, Christian; Sagerer, Gerhard; Kummert, Franz

2010-09-01

This study introduces an approach to model-based 3D pose estimation and instantaneous motion analysis of the human hand-forearm limb in the application context of safe human-robot interaction. 3D pose estimation is performed using two approaches: The Multiocular Contracting Curve Density (MOCCD) algorithm is a top-down technique based on pixel statistics around a contour model projected into the images from several cameras. The Iterative Closest Point (ICP) algorithm is a bottom-up approach which uses a motion-attributed 3D point cloud to estimate the object pose. Due to their orthogonal properties, a fusion of these algorithms is shown to be favorable. The fusion is performed by a weighted combination of the extracted pose parameters in an iterative manner. The analysis of object motion is based on the pose estimation result and the motion-attributed 3D points belonging to the hand-forearm limb using an extended constraint-line approach which does not rely on any temporal filtering. A further refinement is obtained using the Shape Flow algorithm, a temporal extension of the MOCCD approach, which estimates the temporal pose derivative based on the current and the two preceding images, corresponding to temporal filtering with a short response time of two or at most three frames. Combining the results of the two motion estimation stages provides information about the instantaneous motion properties of the object. Experimental investigations are performed on real-world image sequences displaying several test persons performing different working actions typically occurring in an industrial production scenario. In all example scenes, the background is cluttered, and the test persons wear various kinds of clothes. For evaluation, independently obtained ground truth data are used. [Figure not available: see fulltext.

Motion and Structure Estimation of Manoeuvring Objects in Multiple- Camera Image Sequences

DTIC Science & Technology

1992-11-01

and Speckert [23], Gennery [24], Hallman [25], Legters and Young [26], Stuller and Krishnamurthy [27], Wu et al. [381, Matthies, Kanade, and Szeliski...26] G.R. Legters , T.Y. Young, "A mathematical model for computer image track- ing," IEEE Transactions on Pattern Analysis and Machine Intelligence

Photoplethysmographic imaging via spectrally demultiplexed erythema fluctuation analysis for remote heart rate monitoring

NASA Astrophysics Data System (ADS)

Deglint, Jason; Chung, Audrey G.; Chwyl, Brendan; Amelard, Robert; Kazemzadeh, Farnoud; Wang, Xiao Yu; Clausi, David A.; Wong, Alexander

2016-03-01

Traditional photoplethysmographic imaging (PPGI) systems use the red, green, and blue (RGB) broadband measurements of a consumer digital camera to remotely estimate a patients heart rate; however, these broadband RGB signals are often corrupted by ambient noise, making the extraction of subtle fluctuations indicative of heart rate difficult. Therefore, the use of narrow-band spectral measurements can significantly improve the accuracy. We propose a novel digital spectral demultiplexing (DSD) method to infer narrow-band spectral information from acquired broadband RGB measurements in order to estimate heart rate via the computation of motion- compensated skin erythema fluctuation. Using high-resolution video recordings of human participants, multiple measurement locations are automatically identified on the cheeks of an individual, and motion-compensated broadband reflectance measurements are acquired at each measurement location over time via measurement location tracking. The motion-compensated broadband reflectance measurements are spectrally demultiplexed using a non-linear inverse model based on the spectral sensitivity of the camera's detector. A PPG signal is then computed from the demultiplexed narrow-band spectral information via skin erythema fluctuation analysis, with improved signal-to-noise ratio allowing for reliable remote heart rate measurements. To assess the effectiveness of the proposed system, a set of experiments involving human motion in a front-facing position were performed under ambient lighting conditions. Experimental results indicate that the proposed system achieves robust and accurate heart rate measurements and can provide additional information about the participant beyond the capabilities of traditional PPGI methods.

Development of a new calibration procedure and its experimental validation applied to a human motion capture system.

PubMed

Royo Sánchez, Ana Cristina; Aguilar Martín, Juan José; Santolaria Mazo, Jorge

2014-12-01

Motion capture systems are often used for checking and analyzing human motion in biomechanical applications. It is important, in this context, that the systems provide the best possible accuracy. Among existing capture systems, optical systems are those with the highest accuracy. In this paper, the development of a new calibration procedure for optical human motion capture systems is presented. The performance and effectiveness of that new calibration procedure are also checked by experimental validation. The new calibration procedure consists of two stages. In the first stage, initial estimators of intrinsic and extrinsic parameters are sought. The camera calibration method used in this stage is the one proposed by Tsai. These parameters are determined from the camera characteristics, the spatial position of the camera, and the center of the capture volume. In the second stage, a simultaneous nonlinear optimization of all parameters is performed to identify the optimal values, which minimize the objective function. The objective function, in this case, minimizes two errors. The first error is the distance error between two markers placed in a wand. The second error is the error of position and orientation of the retroreflective markers of a static calibration object. The real co-ordinates of the two objects are calibrated in a co-ordinate measuring machine (CMM). The OrthoBio system is used to validate the new calibration procedure. Results are 90% lower than those from the previous calibration software and broadly comparable with results from a similarly configured Vicon system.

Optical Flow Estimation for Flame Detection in Videos

PubMed Central

Mueller, Martin; Karasev, Peter; Kolesov, Ivan; Tannenbaum, Allen

2014-01-01

Computational vision-based flame detection has drawn significant attention in the past decade with camera surveillance systems becoming ubiquitous. Whereas many discriminating features, such as color, shape, texture, etc., have been employed in the literature, this paper proposes a set of motion features based on motion estimators. The key idea consists of exploiting the difference between the turbulent, fast, fire motion, and the structured, rigid motion of other objects. Since classical optical flow methods do not model the characteristics of fire motion (e.g., non-smoothness of motion, non-constancy of intensity), two optical flow methods are specifically designed for the fire detection task: optimal mass transport models fire with dynamic texture, while a data-driven optical flow scheme models saturated flames. Then, characteristic features related to the flow magnitudes and directions are computed from the flow fields to discriminate between fire and non-fire motion. The proposed features are tested on a large video database to demonstrate their practical usefulness. Moreover, a novel evaluation method is proposed by fire simulations that allow for a controlled environment to analyze parameter influences, such as flame saturation, spatial resolution, frame rate, and random noise. PMID:23613042

Moving Object Detection on a Vehicle Mounted Back-Up Camera

PubMed Central

Kim, Dong-Sun; Kwon, Jinsan

2015-01-01

In the detection of moving objects from vision sources one usually assumes that the scene has been captured by stationary cameras. In case of backing up a vehicle, however, the camera mounted on the vehicle moves according to the vehicle’s movement, resulting in ego-motions on the background. This results in mixed motion in the scene, and makes it difficult to distinguish between the target objects and background motions. Without further treatments on the mixed motion, traditional fixed-viewpoint object detection methods will lead to many false-positive detection results. In this paper, we suggest a procedure to be used with the traditional moving object detection methods relaxing the stationary cameras restriction, by introducing additional steps before and after the detection. We also decribe the implementation as a FPGA platform along with the algorithm. The target application of this suggestion is use with a road vehicle’s rear-view camera systems. PMID:26712761

Algorithm architecture co-design for ultra low-power image sensor

NASA Astrophysics Data System (ADS)

Laforest, T.; Dupret, A.; Verdant, A.; Lattard, D.; Villard, P.

2012-03-01

In a context of embedded video surveillance, stand alone leftbehind image sensors are used to detect events with high level of confidence, but also with a very low power consumption. Using a steady camera, motion detection algorithms based on background estimation to find regions in movement are simple to implement and computationally efficient. To reduce power consumption, the background is estimated using a down sampled image formed of macropixels. In order to extend the class of moving objects to be detected, we propose an original mixed mode architecture developed thanks to an algorithm architecture co-design methodology. This programmable architecture is composed of a vector of SIMD processors. A basic RISC architecture was optimized in order to implement motion detection algorithms with a dedicated set of 42 instructions. Definition of delta modulation as a calculation primitive has allowed to implement algorithms in a very compact way. Thereby, a 1920x1080@25fps CMOS image sensor performing integrated motion detection is proposed with a power estimation of 1.8 mW.

Automatic acquisition of motion trajectories: tracking hockey players

NASA Astrophysics Data System (ADS)

Okuma, Kenji; Little, James J.; Lowe, David

2003-12-01

Computer systems that have the capability of analyzing complex and dynamic scenes play an essential role in video annotation. Scenes can be complex in such a way that there are many cluttered objects with different colors, shapes and sizes, and can be dynamic with multiple interacting moving objects and a constantly changing background. In reality, there are many scenes that are complex, dynamic, and challenging enough for computers to describe. These scenes include games of sports, air traffic, car traffic, street intersections, and cloud transformations. Our research is about the challenge of inventing a descriptive computer system that analyzes scenes of hockey games where multiple moving players interact with each other on a constantly moving background due to camera motions. Ultimately, such a computer system should be able to acquire reliable data by extracting the players" motion as their trajectories, querying them by analyzing the descriptive information of data, and predict the motions of some hockey players based on the result of the query. Among these three major aspects of the system, we primarily focus on visual information of the scenes, that is, how to automatically acquire motion trajectories of hockey players from video. More accurately, we automatically analyze the hockey scenes by estimating parameters (i.e., pan, tilt, and zoom) of the broadcast cameras, tracking hockey players in those scenes, and constructing a visual description of the data by displaying trajectories of those players. Many technical problems in vision such as fast and unpredictable players' motions and rapid camera motions make our challenge worth tackling. To the best of our knowledge, there have not been any automatic video annotation systems for hockey developed in the past. Although there are many obstacles to overcome, our efforts and accomplishments would hopefully establish the infrastructure of the automatic hockey annotation system and become a milestone for research in automatic video annotation in this domain.

2D/3D Visual Tracker for Rover Mast

NASA Technical Reports Server (NTRS)

Bajracharya, Max; Madison, Richard W.; Nesnas, Issa A.; Bandari, Esfandiar; Kunz, Clayton; Deans, Matt; Bualat, Maria

2006-01-01

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.

An Online Tilt Estimation and Compensation Algorithm for a Small Satellite Camera

NASA Astrophysics Data System (ADS)

Lee, Da-Hyun; Hwang, Jai-hyuk

2018-04-01

In the case of a satellite camera designed to execute an Earth observation mission, even after a pre-launch precision alignment process has been carried out, misalignment will occur due to external factors during the launch and in the operating environment. In particular, for high-resolution satellite cameras, which require submicron accuracy for alignment between optical components, misalignment is a major cause of image quality degradation. To compensate for this, most high-resolution satellite cameras undergo a precise realignment process called refocusing before and during the operation process. However, conventional Earth observation satellites only execute refocusing upon de-space. Thus, in this paper, an online tilt estimation and compensation algorithm that can be utilized after de-space correction is executed. Although the sensitivity of the optical performance degradation due to the misalignment is highest in de-space, the MTF can be additionally increased by correcting tilt after refocusing. The algorithm proposed in this research can be used to estimate the amount of tilt that occurs by taking star images, and it can also be used to carry out automatic tilt corrections by employing a compensation mechanism that gives angular motion to the secondary mirror. Crucially, this algorithm is developed using an online processing system so that it can operate without communication with the ground.

Camera Operator and Videographer

ERIC Educational Resources Information Center

Moore, Pam

2007-01-01

Television, video, and motion picture camera operators produce images that tell a story, inform or entertain an audience, or record an event. They use various cameras to shoot a wide range of material, including television series, news and sporting events, music videos, motion pictures, documentaries, and training sessions. Those who film or…

Radiation camera motion correction system

DOEpatents

Hoffer, P.B.

1973-12-18

The device determines the ratio of the intensity of radiation received by a radiation camera from two separate portions of the object. A correction signal is developed to maintain this ratio at a substantially constant value and this correction signal is combined with the camera signal to correct for object motion. (Official Gazette)

A rotorcraft flight database for validation of vision-based ranging algorithms

NASA Technical Reports Server (NTRS)

Smith, Phillip N.

1992-01-01

A helicopter flight test experiment was conducted at the NASA Ames Research Center to obtain a database consisting of video imagery and accurate measurements of camera motion, camera calibration parameters, and true range information. The database was developed to allow verification of monocular passive range estimation algorithms for use in the autonomous navigation of rotorcraft during low altitude flight. The helicopter flight experiment is briefly described. Four data sets representative of the different helicopter maneuvers and the visual scenery encountered during the flight test are presented. These data sets will be made available to researchers in the computer vision community.

Heliostat calibration using attached cameras and artificial targets

NASA Astrophysics Data System (ADS)

Burisch, Michael; Sanchez, Marcelino; Olarra, Aitor; Villasante, Cristobal

2016-05-01

The efficiency of the solar field greatly depends on the ability of the heliostats to precisely reflect solar radiation onto a central receiver. To control the heliostats with such a precision requires the accurate knowledge of the motion of each of them. The motion of each heliostat can be described by a set of parameters, most notably the position and axis configuration. These parameters have to be determined individually for each heliostat during a calibration process. With the ongoing development of small sized heliostats, the ability to automatically perform such a calibration becomes more and more crucial as possibly hundreds of thousands of heliostats are involved. Furthermore, efficiency becomes an important factor as small sized heliostats potentially have to be recalibrated far more often, due to the limited stability of the components. In the following we present an automatic calibration procedure using cameras attached to each heliostat which are observing different targets spread throughout the solar field. Based on a number of observations of these targets under different heliostat orientations, the parameters describing the heliostat motion can be estimated with high precision.

Integrated evaluation of visually induced motion sickness in terms of autonomic nervous regulation.

PubMed

Kiryu, Tohru; Tada, Gen; Toyama, Hiroshi; Iijima, Atsuhiko

2008-01-01

To evaluate visually-induced motion sickness, we integrated subjective and objective responses in terms of autonomic nervous regulation. Twenty-seven subjects viewed a 2-min-long first-person-view video section five times (total 10 min) continuously. Measured biosignals, the RR interval, respiration, and blood pressure, were used to estimate the indices related to autonomic nervous activity (ANA). Then we determined the trigger points and some sensation sections based on the time-varying behavior of ANA-related indices. We found that there was a suitable combination of biosignals to present the symptoms of visually-induced motion sickness. Based on the suitable combination, integrating trigger points and subjective scores allowed us to represent the time-distribution of subjective responses during visual exposure, and helps us to understand what types of camera motions will cause visually-induced motion sickness.

Estimation of spatial-temporal gait parameters using a low-cost ultrasonic motion analysis system.

PubMed

Qi, Yongbin; Soh, Cheong Boon; Gunawan, Erry; Low, Kay-Soon; Thomas, Rijil

2014-08-20

In this paper, a low-cost motion analysis system using a wireless ultrasonic sensor network is proposed and investigated. A methodology has been developed to extract spatial-temporal gait parameters including stride length, stride duration, stride velocity, stride cadence, and stride symmetry from 3D foot displacements estimated by the combination of spherical positioning technique and unscented Kalman filter. The performance of this system is validated against a camera-based system in the laboratory with 10 healthy volunteers. Numerical results show the feasibility of the proposed system with average error of 2.7% for all the estimated gait parameters. The influence of walking speed on the measurement accuracy of proposed system is also evaluated. Statistical analysis demonstrates its capability of being used as a gait assessment tool for some medical applications.

Estimating Physical Activity Energy Expenditure with the Kinect Sensor in an Exergaming Environment

PubMed Central

Nathan, David; Huynh, Du Q.; Rubenson, Jonas; Rosenberg, Michael

2015-01-01

Active video games that require physical exertion during game play have been shown to confer health benefits. Typically, energy expended during game play is measured using devices attached to players, such as accelerometers, or portable gas analyzers. Since 2010, active video gaming technology incorporates marker-less motion capture devices to simulate human movement into game play. Using the Kinect Sensor and Microsoft SDK this research aimed to estimate the mechanical work performed by the human body and estimate subsequent metabolic energy using predictive algorithmic models. Nineteen University students participated in a repeated measures experiment performing four fundamental movements (arm swings, standing jumps, body-weight squats, and jumping jacks). Metabolic energy was captured using a Cortex Metamax 3B automated gas analysis system with mechanical movement captured by the combined motion data from two Kinect cameras. Estimations of the body segment properties, such as segment mass, length, centre of mass position, and radius of gyration, were calculated from the Zatsiorsky-Seluyanov's equations of de Leva, with adjustment made for posture cost. GPML toolbox implementation of the Gaussian Process Regression, a locally weighted k-Nearest Neighbour Regression, and a linear regression technique were evaluated for their performance on predicting the metabolic cost from new feature vectors. The experimental results show that Gaussian Process Regression outperformed the other two techniques by a small margin. This study demonstrated that physical activity energy expenditure during exercise, using the Kinect camera as a motion capture system, can be estimated from segmental mechanical work. Estimates for high-energy activities, such as standing jumps and jumping jacks, can be made accurately, but for low-energy activities, such as squatting, the posture of static poses should be considered as a contributing factor. When translated into the active video gaming environment, the results could be incorporated into game play to more accurately control the energy expenditure requirements. PMID:26000460

A traffic situation analysis system

NASA Astrophysics Data System (ADS)

Sidla, Oliver; Rosner, Marcin

2011-01-01

The observation and monitoring of traffic with smart visions systems for the purpose of improving traffic safety has a big potential. For example embedded vision systems built into vehicles can be used as early warning systems, or stationary camera systems can modify the switching frequency of signals at intersections. Today the automated analysis of traffic situations is still in its infancy - the patterns of vehicle motion and pedestrian flow in an urban environment are too complex to be fully understood by a vision system. We present steps towards such a traffic monitoring system which is designed to detect potentially dangerous traffic situations, especially incidents in which the interaction of pedestrians and vehicles might develop into safety critical encounters. The proposed system is field-tested at a real pedestrian crossing in the City of Vienna for the duration of one year. It consists of a cluster of 3 smart cameras, each of which is built from a very compact PC hardware system in an outdoor capable housing. Two cameras run vehicle detection software including license plate detection and recognition, one camera runs a complex pedestrian detection and tracking module based on the HOG detection principle. As a supplement, all 3 cameras use additional optical flow computation in a low-resolution video stream in order to estimate the motion path and speed of objects. This work describes the foundation for all 3 different object detection modalities (pedestrians, vehi1cles, license plates), and explains the system setup and its design.

Infrared Thermography Sensor for Temperature and Speed Measurement of Moving Material.

PubMed

Usamentiaga, Rubén; García, Daniel Fernando

2017-05-18

Infrared thermography offers significant advantages in monitoring the temperature of objects over time, but crucial aspects need to be addressed. Movements between the infrared camera and the inspected material seriously affect the accuracy of the calculated temperature. These movements can be the consequence of solid objects that are moved, molten metal poured, material on a conveyor belt, or just vibrations. This work proposes a solution for monitoring the temperature of material in these scenarios. In this work both real movements and vibrations are treated equally, proposing a unified solution for both problems. The three key steps of the proposed procedure are image rectification, motion estimation and motion compensation. Image rectification calculates a front-parallel projection of the image that simplifies the estimation and compensation of the movement. Motion estimation describes the movement using a mathematical model, and estimates the coefficients using robust methods adapted to infrared images. Motion is finally compensated for in order to produce the correct temperature time history of the monitored material regardless of the movement. The result is a robust sensor for temperature of moving material that can also be used to measure the speed of the material. Different experiments are carried out to validate the proposed method in laboratory and real environments. Results show excellent performance.

Infrared Thermography Sensor for Temperature and Speed Measurement of Moving Material

PubMed Central

Usamentiaga, Rubén; García, Daniel Fernando

2017-01-01

Infrared thermography offers significant advantages in monitoring the temperature of objects over time, but crucial aspects need to be addressed. Movements between the infrared camera and the inspected material seriously affect the accuracy of the calculated temperature. These movements can be the consequence of solid objects that are moved, molten metal poured, material on a conveyor belt, or just vibrations. This work proposes a solution for monitoring the temperature of material in these scenarios. In this work both real movements and vibrations are treated equally, proposing a unified solution for both problems. The three key steps of the proposed procedure are image rectification, motion estimation and motion compensation. Image rectification calculates a front-parallel projection of the image that simplifies the estimation and compensation of the movement. Motion estimation describes the movement using a mathematical model, and estimates the coefficients using robust methods adapted to infrared images. Motion is finally compensated for in order to produce the correct temperature time history of the monitored material regardless of the movement. The result is a robust sensor for temperature of moving material that can also be used to measure the speed of the material. Different experiments are carried out to validate the proposed method in laboratory and real environments. Results show excellent performance. PMID:28524110

Photogrammetric Accuracy and Modeling of Rolling Shutter Cameras

NASA Astrophysics Data System (ADS)

Vautherin, Jonas; Rutishauser, Simon; Schneider-Zapp, Klaus; Choi, Hon Fai; Chovancova, Venera; Glass, Alexis; Strecha, Christoph

2016-06-01

Unmanned aerial vehicles (UAVs) are becoming increasingly popular in professional mapping for stockpile analysis, construction site monitoring, and many other applications. Due to their robustness and competitive pricing, consumer UAVs are used more and more for these applications, but they are usually equipped with rolling shutter cameras. This is a significant obstacle when it comes to extracting high accuracy measurements using available photogrammetry software packages. In this paper, we evaluate the impact of the rolling shutter cameras of typical consumer UAVs on the accuracy of a 3D reconstruction. Hereto, we use a beta-version of the Pix4Dmapper 2.1 software to compare traditional (non rolling shutter) camera models against a newly implemented rolling shutter model with respect to both the accuracy of geo-referenced validation points and to the quality of the motion estimation. Multiple datasets have been acquired using popular quadrocopters (DJI Phantom 2 Vision+, DJI Inspire 1 and 3DR Solo) following a grid flight plan. For comparison, we acquired a dataset using a professional mapping drone (senseFly eBee) equipped with a global shutter camera. The bundle block adjustment of each dataset shows a significant accuracy improvement on validation ground control points when applying the new rolling shutter camera model for flights at higher speed (8m=s). Competitive accuracies can be obtained by using the rolling shutter model, although global shutter cameras are still superior. Furthermore, we are able to show that the speed of the drone (and its direction) can be solely estimated from the rolling shutter effect of the camera.

Experimental investigation of strain errors in stereo-digital image correlation due to camera calibration

NASA Astrophysics Data System (ADS)

Shao, Xinxing; Zhu, Feipeng; Su, Zhilong; Dai, Xiangjun; Chen, Zhenning; He, Xiaoyuan

2018-03-01

The strain errors in stereo-digital image correlation (DIC) due to camera calibration were investigated using precisely controlled numerical experiments and real experiments. Three-dimensional rigid body motion tests were conducted to examine the effects of camera calibration on the measured results. For a fully accurate calibration, rigid body motion causes negligible strain errors. However, for inaccurately calibrated camera parameters and a short working distance, rigid body motion will lead to more than 50-μɛ strain errors, which significantly affects the measurement. In practical measurements, it is impossible to obtain a fully accurate calibration; therefore, considerable attention should be focused on attempting to avoid these types of errors, especially for high-accuracy strain measurements. It is necessary to avoid large rigid body motions in both two-dimensional DIC and stereo-DIC.

Using a Digital Video Camera to Study Motion

ERIC Educational Resources Information Center

Abisdris, Gil; Phaneuf, Alain

2007-01-01

To illustrate how a digital video camera can be used to analyze various types of motion, this simple activity analyzes the motion and measures the acceleration due to gravity of a basketball in free fall. Although many excellent commercially available data loggers and software can accomplish this task, this activity requires almost no financial…

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

NASA Technical Reports Server (NTRS)

Chien, Chiun-Hong; Baker, Kenneth

2011-01-01

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Measuring the circular motion of small objects using laser stroboscopic images.

PubMed

Wang, Hairong; Fu, Y; Du, R

2008-01-01

Measuring the circular motion of a small object, including its displacement, speed, and acceleration, is a challenging task. This paper presents a new method for measuring repetitive and/or nonrepetitive, constant speed and/or variable speed circular motion using laser stroboscopic images. Under stroboscopic illumination, each image taken by an ordinary camera records multioutlines of an object in motion; hence, processing the stroboscopic image will be able to extract the motion information. We built an experiment apparatus consisting of a laser as the light source, a stereomicroscope to magnify the image, and a normal complementary metal oxide semiconductor camera to record the image. As the object is in motion, the stroboscopic illumination generates a speckle pattern on the object that can be recorded by the camera and analyzed by a computer. Experimental results indicate that the stroboscopic imaging is stable under various conditions. Moreover, the characteristics of the motion, including the displacement, the velocity, and the acceleration can be calculated based on the width of speckle marks, the illumination intensity, the duty cycle, and the sampling frequency. Compared with the popular high-speed camera method, the presented method may achieve the same measuring accuracy, but with much reduced cost and complexity.

The NACA High-Speed Motion-Picture Camera Optical Compensation at 40,000 Photographs Per Second

NASA Technical Reports Server (NTRS)

Miller, Cearcy D

1946-01-01

The principle of operation of the NACA high-speed camera is completely explained. This camera, operating at the rate of 40,000 photographs per second, took the photographs presented in numerous NACA reports concerning combustion, preignition, and knock in the spark-ignition engine. Many design details are presented and discussed, details of an entirely conventional nature are omitted. The inherent aberrations of the camera are discussed and partly evaluated. The focal-plane-shutter effect of the camera is explained. Photographs of the camera are presented. Some high-speed motion pictures of familiar objects -- photoflash bulb, firecrackers, camera shutter -- are reproduced as an illustration of the quality of the photographs taken by the camera.

Optical Enhancement of Exoskeleton-Based Estimation of Glenohumeral Angles

PubMed Central

Cortés, Camilo; Unzueta, Luis; de los Reyes-Guzmán, Ana; Ruiz, Oscar E.; Flórez, Julián

2016-01-01

In Robot-Assisted Rehabilitation (RAR) the accurate estimation of the patient limb joint angles is critical for assessing therapy efficacy. In RAR, the use of classic motion capture systems (MOCAPs) (e.g., optical and electromagnetic) to estimate the Glenohumeral (GH) joint angles is hindered by the exoskeleton body, which causes occlusions and magnetic disturbances. Moreover, the exoskeleton posture does not accurately reflect limb posture, as their kinematic models differ. To address the said limitations in posture estimation, we propose installing the cameras of an optical marker-based MOCAP in the rehabilitation exoskeleton. Then, the GH joint angles are estimated by combining the estimated marker poses and exoskeleton Forward Kinematics. Such hybrid system prevents problems related to marker occlusions, reduced camera detection volume, and imprecise joint angle estimation due to the kinematic mismatch of the patient and exoskeleton models. This paper presents the formulation, simulation, and accuracy quantification of the proposed method with simulated human movements. In addition, a sensitivity analysis of the method accuracy to marker position estimation errors, due to system calibration errors and marker drifts, has been carried out. The results show that, even with significant errors in the marker position estimation, method accuracy is adequate for RAR. PMID:27403044

Statistical Trajectory Estimation Program (STEP) implementation for BLDT post flight trajectory simulation

NASA Technical Reports Server (NTRS)

Shields, W. E.

1973-01-01

Tests were conducted to provide flight conditions for qualifying the Viking Decelerator System in a simulated Mars environment. A balloon launched decelerator test (BLDT) vehicle which has an external shape similar to the actual Mars Viking Lander Capsule was used so that the decelerator would be deployed in the wake of a blunt body. An effort was made to simulate the BLDT vehicle flights from the time they were dropped from the balloon, through decelerator deployment, until stable decelerator conditions were reached. The procedure used to simulate these flights using the Statistical Trajectory Estimation Program (STEP) is discussed. Using primarily ground-based position radar and vehicle onboard rate gyro and accelerometer data, the STEP produces a minimum variance solution of the vehicle trajectory and calculates vehicle attitude histories. Using film from cameras in the vehicle along with a computer program, attitude histories for portions of the flight before and after decelerator deployment were calculated independent of the STEP simulation. With the assumption that the vehicle motions derived from camera data are accurate, a comparison reveals that STEP was able to simulate vehicle motions for all flights both before and after decelerator deployment.

Post-Flight Estimation of Motion of Space Structures: Part 1

NASA Technical Reports Server (NTRS)

Brugarolas, Paul; Breckenridge, William

2008-01-01

A computer program estimates the relative positions and orientations of two space structures from data on the angular positions and distances of fiducial objects on one structure as measured by a target tracking electronic camera and laser range finders on another structure. The program is written specifically for determining the relative alignments of two antennas, connected by a long truss, deployed in outer space from a space shuttle. The program is based partly on transformations among the various coordinate systems involved in the measurements and on a nonlinear mathematical model of vibrations of the truss. The program implements a Kalman filter that blends the measurement data with data from the model. Using time series of measurement data from the tracking camera and range finders, the program generates time series of data on the relative position and orientation of the antennas. A similar program described in a prior NASA Tech Briefs article was used onboard for monitoring the structures during flight. The present program is more precise and designed for use on Earth in post-flight processing of the measurement data to enable correction, for antenna motions, of scientific data acquired by use of the antennas.

Maximum likelihood estimation in calibrating a stereo camera setup.

PubMed

Muijtjens, A M; Roos, J M; Arts, T; Hasman, A

1999-02-01

Motion and deformation of the cardiac wall may be measured by following the positions of implanted radiopaque markers in three dimensions, using two x-ray cameras simultaneously. Regularly, calibration of the position measurement system is obtained by registration of the images of a calibration object, containing 10-20 radiopaque markers at known positions. Unfortunately, an accidental change of the position of a camera after calibration requires complete recalibration. Alternatively, redundant information in the measured image positions of stereo pairs can be used for calibration. Thus, a separate calibration procedure can be avoided. In the current study a model is developed that describes the geometry of the camera setup by five dimensionless parameters. Maximum Likelihood (ML) estimates of these parameters were obtained in an error analysis. It is shown that the ML estimates can be found by application of a nonlinear least squares procedure. Compared to the standard unweighted least squares procedure, the ML method resulted in more accurate estimates without noticeable bias. The accuracy of the ML method was investigated in relation to the object aperture. The reconstruction problem appeared well conditioned as long as the object aperture is larger than 0.1 rad. The angle between the two viewing directions appeared to be the parameter that was most likely to cause major inaccuracies in the reconstruction of the 3-D positions of the markers. Hence, attempts to improve the robustness of the method should primarily focus on reduction of the error in this parameter.

A multi-criteria approach to camera motion design for volume data animation.

PubMed

Hsu, Wei-Hsien; Zhang, Yubo; Ma, Kwan-Liu

2013-12-01

We present an integrated camera motion design and path generation system for building volume data animations. Creating animations is an essential task in presenting complex scientific visualizations. Existing visualization systems use an established animation function based on keyframes selected by the user. This approach is limited in providing the optimal in-between views of the data. Alternatively, computer graphics and virtual reality camera motion planning is frequently focused on collision free movement in a virtual walkthrough. For semi-transparent, fuzzy, or blobby volume data the collision free objective becomes insufficient. Here, we provide a set of essential criteria focused on computing camera paths to establish effective animations of volume data. Our dynamic multi-criteria solver coupled with a force-directed routing algorithm enables rapid generation of camera paths. Once users review the resulting animation and evaluate the camera motion, they are able to determine how each criterion impacts path generation. In this paper, we demonstrate how incorporating this animation approach with an interactive volume visualization system reduces the effort in creating context-aware and coherent animations. This frees the user to focus on visualization tasks with the objective of gaining additional insight from the volume data.

Video segmentation and camera motion characterization using compressed data

NASA Astrophysics Data System (ADS)

Milanese, Ruggero; Deguillaume, Frederic; Jacot-Descombes, Alain

1997-10-01

We address the problem of automatically extracting visual indexes from videos, in order to provide sophisticated access methods to the contents of a video server. We focus on tow tasks, namely the decomposition of a video clip into uniform segments, and the characterization of each shot by camera motion parameters. For the first task we use a Bayesian classification approach to detecting scene cuts by analyzing motion vectors. For the second task a least- squares fitting procedure determines the pan/tilt/zoom camera parameters. In order to guarantee the highest processing speed, all techniques process and analyze directly MPEG-1 motion vectors, without need for video decompression. Experimental results are reported for a database of news video clips.

Projection of controlled repeatable real-time moving targets to test and evaluate motion imagery quality

NASA Astrophysics Data System (ADS)

Scopatz, Stephen D.; Mendez, Michael; Trent, Randall

2015-05-01

The projection of controlled moving targets is key to the quantitative testing of video capture and post processing for Motion Imagery. This presentation will discuss several implementations of target projectors with moving targets or apparent moving targets creating motion to be captured by the camera under test. The targets presented are broadband (UV-VIS-IR) and move in a predictable, repeatable and programmable way; several short videos will be included in the presentation. Among the technical approaches will be targets that move independently in the camera's field of view, as well targets that change size and shape. The development of a rotating IR and VIS 4 bar target projector with programmable rotational velocity and acceleration control for testing hyperspectral cameras is discussed. A related issue for motion imagery is evaluated by simulating a blinding flash which is an impulse of broadband photons in fewer than 2 milliseconds to assess the camera's reaction to a large, fast change in signal. A traditional approach of gimbal mounting the camera in combination with the moving target projector is discussed as an alternative to high priced flight simulators. Based on the use of the moving target projector several standard tests are proposed to provide a corresponding test to MTF (resolution), SNR and minimum detectable signal at velocity. Several unique metrics are suggested for Motion Imagery including Maximum Velocity Resolved (the measure of the greatest velocity that is accurately tracked by the camera system) and Missing Object Tolerance (measurement of tracking ability when target is obscured in the images). These metrics are applicable to UV-VIS-IR wavelengths and can be used to assist in camera and algorithm development as well as comparing various systems by presenting the exact scenes to the cameras in a repeatable way.

7. MOTION PICTURE CAMERA STAND AT BUILDING 8768. Edwards ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

7. MOTION PICTURE CAMERA STAND AT BUILDING 8768. - Edwards Air Force Base, Air Force Rocket Propulsion Laboratory, Observation Bunkers for Test Stand 1-A, Test Area 1-120, north end of Jupiter Boulevard, Boron, Kern County, CA

Bilayer segmentation of webcam videos using tree-based classifiers.

PubMed

Yin, Pei; Criminisi, Antonio; Winn, John; Essa, Irfan

2011-01-01

This paper presents an automatic segmentation algorithm for video frames captured by a (monocular) webcam that closely approximates depth segmentation from a stereo camera. The frames are segmented into foreground and background layers that comprise a subject (participant) and other objects and individuals. The algorithm produces correct segmentations even in the presence of large background motion with a nearly stationary foreground. This research makes three key contributions: First, we introduce a novel motion representation, referred to as "motons," inspired by research in object recognition. Second, we propose estimating the segmentation likelihood from the spatial context of motion. The estimation is efficiently learned by random forests. Third, we introduce a general taxonomy of tree-based classifiers that facilitates both theoretical and experimental comparisons of several known classification algorithms and generates new ones. In our bilayer segmentation algorithm, diverse visual cues such as motion, motion context, color, contrast, and spatial priors are fused by means of a conditional random field (CRF) model. Segmentation is then achieved by binary min-cut. Experiments on many sequences of our videochat application demonstrate that our algorithm, which requires no initialization, is effective in a variety of scenes, and the segmentation results are comparable to those obtained by stereo systems.

Motion-Blur-Free High-Speed Video Shooting Using a Resonant Mirror

PubMed Central

Inoue, Michiaki; Gu, Qingyi; Takaki, Takeshi; Ishii, Idaku; Tajima, Kenji

2017-01-01

This study proposes a novel concept of actuator-driven frame-by-frame intermittent tracking for motion-blur-free video shooting of fast-moving objects. The camera frame and shutter timings are controlled for motion blur reduction in synchronization with a free-vibration-type actuator vibrating with a large amplitude at hundreds of hertz so that motion blur can be significantly reduced in free-viewpoint high-frame-rate video shooting for fast-moving objects by deriving the maximum performance of the actuator. We develop a prototype of a motion-blur-free video shooting system by implementing our frame-by-frame intermittent tracking algorithm on a high-speed video camera system with a resonant mirror vibrating at 750 Hz. It can capture 1024 × 1024 images of fast-moving objects at 750 fps with an exposure time of 0.33 ms without motion blur. Several experimental results for fast-moving objects verify that our proposed method can reduce image degradation from motion blur without decreasing the camera exposure time. PMID:29109385

Camera Trajectory fromWide Baseline Images

NASA Astrophysics Data System (ADS)

Havlena, M.; Torii, A.; Pajdla, T.

2008-09-01

Camera trajectory estimation, which is closely related to the structure from motion computation, is one of the fundamental tasks in computer vision. Reliable camera trajectory estimation plays an important role in 3D reconstruction, self localization, and object recognition. There are essential issues for a reliable camera trajectory estimation, for instance, choice of the camera and its geometric projection model, camera calibration, image feature detection and description, and robust 3D structure computation. Most of approaches rely on classical perspective cameras because of the simplicity of their projection models and ease of their calibration. However, classical perspective cameras offer only a limited field of view, and thus occlusions and sharp camera turns may cause that consecutive frames look completely different when the baseline becomes longer. This makes the image feature matching very difficult (or impossible) and the camera trajectory estimation fails under such conditions. These problems can be avoided if omnidirectional cameras, e.g. a fish-eye lens convertor, are used. The hardware which we are using in practice is a combination of Nikon FC-E9 mounted via a mechanical adaptor onto a Kyocera Finecam M410R digital camera. Nikon FC-E9 is a megapixel omnidirectional addon convertor with 180° view angle which provides images of photographic quality. Kyocera Finecam M410R delivers 2272×1704 images at 3 frames per second. The resulting combination yields a circular view of diameter 1600 pixels in the image. Since consecutive frames of the omnidirectional camera often share a common region in 3D space, the image feature matching is often feasible. On the other hand, the calibration of these cameras is non-trivial and is crucial for the accuracy of the resulting 3D reconstruction. We calibrate omnidirectional cameras off-line using the state-of-the-art technique and Mičušík's two-parameter model, that links the radius of the image point r to the angle θ of its corresponding rays w.r.t. the optical axis as θ = ar 1+br2 . After a successful calibration, we know the correspondence of the image points to the 3D optical rays in the coordinate system of the camera. The following steps aim at finding the transformation between the camera and the world coordinate systems, i.e. the pose of the camera in the 3D world, using 2D image matches. For computing 3D structure, we construct a set of tentative matches detecting different affine covariant feature regions including MSER, Harris Affine, and Hessian Affine in acquired images. These features are alternative to popular SIFT features and work comparably in our situation. Parameters of the detectors are chosen to limit the number of regions to 1-2 thousands per image. The detected regions are assigned local affine frames (LAF) and transformed into standard positions w.r.t. their LAFs. Discrete Cosine Descriptors are computed for each region in the standard position. Finally, mutual distances of all regions in one image and all regions in the other image are computed as the Euclidean distances of their descriptors and tentative matches are constructed by selecting the mutually closest pairs. Opposed to the methods using short baseline images, simpler image features which are not affine covariant cannot be used because the view point can change a lot between consecutive frames. Furthermore, feature matching has to be performed on the whole frame because no assumptions on the proximity of the consecutive projections can be made for wide baseline images. This is making the feature detection, description, and matching much more time-consuming than it is for short baseline images and limits the usage to low frame rate sequences when operating in real-time. Robust 3D structure can be computed by RANSAC which searches for the largest subset of the set of tentative matches which is, within a predefined threshold ", consistent with an epipolar geometry. We use ordered sampling as suggested in to draw 5-tuples from the list of tentative matches ordered ascendingly by the distance of their descriptors which may help to reduce the number of samples in RANSAC. From each 5-tuple, relative orientation is computed by solving the 5-point minimal relative orientation problem for calibrated cameras. Often, there are more models which are supported by a large number of matches. Thus the chance that the correct model, even if it has the largest support, will be found by running a single RANSAC is small. Work suggested to generate models by randomized sampling as in RANSAC but to use soft (kernel) voting for a parameter instead of looking for the maximal support. The best model is then selected as the one with the parameter closest to the maximum in the accumulator space. In our case, we vote in a two-dimensional accumulator for the estimated camera motion direction. However, unlike in, we do not cast votes directly by each sampled epipolar geometry but by the best epipolar geometries recovered by ordered sampling of RANSAC. With our technique, we could go up to the 98.5 % contamination of mismatches with comparable effort as simple RANSAC does for the contamination by 84 %. The relative camera orientation with the motion direction closest to the maximum in the voting space is finally selected. As already mentioned in the first paragraph, the use of camera trajectory estimates is quite wide. In we have introduced a technique for measuring the size of camera translation relatively to the observed scene which uses the dominant apical angle computed at the reconstructed scene points and is robust against mismatches. The experiments demonstrated that the measure can be used to improve the robustness of camera path computation and object recognition for methods which use a geometric, e.g. the ground plane, constraint such as does for the detection of pedestrians. Using the camera trajectories, perspective cutouts with stabilized horizon are constructed and an arbitrary object recognition routine designed to work with images acquired by perspective cameras can be used without any further modifications.

Trained neurons-based motion detection in optical camera communications

NASA Astrophysics Data System (ADS)

Teli, Shivani; Cahyadi, Willy Anugrah; Chung, Yeon Ho

2018-04-01

A concept of trained neurons-based motion detection (TNMD) in optical camera communications (OCC) is proposed. The proposed TNMD is based on neurons present in a neural network that perform repetitive analysis in order to provide efficient and reliable motion detection in OCC. This efficient motion detection can be considered another functionality of OCC in addition to two traditional functionalities of illumination and communication. To verify the proposed TNMD, the experiments were conducted in an indoor static downlink OCC, where a mobile phone front camera is employed as the receiver and an 8 × 8 red, green, and blue (RGB) light-emitting diode array as the transmitter. The motion is detected by observing the user's finger movement in the form of centroid through the OCC link via a camera. Unlike conventional trained neurons approaches, the proposed TNMD is trained not with motion itself but with centroid data samples, thus providing more accurate detection and far less complex detection algorithm. The experiment results demonstrate that the TNMD can detect all considered motions accurately with acceptable bit error rate (BER) performances at a transmission distance of up to 175 cm. In addition, while the TNMD is performed, a maximum data rate of 3.759 kbps over the OCC link is obtained. The OCC with the proposed TNMD combined can be considered an efficient indoor OCC system that provides illumination, communication, and motion detection in a convenient smart home environment.

Motion Imagery and Robotics Application Project (MIRA)

NASA Technical Reports Server (NTRS)

Grubbs, Rodney P.

2010-01-01

This viewgraph presentation describes the Motion Imagery and Robotics Application (MIRA) Project. A detailed description of the MIRA camera service software architecture, encoder features, and on-board communications are presented. A description of a candidate camera under development is also shown.

SfM with MRFs: discrete-continuous optimization for large-scale structure from motion.

PubMed

Crandall, David J; Owens, Andrew; Snavely, Noah; Huttenlocher, Daniel P

2013-12-01

Recent work in structure from motion (SfM) has built 3D models from large collections of images downloaded from the Internet. Many approaches to this problem use incremental algorithms that solve progressively larger bundle adjustment problems. These incremental techniques scale poorly as the image collection grows, and can suffer from drift or local minima. We present an alternative framework for SfM based on finding a coarse initial solution using hybrid discrete-continuous optimization and then improving that solution using bundle adjustment. The initial optimization step uses a discrete Markov random field (MRF) formulation, coupled with a continuous Levenberg-Marquardt refinement. The formulation naturally incorporates various sources of information about both the cameras and points, including noisy geotags and vanishing point (VP) estimates. We test our method on several large-scale photo collections, including one with measured camera positions, and show that it produces models that are similar to or better than those produced by incremental bundle adjustment, but more robustly and in a fraction of the time.

Camera systems in human motion analysis for biomedical applications

NASA Astrophysics Data System (ADS)

Chin, Lim Chee; Basah, Shafriza Nisha; Yaacob, Sazali; Juan, Yeap Ewe; Kadir, Aida Khairunnisaa Ab.

2015-05-01

Human Motion Analysis (HMA) system has been one of the major interests among researchers in the field of computer vision, artificial intelligence and biomedical engineering and sciences. This is due to its wide and promising biomedical applications, namely, bio-instrumentation for human computer interfacing and surveillance system for monitoring human behaviour as well as analysis of biomedical signal and image processing for diagnosis and rehabilitation applications. This paper provides an extensive review of the camera system of HMA, its taxonomy, including camera types, camera calibration and camera configuration. The review focused on evaluating the camera system consideration of the HMA system specifically for biomedical applications. This review is important as it provides guidelines and recommendation for researchers and practitioners in selecting a camera system of the HMA system for biomedical applications.

Registration of Large Motion Blurred Images

DTIC Science & Technology

2016-05-09

in handling the dynamics of the capturing system, for example, a drone. CMOS sensors , used in recent times, when employed in these cameras produce...handling the dynamics of the capturing system, for example, a drone. CMOS sensors , used in recent times, when employed in these cameras produce two types...blur in the captured image when there is camera motion during exposure. However, contemporary CMOS sensors employ an electronic rolling shutter (RS

Teacher-in-Space Trainees - Arriflex Motion Picture Camera

NASA Image and Video Library

1985-09-20

S85-40668 (18 Sept. 1985) --- The two teachers, Sharon Christa McAuliffe (left) and Barbara R. Morgan have hands-on experience with an Arriflex motion picture camera following a briefing on space photography. The two began training Sept. 10, 1985 with the STS-51L crew and learning basic procedures for space travelers. The second week of training included camera training, aircraft familiarization and other activities. Photo credit: NASA

Photogrammetry of Apollo 15 photography, part C

NASA Technical Reports Server (NTRS)

Wu, S. S. C.; Schafer, F. J.; Jordan, R.; Nakata, G. M.; Derick, J. L.

1972-01-01

In the Apollo 15 mission, a mapping camera system and a 61 cm optical bar, high resolution panoramic camera, as well as a laser altimeter were used. The panoramic camera is described, having several distortion sources, such as cylindrical shape of the negative film surface, the scanning action of the lens, the image motion compensator, and the spacecraft motion. Film products were processed on a specifically designed analytical plotter.

Real time moving scene holographic camera system

NASA Technical Reports Server (NTRS)

Kurtz, R. L. (Inventor)

1973-01-01

A holographic motion picture camera system producing resolution of front surface detail is described. The system utilizes a beam of coherent light and means for dividing the beam into a reference beam for direct transmission to a conventional movie camera and two reflection signal beams for transmission to the movie camera by reflection from the front side of a moving scene. The system is arranged so that critical parts of the system are positioned on the foci of a pair of interrelated, mathematically derived ellipses. The camera has the theoretical capability of producing motion picture holograms of projectiles moving at speeds as high as 900,000 cm/sec (about 21,450 mph).

SU-C-18A-02: Image-Based Camera Tracking: Towards Registration of Endoscopic Video to CT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ingram, S; Rao, A; Wendt, R

Purpose: Endoscopic examinations are routinely performed on head and neck and esophageal cancer patients. However, these images are underutilized for radiation therapy because there is currently no way to register them to a CT of the patient. The purpose of this work is to develop a method to track the motion of an endoscope within a structure using images from standard clinical equipment. This method will be incorporated into a broader endoscopy/CT registration framework. Methods: We developed a software algorithm to track the motion of an endoscope within an arbitrary structure. We computed frame-to-frame rotation and translation of the cameramore » by tracking surface points across the video sequence and utilizing two-camera epipolar geometry. The resulting 3D camera path was used to recover the surrounding structure via triangulation methods. We tested this algorithm on a rigid cylindrical phantom with a pattern spray-painted on the inside. We did not constrain the motion of the endoscope while recording, and we did not constrain our measurements using the known structure of the phantom. Results: Our software algorithm can successfully track the general motion of the endoscope as it moves through the phantom. However, our preliminary data do not show a high degree of accuracy in the triangulation of 3D point locations. More rigorous data will be presented at the annual meeting. Conclusion: Image-based camera tracking is a promising method for endoscopy/CT image registration, and it requires only standard clinical equipment. It is one of two major components needed to achieve endoscopy/CT registration, the second of which is tying the camera path to absolute patient geometry. In addition to this second component, future work will focus on validating our camera tracking algorithm in the presence of clinical imaging features such as patient motion, erratic camera motion, and dynamic scene illumination.« less

A simple method to achieve full-field and real-scale reconstruction using a movable stereo rig

NASA Astrophysics Data System (ADS)

Gu, Feifei; Zhao, Hong; Song, Zhan; Tang, Suming

2018-06-01

This paper introduces a simple method to achieve full-field and real-scale reconstruction using a movable binocular vision system (MBVS). The MBVS is composed of two cameras, one is called the tracking camera, and the other is called the working camera. The tracking camera is used for tracking the positions of the MBVS and the working camera is used for the 3D reconstruction task. The MBVS has several advantages compared with a single moving camera or multi-camera networks. Firstly, the MBVS could recover the real-scale-depth-information from the captured image sequences without using auxiliary objects whose geometry or motion should be precisely known. Secondly, the removability of the system could guarantee appropriate baselines to supply more robust point correspondences. Additionally, using one camera could avoid the drawback which exists in multi-camera networks, that the variability of a cameras’ parameters and performance could significantly affect the accuracy and robustness of the feature extraction and stereo matching methods. The proposed framework consists of local reconstruction and initial pose estimation of the MBVS based on transferable features, followed by overall optimization and accurate integration of multi-view 3D reconstruction data. The whole process requires no information other than the input images. The framework has been verified with real data, and very good results have been obtained.

Piecewise-Planar StereoScan: Sequential Structure and Motion using Plane Primitives.

PubMed

Raposo, Carolina; Antunes, Michel; P Barreto, Joao

2017-08-09

The article describes a pipeline that receives as input a sequence of stereo images, and outputs the camera motion and a Piecewise-Planar Reconstruction (PPR) of the scene. The pipeline, named Piecewise-Planar StereoScan (PPSS), works as follows: the planes in the scene are detected for each stereo view using semi-dense depth estimation; the relative pose is computed by a new closed-form minimal algorithm that only uses point correspondences whenever plane detections do not fully constrain the motion; the camera motion and the PPR are jointly refined by alternating between discrete optimization and continuous bundle adjustment; and, finally, the detected 3D planes are segmented in images using a new framework that handles low texture and visibility issues. PPSS is extensively validated in indoor and outdoor datasets, and benchmarked against two popular point-based SfM pipelines. The experiments confirm that plane-based visual odometry is resilient to situations of small image overlap, poor texture, specularity, and perceptual aliasing where the fast LIBVISO2 pipeline fails. The comparison against VisualSfM+CMVS/PMVS shows that, for a similar computational complexity, PPSS is more accurate and provides much more compelling and visually pleasant 3D models. These results strongly suggest that plane primitives are an advantageous alternative to point correspondences for applications of SfM and 3D reconstruction in man-made environments.

Vibration-based damage detection in wind turbine blades using Phase-based Motion Estimation and motion magnification

NASA Astrophysics Data System (ADS)

Sarrafi, Aral; Mao, Zhu; Niezrecki, Christopher; Poozesh, Peyman

2018-05-01

Vibration-based Structural Health Monitoring (SHM) techniques are among the most common approaches for structural damage identification. The presence of damage in structures may be identified by monitoring the changes in dynamic behavior subject to external loading, and is typically performed by using experimental modal analysis (EMA) or operational modal analysis (OMA). These tools for SHM normally require a limited number of physically attached transducers (e.g. accelerometers) in order to record the response of the structure for further analysis. Signal conditioners, wires, wireless receivers and a data acquisition system (DAQ) are also typical components of traditional sensing systems used in vibration-based SHM. However, instrumentation of lightweight structures with contact sensors such as accelerometers may induce mass-loading effects, and for large-scale structures, the instrumentation is labor intensive and time consuming. Achieving high spatial measurement resolution for a large-scale structure is not always feasible while working with traditional contact sensors, and there is also the potential for a lack of reliability associated with fixed contact sensors in outliving the life-span of the host structure. Among the state-of-the-art non-contact measurements, digital video cameras are able to rapidly collect high-density spatial information from structures remotely. In this paper, the subtle motions from recorded video (i.e. a sequence of images) are extracted by means of Phase-based Motion Estimation (PME) and the extracted information is used to conduct damage identification on a 2.3-m long Skystream® wind turbine blade (WTB). The PME and phased-based motion magnification approach estimates the structural motion from the captured sequence of images for both a baseline and damaged test cases on a wind turbine blade. Operational deflection shapes of the test articles are also quantified and compared for the baseline and damaged states. In addition, having proper lighting while working with high-speed cameras can be an issue, therefore image enhancement and contrast manipulation has also been performed to enhance the raw images. Ultimately, the extracted resonant frequencies and operational deflection shapes are used to detect the presence of damage, demonstrating the feasibility of implementing non-contact video measurements to perform realistic structural damage detection.

A pose estimation method for unmanned ground vehicles in GPS denied environments

NASA Astrophysics Data System (ADS)

Tamjidi, Amirhossein; Ye, Cang

2012-06-01

This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

Estimating 3D Leaf and Stem Shape of Nursery Paprika Plants by a Novel Multi-Camera Photography System

PubMed Central

Zhang, Yu; Teng, Poching; Shimizu, Yo; Hosoi, Fumiki; Omasa, Kenji

2016-01-01

For plant breeding and growth monitoring, accurate measurements of plant structure parameters are very crucial. We have, therefore, developed a high efficiency Multi-Camera Photography (MCP) system combining Multi-View Stereovision (MVS) with the Structure from Motion (SfM) algorithm. In this paper, we measured six variables of nursery paprika plants and investigated the accuracy of 3D models reconstructed from photos taken by four lens types at four different positions. The results demonstrated that error between the estimated and measured values was small, and the root-mean-square errors (RMSE) for leaf width/length and stem height/diameter were 1.65 mm (R2 = 0.98) and 0.57 mm (R2 = 0.99), respectively. The accuracies of the 3D model reconstruction of leaf and stem by a 28-mm lens at the first and third camera positions were the highest, and the number of reconstructed fine-scale 3D model shape surfaces of leaf and stem is the most. The results confirmed the practicability of our new method for the reconstruction of fine-scale plant model and accurate estimation of the plant parameters. They also displayed that our system is a good system for capturing high-resolution 3D images of nursery plants with high efficiency. PMID:27314348

Fast noninvasive eye-tracking and eye-gaze determination for biomedical and remote monitoring applications

NASA Astrophysics Data System (ADS)

Talukder, Ashit; Morookian, John M.; Monacos, Steve P.; Lam, Raymond K.; Lebaw, C.; Bond, A.

2004-04-01

Eyetracking is one of the latest technologies that has shown potential in several areas including human-computer interaction for people with and without disabilities, and for noninvasive monitoring, detection, and even diagnosis of physiological and neurological problems in individuals. Current non-invasive eyetracking methods achieve a 30 Hz rate with possibly low accuracy in gaze estimation, that is insufficient for many applications. We propose a new non-invasive visual eyetracking system that is capable of operating at speeds as high as 6-12 KHz. A new CCD video camera and hardware architecture is used, and a novel fast image processing algorithm leverages specific features of the input CCD camera to yield a real-time eyetracking system. A field programmable gate array (FPGA) is used to control the CCD camera and execute the image processing operations. Initial results show the excellent performance of our system under severe head motion and low contrast conditions.

Multi-camera sensor system for 3D segmentation and localization of multiple mobile robots.

PubMed

Losada, Cristina; Mazo, Manuel; Palazuelos, Sira; Pizarro, Daniel; Marrón, Marta

2010-01-01

This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.

Improved head-controlled TV system produces high-quality remote image

NASA Technical Reports Server (NTRS)

Goertz, R.; Lindberg, J.; Mingesz, D.; Potts, C.

1967-01-01

Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

3D video-based deformation measurement of the pelvis bone under dynamic cyclic loading

PubMed Central

2011-01-01

Background Dynamic three-dimensional (3D) deformation of the pelvic bones is a crucial factor in the successful design and longevity of complex orthopaedic oncological implants. The current solutions are often not very promising for the patient; thus it would be interesting to measure the dynamic 3D-deformation of the whole pelvic bone in order to get a more realistic dataset for a better implant design. Therefore we hypothesis if it would be possible to combine a material testing machine with a 3D video motion capturing system, used in clinical gait analysis, to measure the sub millimetre deformation of a whole pelvis specimen. Method A pelvis specimen was placed in a standing position on a material testing machine. Passive reflective markers, traceable by the 3D video motion capturing system, were fixed to the bony surface of the pelvis specimen. While applying a dynamic sinusoidal load the 3D-movement of the markers was recorded by the cameras and afterwards the 3D-deformation of the pelvis specimen was computed. The accuracy of the 3D-movement of the markers was verified with 3D-displacement curve with a step function using a manual driven 3D micro-motion-stage. Results The resulting accuracy of the measurement system depended on the number of cameras tracking a marker. The noise level for a marker seen by two cameras was during the stationary phase of the calibration procedure ± 0.036 mm, and ± 0.022 mm if tracked by 6 cameras. The detectable 3D-movement performed by the 3D-micro-motion-stage was smaller than the noise level of the 3D-video motion capturing system. Therefore the limiting factor of the setup was the noise level, which resulted in a measurement accuracy for the dynamic test setup of ± 0.036 mm. Conclusion This 3D test setup opens new possibilities in dynamic testing of wide range materials, like anatomical specimens, biomaterials, and its combinations. The resulting 3D-deformation dataset can be used for a better estimation of material characteristics of the underlying structures. This is an important factor in a reliable biomechanical modelling and simulation as well as in a successful design of complex implants. PMID:21762533

Accuracy of an optical active-marker system to track the relative motion of rigid bodies.

PubMed

Maletsky, Lorin P; Sun, Junyi; Morton, Nicholas A

2007-01-01

The measurement of relative motion between two moving bones is commonly accomplished for in vitro studies by attaching to each bone a series of either passive or active markers in a fixed orientation to create a rigid body (RB). This work determined the accuracy of motion between two RBs using an Optotrak optical motion capture system with active infrared LEDs. The stationary noise in the system was quantified by recording the apparent change in position with the RBs stationary and found to be 0.04 degrees and 0.03 mm. Incremental 10 degrees rotations and 10-mm translations were made using a more precise tool than the Optotrak. Increasing camera distance decreased the precision or increased the range of values observed for a set motion and increased the error in rotation or bias between the measured and actual rotation. The relative positions of the RBs with respect to the camera-viewing plane had a minimal effect on the kinematics and, therefore, for a given distance in the volume less than or close to the precalibrated camera distance, any motion was similarly reliable. For a typical operating set-up, a 10 degrees rotation showed a bias of 0.05 degrees and a 95% repeatability limit of 0.67 degrees. A 10-mm translation showed a bias of 0.03 mm and a 95% repeatability limit of 0.29 mm. To achieve a high level of accuracy it is important to keep the distance between the cameras and the markers near the distance the cameras are focused to during calibration.

3D Surface Reconstruction and Volume Calculation of Rills

NASA Astrophysics Data System (ADS)

Brings, Christine; Gronz, Oliver; Becker, Kerstin; Wirtz, Stefan; Seeger, Manuel; Ries, Johannes B.

2015-04-01

We use the low-cost, user-friendly photogrammetric Structure from Motion (SfM) technique, which is implemented in the Software VisualSfM, for 3D surface reconstruction and volume calculation of an 18 meter long rill in Luxembourg. The images were taken with a Canon HD video camera 1) before a natural rainfall event, 2) after a natural rainfall event and before a rill experiment and 3) after a rill experiment. Recording with a video camera results compared to a photo camera not only a huge time advantage, the method also guarantees more than adequately overlapping sharp images. For each model, approximately 8 minutes of video were taken. As SfM needs single images, we automatically selected the sharpest image from 15 frame intervals. The sharpness was estimated using a derivative-based metric. Then, VisualSfM detects feature points in each image, searches matching feature points in all image pairs, recovers the camera positions and finally by triangulation of camera positions and feature points the software reconstructs a point cloud of the rill surface. From the point cloud, 3D surface models (meshes) are created and via difference calculations of the pre and post models a visualization of the changes (erosion and accumulation areas) and quantification of erosion volumes are possible. The calculated volumes are presented in spatial units of the models and so real values must be converted via references. The outputs are three models at three different points in time. The results show that especially using images taken from suboptimal videos (bad lighting conditions, low contrast of the surface, too much in-motion unsharpness), the sharpness algorithm leads to much more matching features. Hence the point densities of the 3D models are increased and thereby clarify the calculations.

Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis.

PubMed

Bernardina, Gustavo R D; Cerveri, Pietro; Barros, Ricardo M L; Marins, João C B; Silvatti, Amanda P

2016-01-01

Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems.

Action Sport Cameras as an Instrument to Perform a 3D Underwater Motion Analysis

PubMed Central

Cerveri, Pietro; Barros, Ricardo M. L.; Marins, João C. B.; Silvatti, Amanda P.

2016-01-01

Action sport cameras (ASC) are currently adopted mainly for entertainment purposes but their uninterrupted technical improvements, in correspondence of cost decreases, are going to disclose them for three-dimensional (3D) motion analysis in sport gesture study and athletic performance evaluation quantitatively. Extending this technology to sport analysis however still requires a methodologic step-forward to making ASC a metric system, encompassing ad-hoc camera setup, image processing, feature tracking, calibration and 3D reconstruction. Despite traditional laboratory analysis, such requirements become an issue when coping with both indoor and outdoor motion acquisitions of athletes. In swimming analysis for example, the camera setup and the calibration protocol are particularly demanding since land and underwater cameras are mandatory. In particular, the underwater camera calibration can be an issue affecting the reconstruction accuracy. In this paper, the aim is to evaluate the feasibility of ASC for 3D underwater analysis by focusing on camera setup and data acquisition protocols. Two GoPro Hero3+ Black (frequency: 60Hz; image resolutions: 1280×720/1920×1080 pixels) were located underwater into a swimming pool, surveying a working volume of about 6m3. A two-step custom calibration procedure, consisting in the acquisition of one static triad and one moving wand, carrying nine and one spherical passive markers, respectively, was implemented. After assessing camera parameters, a rigid bar, carrying two markers at known distance, was acquired in several positions within the working volume. The average error upon the reconstructed inter-marker distances was less than 2.5mm (1280×720) and 1.5mm (1920×1080). The results of this study demonstrate that the calibration of underwater ASC is feasible enabling quantitative kinematic measurements with accuracy comparable to traditional motion capture systems. PMID:27513846

Marker-less multi-frame motion tracking and compensation in PET-brain imaging

NASA Astrophysics Data System (ADS)

Lindsay, C.; Mukherjee, J. M.; Johnson, K.; Olivier, P.; Song, X.; Shao, L.; King, M. A.

2015-03-01

In PET brain imaging, patient motion can contribute significantly to the degradation of image quality potentially leading to diagnostic and therapeutic problems. To mitigate the image artifacts resulting from patient motion, motion must be detected and tracked then provided to a motion correction algorithm. Existing techniques to track patient motion fall into one of two categories: 1) image-derived approaches and 2) external motion tracking (EMT). Typical EMT requires patients to have markers in a known pattern on a rigid too attached to their head, which are then tracked by expensive and bulky motion tracking camera systems or stereo cameras. This has made marker-based EMT unattractive for routine clinical application. Our main contributions are the development of a marker-less motion tracking system that uses lowcost, small depth-sensing cameras which can be installed in the bore of the imaging system. Our motion tracking system does not require anything to be attached to the patient and can track the rigid transformation (6-degrees of freedom) of the patient's head at a rate 60 Hz. We show that our method can not only be used in with Multi-frame Acquisition (MAF) PET motion correction, but precise timing can be employed to determine only the necessary frames needed for correction. This can speeds up reconstruction by eliminating the unnecessary subdivision of frames.

High Spatio-Temporal Resolution Bathymetry Estimation and Morphology

NASA Astrophysics Data System (ADS)

Bergsma, E. W. J.; Conley, D. C.; Davidson, M. A.; O'Hare, T. J.

2015-12-01

In recent years, bathymetry estimates using video images have become increasingly accurate. With the cBathy code (Holman et al., 2013) fully operational, bathymetry results with 0.5 metres accuracy have been regularly obtained at Duck, USA. cBathy is based on observations of the dominant frequencies and wavelengths of surface wave motions and estimates the depth (and hence allows inference of bathymetry profiles) based on linear wave theory. Despite the good performance at Duck, large discrepancies were found related to tidal elevation and camera height (Bergsma et al., 2014) and on the camera boundaries. A tide dependent floating pixel and camera boundary solution have been proposed to overcome these issues (Bergsma et al., under review). The video-data collection is set estimate depths hourly on a grid with resolution in the order of 10x25 meters. Here, the application of the cBathy at Porthtowan in the South-West of England is presented. Hourly depth estimates are combined and analysed over a period of 1.5 years (2013-2014). In this work the focus is on the sub-tidal region, where the best cBathy results are achieved. The morphology of the sub-tidal bar is tracked with high spatio-temporal resolution on short and longer time scales. Furthermore, the impact of the storm and reset (sudden and large changes in bathymetry) of the sub-tidal area is clearly captured with the depth estimations. This application shows that the high spatio-temporal resolution of cBathy makes it a powerful tool for coastal research and coastal zone management.

"Teacher in Space" Trainees - Arriflex Motion Picture Camera

NASA Image and Video Library

1985-09-20

S85-40670 (18 Sept. 1985) --- The two teachers, Sharon Christa McAuliffe and Barbara R. Morgan (out of frame) have hands-on experience with an Arriflex motion picture camera following a briefing on space photography. The two began training Sept. 10, 1985 with the STS-51L crew and learning basic procedures for space travelers. The second week of training included camera training, aircraft familiarization and other activities. McAuliffe zeroes in on a test subject during a practice session with the Arriflex. Photo credit: NASA

Teacher-in-Space Trainees - Arriflex Motion Picture Camera

NASA Image and Video Library

1985-09-20

S85-40669 (18 Sept. 1985) --- The two teachers, Sharon Christa McAuliffe (left) and Barbara R. Morgan have hands-on experience with an Arriflex motion picture camera following a briefing on space photography. The two began training Sept. 10, 1985 with the STS-51L crew and learning basic procedure for space travelers. The second week of training included camera training, aircraft familiarization and other activities. Morgan adjusts a lens as a studious McAuliffe looks on. Photo credit: NASA

"Teacher in Space" Trainees - Arriflex Motion Picture Camera

NASA Image and Video Library

1985-09-20

S85-40671 (18 Sept. 1985) --- The two teachers, Barbara R. Morgan and Sharon Christa McAuliffe (out of frame) have hands-on experience with an Arriflex motion picture camera following a briefing on space photography. The two began training Sept. 10, 1985 with the STS-51L crew and learning basic procedures for space travelers. The second week of training included camera training, aircraft familiarization and other activities. Morgan zeroes in on a test subject during a practice session with the Arriflex. Photo credit: NASA

Astronaut Walz on flight deck with IMAX camera

NASA Image and Video Library

1996-11-04

STS079-362-023 (16-26 Sept. 1996) --- Astronaut Carl E. Walz, mission specialist, positions the IMAX camera for a shoot on the flight deck of the Space Shuttle Atlantis. The IMAX project is a collaboration among NASA, the Smithsonian Institution's National Air and Space Museum, IMAX Systems Corporation and the Lockheed Corporation to document in motion picture format significant space activities and promote NASA's educational goals using the IMAX film medium. This system, developed by IMAX of Toronto, uses specially designed 65mm cameras and projectors to record and display very high definition color motion pictures which, accompanied by six-channel high fidelity sound, are displayed on screens in IMAX and OMNIMAX theaters that are up to ten times larger than a conventional screen, producing a feeling of "being there." The 65mm photography is transferred to 70mm motion picture films for showing in IMAX theaters. IMAX cameras have been flown on 14 previous missions.

Visual fatigue modeling for stereoscopic video shot based on camera motion

NASA Astrophysics Data System (ADS)

Shi, Guozhong; Sang, Xinzhu; Yu, Xunbo; Liu, Yangdong; Liu, Jing

2014-11-01

As three-dimensional television (3-DTV) and 3-D movie become popular, the discomfort of visual feeling limits further applications of 3D display technology. The cause of visual discomfort from stereoscopic video conflicts between accommodation and convergence, excessive binocular parallax, fast motion of objects and so on. Here, a novel method for evaluating visual fatigue is demonstrated. Influence factors including spatial structure, motion scale and comfortable zone are analyzed. According to the human visual system (HVS), people only need to converge their eyes to the specific objects for static cameras and background. Relative motion should be considered for different camera conditions determining different factor coefficients and weights. Compared with the traditional visual fatigue prediction model, a novel visual fatigue predicting model is presented. Visual fatigue degree is predicted using multiple linear regression method combining with the subjective evaluation. Consequently, each factor can reflect the characteristics of the scene, and the total visual fatigue score can be indicated according to the proposed algorithm. Compared with conventional algorithms which ignored the status of the camera, our approach exhibits reliable performance in terms of correlation with subjective test results.

Human silhouette matching based on moment invariants

NASA Astrophysics Data System (ADS)

Sun, Yong-Chao; Qiu, Xian-Jie; Xia, Shi-Hong; Wang, Zhao-Qi

2005-07-01

This paper aims to apply the method of silhouette matching based on moment invariants to infer the human motion parameters from video sequences of single monocular uncalibrated camera. Currently, there are two ways of tracking human motion: Marker and Markerless. While a hybrid framework is introduced in this paper to recover the input video contents. A standard 3D motion database is built up by marker technique in advance. Given a video sequences, human silhouettes are extracted as well as the viewpoint information of the camera which would be utilized to project the standard 3D motion database onto the 2D one. Therefore, the video recovery problem is formulated as a matching issue of finding the most similar body pose in standard 2D library with the one in video image. The framework is applied to the special trampoline sport where we can obtain the complicated human motion parameters in the single camera video sequences, and a lot of experiments are demonstrated that this approach is feasible in the field of monocular video-based 3D motion reconstruction.

Fast Markerless Tracking for Augmented Reality in Planar Environment

NASA Astrophysics Data System (ADS)

Basori, Ahmad Hoirul; Afif, Fadhil Noer; Almazyad, Abdulaziz S.; AbuJabal, Hamza Ali S.; Rehman, Amjad; Alkawaz, Mohammed Hazim

2015-12-01

Markerless tracking for augmented reality should not only be accurate but also fast enough to provide a seamless synchronization between real and virtual beings. Current reported methods showed that a vision-based tracking is accurate but requires high computational power. This paper proposes a real-time hybrid-based method for tracking unknown environments in markerless augmented reality. The proposed method provides collaboration of vision-based approach with accelerometers and gyroscopes sensors as camera pose predictor. To align the augmentation relative to camera motion, the tracking method is done by substituting feature-based camera estimation with combination of inertial sensors with complementary filter to provide more dynamic response. The proposed method managed to track unknown environment with faster processing time compared to available feature-based approaches. Moreover, the proposed method can sustain its estimation in a situation where feature-based tracking loses its track. The collaboration of sensor tracking managed to perform the task for about 22.97 FPS, up to five times faster than feature-based tracking method used as comparison. Therefore, the proposed method can be used to track unknown environments without depending on amount of features on scene, while requiring lower computational cost.

Multiple vehicle tracking in aerial video sequence using driver behavior analysis and improved deterministic data association

NASA Astrophysics Data System (ADS)

Zhang, Xunxun; Xu, Hongke; Fang, Jianwu

2018-01-01

Along with the rapid development of the unmanned aerial vehicle technology, multiple vehicle tracking (MVT) in aerial video sequence has received widespread interest for providing the required traffic information. Due to the camera motion and complex background, MVT in aerial video sequence poses unique challenges. We propose an efficient MVT algorithm via driver behavior-based Kalman filter (DBKF) and an improved deterministic data association (IDDA) method. First, a hierarchical image registration method is put forward to compensate the camera motion. Afterward, to improve the accuracy of the state estimation, we propose the DBKF module by incorporating the driver behavior into the Kalman filter, where artificial potential field is introduced to reflect the driver behavior. Then, to implement the data association, a local optimization method is designed instead of global optimization. By introducing the adaptive operating strategy, the proposed IDDA method can also deal with the situation in which the vehicles suddenly appear or disappear. Finally, comprehensive experiments on the DARPA VIVID data set and KIT AIS data set demonstrate that the proposed algorithm can generate satisfactory and superior results.

Feasibility evaluation of a motion detection system with face images for stereotactic radiosurgery.

PubMed

Yamakawa, Takuya; Ogawa, Koichi; Iyatomi, Hitoshi; Kunieda, Etsuo

2011-01-01

In stereotactic radiosurgery we can irradiate a targeted volume precisely with a narrow high-energy x-ray beam, and thus the motion of a targeted area may cause side effects to normal organs. This paper describes our motion detection system with three USB cameras. To reduce the effect of change in illuminance in a tracking area we used an infrared light and USB cameras that were sensitive to the infrared light. The motion detection of a patient was performed by tracking his/her ears and nose with three USB cameras, where pattern matching between a predefined template image for each view and acquired images was done by an exhaustive search method with a general-purpose computing on a graphics processing unit (GPGPU). The results of the experiments showed that the measurement accuracy of our system was less than 0.7 mm, amounting to less than half of that of our previous system.

Automated tracking of a figure skater by using PTZ cameras

NASA Astrophysics Data System (ADS)

Haraguchi, Tomohiko; Taki, Tsuyoshi; Hasegawa, Junichi

2009-08-01

In this paper, a system for automated real-time tracking of a figure skater moving on an ice rink by using PTZ cameras is presented. This system is intended for support in training of skating, for example, as a tool for recording and evaluation of his/her motion performances. In the processing procedure of the system, an ice rink region is extracted first from a video image by region growing method, then one of hole components in the obtained rink region is extracted as a skater region. If there exists no hole component, a skater region is estimated from horizontal and vertical intensity projections of the rink region. Each camera is automatically panned and/or tilted so as to keep the skater region on almost the center of the image, and also zoomed so as to keep the height of the skater region within an appropriate range. In the experiments using 5 practical video images of skating, it was shown that the extraction rate of the skater region was almost 90%, and tracking with camera control was successfully done for almost all of the cases used here.

Utilizing Commercial Hardware and Open Source Computer Vision Software to Perform Motion Capture for Reduced Gravity Flight

NASA Technical Reports Server (NTRS)

Humphreys, Brad; Bellisario, Brian; Gallo, Christopher; Thompson, William K.; Lewandowski, Beth

2016-01-01

Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. Since gravity is not present to aid loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the area available for an exercise device in the next generation of spacecraft is limited. Therefore, compact resistance exercise device prototypes are being developed. The NASA Digital Astronaut Project (DAP) is supporting the Advanced Exercise Concepts (AEC) Project, Exercise Physiology and Countermeasures (ExPC) project and the National Space Biomedical Research Institute (NSBRI) funded researchers by developing computational models of exercising with these new advanced exercise device concepts. To perform validation of these models and to support the Advanced Exercise Concepts Project, several candidate devices have been flown onboard NASAs Reduced Gravity Aircraft. In terrestrial laboratories, researchers typically have available to them motion capture systems for the measurement of subject kinematics. Onboard the parabolic flight aircraft it is not practical to utilize the traditional motion capture systems due to the large working volume they require and their relatively high replacement cost if damaged. To support measuring kinematics on board parabolic aircraft, a motion capture system is being developed utilizing open source computer vision code with commercial off the shelf (COTS) video camera hardware. While the systems accuracy is lower than lab setups, it provides a means to produce quantitative comparison motion capture kinematic data. Additionally, data such as required exercise volume for small spaces such as the Orion capsule can be determined. METHODS: OpenCV is an open source computer vision library that provides the ability to perform multi-camera 3 dimensional reconstruction. Utilizing OpenCV, via the Python programming language, a set of tools has been developed to perform motion capture in confined spaces using commercial cameras. Four Sony Video Cameras were intrinsically calibrated prior to flight. Intrinsic calibration provides a set of camera specific parameters to remove geometric distortion of the lens and sensor (specific to each individual camera). A set of high contrast markers were placed on the exercising subject (safety also necessitated that they be soft in case they become detached during parabolic flight); small yarn balls were used. Extrinsic calibration, the determination of camera location and orientation parameters, is performed using fixed landmark markers shared by the camera scenes. Additionally a wand calibration, the sweeping of the camera scenes simultaneously, was also performed. Techniques have been developed to perform intrinsic calibration, extrinsic calibration, isolation of the markers in the scene, calculation of marker 2D centroids, and 3D reconstruction from multiple cameras. These methods have been tested in the laboratory side-by-side comparison to a traditional motion capture system and also on a parabolic flight.

The Effect of Selected Cinemagraphic Elements on Audience Perception of Mediated Concepts.

ERIC Educational Resources Information Center

Orr, Quinn

This study is to explore cinemagraphic and visual elements and their inter-relations through the reinterpretation of previous research and literature. The cinemagraphic elements of visual images (camera angle, camera motion, subject motion, color, and lighting) work as a language requiring a proper grammar for the messages to be conveyed in their…

Time-Lapse Motion Picture Technique Applied to the Study of Geological Processes.

PubMed

Miller, R D; Crandell, D R

1959-09-25

Light-weight, battery-operated timers were built and coupled to 16-mm motion-picture cameras having apertures controlled by photoelectric cells. The cameras were placed adjacent to Emmons Glacier on Mount Rainier. The film obtained confirms the view that exterior time-lapse photography can be applied to the study of slow-acting geologic processes.

Combining High-Speed Cameras and Stop-Motion Animation Software to Support Students' Modeling of Human Body Movement

ERIC Educational Resources Information Center

Lee, Victor R.

2015-01-01

Biomechanics, and specifically the biomechanics associated with human movement, is a potentially rich backdrop against which educators can design innovative science teaching and learning activities. Moreover, the use of technologies associated with biomechanics research, such as high-speed cameras that can produce high-quality slow-motion video,…

Serial fusion of Eulerian and Lagrangian approaches for accurate heart-rate estimation using face videos.

PubMed

Gupta, Puneet; Bhowmick, Brojeshwar; Pal, Arpan

2017-07-01

Camera-equipped devices are ubiquitous and proliferating in the day-to-day life. Accurate heart rate (HR) estimation from the face videos acquired from the low cost cameras in a non-contact manner, can be used in many real-world scenarios and hence, require rigorous exploration. This paper has presented an accurate and near real-time HR estimation system using these face videos. It is based on the phenomenon that the color and motion variations in the face video are closely related to the heart beat. The variations also contain the noise due to facial expressions, respiration, eye blinking and environmental factors which are handled by the proposed system. Neither Eulerian nor Lagrangian temporal signals can provide accurate HR in all the cases. The cases where Eulerian temporal signals perform spuriously are determined using a novel poorness measure and then both the Eulerian and Lagrangian temporal signals are employed for better HR estimation. Such a fusion is referred as serial fusion. Experimental results reveal that the error introduced in the proposed algorithm is 1.8±3.6 which is significantly lower than the existing well known systems.

Using Visual Odometry to Estimate Position and Attitude

NASA Technical Reports Server (NTRS)

Maimone, Mark; Cheng, Yang; Matthies, Larry; Schoppers, Marcel; Olson, Clark

2007-01-01

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Digital stereophotogrammetry based on circular markers and zooming cameras: evaluation of a method for 3D analysis of small motions in orthopaedic research

PubMed Central

2011-01-01

Background Orthopaedic research projects focusing on small displacements in a small measurement volume require a radiation free, three dimensional motion analysis system. A stereophotogrammetrical motion analysis system can track wireless, small, light-weight markers attached to the objects. Thereby the disturbance of the measured objects through the marker tracking can be kept at minimum. The purpose of this study was to develop and evaluate a non-position fixed compact motion analysis system configured for a small measurement volume and able to zoom while tracking small round flat markers in respect to a fiducial marker which was used for the camera pose estimation. Methods The system consisted of two web cameras and the fiducial marker placed in front of them. The markers to track were black circles on a white background. The algorithm to detect a centre of the projected circle on the image plane was described and applied. In order to evaluate the accuracy (mean measurement error) and precision (standard deviation of the measurement error) of the optical measurement system, two experiments were performed: 1) inter-marker distance measurement and 2) marker displacement measurement. Results The first experiment of the 10 mm distances measurement showed a total accuracy of 0.0086 mm and precision of ± 0.1002 mm. In the second experiment, translations from 0.5 mm to 5 mm were measured with total accuracy of 0.0038 mm and precision of ± 0.0461 mm. The rotations of 2.25° amount were measured with the entire accuracy of 0.058° and the precision was of ± 0.172°. Conclusions The description of the non-proprietary measurement device with very good levels of accuracy and precision may provide opportunities for new, cost effective applications of stereophotogrammetrical analysis in musculoskeletal research projects, focusing on kinematics of small displacements in a small measurement volume. PMID:21284867

Velocity and Structure Estimation of a Moving Object Using a Moving Monocular Camera

DTIC Science & Technology

2006-01-01

map the Euclidean position of static landmarks or visual features in the environment . Recent applications of this technique include aerial...From Motion in a Piecewise Planar Environment ,” International Journal of Pattern Recognition and Artificial Intelligence, Vol. 2, No. 3, pp. 485-508...1988. [9] J. M. Ferryman, S. J. Maybank , and A. D. Worrall, “Visual Surveil- lance for Moving Vehicles,” Intl. Journal of Computer Vision, Vol. 37, No

Using motion-sensor camera technology to infer seasonal activity and thermal niche of the desert tortoise (Gopherus agassizii).

PubMed

Agha, Mickey; Augustine, Benjamin; Lovich, Jeffrey E; Delaney, David; Sinervo, Barry; Murphy, Mason O; Ennen, Joshua R; Briggs, Jessica R; Cooper, Robert; Price, Steven J

2015-01-01

Understanding the relationships between environmental variables and wildlife activity is an important part of effective management. The desert tortoise (Gopherus agassizii), an imperiled species of arid environments in the southwest US, may have increasingly restricted windows for activity due to current warming trends. In summer 2013, we deployed 48 motion sensor cameras at the entrances of tortoise burrows to investigate the effects of temperature, sex, and day of the year on the activity of desert tortoises. Using generalized estimating equations, we found that the relative probability of activity was associated with temperature (linear and quadratic), sex, and day of the year. Sex effects showed that male tortoises are generally more active than female tortoises. Temperature had a quadratic effect, indicating that tortoise activity was heightened at a range of temperatures. In addition, we found significant support for interactions between sex and day of the year, and sex and temperature as predictors of the probability of activity. Using our models, we were able to estimate air temperatures and times (days and hours) that were associated with maximum activity during the study. Because tortoise activity is constrained by environmental conditions such as temperature, it is increasingly vital to conduct studies on how tortoises vary their activity throughout the Sonoran Desert to better understand the effects of a changing climate. Copyright © 2015 Elsevier Ltd. All rights reserved.

Using motion-sensor camera technology to infer seasonal activity and thermal niche of the desert tortoise (Gopherus agassizii)

USGS Publications Warehouse

Agha, Mickey; Augustine, Benjamin; Lovich, Jeffrey E.; Delaney, David F.; Sinervo, Barry; Murphy, Mason O.; Ennen, Joshua R.; Briggs, Jessica R.; Cooper, Robert J.; Price, Steven J.

2015-01-01

Understanding the relationships between environmental variables and wildlife activity is an important part of effective management. The desert tortoise (Gopherus agassizii), an imperiled species of arid environments in the southwest US, may have increasingly restricted windows for activity due to current warming trends. In summer 2013, we deployed 48 motion sensor cameras at the entrances of tortoise burrows to investigate the effects of temperature, sex, and day of the year on the activity of desert tortoises. Using generalized estimating equations, we found that the relative probability of activity was associated with temperature (linear and quadratic), sex, and day of the year. Sex effects showed that male tortoises are generally more active than female tortoises. Temperature had a quadratic effect, indicating that tortoise activity was heightened at a range of temperatures. In addition, we found significant support for interactions between sex and day of the year, and sex and temperature as predictors of the probability of activity. Using our models, we were able to estimate air temperatures and times (days and hours) that were associated with maximum activity during the study. Because tortoise activity is constrained by environmental conditions such as temperature, it is increasingly vital to conduct studies on how tortoises vary their activity throughout the Sonoran Desert to better understand the effects of a changing climate.

On the use of INS to improve Feature Matching

NASA Astrophysics Data System (ADS)

Masiero, A.; Guarnieri, A.; Vettore, A.; Pirotti, F.

2014-11-01

The continuous technological improvement of mobile devices opens the frontiers of Mobile Mapping systems to very compact systems, i.e. a smartphone or a tablet. This motivates the development of efficient 3D reconstruction techniques based on the sensors typically embedded in such devices, i.e. imaging sensors, GPS and Inertial Navigation System (INS). Such methods usually exploits photogrammetry techniques (structure from motion) to provide an estimation of the geometry of the scene. Actually, 3D reconstruction techniques (e.g. structure from motion) rely on use of features properly matched in different images to compute the 3D positions of objects by means of triangulation. Hence, correct feature matching is of fundamental importance to ensure good quality 3D reconstructions. Matching methods are based on the appearance of features, that can change as a consequence of variations of camera position and orientation, and environment illumination. For this reason, several methods have been developed in recent years in order to provide feature descriptors robust (ideally invariant) to such variations, e.g. Scale-Invariant Feature Transform (SIFT), Affine SIFT, Hessian affine and Harris affine detectors, Maximally Stable Extremal Regions (MSER). This work deals with the integration of information provided by the INS in the feature matching procedure: a previously developed navigation algorithm is used to constantly estimate the device position and orientation. Then, such information is exploited to estimate the transformation of feature regions between two camera views. This allows to compare regions from different images but associated to the same feature as seen by the same point of view, hence significantly easing the comparison of feature characteristics and, consequently, improving matching. SIFT-like descriptors are used in order to ensure good matching results in presence of illumination variations and to compensate the approximations related to the estimation process.

Vision Based Localization in Urban Environments

NASA Technical Reports Server (NTRS)

McHenry, Michael; Cheng, Yang; Matthies, Larry

2005-01-01

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

Earth elevation map production and high resolution sensing camera imaging analysis

NASA Astrophysics Data System (ADS)

Yang, Xiubin; Jin, Guang; Jiang, Li; Dai, Lu; Xu, Kai

2010-11-01

The Earth's digital elevation which impacts space camera imaging has prepared and imaging has analysed. Based on matching error that TDI CCD integral series request of the speed of image motion, statistical experimental methods-Monte Carlo method is used to calculate the distribution histogram of Earth's elevation in image motion compensated model which includes satellite attitude changes, orbital angular rate changes, latitude, longitude and the orbital inclination changes. And then, elevation information of the earth's surface from SRTM is read. Earth elevation map which produced for aerospace electronic cameras is compressed and spliced. It can get elevation data from flash according to the shooting point of latitude and longitude. If elevation data between two data, the ways of searching data uses linear interpolation. Linear interpolation can better meet the rugged mountains and hills changing requests. At last, the deviant framework and camera controller are used to test the character of deviant angle errors, TDI CCD camera simulation system with the material point corresponding to imaging point model is used to analyze the imaging's MTF and mutual correlation similarity measure, simulation system use adding cumulation which TDI CCD imaging exceeded the corresponding pixel horizontal and vertical offset to simulate camera imaging when stability of satellite attitude changes. This process is practicality. It can effectively control the camera memory space, and meet a very good precision TDI CCD camera in the request matches the speed of image motion and imaging.

Combined use of a priori data for fast system self-calibration of a non-rigid multi-camera fringe projection system

NASA Astrophysics Data System (ADS)

Stavroulakis, Petros I.; Chen, Shuxiao; Sims-Waterhouse, Danny; Piano, Samanta; Southon, Nicholas; Bointon, Patrick; Leach, Richard

2017-06-01

In non-rigid fringe projection 3D measurement systems, where either the camera or projector setup can change significantly between measurements or the object needs to be tracked, self-calibration has to be carried out frequently to keep the measurements accurate1. In fringe projection systems, it is common to use methods developed initially for photogrammetry for the calibration of the camera(s) in the system in terms of extrinsic and intrinsic parameters. To calibrate the projector(s) an extra correspondence between a pre-calibrated camera and an image created by the projector is performed. These recalibration steps are usually time consuming and involve the measurement of calibrated patterns on planes, before the actual object can continue to be measured after a motion of a camera or projector has been introduced in the setup and hence do not facilitate fast 3D measurement of objects when frequent experimental setup changes are necessary. By employing and combining a priori information via inverse rendering, on-board sensors, deep learning and leveraging a graphics processor unit (GPU), we assess a fine camera pose estimation method which is based on optimising the rendering of a model of a scene and the object to match the view from the camera. We find that the success of this calibration pipeline can be greatly improved by using adequate a priori information from the aforementioned sources.

Evaluation of Event-Based Algorithms for Optical Flow with Ground-Truth from Inertial Measurement Sensor

PubMed Central

Rueckauer, Bodo; Delbruck, Tobi

2016-01-01

In this study we compare nine optical flow algorithms that locally measure the flow normal to edges according to accuracy and computation cost. In contrast to conventional, frame-based motion flow algorithms, our open-source implementations compute optical flow based on address-events from a neuromorphic Dynamic Vision Sensor (DVS). For this benchmarking we created a dataset of two synthesized and three real samples recorded from a 240 × 180 pixel Dynamic and Active-pixel Vision Sensor (DAVIS). This dataset contains events from the DVS as well as conventional frames to support testing state-of-the-art frame-based methods. We introduce a new source for the ground truth: In the special case that the perceived motion stems solely from a rotation of the vision sensor around its three camera axes, the true optical flow can be estimated using gyro data from the inertial measurement unit integrated with the DAVIS camera. This provides a ground-truth to which we can compare algorithms that measure optical flow by means of motion cues. An analysis of error sources led to the use of a refractory period, more accurate numerical derivatives and a Savitzky-Golay filter to achieve significant improvements in accuracy. Our pure Java implementations of two recently published algorithms reduce computational cost by up to 29% compared to the original implementations. Two of the algorithms introduced in this paper further speed up processing by a factor of 10 compared with the original implementations, at equal or better accuracy. On a desktop PC, they run in real-time on dense natural input recorded by a DAVIS camera. PMID:27199639

Watching Grass - a Pilot Study on the Suitability of Photogrammetric Techniques for Quantifying Change in Aboveground Biomass in Grassland Experiments

NASA Astrophysics Data System (ADS)

Kröhnert, M.; Anderson, R.; Bumberger, J.; Dietrich, P.; Harpole, W. S.; Maas, H.-G.

2018-05-01

Grassland ecology experiments in remote locations requiring quantitative analysis of the biomass in defined plots are becoming increasingly widespread, but are still limited by manual sampling methodologies. To provide a cost-effective automated solution for biomass determination, several photogrammetric techniques are examined to generate 3D point cloud representations of plots as a basis, to estimate aboveground biomass on grassland plots, which is a key ecosystem variable used in many experiments. Methods investigated include Structure from Motion (SfM) techniques for camera pose estimation with posterior dense matching as well as the usage of a Time of Flight (TOF) 3D camera, a laser light sheet triangulation system and a coded light projection system. In this context, plants of small scales (herbage) and medium scales are observed. In the first pilot study presented here, the best results are obtained by applying dense matching after SfM, ideal for integration into distributed experiment networks.

Video stereolization: combining motion analysis with user interaction.

PubMed

Liao, Miao; Gao, Jizhou; Yang, Ruigang; Gong, Minglun

2012-07-01

We present a semiautomatic system that converts conventional videos into stereoscopic videos by combining motion analysis with user interaction, aiming to transfer as much as possible labeling work from the user to the computer. In addition to the widely used structure from motion (SFM) techniques, we develop two new methods that analyze the optical flow to provide additional qualitative depth constraints. They remove the camera movement restriction imposed by SFM so that general motions can be used in scene depth estimation-the central problem in mono-to-stereo conversion. With these algorithms, the user's labeling task is significantly simplified. We further developed a quadratic programming approach to incorporate both quantitative depth and qualitative depth (such as these from user scribbling) to recover dense depth maps for all frames, from which stereoscopic view can be synthesized. In addition to visual results, we present user study results showing that our approach is more intuitive and less labor intensive, while producing 3D effect comparable to that from current state-of-the-art interactive algorithms.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Fluorescent image tracking velocimeter

DOEpatents

Shaffer, Franklin D.

1994-01-01

A multiple-exposure fluorescent image tracking velocimeter (FITV) detects and measures the motion (trajectory, direction and velocity) of small particles close to light scattering surfaces. The small particles may follow the motion of a carrier medium such as a liquid, gas or multi-phase mixture, allowing the motion of the carrier medium to be observed, measured and recorded. The main components of the FITV include: (1) fluorescent particles; (2) a pulsed fluorescent excitation laser source; (3) an imaging camera; and (4) an image analyzer. FITV uses fluorescing particles excited by visible laser light to enhance particle image detectability near light scattering surfaces. The excitation laser light is filtered out before reaching the imaging camera allowing the fluoresced wavelengths emitted by the particles to be detected and recorded by the camera. FITV employs multiple exposures of a single camera image by pulsing the excitation laser light for producing a series of images of each particle along its trajectory. The time-lapsed image may be used to determine trajectory and velocity and the exposures may be coded to derive directional information.

Bio-inspired motion detection in an FPGA-based smart camera module.

PubMed

Köhler, T; Röchter, F; Lindemann, J P; Möller, R

2009-03-01

Flying insects, despite their relatively coarse vision and tiny nervous system, are capable of carrying out elegant and fast aerial manoeuvres. Studies of the fly visual system have shown that this is accomplished by the integration of signals from a large number of elementary motion detectors (EMDs) in just a few global flow detector cells. We developed an FPGA-based smart camera module with more than 10,000 single EMDs, which is closely modelled after insect motion-detection circuits with respect to overall architecture, resolution and inter-receptor spacing. Input to the EMD array is provided by a CMOS camera with a high frame rate. Designed as an adaptable solution for different engineering applications and as a testbed for biological models, the EMD detector type and parameters such as the EMD time constants, the motion-detection directions and the angle between correlated receptors are reconfigurable online. This allows a flexible and simultaneous detection of complex motion fields such as translation, rotation and looming, such that various tasks, e.g., obstacle avoidance, height/distance control or speed regulation can be performed by the same compact device.

Determining the 3-D structure and motion of objects using a scanning laser range sensor

NASA Technical Reports Server (NTRS)

Nandhakumar, N.; Smith, Philip W.

1993-01-01

In order for the EVAHR robot to autonomously track and grasp objects, its vision system must be able to determine the 3-D structure and motion of an object from a sequence of sensory images. This task is accomplished by the use of a laser radar range sensor which provides dense range maps of the scene. Unfortunately, the currently available laser radar range cameras use a sequential scanning approach which complicates image analysis. Although many algorithms have been developed for recognizing objects from range images, none are suited for use with single beam, scanning, time-of-flight sensors because all previous algorithms assume instantaneous acquisition of the entire image. This assumption is invalid since the EVAHR robot is equipped with a sequential scanning laser range sensor. If an object is moving while being imaged by the device, the apparent structure of the object can be significantly distorted due to the significant non-zero delay time between sampling each image pixel. If an estimate of the motion of the object can be determined, this distortion can be eliminated; but, this leads to the motion-structure paradox - most existing algorithms for 3-D motion estimation use the structure of objects to parameterize their motions. The goal of this research is to design a rigid-body motion recovery technique which overcomes this limitation. The method being developed is an iterative, linear, feature-based approach which uses the non-zero image acquisition time constraint to accurately recover the motion parameters from the distorted structure of the 3-D range maps. Once the motion parameters are determined, the structural distortion in the range images is corrected.

Multispectral image dissector camera flight test

NASA Technical Reports Server (NTRS)

Johnson, B. L.

1973-01-01

It was demonstrated that the multispectral image dissector camera is able to provide composite pictures of the earth surface from high altitude overflights. An electronic deflection feature was used to inject the gyro error signal into the camera for correction of aircraft motion.

Nonholonomic camera-space manipulation using cameras mounted on a mobile base

NASA Astrophysics Data System (ADS)

Goodwine, Bill; Seelinger, Michael J.; Skaar, Steven B.; Ma, Qun

1998-10-01

The body of work called `Camera Space Manipulation' is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. 3D `success' of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when there is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons; in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental `path dependent' nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

Value of automatic patient motion detection and correction in myocardial perfusion imaging using a CZT-based SPECT camera.

PubMed

van Dijk, Joris D; van Dalen, Jorn A; Mouden, Mohamed; Ottervanger, Jan Paul; Knollema, Siert; Slump, Cornelis H; Jager, Pieter L

2018-04-01

Correction of motion has become feasible on cadmium-zinc-telluride (CZT)-based SPECT cameras during myocardial perfusion imaging (MPI). Our aim was to quantify the motion and to determine the value of automatic correction using commercially available software. We retrospectively included 83 consecutive patients who underwent stress-rest MPI CZT-SPECT and invasive fractional flow reserve (FFR) measurement. Eight-minute stress acquisitions were reformatted into 1.0- and 20-second bins to detect respiratory motion (RM) and patient motion (PM), respectively. RM and PM were quantified and scans were automatically corrected. Total perfusion deficit (TPD) and SPECT interpretation-normal, equivocal, or abnormal-were compared between the noncorrected and corrected scans. Scans with a changed SPECT interpretation were compared with FFR, the reference standard. Average RM was 2.5 ± 0.4 mm and maximal PM was 4.5 ± 1.3 mm. RM correction influenced the diagnostic outcomes in two patients based on TPD changes ≥7% and in nine patients based on changed visual interpretation. In only four of these patients, the changed SPECT interpretation corresponded with FFR measurements. Correction for PM did not influence the diagnostic outcomes. Respiratory motion and patient motion were small. Motion correction did not appear to improve the diagnostic outcome and, hence, the added value seems limited in MPI using CZT-based SPECT cameras.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

NASA Astrophysics Data System (ADS)

Bowen, S. R.; Nyflot, M. J.; Herrmann, C.; Groh, C. M.; Meyer, J.; Wollenweber, S. D.; Stearns, C. W.; Kinahan, P. E.; Sandison, G. A.

2015-05-01

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study.

PubMed

Bowen, S R; Nyflot, M J; Herrmann, C; Groh, C M; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-05-07

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [(18)F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

PubMed Central

Bowen, S R; Nyflot, M J; Hermann, C; Groh, C; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-01-01

Effective positron emission tomography/computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by 6 different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy (VMAT) were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses (EUD), and 2%-2mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10–20%, treatment planning errors were 5–10%, and treatment delivery errors were 5–30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5–10% in PET/CT imaging, < 5% in treatment planning, and < 2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery. PMID:25884892

Towards designing an optical-flow based colonoscopy tracking algorithm: a comparative study

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2013-03-01

Automatic co-alignment of optical and virtual colonoscopy images can supplement traditional endoscopic procedures, by providing more complete information of clinical value to the gastroenterologist. In this work, we present a comparative analysis of our optical flow based technique for colonoscopy tracking, in relation to current state of the art methods, in terms of tracking accuracy, system stability, and computational efficiency. Our optical-flow based colonoscopy tracking algorithm starts with computing multi-scale dense and sparse optical flow fields to measure image displacements. Camera motion parameters are then determined from optical flow fields by employing a Focus of Expansion (FOE) constrained egomotion estimation scheme. We analyze the design choices involved in the three major components of our algorithm: dense optical flow, sparse optical flow, and egomotion estimation. Brox's optical flow method,1 due to its high accuracy, was used to compare and evaluate our multi-scale dense optical flow scheme. SIFT6 and Harris-affine features7 were used to assess the accuracy of the multi-scale sparse optical flow, because of their wide use in tracking applications; the FOE-constrained egomotion estimation was compared with collinear,2 image deformation10 and image derivative4 based egomotion estimation methods, to understand the stability of our tracking system. Two virtual colonoscopy (VC) image sequences were used in the study, since the exact camera parameters(for each frame) were known; dense optical flow results indicated that Brox's method was superior to multi-scale dense optical flow in estimating camera rotational velocities, but the final tracking errors were comparable, viz., 6mm vs. 8mm after the VC camera traveled 110mm. Our approach was computationally more efficient, averaging 7.2 sec. vs. 38 sec. per frame. SIFT and Harris affine features resulted in tracking errors of up to 70mm, while our sparse optical flow error was 6mm. The comparison among egomotion estimation algorithms showed that our FOE-constrained egomotion estimation method achieved the optimal balance between tracking accuracy and robustness. The comparative study demonstrated that our optical-flow based colonoscopy tracking algorithm maintains good accuracy and stability for routine use in clinical practice.

Performance analysis of visual tracking algorithms for motion-based user interfaces on mobile devices

NASA Astrophysics Data System (ADS)

Winkler, Stefan; Rangaswamy, Karthik; Tedjokusumo, Jefry; Zhou, ZhiYing

2008-02-01

Determining the self-motion of a camera is useful for many applications. A number of visual motion-tracking algorithms have been developed till date, each with their own advantages and restrictions. Some of them have also made their foray into the mobile world, powering augmented reality-based applications on phones with inbuilt cameras. In this paper, we compare the performances of three feature or landmark-guided motion tracking algorithms, namely marker-based tracking with MXRToolkit, face tracking based on CamShift, and MonoSLAM. We analyze and compare the complexity, accuracy, sensitivity, robustness and restrictions of each of the above methods. Our performance tests are conducted over two stages: The first stage of testing uses video sequences created with simulated camera movements along the six degrees of freedom in order to compare accuracy in tracking, while the second stage analyzes the robustness of the algorithms by testing for manipulative factors like image scaling and frame-skipping.

On event-based optical flow detection

PubMed Central

Brosch, Tobias; Tschechne, Stephan; Neumann, Heiko

2015-01-01

Event-based sensing, i.e., the asynchronous detection of luminance changes, promises low-energy, high dynamic range, and sparse sensing. This stands in contrast to whole image frame-wise acquisition by standard cameras. Here, we systematically investigate the implications of event-based sensing in the context of visual motion, or flow, estimation. Starting from a common theoretical foundation, we discuss different principal approaches for optical flow detection ranging from gradient-based methods over plane-fitting to filter based methods and identify strengths and weaknesses of each class. Gradient-based methods for local motion integration are shown to suffer from the sparse encoding in address-event representations (AER). Approaches exploiting the local plane like structure of the event cloud, on the other hand, are shown to be well suited. Within this class, filter based approaches are shown to define a proper detection scheme which can also deal with the problem of representing multiple motions at a single location (motion transparency). A novel biologically inspired efficient motion detector is proposed, analyzed and experimentally validated. Furthermore, a stage of surround normalization is incorporated. Together with the filtering this defines a canonical circuit for motion feature detection. The theoretical analysis shows that such an integrated circuit reduces motion ambiguity in addition to decorrelating the representation of motion related activations. PMID:25941470

Vision based control of unmanned aerial vehicles with applications to an autonomous four-rotor helicopter, quadrotor

NASA Astrophysics Data System (ADS)

Altug, Erdinc

Our work proposes a vision-based stabilization and output tracking control method for a model helicopter. This is a part of our effort to produce a rotorcraft based autonomous Unmanned Aerial Vehicle (UAV). Due to the desired maneuvering ability, a four-rotor helicopter has been chosen as the testbed. On previous research on flying vehicles, vision is usually used as a secondary sensor. Unlike previous research, our goal is to use visual feedback as the main sensor, which is not only responsible for detecting where the ground objects are but also for helicopter localization. A novel two-camera method has been introduced for estimating the full six degrees of freedom (DOF) pose of the helicopter. This two-camera system consists of a pan-tilt ground camera and an onboard camera. The pose estimation algorithm is compared through simulation to other methods, such as four-point, and stereo method and is shown to be less sensitive to feature detection errors. Helicopters are highly unstable flying vehicles; although this is good for agility, it makes the control harder. To build an autonomous helicopter, two methods of control are studied---one using a series of mode-based, feedback linearizing controllers and the other using a back-stepping control law. Various simulations with 2D and 3D models demonstrate the implementation of these controllers. We also show global convergence of the 3D quadrotor controller even with large calibration errors or presence of large errors on the image plane. Finally, we present initial flight experiments where the proposed pose estimation algorithm and non-linear control techniques have been implemented on a remote-controlled helicopter. The helicopter was restricted with a tether to vertical, yaw motions and limited x and y translations.

Obstacle Detection and Avoidance System Based on Monocular Camera and Size Expansion Algorithm for UAVs

PubMed Central

Al-Kaff, Abdulla; García, Fernando; Martín, David; De La Escalera, Arturo; Armingol, José María

2017-01-01

One of the most challenging problems in the domain of autonomous aerial vehicles is the designing of a robust real-time obstacle detection and avoidance system. This problem is complex, especially for the micro and small aerial vehicles, that is due to the Size, Weight and Power (SWaP) constraints. Therefore, using lightweight sensors (i.e., Digital camera) can be the best choice comparing with other sensors; such as laser or radar.For real-time applications, different works are based on stereo cameras in order to obtain a 3D model of the obstacles, or to estimate their depth. Instead, in this paper, a method that mimics the human behavior of detecting the collision state of the approaching obstacles using monocular camera is proposed. The key of the proposed algorithm is to analyze the size changes of the detected feature points, combined with the expansion ratios of the convex hull constructed around the detected feature points from consecutive frames. During the Aerial Vehicle (UAV) motion, the detection algorithm estimates the changes in the size of the area of the approaching obstacles. First, the method detects the feature points of the obstacles, then extracts the obstacles that have the probability of getting close toward the UAV. Secondly, by comparing the area ratio of the obstacle and the position of the UAV, the method decides if the detected obstacle may cause a collision. Finally, by estimating the obstacle 2D position in the image and combining with the tracked waypoints, the UAV performs the avoidance maneuver. The proposed algorithm was evaluated by performing real indoor and outdoor flights, and the obtained results show the accuracy of the proposed algorithm compared with other related works. PMID:28481277

Fusion-based multi-target tracking and localization for intelligent surveillance systems

NASA Astrophysics Data System (ADS)

Rababaah, Haroun; Shirkhodaie, Amir

2008-04-01

In this paper, we have presented two approaches addressing visual target tracking and localization in complex urban environment. The two techniques presented in this paper are: fusion-based multi-target visual tracking, and multi-target localization via camera calibration. For multi-target tracking, the data fusion concepts of hypothesis generation/evaluation/selection, target-to-target registration, and association are employed. An association matrix is implemented using RGB histograms for associated tracking of multi-targets of interests. Motion segmentation of targets of interest (TOI) from the background was achieved by a Gaussian Mixture Model. Foreground segmentation, on other hand, was achieved by the Connected Components Analysis (CCA) technique. The tracking of individual targets was estimated by fusing two sources of information, the centroid with the spatial gating, and the RGB histogram association matrix. The localization problem is addressed through an effective camera calibration technique using edge modeling for grid mapping (EMGM). A two-stage image pixel to world coordinates mapping technique is introduced that performs coarse and fine location estimation of moving TOIs. In coarse estimation, an approximate neighborhood of the target position is estimated based on nearest 4-neighbor method, and in fine estimation, we use Euclidean interpolation to localize the position within the estimated four neighbors. Both techniques were tested and shown reliable results for tracking and localization of Targets of interests in complex urban environment.

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

NASA Technical Reports Server (NTRS)

Maimone, Mark; Johnson, Andrew; Cheng, Yang; Willson, Reg; Matthies, Larry H.

2004-01-01

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

The application of holography as a real-time three-dimensional motion picture camera

NASA Technical Reports Server (NTRS)

Kurtz, R. L.

1973-01-01

A historical introduction to holography is presented, as well as a basic description of sideband holography for stationary objects. A brief theoretical development of both time-dependent and time-independent holography is also provided, along with an analytical and intuitive discussion of a unique holographic arrangement which allows the resolution of front surface detail from an object moving at high speeds. As an application of such a system, a real-time three-dimensional motion picture camera system is discussed and the results of a recent demonstration of the world's first true three-dimensional motion picture are given.

Image deblurring in smartphone devices using built-in inertial measurement sensors

NASA Astrophysics Data System (ADS)

Šindelář, Ondřej; Šroubek, Filip

2013-01-01

Long-exposure handheld photography is degraded with blur, which is difficult to remove without prior information about the camera motion. In this work, we utilize inertial sensors (accelerometers and gyroscopes) in modern smartphones to detect exact motion trajectory of the smartphone camera during exposure and remove blur from the resulting photography based on the recorded motion data. The whole system is implemented on the Android platform and embedded in the smartphone device, resulting in a close-to-real-time deblurring algorithm. The performance of the proposed system is demonstrated in real-life scenarios.

Accuracy verification of the photostereometric system KKN/1B developed for intraoperative measurement of knee movement immediately after total knee arthroplasty.

PubMed

Nishino, K; Hayashi, T; Suzuki, Y; Koga, Y; Omori, G

1999-01-01

The function and integrity of the knee joint following total knee arthroplasty (TKA) is determined at first by the design and implantation of the prosthesis, and later by the tension of soft tissues surrounding it. Accurate post-TKA motion data obtained intraoperatively could be used not only to optimize implantation techniques from a kinematic standpoint, but also to improve prosthetic design. We therefore developed a system specifically geared to photostereometric measurement of 6 d.o.f. knee motion. A total of eight LEDs are mounted on the prosthetic components in two sets of four by means of connecting measuring-bows. The positions of the LEDs are detected in three-dimensions by two sets of three linear CCD cameras, located bilaterally relative to the knee. The position and orientation of the femoral component relative to the tibial one are estimated from the positions of all LEDs in the sense of least-squares. Based upon results of various accuracy validation experiments performed after precise camera calibration, static overall accuracy and spatial resolution were considered to lie within 0.52 and 0.11 mm, respectively, at any point on the femoral articular surface.

Data fusion for improved camera-based detection of respiration in neonates

NASA Astrophysics Data System (ADS)

Jorge, João.; Villarroel, Mauricio; Chaichulee, Sitthichok; McCormick, Kenny; Tarassenko, Lionel

2018-02-01

Monitoring respiration during neonatal sleep is notoriously difficult due to the nonstationary nature of the signals and the presence of spurious noise. Current approaches rely on the use of adhesive sensors, which can damage the fragile skin of premature infants. Recently, non-contact methods using low-cost RGB cameras have been proposed to acquire this vital sign from (a) motion or (b) photoplethysmographic signals extracted from the video recordings. Recent developments in deep learning have yielded robust methods for subject detection in video data. In the analysis described here, we present a novel technique for combining respiratory information from high-level visual descriptors provided by a multi-task convolutional neural network. Using blind source separation, we find the combination of signals which best suppresses pulse and motion distortions and subsequently use this to extract a respiratory signal. Evaluation results were obtained from recordings on 5 neonatal patients nursed in the Neonatal Intensive Care Unit (NICU) at the John Radcliffe Hospital, Oxford, UK. We compared respiratory rates derived from this fused breathing signal against those measured using the gold standard provided by the attending clinical staff. We show that respiratory rate (RR) be accurately estimated over the entire range of respiratory frequencies.

Image registration for multi-exposed HDRI and motion deblurring

NASA Astrophysics Data System (ADS)

Lee, Seok; Wey, Ho-Cheon; Lee, Seong-Deok

2009-02-01

In multi-exposure based image fusion task, alignment is an essential prerequisite to prevent ghost artifact after blending. Compared to usual matching problem, registration is more difficult when each image is captured under different photographing conditions. In HDR imaging, we use long and short exposure images, which have different brightness and there exist over/under satuated regions. In motion deblurring problem, we use blurred and noisy image pair and the amount of motion blur varies from one image to another due to the different exposure times. The main difficulty is that luminance levels of the two images are not in linear relationship and we cannot perfectly equalize or normalize the brightness of each image and this leads to unstable and inaccurate alignment results. To solve this problem, we applied probabilistic measure such as mutual information to represent similarity between images after alignment. In this paper, we discribed about the characteristics of multi-exposed input images in the aspect of registration and also analyzed the magnitude of camera hand shake. By exploiting the independence of luminance of mutual information, we proposed a fast and practically useful image registration technique in multiple capturing. Our algorithm can be applied to extreme HDR scenes and motion blurred scenes with over 90% success rate and its simplicity enables to be embedded in digital camera and mobile camera phone. The effectiveness of our registration algorithm is examined by various experiments on real HDR or motion deblurring cases using hand-held camera.

Proposed patient motion monitoring system using feature point tracking with a web camera.

PubMed

Miura, Hideharu; Ozawa, Shuichi; Matsuura, Takaaki; Yamada, Kiyoshi; Nagata, Yasushi

2017-12-01

Patient motion monitoring systems play an important role in providing accurate treatment dose delivery. We propose a system that utilizes a web camera (frame rate up to 30 fps, maximum resolution of 640 × 480 pixels) and an in-house image processing software (developed using Microsoft Visual C++ and OpenCV). This system is simple to use and convenient to set up. The pyramidal Lucas-Kanade method was applied to calculate motions for each feature point by analysing two consecutive frames. The image processing software employs a color scheme where the defined feature points are blue under stable (no movement) conditions and turn red along with a warning message and an audio signal (beeping alarm) for large patient movements. The initial position of the marker was used by the program to determine the marker positions in all the frames. The software generates a text file that contains the calculated motion for each frame and saves it as a compressed audio video interleave (AVI) file. We proposed a patient motion monitoring system using a web camera, which is simple and convenient to set up, to increase the safety of treatment delivery.

The Information Available to a Moving Observer on Shape with Unknown, Isotropic BRDFs.

PubMed

Chandraker, Manmohan

2016-07-01

Psychophysical studies show motion cues inform about shape even with unknown reflectance. Recent works in computer vision have considered shape recovery for an object of unknown BRDF using light source or object motions. This paper proposes a theory that addresses the remaining problem of determining shape from the (small or differential) motion of the camera, for unknown isotropic BRDFs. Our theory derives a differential stereo relation that relates camera motion to surface depth, which generalizes traditional Lambertian assumptions. Under orthographic projection, we show differential stereo may not determine shape for general BRDFs, but suffices to yield an invariant for several restricted (still unknown) BRDFs exhibited by common materials. For the perspective case, we show that differential stereo yields the surface depth for unknown isotropic BRDF and unknown directional lighting, while additional constraints are obtained with restrictions on the BRDF or lighting. The limits imposed by our theory are intrinsic to the shape recovery problem and independent of choice of reconstruction method. We also illustrate trends shared by theories on shape from differential motion of light source, object or camera, to relate the hardness of surface reconstruction to the complexity of imaging setup.

Robust Notion Vision For A Vehicle Moving On A Plane

NASA Astrophysics Data System (ADS)

Moni, Shankar; Weldon, E. J.

1987-05-01

A vehicle equipped with a cemputer vision system moves on a plane. We show that subject to certain constraints, the system can determine the motion of the vehicle (one rotational and two translational degrees of freedom) and the depth of the scene in front of the vehicle. The constraints include limits on the speed of the vehicle, presence of texture on the plane and absence of pitch and roll in the vehicular motion. It is possible to decouple the problems of finding the vehicle's motion and the depth of the scene in front of the vehicle by using two rigidly connected cameras. One views a field with known depth (i.e. the ground plane) and estimates the motion parameters and the other determines the depth map knowing the motion parameters. The motion is constrained to be planar to increase robustness. We use a least squares method of fitting the vehicle motion to observer brightness gradients. With this method, no correspondence between image points needs to be established and information fran the entire image is used in calculating notion. The algorithm performs very reliably on real image sequences and these results have been included. The results compare favourably to the performance of the algorithm of Negandaripour and Horn [2] where six degrees of freedom are assumed.

Use of camera drive in stereoscopic display of learning contents of introductory physics

NASA Astrophysics Data System (ADS)

Matsuura, Shu

2011-03-01

Simple 3D physics simulations with stereoscopic display were created for a part of introductory physics e-Learning. First, cameras to see the 3D world can be made controllable by the user. This enabled to observe the system and motions of objects from any position in the 3D world. Second, cameras were made attachable to one of the moving object in the simulation so as to observe the relative motion of other objects. By this option, it was found that users perceive the velocity and acceleration more sensibly on stereoscopic display than on non-stereoscopic 3D display. Simulations were made using Adobe Flash ActionScript, and Papervison 3D library was used to render the 3D models in the flash web pages. To display the stereogram, two viewports from virtual cameras were displayed in parallel in the same web page. For observation of stereogram, the images of two viewports were superimposed by using 3D stereogram projection box (T&TS CO., LTD.), and projected on an 80-inch screen. The virtual cameras were controlled by keyboard and also by Nintendo Wii remote controller buttons. In conclusion, stereoscopic display offers learners more opportunities to play with the simulated models, and to perceive the characteristics of motion better.

Catchment-Scale Terrain Modelling with Structure-from-Motion Photogrammetry: a replacement for airborne lidar?

NASA Astrophysics Data System (ADS)

Brasington, J.

2015-12-01

Over the last five years, Structure-from-Motion photogrammetry has dramatically democratized the availability of high quality topographic data. This approach involves the use of a non-linear bundle adjustment to estimate simultaneously camera position, pose, distortion and 3D model coordinates. In contrast to traditional aerial photogrammetry, the bundle adjustment is typically solved without external constraints and instead ground control is used a posteriori to transform the modelled coordinates to an established datum using a similarity transformation. The limited data requirements, coupled with the ability to self-calibrate compact cameras, has led to a burgeoning of applications using low-cost imagery acquired terrestrially or from low-altitude platforms. To date, most applications have focused on relatively small spatial scales where relaxed logistics permit the use of dense ground control and high resolution, close-range photography. It is less clear whether this low-cost approach can be successfully upscaled to tackle larger, watershed-scale projects extending over 102-3 km2 where it could offer a competitive alternative to landscape modelling with airborne lidar. At such scales, compromises over the density of ground control, the speed and height of sensor platform and related image properties are inevitable. In this presentation we provide a systematic assessment of large-scale SfM terrain products derived for over 80 km2 of the braided Dart River and its catchment in the Southern Alps of NZ. Reference data in the form of airborne and terrestrial lidar are used to quantify the quality of 3D reconstructions derived from helicopter photography and used to establish baseline uncertainty models for geomorphic change detection. Results indicate that camera network design is a key determinant of model quality, and that standard aerial networks based on strips of nadir photography can lead to unstable camera calibration and systematic errors that are difficult to model with sparse ground control. We demonstrate how a low cost multi-camera platform providing both nadir and oblique imagery can support robust camera calibration, enabling the generation of high quality, large-scale terrain products that are suitable for precision fluvial change detection.

Catchment-Scale Terrain Modelling with Structure-from-Motion Photogrammetry: a replacement for airborne lidar?

NASA Astrophysics Data System (ADS)

Brasington, James; James, Joe; Cook, Simon; Cox, Simon; Lotsari, Eliisa; McColl, Sam; Lehane, Niall; Williams, Richard; Vericat, Damia

2016-04-01

In recent years, 3D terrain reconstructions based on Structure-from-Motion photogrammetry have dramatically democratized the availability of high quality topographic data. This approach involves the use of a non-linear bundle adjustment to estimate simultaneously camera position, pose, distortion and 3D model coordinates. In contrast to traditional aerial photogrammetry, the bundle adjustment is typically solved without external constraints and instead ground control is used a posteriori to transform the modelled coordinates to an established datum using a similarity transformation. The limited data requirements, coupled with the ability to self-calibrate compact cameras, has led to a burgeoning of applications using low-cost imagery acquired terrestrially or from low-altitude platforms. To date, most applications have focused on relatively small spatial scales (0.1-5 Ha), where relaxed logistics permit the use of dense ground control networks and high resolution, close-range photography. It is less clear whether this low-cost approach can be successfully upscaled to tackle larger, watershed-scale projects extending over 102-3 km2 where it could offer a competitive alternative to established landscape modelling with airborne lidar. At such scales, compromises over the density of ground control, the speed and height of sensor platform and related image properties are inevitable. In this presentation we provide a systematic assessment of the quality of large-scale SfM terrain products derived for over 80 km2 of the braided Dart River and its catchment in the Southern Alps of NZ. Reference data in the form of airborne and terrestrial lidar are used to quantify the quality of 3D reconstructions derived from helicopter photography and used to establish baseline uncertainty models for geomorphic change detection. Results indicate that camera network design is a key determinant of model quality, and that standard aerial photogrammetric networks based on strips of nadir photography can lead to unstable camera calibration and systematic errors that are difficult to model with sparse ground control. We demonstrate how a low cost multi-camera platform providing both nadir and oblique imagery can support robust camera calibration, enabling the generation of high quality, large-scale terrain products that are suitable for precision fluvial change detection.

Optimizing Radiometric Fidelity to Enhance Aerial Image Change Detection Utilizing Digital Single Lens Reflex (DSLR) Cameras

NASA Astrophysics Data System (ADS)

Kerr, Andrew D.

Determining optimal imaging settings and best practices related to the capture of aerial imagery using consumer-grade digital single lens reflex (DSLR) cameras, should enable remote sensing scientists to generate consistent, high quality, and low cost image data sets. Radiometric optimization, image fidelity, image capture consistency and repeatability were evaluated in the context of detailed image-based change detection. The impetus for this research is in part, a dearth of relevant, contemporary literature, on the utilization of consumer grade DSLR cameras for remote sensing, and the best practices associated with their use. The main radiometric control settings on a DSLR camera, EV (Exposure Value), WB (White Balance), light metering, ISO, and aperture (f-stop), are variables that were altered and controlled over the course of several image capture missions. These variables were compared for their effects on dynamic range, intra-frame brightness variation, visual acuity, temporal consistency, and the detectability of simulated cracks placed in the images. This testing was conducted from a terrestrial, rather than an airborne collection platform, due to the large number of images per collection, and the desire to minimize inter-image misregistration. The results point to a range of slightly underexposed image exposure values as preferable for change detection and noise minimization fidelity. The makeup of the scene, the sensor, and aerial platform, influence the selection of the aperture and shutter speed which along with other variables, allow for estimation of the apparent image motion (AIM) motion blur in the resulting images. The importance of the image edges in the image application, will in part dictate the lowest usable f-stop, and allow the user to select a more optimal shutter speed and ISO. The single most important camera capture variable is exposure bias (EV), with a full dynamic range, wide distribution of DN values, and high visual contrast and acuity occurring around -0.7 to -0.3EV exposure bias. The ideal values for sensor gain, was found to be ISO 100, with ISO 200 a less desirable. This study offers researchers a better understanding of the effects of camera capture settings on RSI pairs and their influence on image-based change detection.

Human detection and motion analysis at security points

NASA Astrophysics Data System (ADS)

Ozer, I. Burak; Lv, Tiehan; Wolf, Wayne H.

2003-08-01

This paper presents a real-time video surveillance system for the recognition of specific human activities. Specifically, the proposed automatic motion analysis is used as an on-line alarm system to detect abnormal situations in a campus environment. A smart multi-camera system developed at Princeton University is extended for use in smart environments in which the camera detects the presence of multiple persons as well as their gestures and their interaction in real-time.

High-Throughput Phenotyping of Plant Height: Comparing Unmanned Aerial Vehicles and Ground LiDAR Estimates.

PubMed

Madec, Simon; Baret, Fred; de Solan, Benoît; Thomas, Samuel; Dutartre, Dan; Jezequel, Stéphane; Hemmerlé, Matthieu; Colombeau, Gallian; Comar, Alexis

2017-01-01

The capacity of LiDAR and Unmanned Aerial Vehicles (UAVs) to provide plant height estimates as a high-throughput plant phenotyping trait was explored. An experiment over wheat genotypes conducted under well watered and water stress modalities was conducted. Frequent LiDAR measurements were performed along the growth cycle using a phénomobile unmanned ground vehicle. UAV equipped with a high resolution RGB camera was flying the experiment several times to retrieve the digital surface model from structure from motion techniques. Both techniques provide a 3D dense point cloud from which the plant height can be estimated. Plant height first defined as the z -value for which 99.5% of the points of the dense cloud are below. This provides good consistency with manual measurements of plant height (RMSE = 3.5 cm) while minimizing the variability along each microplot. Results show that LiDAR and structure from motion plant height values are always consistent. However, a slight under-estimation is observed for structure from motion techniques, in relation with the coarser spatial resolution of UAV imagery and the limited penetration capacity of structure from motion as compared to LiDAR. Very high heritability values ( H 2 > 0.90) were found for both techniques when lodging was not present. The dynamics of plant height shows that it carries pertinent information regarding the period and magnitude of the plant stress. Further, the date when the maximum plant height is reached was found to be very heritable ( H 2 > 0.88) and a good proxy of the flowering stage. Finally, the capacity of plant height as a proxy for total above ground biomass and yield is discussed.

High-Throughput Phenotyping of Plant Height: Comparing Unmanned Aerial Vehicles and Ground LiDAR Estimates

PubMed Central

Madec, Simon; Baret, Fred; de Solan, Benoît; Thomas, Samuel; Dutartre, Dan; Jezequel, Stéphane; Hemmerlé, Matthieu; Colombeau, Gallian; Comar, Alexis

2017-01-01

The capacity of LiDAR and Unmanned Aerial Vehicles (UAVs) to provide plant height estimates as a high-throughput plant phenotyping trait was explored. An experiment over wheat genotypes conducted under well watered and water stress modalities was conducted. Frequent LiDAR measurements were performed along the growth cycle using a phénomobile unmanned ground vehicle. UAV equipped with a high resolution RGB camera was flying the experiment several times to retrieve the digital surface model from structure from motion techniques. Both techniques provide a 3D dense point cloud from which the plant height can be estimated. Plant height first defined as the z-value for which 99.5% of the points of the dense cloud are below. This provides good consistency with manual measurements of plant height (RMSE = 3.5 cm) while minimizing the variability along each microplot. Results show that LiDAR and structure from motion plant height values are always consistent. However, a slight under-estimation is observed for structure from motion techniques, in relation with the coarser spatial resolution of UAV imagery and the limited penetration capacity of structure from motion as compared to LiDAR. Very high heritability values (H2> 0.90) were found for both techniques when lodging was not present. The dynamics of plant height shows that it carries pertinent information regarding the period and magnitude of the plant stress. Further, the date when the maximum plant height is reached was found to be very heritable (H2> 0.88) and a good proxy of the flowering stage. Finally, the capacity of plant height as a proxy for total above ground biomass and yield is discussed. PMID:29230229

Marker-less respiratory motion modeling using the Microsoft Kinect for Windows

NASA Astrophysics Data System (ADS)

Tahavori, F.; Alnowami, M.; Wells, K.

2014-03-01

Patient respiratory motion is a major problem during external beam radiotherapy of the thoracic and abdominal regions due to the associated organ and target motion. In addition, such motion introduces uncertainty in both radiotherapy planning and delivery and may potentially vary between the planning and delivery sessions. The aim of this work is to examine subject-specific external respiratory motion and its associated drift from an assumed average cycle which is the basis for many respiratory motion compensated applications including radiotherapy treatment planning and delivery. External respiratory motion data were acquired from a group of 20 volunteers using a marker-less 3D depth camera, Kinect for Windows. The anterior surface encompassing thoracic and abdominal regions were subject to principal component analysis (PCA) to investigate dominant variations. The first principal component typically describes more than 70% of the motion data variance in the thoracic and abdominal surfaces. Across all of the subjects used in this study, 58% of subjects demonstrate largely abdominal breathing and 33% exhibited largely thoracic dominated breathing. In most cases there is observable drift in respiratory motion during the 300s capture period, which is visually demonstrated using Kernel Density Estimation. This study demonstrates that for this cohort of apparently healthy volunteers, there is significant respiratory motion drift in most cases, in terms of amplitude and relative displacement between the thoracic and abdominal respiratory components. This has implications for the development of effective motion compensation methodology.

Deep HST Imaging in 47 Tucanae: A Global Dynamical Model

NASA Astrophysics Data System (ADS)

Heyl, J.; Caiazzo, I.; Richer, H.; Anderson, J.; Kalirai, J.; Parada, J.

2017-12-01

Multi-epoch observations with the Advanced Camera Survey and WFC3 on the Hubble Space Telescope provide a unique and comprehensive probe of stellar dynamics within 47 Tucanae. We confront analytic models of the globular cluster with the observed stellar proper motions that probe along the main sequence from just above 0.8-0.1M ⊙ as well as white dwarfs younger than 1 Gyr. One field lies just beyond the half-light radius where dynamical models (e.g., lowered Maxwellian distributions) make robust predictions for the stellar proper motions. The observed proper motions in this outer field show evidence for anisotropy in the velocity distribution as well as skewness; the latter is evidence of rotation. The measured velocity dispersions and surface brightness distributions agree in detail with a rotating anisotropic model of the stellar distribution function with mild dependence of the proper-motion dispersion on mass. However, the best-fitting models underpredict the rotation and skewness of the stellar velocities. In the second field, centered on the core of the cluster, the mass segregation in proper motion is much stronger. Nevertheless the model developed in the outer field can be extended inward by taking this mass segregation into account in a heuristic fashion. The proper motions of the main-sequence stars yield a mass estimate of the cluster of 1.31+/- 0.02× {10}6{M}⊙ at a distance of 4.7 kpc. By comparing the proper motions of a sample of giant and subgiant stars with the observed radial velocities we estimate the distance to the cluster kinematically to be 4.29 ± 0.47 kpc.

Visualizing the history of living spaces.

PubMed

Ivanov, Yuri; Wren, Christopher; Sorokin, Alexander; Kaur, Ishwinder

2007-01-01

The technology available to building designers now makes it possible to monitor buildings on a very large scale. Video cameras and motion sensors are commonplace in practically every office space, and are slowly making their way into living spaces. The application of such technologies, in particular video cameras, while improving security, also violates privacy. On the other hand, motion sensors, while being privacy-conscious, typically do not provide enough information for a human operator to maintain the same degree of awareness about the space that can be achieved by using video cameras. We propose a novel approach in which we use a large number of simple motion sensors and a small set of video cameras to monitor a large office space. In our system we deployed 215 motion sensors and six video cameras to monitor the 3,000-square-meter office space occupied by 80 people for a period of about one year. The main problem in operating such systems is finding a way to present this highly multidimensional data, which includes both spatial and temporal components, to a human operator to allow browsing and searching recorded data in an efficient and intuitive way. In this paper we present our experiences and the solutions that we have developed in the course of our work on the system. We consider this work to be the first step in helping designers and managers of building systems gain access to information about occupants' behavior in the context of an entire building in a way that is only minimally intrusive to the occupants' privacy.

Underwater image mosaicking and visual odometry

NASA Astrophysics Data System (ADS)

Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

2017-05-01

This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

Studying Upper-Limb Amputee Prosthesis Use to Inform Device Design

DTIC Science & Technology

2015-10-01

the study. This equipment has included a modified GoPro head-mounted camera and a Vicon 13-camera optical motion capture system, which was not part...also completed for relevant members of the study team. 4. The head-mounted camera setup has been established (a modified GoPro Hero 3 with external

Clinical Gait Evaluation of Patients with Lumbar Spine Stenosis.

PubMed

Sun, Jun; Liu, Yan-Cheng; Yan, Song-Hua; Wang, Sha-Sha; Lester, D Kevin; Zeng, Ji-Zhou; Miao, Jun; Zhang, Kuan

2018-02-01

The third generation Intelligent Device for Energy Expenditure and Activity (IDEEA3, MiniSun, CA) has been developed for clinical gait evaluation, and this study was designed to evaluate the accuracy and reliability of IDEEA3 for the gait measurement of lumbar spinal stenosis (LSS) patients. Twelve healthy volunteers were recruited to compare gait cycle, cadence, step length, velocity, and number of steps between a motion analysis system and a high-speed video camera. Twenty hospitalized LSS patients were recruited for the comparison of the five parameters between the IDEEA3 and GoPro camera. Paired t-test, intraclass correlation coefficient, concordance correlation coefficient, and Bland-Altman plots were used for the data analysis. The ratios of GoPro camera results to motion analysis system results, and the ratios of IDEEA3 results to GoPro camera results were all around 1.00. All P-values of paired t-tests for gait cycle, cadence, step length, and velocity were greater than 0.05, while all the ICC and CCC results were above 0.950 with P < 0.001. The measurements for gait cycle, cadence, step length, velocity, and number of steps with the GoPro camera are highly consistent with the measurements with the motion analysis system. The measurements for IDEEA3 are consistent with those for the GoPro camera. IDEEA3 can be effectively used in the gait measurement of LSS patients. © 2018 Chinese Orthopaedic Association and John Wiley & Sons Australia, Ltd.

A feasibility study of damage detection in beams using high-speed camera (Conference Presentation)

NASA Astrophysics Data System (ADS)

Wan, Chao; Yuan, Fuh-Gwo

2017-04-01

In this paper a method for damage detection in beam structures using high-speed camera is presented. Traditional methods of damage detection in structures typically involve contact (i.e., piezoelectric sensor or accelerometer) or non-contact sensors (i.e., laser vibrometer) which can be costly and time consuming to inspect an entire structure. With the popularity of the digital camera and the development of computer vision technology, video cameras offer a viable capability of measurement including higher spatial resolution, remote sensing and low-cost. In the study, a damage detection method based on the high-speed camera was proposed. The system setup comprises a high-speed camera and a line-laser which can capture the out-of-plane displacement of a cantilever beam. The cantilever beam with an artificial crack was excited and the vibration process was recorded by the camera. A methodology called motion magnification, which can amplify subtle motions in a video is used for modal identification of the beam. A finite element model was used for validation of the proposed method. Suggestions for applications of this methodology and challenges in future work will be discussed.

Multi-Target Camera Tracking, Hand-off and Display LDRD 158819 Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2014-10-01

Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance-based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn’t lead to more alarms, moremore » monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that take live video imagery from multiple video cameras, identify individual moving targets from the background imagery, and then display the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of current capability.« less

Multi-target camera tracking, hand-off and display LDRD 158819 final report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2014-10-01

Modern security control rooms gather video and sensor feeds from tens to hundreds of cameras. Advanced camera analytics can detect motion from individual video streams and convert unexpected motion into alarms, but the interpretation of these alarms depends heavily upon human operators. Unfortunately, these operators can be overwhelmed when a large number of events happen simultaneously, or lulled into complacency due to frequent false alarms. This LDRD project has focused on improving video surveillance-based security systems by changing the fundamental focus from the cameras to the targets being tracked. If properly integrated, more cameras shouldn't lead to more alarms, moremore » monitors, more operators, and increased response latency but instead should lead to better information and more rapid response times. For the course of the LDRD we have been developing algorithms that take live video imagery from multiple video cameras, identifies individual moving targets from the background imagery, and then displays the results in a single 3D interactive video. In this document we summarize the work in developing this multi-camera, multi-target system, including lessons learned, tools developed, technologies explored, and a description of current capability.« less

Projective Structure from Two Uncalibrated Images: Structure from Motion and Recognition

DTIC Science & Technology

1992-09-01

correspondence between points in Maybank 1990). The question, therefore, is why look for both views more of a problem, and hence, may make the...plane is fixed with respect to the 1987, Faugeras, Luong and Maybank 1992). The prob- camera coordinate frame. A rigid camera motion, there- lem of...the second reference Rieger-Lawton 1985, Faugeras and Maybank 1990, Hil- plane (assuming the four object points Pi, j = 1, ...,4, dreth 1991, Faugeras

A practical approach to superresolution

NASA Astrophysics Data System (ADS)

Farsiu, Sina; Elad, Michael; Milanfar, Peyman

2006-01-01

Theoretical and practical limitations usually constrain the achievable resolution of any imaging device. Super-Resolution (SR) methods are developed through the years to go beyond this limit by acquiring and fusing several low-resolution (LR) images of the same scene, producing a high-resolution (HR) image. The early works on SR, although occasionally mathematically optimal for particular models of data and noise, produced poor results when applied to real images. In this paper, we discuss two of the main issues related to designing a practical SR system, namely reconstruction accuracy and computational efficiency. Reconstruction accuracy refers to the problem of designing a robust SR method applicable to images from different imaging systems. We study a general framework for optimal reconstruction of images from grayscale, color, or color filtered (CFA) cameras. The performance of our proposed method is boosted by using powerful priors and is robust to both measurement (e.g. CCD read out noise) and system noise (e.g. motion estimation error). Noting that the motion estimation is often considered a bottleneck in terms of SR performance, we introduce the concept of "constrained motions" for enhancing the quality of super-resolved images. We show that using such constraints will enhance the quality of the motion estimation and therefore results in more accurate reconstruction of the HR images. We also justify some practical assumptions that greatly reduce the computational complexity and memory requirements of the proposed methods. We use efficient approximation of the Kalman Filter (KF) and adopt a dynamic point of view to the SR problem. Novel methods for addressing these issues are accompanied by experimental results on real data.

Validation of the Microsoft Kinect® camera system for measurement of lower extremity jump landing and squatting kinematics.

PubMed

Eltoukhy, Moataz; Kelly, Adam; Kim, Chang-Young; Jun, Hyung-Pil; Campbell, Richard; Kuenze, Christopher

2016-01-01

Cost effective, quantifiable assessment of lower extremity movement represents potential improvement over standard tools for evaluation of injury risk. Ten healthy participants completed three trials of a drop jump, overhead squat, and single leg squat task. Peak hip and knee kinematics were assessed using an 8 camera BTS Smart 7000DX motion analysis system and the Microsoft Kinect® camera system. The agreement and consistency between both uncorrected and correct Kinect kinematic variables and the BTS camera system were assessed using interclass correlations coefficients. Peak sagittal plane kinematics measured using the Microsoft Kinect® camera system explained a significant amount of variance [Range(hip) = 43.5-62.8%; Range(knee) = 67.5-89.6%] in peak kinematics measured using the BTS camera system. Across tasks, peak knee flexion angle and peak hip flexion were found to be consistent and in agreement when the Microsoft Kinect® camera system was directly compared to the BTS camera system but these values were improved following application of a corrective factor. The Microsoft Kinect® may not be an appropriate surrogate for traditional motion analysis technology, but it may have potential applications as a real-time feedback tool in pathological or high injury risk populations.

Phase-stepped fringe projection by rotation about the camera's perspective center.

PubMed

Huddart, Y R; Valera, J D; Weston, N J; Featherstone, T C; Moore, A J

2011-09-12

A technique to produce phase steps in a fringe projection system for shape measurement is presented. Phase steps are produced by introducing relative rotation between the object and the fringe projection probe (comprising a projector and camera) about the camera's perspective center. Relative motion of the object in the camera image can be compensated, because it is independent of the distance of the object from the camera, whilst the phase of the projected fringes is stepped due to the motion of the projector with respect to the object. The technique was validated with a static fringe projection system by moving an object on a coordinate measuring machine (CMM). The alternative approach, of rotating a lightweight and robust CMM-mounted fringe projection probe, is discussed. An experimental accuracy of approximately 1.5% of the projected fringe pitch was achieved, limited by the standard phase-stepping algorithms used rather than by the accuracy of the phase steps produced by the new technique.

Suppressing the image smear of the vibration modulation transfer function for remote-sensing optical cameras.

PubMed

Li, Jin; Liu, Zilong; Liu, Si

2017-02-20

In on-board photographing processes of satellite cameras, the platform vibration can generate image motion, distortion, and smear, which seriously affect the image quality and image positioning. In this paper, we create a mathematical model of a vibrating modulate transfer function (VMTF) for a remote-sensing camera. The total MTF of a camera is reduced by the VMTF, which means the image quality is degraded. In order to avoid the degeneration of the total MTF caused by vibrations, we use an Mn-20Cu-5Ni-2Fe (M2052) manganese copper alloy material to fabricate a vibration-isolation mechanism (VIM). The VIM can transform platform vibration energy into irreversible thermal energy with its internal twin crystals structure. Our experiment shows the M2052 manganese copper alloy material is good enough to suppress image motion below 125 Hz, which is the vibration frequency of satellite platforms. The camera optical system has a higher MTF after suppressing the vibration of the M2052 material than before.

a Prompt Methodology to Georeference Complex Hypogea Environments

NASA Astrophysics Data System (ADS)

Troisi, S.; Baiocchi, V.; Del Pizzo, S.; Giannone, F.

2017-02-01

Actually complex underground structures and facilities occupy a wide space in our cities, most of them are often unsurveyed; cable duct, drainage system are not exception. Furthermore, several inspection operations are performed in critical air condition, that do not allow or make more difficult a conventional survey. In this scenario a prompt methodology to survey and georeferencing such facilities is often indispensable. A visual based approach was proposed in this paper; such methodology provides a 3D model of the environment and the path followed by the camera using the conventional photogrammetric/Structure from motion software tools. The key-role is played by the lens camera; indeed, a fisheye system was employed to obtain a very wide field of view (FOV) and therefore high overlapping among the frames. The camera geometry is in according to a forward motion along the axis camera. Consequently, to avoid instability of bundle adjustment algorithm a preliminary calibration of camera was carried out. A specific case study was reported and the accuracy achieved.

Real-time full-motion color Flash lidar for target detection and identification

NASA Astrophysics Data System (ADS)

Nelson, Roy; Coppock, Eric; Craig, Rex; Craner, Jeremy; Nicks, Dennis; von Niederhausern, Kurt

2015-05-01

Greatly improved understanding of areas and objects of interest can be gained when real time, full-motion Flash LiDAR is fused with inertial navigation data and multi-spectral context imagery. On its own, full-motion Flash LiDAR provides the opportunity to exploit the z dimension for improved intelligence vs. 2-D full-motion video (FMV). The intelligence value of this data is enhanced when it is combined with inertial navigation data to produce an extended, georegistered data set suitable for a variety of analysis. Further, when fused with multispectral context imagery the typical point cloud now becomes a rich 3-D scene which is intuitively obvious to the user and allows rapid cognitive analysis with little or no training. Ball Aerospace has developed and demonstrated a real-time, full-motion LIDAR system that fuses context imagery (VIS to MWIR demonstrated) and inertial navigation data in real time, and can stream these information-rich geolocated/fused 3-D scenes from an airborne platform. In addition, since the higher-resolution context camera is boresighted and frame synchronized to the LiDAR camera and the LiDAR camera is an array sensor, techniques have been developed to rapidly interpolate the LIDAR pixel values creating a point cloud that has the same resolution as the context camera, effectively creating a high definition (HD) LiDAR image. This paper presents a design overview of the Ball TotalSight™ LIDAR system along with typical results over urban and rural areas collected from both rotary and fixed-wing aircraft. We conclude with a discussion of future work.

Cloud photogrammetry with dense stereo for fisheye cameras

NASA Astrophysics Data System (ADS)

Beekmans, Christoph; Schneider, Johannes; Läbe, Thomas; Lennefer, Martin; Stachniss, Cyrill; Simmer, Clemens

2016-11-01

We present a novel approach for dense 3-D cloud reconstruction above an area of 10 × 10 km2 using two hemispheric sky imagers with fisheye lenses in a stereo setup. We examine an epipolar rectification model designed for fisheye cameras, which allows the use of efficient out-of-the-box dense matching algorithms designed for classical pinhole-type cameras to search for correspondence information at every pixel. The resulting dense point cloud allows to recover a detailed and more complete cloud morphology compared to previous approaches that employed sparse feature-based stereo or assumed geometric constraints on the cloud field. Our approach is very efficient and can be fully automated. From the obtained 3-D shapes, cloud dynamics, size, motion, type and spacing can be derived, and used for radiation closure under cloudy conditions, for example. Fisheye lenses follow a different projection function than classical pinhole-type cameras and provide a large field of view with a single image. However, the computation of dense 3-D information is more complicated and standard implementations for dense 3-D stereo reconstruction cannot be easily applied. Together with an appropriate camera calibration, which includes internal camera geometry, global position and orientation of the stereo camera pair, we use the correspondence information from the stereo matching for dense 3-D stereo reconstruction of clouds located around the cameras. We implement and evaluate the proposed approach using real world data and present two case studies. In the first case, we validate the quality and accuracy of the method by comparing the stereo reconstruction of a stratocumulus layer with reflectivity observations measured by a cloud radar and the cloud-base height estimated from a Lidar-ceilometer. The second case analyzes a rapid cumulus evolution in the presence of strong wind shear.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system.

PubMed

Hartbauer, Manfred

2017-02-15

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the 'collision-detector neurons' of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a 'danger zone', in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200  ×  100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system

PubMed Central

Hartbauer, Manfred

2018-01-01

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the ‘collision-detector neurons’ of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a ‘danger zone’, in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200 × 100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly. PMID:28091394

Combining High-Speed Cameras and Stop-Motion Animation Software to Support Students' Modeling of Human Body Movement

NASA Astrophysics Data System (ADS)

Lee, Victor R.

2015-04-01

Biomechanics, and specifically the biomechanics associated with human movement, is a potentially rich backdrop against which educators can design innovative science teaching and learning activities. Moreover, the use of technologies associated with biomechanics research, such as high-speed cameras that can produce high-quality slow-motion video, can be deployed in such a way to support students' participation in practices of scientific modeling. As participants in classroom design experiment, fifteen fifth-grade students worked with high-speed cameras and stop-motion animation software (SAM Animation) over several days to produce dynamic models of motion and body movement. The designed series of learning activities involved iterative cycles of animation creation and critique and use of various depictive materials. Subsequent analysis of flipbooks of human jumping movements created by the students at the beginning and end of the unit revealed a significant improvement in both the epistemic fidelity of students' representations. Excerpts from classroom observations highlight the role that the teacher plays in supporting students' thoughtful reflection of and attention to slow-motion video. In total, this design and research intervention demonstrates that the combination of technologies, activities, and teacher support can lead to improvements in some of the foundations associated with students' modeling.

Samba: a real-time motion capture system using wireless camera sensor networks.

PubMed

Oh, Hyeongseok; Cha, Geonho; Oh, Songhwai

2014-03-20

There is a growing interest in 3D content following the recent developments in 3D movies, 3D TVs and 3D smartphones. However, 3D content creation is still dominated by professionals, due to the high cost of 3D motion capture instruments. The availability of a low-cost motion capture system will promote 3D content generation by general users and accelerate the growth of the 3D market. In this paper, we describe the design and implementation of a real-time motion capture system based on a portable low-cost wireless camera sensor network. The proposed system performs motion capture based on the data-driven 3D human pose reconstruction method to reduce the computation time and to improve the 3D reconstruction accuracy. The system can reconstruct accurate 3D full-body poses at 16 frames per second using only eight markers on the subject's body. The performance of the motion capture system is evaluated extensively in experiments.

Samba: A Real-Time Motion Capture System Using Wireless Camera Sensor Networks

PubMed Central

Oh, Hyeongseok; Cha, Geonho; Oh, Songhwai

2014-01-01

There is a growing interest in 3D content following the recent developments in 3D movies, 3D TVs and 3D smartphones. However, 3D content creation is still dominated by professionals, due to the high cost of 3D motion capture instruments. The availability of a low-cost motion capture system will promote 3D content generation by general users and accelerate the growth of the 3D market. In this paper, we describe the design and implementation of a real-time motion capture system based on a portable low-cost wireless camera sensor network. The proposed system performs motion capture based on the data-driven 3D human pose reconstruction method to reduce the computation time and to improve the 3D reconstruction accuracy. The system can reconstruct accurate 3D full-body poses at 16 frames per second using only eight markers on the subject's body. The performance of the motion capture system is evaluated extensively in experiments. PMID:24658618

Estimation of optimal pivot point for remote center of motion alignment in surgery.

PubMed

Rosa, Benoît; Gruijthuijsen, Caspar; Van Cleynenbreugel, Ben; Sloten, Jos Vander; Reynaerts, Dominiek; Poorten, Emmanuel Vander

2015-02-01

The determination of an optimal pivot point ([Formula: see text]) is important for instrument manipulation in minimally invasive surgery. Such knowledge is of particular importance for robotic-assisted surgery where robots need to rotate precisely around a specific point in space in order to minimize trauma to the body wall while maintaining position control. Remote center of motion (RCM) mechanisms are commonly used, where the RCM point is manually and visually aligned. If not positioned appropriately, this misalignment might lead to intolerably high forces on the body wall with increased risk of postoperative complications or instrument damage. An automated method to align the RCM with the [Formula: see text] was developed and tested. Computer vision and a lightweight calibration procedure are used to estimate the optimal pivot point. One or two pre-calibrated cameras viewing the surgical scene are employed. The surgeon is asked to make short pivoting movements, applying as little torque as possible, with an instrument of choice passing through the insertion point while camera images are being recorded. The physical properties of an instrument rotating around a pivot point are exploited in a random sample consensus scheme to robustly estimate the ideal position of the RCM in the image planes. Triangulation is used to estimate the RCM position in 3D. Experiments were performed on a specially designed mockup to test the method. The position of the pivot point is estimated with an average error less than 1.85 mm using two webcams placed from approximately 30 cm to 1 m away from the scene. The entire procedure was completed in a few seconds. In automated method to estimate the ideal position of the RCM was shown to be reliable. The method can be implemented within a visual servoing approach to automatically place the RCM point, or the results can be displayed on a screen to provide guidance to the surgeon. Further work includes the development of an image-guided alignment method and validation with in vivo experiments.

Examining wildlife responses to phenology and wildfire using a landscape-scale camera trap network

Treesearch

Miguel L. Villarreal; Leila Gass; Laura Norman; Joel B. Sankey; Cynthia S. A. Wallace; Dennis McMacken; Jack L. Childs; Roy Petrakis

2013-01-01

Between 2001 and 2009, the Borderlands Jaguar Detection Project deployed 174 camera traps in the mountains of southern Arizona to record jaguar activity. In addition to jaguars, the motion-activated cameras, placed along known wildlife travel routes, recorded occurrences of ~ 20 other animal species. We examined temporal relationships of white-tailed deer (Odocoileus...

Computational cameras for moving iris recognition

NASA Astrophysics Data System (ADS)

McCloskey, Scott; Venkatesha, Sharath

2015-05-01

Iris-based biometric identification is increasingly used for facility access and other security applications. Like all methods that exploit visual information, however, iris systems are limited by the quality of captured images. Optical defocus due to a small depth of field (DOF) is one such challenge, as is the acquisition of sharply-focused iris images from subjects in motion. This manuscript describes the application of computational motion-deblurring cameras to the problem of moving iris capture, from the underlying theory to system considerations and performance data.

Object tracking using multiple camera video streams

NASA Astrophysics Data System (ADS)

Mehrubeoglu, Mehrube; Rojas, Diego; McLauchlan, Lifford

2010-05-01

Two synchronized cameras are utilized to obtain independent video streams to detect moving objects from two different viewing angles. The video frames are directly correlated in time. Moving objects in image frames from the two cameras are identified and tagged for tracking. One advantage of such a system involves overcoming effects of occlusions that could result in an object in partial or full view in one camera, when the same object is fully visible in another camera. Object registration is achieved by determining the location of common features in the moving object across simultaneous frames. Perspective differences are adjusted. Combining information from images from multiple cameras increases robustness of the tracking process. Motion tracking is achieved by determining anomalies caused by the objects' movement across frames in time in each and the combined video information. The path of each object is determined heuristically. Accuracy of detection is dependent on the speed of the object as well as variations in direction of motion. Fast cameras increase accuracy but limit the speed and complexity of the algorithm. Such an imaging system has applications in traffic analysis, surveillance and security, as well as object modeling from multi-view images. The system can easily be expanded by increasing the number of cameras such that there is an overlap between the scenes from at least two cameras in proximity. An object can then be tracked long distances or across multiple cameras continuously, applicable, for example, in wireless sensor networks for surveillance or navigation.

Human activity discrimination for maritime application

NASA Astrophysics Data System (ADS)

Boettcher, Evelyn; Deaver, Dawne M.; Krapels, Keith

2008-04-01

The US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate (NVESD) is investigating how motion affects the target acquisition model (NVThermIP) sensor performance estimates. This paper looks specifically at estimating sensor performance for the task of discriminating human activities on watercraft, and was sponsored by the Office of Naval Research (ONR). Traditionally, sensor models were calibrated using still images. While that approach is sufficient for static targets, video allows one to use motion cues to aid in discerning the type of human activity more quickly and accurately. This, in turn, will affect estimated sensor performance and these effects are measured in order to calibrate current target acquisition models for this task. The study employed an eleven alternative forced choice (11AFC) human perception experiment to measure the task difficulty of discriminating unique human activities on watercrafts. A mid-wave infrared camera was used to collect video at night. A description of the construction of this experiment is given, including: the data collection, image processing, perception testing and how contrast was defined for video. These results are applicable to evaluate sensor field performance for Anti-Terrorism and Force Protection (AT/FP) tasks for the U.S. Navy.

Localization of Mobile Robots Using Odometry and an External Vision Sensor

PubMed Central

Pizarro, Daniel; Mazo, Manuel; Santiso, Enrique; Marron, Marta; Jimenez, David; Cobreces, Santiago; Losada, Cristina

2010-01-01

This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields. PMID:22319318

Localization of mobile robots using odometry and an external vision sensor.

PubMed

Pizarro, Daniel; Mazo, Manuel; Santiso, Enrique; Marron, Marta; Jimenez, David; Cobreces, Santiago; Losada, Cristina

2010-01-01

This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields.

Subject-specific body segment parameter estimation using 3D photogrammetry with multiple cameras

PubMed Central

Morris, Mark; Sellers, William I.

2015-01-01

Inertial properties of body segments, such as mass, centre of mass or moments of inertia, are important parameters when studying movements of the human body. However, these quantities are not directly measurable. Current approaches include using regression models which have limited accuracy: geometric models with lengthy measuring procedures or acquiring and post-processing MRI scans of participants. We propose a geometric methodology based on 3D photogrammetry using multiple cameras to provide subject-specific body segment parameters while minimizing the interaction time with the participants. A low-cost body scanner was built using multiple cameras and 3D point cloud data generated using structure from motion photogrammetric reconstruction algorithms. The point cloud was manually separated into body segments, and convex hulling applied to each segment to produce the required geometric outlines. The accuracy of the method can be adjusted by choosing the number of subdivisions of the body segments. The body segment parameters of six participants (four male and two female) are presented using the proposed method. The multi-camera photogrammetric approach is expected to be particularly suited for studies including populations for which regression models are not available in literature and where other geometric techniques or MRI scanning are not applicable due to time or ethical constraints. PMID:25780778

Subject-specific body segment parameter estimation using 3D photogrammetry with multiple cameras.

PubMed

Peyer, Kathrin E; Morris, Mark; Sellers, William I

2015-01-01

Inertial properties of body segments, such as mass, centre of mass or moments of inertia, are important parameters when studying movements of the human body. However, these quantities are not directly measurable. Current approaches include using regression models which have limited accuracy: geometric models with lengthy measuring procedures or acquiring and post-processing MRI scans of participants. We propose a geometric methodology based on 3D photogrammetry using multiple cameras to provide subject-specific body segment parameters while minimizing the interaction time with the participants. A low-cost body scanner was built using multiple cameras and 3D point cloud data generated using structure from motion photogrammetric reconstruction algorithms. The point cloud was manually separated into body segments, and convex hulling applied to each segment to produce the required geometric outlines. The accuracy of the method can be adjusted by choosing the number of subdivisions of the body segments. The body segment parameters of six participants (four male and two female) are presented using the proposed method. The multi-camera photogrammetric approach is expected to be particularly suited for studies including populations for which regression models are not available in literature and where other geometric techniques or MRI scanning are not applicable due to time or ethical constraints.

How many fish in a tank? Constructing an automated fish counting system by using PTV analysis

NASA Astrophysics Data System (ADS)

Abe, S.; Takagi, T.; Takehara, K.; Kimura, N.; Hiraishi, T.; Komeyama, K.; Torisawa, S.; Asaumi, S.

2017-02-01

Because escape from a net cage and mortality are constant problems in fish farming, health control and management of facilities are important in aquaculture. In particular, the development of an accurate fish counting system has been strongly desired for the Pacific Bluefin tuna farming industry owing to the high market value of these fish. The current fish counting method, which involves human counting, results in poor accuracy; moreover, the method is cumbersome because the aquaculture net cage is so large that fish can only be counted when they move to another net cage. Therefore, we have developed an automated fish counting system by applying particle tracking velocimetry (PTV) analysis to a shoal of swimming fish inside a net cage. In essence, we treated the swimming fish as tracer particles and estimated the number of fish by analyzing the corresponding motion vectors. The proposed fish counting system comprises two main components: image processing and motion analysis, where the image-processing component abstracts the foreground and the motion analysis component traces the individual's motion. In this study, we developed a Region Extraction and Centroid Computation (RECC) method and a Kalman filter and Chi-square (KC) test for the two main components. To evaluate the efficiency of our method, we constructed a closed system, placed an underwater video camera with a spherical curved lens at the bottom of the tank, and recorded a 360° view of a swimming school of Japanese rice fish (Oryzias latipes). Our study showed that almost all fish could be abstracted by the RECC method and the motion vectors could be calculated by the KC test. The recognition rate was approximately 90% when more than 180 individuals were observed within the frame of the video camera. These results suggest that the presented method has potential application as a fish counting system for industrial aquaculture.

Derivation of the horizontal wind field in the polar mesopause region by using successive images of noctilucent clouds observed by a color digital camera in Iceland

NASA Astrophysics Data System (ADS)

Suzuki, H.; Yamashita, R.

2017-12-01

It is important to quantify amplitude of turbulent motion to understand the energy and momentum budgets and distribution of minor constituents in the upper mesosphere. In particular, to know the eddy diffusion coefficient of minor constituents which are locally and impulsively produced by energetic particle precipitations in the polar mesopause is one of the most important subjects in the upper atmospheric science. One of the straight methods to know the amplitude of the eddy motion is to measure the wind field with both spatial and temporal domain. However, observation technique satisfying such requirements is limited in this region. In this study, derivation of the horizontal wind field in the polar mesopause region by tracking the motion of noctilucent clouds (NLCs) is performed. NLC is the highest cloud in the Earth which appears in a mesopause region during summer season in both polar regions. Since the vertical structure of the NLC is sufficiently thin ( within several hundred meters in typical), the apparent horizontal motion observed from ground can be regarded as the result of transportation by the horizontal winds at a single altitude. In this presentation, initial results of wind field derivation by tracking a motion of noctilucent clouds (NLC) observed by a ground-based color digital camera in Iceland is reported. The procedure for wind field estimation consists with 3 steps; (1) projects raw images to a geographical map (2) enhances NLC structures by using FFT method (3) determines horizontal velocity vectors by applying template matching method to two sequential images. In this talk, a result of the wind derivation by using successive images of NLC with 3 minutes interval and 1.5h duration observed on the night of Aug 1st, 2013 will be reported as a case study.

Alignment of cryo-EM movies of individual particles by optimization of image translations.

PubMed

Rubinstein, John L; Brubaker, Marcus A

2015-11-01

Direct detector device (DDD) cameras have revolutionized single particle electron cryomicroscopy (cryo-EM). In addition to an improved camera detective quantum efficiency, acquisition of DDD movies allows for correction of movement of the specimen, due to both instabilities in the microscope specimen stage and electron beam-induced movement. Unlike specimen stage drift, beam-induced movement is not always homogeneous within an image. Local correlation in the trajectories of nearby particles suggests that beam-induced motion is due to deformation of the ice layer. Algorithms have already been described that can correct movement for large regions of frames and for >1 MDa protein particles. Another algorithm allows individual <1 MDa protein particle trajectories to be estimated, but requires rolling averages to be calculated from frames and fits linear trajectories for particles. Here we describe an algorithm that allows for individual <1 MDa particle images to be aligned without frame averaging or linear trajectories. The algorithm maximizes the overall correlation of the shifted frames with the sum of the shifted frames. The optimum in this single objective function is found efficiently by making use of analytically calculated derivatives of the function. To smooth estimates of particle trajectories, rapid changes in particle positions between frames are penalized in the objective function and weighted averaging of nearby trajectories ensures local correlation in trajectories. This individual particle motion correction, in combination with weighting of Fourier components to account for increasing radiation damage in later frames, can be used to improve 3-D maps from single particle cryo-EM. Copyright © 2015 Elsevier Inc. All rights reserved.

A navigation and control system for an autonomous rescue vehicle in the space station environment

NASA Technical Reports Server (NTRS)

Merkel, Lawrence

1991-01-01

A navigation and control system was designed and implemented for an orbital autonomous rescue vehicle envisioned to retrieve astronauts or equipment in the case that they become disengaged from the space station. The rescue vehicle, termed the Extra-Vehicular Activity Retriever (EVAR), has an on-board inertial measurement unit ahd GPS receivers for self state estimation, a laser range imager (LRI) and cameras for object state estimation, and a data link for reception of space station state information. The states of the retriever and objects (obstacles and the target object) are estimated by inertial state propagation which is corrected via measurements from the GPS, the LRI system, or the camera system. Kalman filters are utilized to perform sensor fusion and estimate the state propagation errors. Control actuation is performed by a Manned Maneuvering Unit (MMU). Phase plane control techniques are used to control the rotational and translational state of the retriever. The translational controller provides station-keeping or motion along either Clohessy-Wiltshire trajectories or straight line trajectories in the LVLH frame of any sufficiently observed object or of the space station. The software was used to successfully control a prototype EVAR on an air bearing floor facility, and a simulated EVAR operating in a simulated orbital environment. The design of the navigation system and the control system are presented. Also discussed are the hardware systems and the overall software architecture.

HDR video synthesis for vision systems in dynamic scenes

NASA Astrophysics Data System (ADS)

Shopovska, Ivana; Jovanov, Ljubomir; Goossens, Bart; Philips, Wilfried

2016-09-01

High dynamic range (HDR) image generation from a number of differently exposed low dynamic range (LDR) images has been extensively explored in the past few decades, and as a result of these efforts a large number of HDR synthesis methods have been proposed. Since HDR images are synthesized by combining well-exposed regions of the input images, one of the main challenges is dealing with camera or object motion. In this paper we propose a method for the synthesis of HDR video from a single camera using multiple, differently exposed video frames, with circularly alternating exposure times. One of the potential applications of the system is in driver assistance systems and autonomous vehicles, involving significant camera and object movement, non- uniform and temporally varying illumination, and the requirement of real-time performance. To achieve these goals simultaneously, we propose a HDR synthesis approach based on weighted averaging of aligned radiance maps. The computational complexity of high-quality optical flow methods for motion compensation is still pro- hibitively high for real-time applications. Instead, we rely on more efficient global projective transformations to solve camera movement, while moving objects are detected by thresholding the differences between the trans- formed and brightness adapted images in the set. To attain temporal consistency of the camera motion in the consecutive HDR frames, the parameters of the perspective transformation are stabilized over time by means of computationally efficient temporal filtering. We evaluated our results on several reference HDR videos, on synthetic scenes, and using 14-bit raw images taken with a standard camera.

DETECTION OF A STELLAR STREAM BEHIND OPEN CLUSTER NGC 188: ANOTHER PART OF THE MONOCEROS STREAM

DOE Office of Scientific and Technical Information (OSTI.GOV)

Casetti-Dinescu, Dana I.; Girard, Terrence M.; Van Altena, William F.

2010-05-15

We present results from a WIYN/Orthogonal Parallel Transfer Imaging Camera photometric and astrometric survey of the field of the open cluster NGC 188 ((l, b) = (122.{sup 0}8, 22.{sup 0}5)). We combine these results with the proper-motion and photometry catalog of Platais et al. and demonstrate the existence of a stellar overdensity in the background of NGC 188. The theoretical isochrone fits to the color-magnitude diagram of the overdensity are consistent with an age between 6 and 10 Gyr and an intermediately metal poor population ([Fe/H] = -0.5 to -1.0). The distance to the overdensity is estimated to be betweenmore » 10.0 and 12.6 kpc. The proper motions indicate that the stellar population of the overdensity is kinematically cold. The distance estimate and the absolute proper motion of the overdensity agree reasonably well with the predictions of the Penarrubia et al. model of the formation of the Monoceros stream. Orbits for this material constructed with plausible radial-velocity values, indicate that dynamically, this material is unlikely to belong to the thick disk. Taken together, this evidence suggests that the newly found overdensity is part of the Monoceros stream.« less

Event-Based Stereo Depth Estimation Using Belief Propagation.

PubMed

Xie, Zhen; Chen, Shengyong; Orchard, Garrick

2017-01-01

Compared to standard frame-based cameras, biologically-inspired event-based sensors capture visual information with low latency and minimal redundancy. These event-based sensors are also far less prone to motion blur than traditional cameras, and still operate effectively in high dynamic range scenes. However, classical framed-based algorithms are not typically suitable for these event-based data and new processing algorithms are required. This paper focuses on the problem of depth estimation from a stereo pair of event-based sensors. A fully event-based stereo depth estimation algorithm which relies on message passing is proposed. The algorithm not only considers the properties of a single event but also uses a Markov Random Field (MRF) to consider the constraints between the nearby events, such as disparity uniqueness and depth continuity. The method is tested on five different scenes and compared to other state-of-art event-based stereo matching methods. The results show that the method detects more stereo matches than other methods, with each match having a higher accuracy. The method can operate in an event-driven manner where depths are reported for individual events as they are received, or the network can be queried at any time to generate a sparse depth frame which represents the current state of the network.

Optical Flow Applied to Time-Lapse Image Series to Estimate Glacier Motion in the Southern Patagonia Ice Field

NASA Astrophysics Data System (ADS)

Lannutti, E.; Lenzano, M. G.; Toth, C.; Lenzano, L.; Rivera, A.

2016-06-01

In this work, we assessed the feasibility of using optical flow to obtain the motion estimation of a glacier. In general, former investigations used to detect glacier changes involve solutions that require repeated observations which are many times based on extensive field work. Taking into account glaciers are usually located in geographically complex and hard to access areas, deploying time-lapse imaging sensors, optical flow may provide an efficient solution at good spatial and temporal resolution to describe mass motion. Several studies in computer vision and image processing community have used this method to detect large displacements. Therefore, we carried out a test of the proposed Large Displacement Optical Flow method at the Viedma Glacier, located at South Patagonia Icefield, Argentina. We collected monoscopic terrestrial time-lapse imagery, acquired by a calibrated camera at every 24 hour from April 2014 until April 2015. A filter based on temporal correlation and RGB color discretization between the images was applied to minimize errors related to changes in lighting, shadows, clouds and snow. This selection allowed discarding images that do not follow a sequence of similarity. Our results show a flow field in the direction of the glacier movement with acceleration in the terminus. We analyzed the errors between image pairs, and the matching generally appears to be adequate, although some areas show random gross errors related to the presence of changes in lighting. The proposed technique allowed the determination of glacier motion during one year, providing accurate and reliable motion data for subsequent analysis.

Comparison of three different techniques for camera and motion control of a teleoperated robot.

PubMed

Doisy, Guillaume; Ronen, Adi; Edan, Yael

2017-01-01

This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface. Copyright © 2016 Elsevier Ltd. All rights reserved.

Automatic techniques for 3D reconstruction of critical workplace body postures from range imaging data

NASA Astrophysics Data System (ADS)

Westfeld, Patrick; Maas, Hans-Gerd; Bringmann, Oliver; Gröllich, Daniel; Schmauder, Martin

2013-11-01

The paper shows techniques for the determination of structured motion parameters from range camera image sequences. The core contribution of the work presented here is the development of an integrated least squares 3D tracking approach based on amplitude and range image sequences to calculate dense 3D motion vector fields. Geometric primitives of a human body model are fitted to time series of range camera point clouds using these vector fields as additional information. Body poses and motion information for individual body parts are derived from the model fit. On the basis of these pose and motion parameters, critical body postures are detected. The primary aim of the study is to automate ergonomic studies for risk assessments regulated by law, identifying harmful movements and awkward body postures in a workplace.

Demonstration of a High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space

NASA Technical Reports Server (NTRS)

Kim, Won S.; Bejczy, Antal K.

1993-01-01

A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madhu; Harwood, David

1989-01-01

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

NASA Technical Reports Server (NTRS)

Newby, N.; Caldwell, E.; Sibonga, J.; Ploutz-Snyder, L.

2014-01-01

Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers do not return to a normal upright stance during squat, but remain somewhat bent at the hips. COP excursions were quite large during these exercises covering the entire length of the base of support in most cases. Anterior-posterior shear was very pronounced at the bottom of the squat and deadlift correlating with a COP shift to the toes at this part of the exercise. The stick figure videos showing a feet fixed reference frame have made it visually much easier for exercise personnel and trainers to assess exercise kinematics. Not returning to fully upright, hips extended position during squat exercises could have implications for the amount of load that is transmitted axially along the skeleton. The estimated shear loads observed in these crewmembers, along with a concomitant reduction in normal force, may also affect bone loading. The increased shear is likely due to the surprisingly large deviations in COP. Since the footplate on ARED moves along an arced path, much of the squat and deadlift movement is occurring on a tilted foot surface. This leads to COP movements away from the heel. The combination of observed kinematics and estimated kinetics make squat and deadlift exercises on the ARED distinctly different from their ground-based counterparts. CONCLUSION This investigation showed that some useful exercise information can be obtained at low cost, using a single video camera that is readily available on ISS. Squat and deadlift kinematics on the ISS ARED differ from ground-based ARED exercise. The amount of COP shift during these exercises sometimes approaches the limit of stability leading to modifications in the kinematics. The COP movement and altered kinematics likely reduce the bone loading experienced during these exercises. Further, the stick figure videos may prove to be a useful tool in assisting trainers to identify exercise form and make suggestions for improvements

Self-expressive Dictionary Learning for Dynamic 3D Reconstruction.

PubMed

Zheng, Enliang; Ji, Dinghuang; Dunn, Enrique; Frahm, Jan-Michael

2017-08-22

We target the problem of sparse 3D reconstruction of dynamic objects observed by multiple unsynchronized video cameras with unknown temporal overlap. To this end, we develop a framework to recover the unknown structure without sequencing information across video sequences. Our proposed compressed sensing framework poses the estimation of 3D structure as the problem of dictionary learning, where the dictionary is defined as an aggregation of the temporally varying 3D structures. Given the smooth motion of dynamic objects, we observe any element in the dictionary can be well approximated by a sparse linear combination of other elements in the same dictionary (i.e. self-expression). Our formulation optimizes a biconvex cost function that leverages a compressed sensing formulation and enforces both structural dependency coherence across video streams, as well as motion smoothness across estimates from common video sources. We further analyze the reconstructability of our approach under different capture scenarios, and its comparison and relation to existing methods. Experimental results on large amounts of synthetic data as well as real imagery demonstrate the effectiveness of our approach.

Quantitative underwater 3D motion analysis using submerged video cameras: accuracy analysis and trajectory reconstruction.

PubMed

Silvatti, Amanda P; Cerveri, Pietro; Telles, Thiago; Dias, Fábio A S; Baroni, Guido; Barros, Ricardo M L

2013-01-01

In this study we aim at investigating the applicability of underwater 3D motion capture based on submerged video cameras in terms of 3D accuracy analysis and trajectory reconstruction. Static points with classical direct linear transform (DLT) solution, a moving wand with bundle adjustment and a moving 2D plate with Zhang's method were considered for camera calibration. As an example of the final application, we reconstructed the hand motion trajectories in different swimming styles and qualitatively compared this with Maglischo's model. Four highly trained male swimmers performed butterfly, breaststroke and freestyle tasks. The middle fingertip trajectories of both hands in the underwater phase were considered. The accuracy (mean absolute error) of the two calibration approaches (wand: 0.96 mm - 2D plate: 0.73 mm) was comparable to out of water results and highly superior to the classical DLT results (9.74 mm). Among all the swimmers, the hands' trajectories of the expert swimmer in the style were almost symmetric and in good agreement with Maglischo's model. The kinematic results highlight symmetry or asymmetry between the two hand sides, intra- and inter-subject variability in terms of the motion patterns and agreement or disagreement with the model. The two outcomes, calibration results and trajectory reconstruction, both move towards the quantitative 3D underwater motion analysis.

Incorporating structure from motion uncertainty into image-based pose estimation

NASA Astrophysics Data System (ADS)

Ludington, Ben T.; Brown, Andrew P.; Sheffler, Michael J.; Taylor, Clark N.; Berardi, Stephen

2015-05-01

A method for generating and utilizing structure from motion (SfM) uncertainty estimates within image-based pose estimation is presented. The method is applied to a class of problems in which SfM algorithms are utilized to form a geo-registered reference model of a particular ground area using imagery gathered during flight by a small unmanned aircraft. The model is then used to form camera pose estimates in near real-time from imagery gathered later. The resulting pose estimates can be utilized by any of the other onboard systems (e.g. as a replacement for GPS data) or downstream exploitation systems, e.g., image-based object trackers. However, many of the consumers of pose estimates require an assessment of the pose accuracy. The method for generating the accuracy assessment is presented. First, the uncertainty in the reference model is estimated. Bundle Adjustment (BA) is utilized for model generation. While the high-level approach for generating a covariance matrix of the BA parameters is straightforward, typical computing hardware is not able to support the required operations due to the scale of the optimization problem within BA. Therefore, a series of sparse matrix operations is utilized to form an exact covariance matrix for only the parameters that are needed at a particular moment. Once the uncertainty in the model has been determined, it is used to augment Perspective-n-Point pose estimation algorithms to improve the pose accuracy and to estimate the resulting pose uncertainty. The implementation of the described method is presented along with results including results gathered from flight test data.

Winter precipitation particle size distribution measurement by Multi-Angle Snowflake Camera

NASA Astrophysics Data System (ADS)

Huang, Gwo-Jong; Kleinkort, Cameron; Bringi, V. N.; Notaroš, Branislav M.

2017-12-01

From the radar meteorology viewpoint, the most important properties for quantitative precipitation estimation of winter events are 3D shape, size, and mass of precipitation particles, as well as the particle size distribution (PSD). In order to measure these properties precisely, optical instruments may be the best choice. The Multi-Angle Snowflake Camera (MASC) is a relatively new instrument equipped with three high-resolution cameras to capture the winter precipitation particle images from three non-parallel angles, in addition to measuring the particle fall speed using two pairs of infrared motion sensors. However, the results from the MASC so far are usually presented as monthly or seasonally, and particle sizes are given as histograms, no previous studies have used the MASC for a single storm study, and no researchers use MASC to measure the PSD. We propose the methodology for obtaining the winter precipitation PSD measured by the MASC, and present and discuss the development, implementation, and application of the new technique for PSD computation based on MASC images. Overall, this is the first study of the MASC-based PSD. We present PSD MASC experiments and results for segments of two snow events to demonstrate the performance of our PSD algorithm. The results show that the self-consistency of the MASC measured single-camera PSDs is good. To cross-validate PSD measurements, we compare MASC mean PSD (averaged over three cameras) with the collocated 2D Video Disdrometer, and observe good agreements of the two sets of results.

Exploding Balloons, Deformed Balls, Strange Reflections and Breaking Rods: Slow Motion Analysis of Selected Hands-On Experiments

ERIC Educational Resources Information Center

Vollmer, Michael; Mollmann, Klaus-Peter

2011-01-01

A selection of hands-on experiments from different fields of physics, which happen too fast for the eye or video cameras to properly observe and analyse the phenomena, is presented. They are recorded and analysed using modern high speed cameras. Two types of cameras were used: the first were rather inexpensive consumer products such as Casio…

Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.

PubMed

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-01-01

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a through review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.

Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis.

PubMed

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-07-01

One of the most serious obstacles to accurate quantification of the underwater motion of a swimmer's body is image deformation caused by refraction. Refraction occurs at the water-air interface plane (glass) owing to the density difference. Camera calibration-reconstruction algorithms commonly used in aquatic research do not have the capability to correct this refraction-induced nonlinear image deformation and produce large reconstruction errors. The aim of this paper is to provide a thorough review of: the nature of the refraction-induced image deformation and its behaviour in underwater object-space plane reconstruction; the intrinsic shortcomings of the Direct Linear Transformation (DLT) method in underwater motion analysis; experimental conditions that interact with refraction; and alternative algorithms and strategies that can be used to improve the calibration-reconstruction accuracy. Although it is impossible to remove the refraction error completely in conventional camera calibration-reconstruction methods, it is possible to improve the accuracy to some extent by manipulating experimental conditions or calibration frame characteristics. Alternative algorithms, such as the localized DLT and the double-plane method are also available for error reduction. The ultimate solution for the refraction problem is to develop underwater camera calibration and reconstruction algorithms that have the capability to correct refraction.

Optimising rigid motion compensation for small animal brain PET imaging

NASA Astrophysics Data System (ADS)

Spangler-Bickell, Matthew G.; Zhou, Lin; Kyme, Andre Z.; De Laat, Bart; Fulton, Roger R.; Nuyts, Johan

2016-10-01

Motion compensation (MC) in PET brain imaging of awake small animals is attracting increased attention in preclinical studies since it avoids the confounding effects of anaesthesia and enables behavioural tests during the scan. A popular MC technique is to use multiple external cameras to track the motion of the animal’s head, which is assumed to be represented by the motion of a marker attached to its forehead. In this study we have explored several methods to improve the experimental setup and the reconstruction procedures of this method: optimising the camera-marker separation; improving the temporal synchronisation between the motion tracker measurements and the list-mode stream; post-acquisition smoothing and interpolation of the motion data; and list-mode reconstruction with appropriately selected subsets. These techniques have been tested and verified on measurements of a moving resolution phantom and brain scans of an awake rat. The proposed techniques improved the reconstructed spatial resolution of the phantom by 27% and of the rat brain by 14%. We suggest a set of optimal parameter values to use for awake animal PET studies and discuss the relative significance of each parameter choice.

Brownian Movement and Avogadro's Number: A Laboratory Experiment.

ERIC Educational Resources Information Center

Kruglak, Haym

1988-01-01

Reports an experimental procedure for studying Einstein's theory of Brownian movement using commercially available latex microspheres and a video camera. Describes how students can monitor sphere motions and determine Avogadro's number. Uses a black and white video camera, microscope, and TV. (ML)

Dynamic radionuclide determination of regional left ventricular wall motion using a new digital imaging device

NASA Technical Reports Server (NTRS)

Steele, P.; Kirch, D.

1975-01-01

In 47 men with arteriographically defined coronary artery disease comparative studies of left ventricular ejection fraction and segmental wall motion were made with radionuclide data obtained from the image intensifier camera computer system and with contrast cineventriculography. The radionuclide data was digitized and the images corresponding to left ventricular end-diastole and end-systole were identified from the left ventricular time-activity curve. The left ventricular end-diastolic and end-systolic images were subtracted to form a silhouette difference image which described wall motion of the anterior and inferior left ventricular segments. The image intensifier camera allows manipulation of dynamically acquired radionuclide data because of the high count rate and consequently improved resolution of the left ventricular image.

Pose and motion recovery from feature correspondences and a digital terrain map.

PubMed

Lerner, Ronen; Rivlin, Ehud; Rotstein, Héctor P

2006-09-01

A novel algorithm for pose and motion estimation using corresponding features and a Digital Terrain Map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables the elimination of the ambiguity present in vision-based algorithms for motion recovery. As a consequence, the absolute position and orientation of a camera can be recovered with respect to the external reference frame. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. Explicit reconstruction of the 3D world is not required. When considering a number of feature points, the resulting constraints can be solved using nonlinear optimization in terms of position, orientation, and motion. Such a procedure requires an initial guess of these parameters, which can be obtained from dead-reckoning or any other source. The feasibility of the algorithm is established through extensive experimentation. Performance is compared with a state-of-the-art alternative algorithm, which intermediately reconstructs the 3D structure and then registers it to the DTM. A clear advantage for the novel algorithm is demonstrated in variety of scenarios.

[Segmental wall movement of the left ventricle in healthy persons and myocardial infarct patients studied by a catheter-less nuclear medical method (camera-cinematography of the heart)].

PubMed

Geffers, H; Sigel, H; Bitter, F; Kampmann, H; Stauch, M; Adam, W E

1976-08-01

Camera-Kinematography is a nearly noninvasive method to investigate regional motion of the myocard, and allows evaluation of the function of the heart. About 20 min after injection of 15-20 mCi of 99mTC-Human-Serum-Albumin, when the tracer is distributed homogenously within the bloodpool, data acquisition starts. Myocardial wall motion is represented in an appropriate quasi three-dimensional form. In this representation scars can be revealed as "silent" (akinetic) regions, aneurysms by asynchronic motion. Time activity curves for arbitrarily chosen regions can be calculated and give an equivalent for regional volume changes. 16 patients with an old infarction have been investigated. In fourteen cases the location and extent of regions with abnormal motion could be evaluated. Only two cases of a small posterior wall infarction did not show deviations from normal contraction pattern.

Multisensory visual servoing by a neural network.

PubMed

Wei, G Q; Hirzinger, G

1999-01-01

Conventional computer vision methods for determining a robot's end-effector motion based on sensory data needs sensor calibration (e.g., camera calibration) and sensor-to-hand calibration (e.g., hand-eye calibration). This involves many computations and even some difficulties, especially when different kinds of sensors are involved. In this correspondence, we present a neural network approach to the motion determination problem without any calibration. Two kinds of sensory data, namely, camera images and laser range data, are used as the input to a multilayer feedforward network to associate the direct transformation from the sensory data to the required motions. This provides a practical sensor fusion method. Using a recursive motion strategy and in terms of a network correction, we relax the requirement for the exactness of the learned transformation. Another important feature of our work is that the goal position can be changed without having to do network retraining. Experimental results show the effectiveness of our method.

A Height Estimation Approach for Terrain Following Flights from Monocular Vision.

PubMed

Campos, Igor S G; Nascimento, Erickson R; Freitas, Gustavo M; Chaimowicz, Luiz

2016-12-06

In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights. The proposed methodology consists of using optical flow to track features from videos obtained by the UAV, as well as its motion information to estimate the flying height. To determine if the height estimation is reliable, we trained a decision tree that takes the optical flow information as input and classifies whether the output is trustworthy or not. The classifier achieved accuracies of 80 % for positives and 90 % for negatives, while the height estimation algorithm presented good accuracy.

The determination of high-resolution spatio-temporal glacier motion fields from time-lapse sequences

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

This paper presents a comprehensive method for the determination of glacier surface motion vector fields at high spatial and temporal resolution. These vector fields can be derived from monocular terrestrial camera image sequences and are a valuable data source for glaciological analysis of the motion behaviour of glaciers. The measurement concepts for the acquisition of image sequences are presented, and an automated monoscopic image sequence processing chain is developed. Motion vector fields can be derived with high precision by applying automatic subpixel-accuracy image matching techniques on grey value patterns in the image sequences. Well-established matching techniques have been adapted to the special characteristics of the glacier data in order to achieve high reliability in automatic image sequence processing, including the handling of moving shadows as well as motion effects induced by small instabilities in the camera set-up. Suitable geo-referencing techniques were developed to transform image measurements into a reference coordinate system.The result of monoscopic image sequence analysis is a dense raster of glacier surface point trajectories for each image sequence. Each translation vector component in these trajectories can be determined with an accuracy of a few centimetres for points at a distance of several kilometres from the camera. Extensive practical validation experiments have shown that motion vector and trajectory fields derived from monocular image sequences can be used for the determination of high-resolution velocity fields of glaciers, including the analysis of tidal effects on glacier movement, the investigation of a glacier's motion behaviour during calving events, the determination of the position and migration of the grounding line and the detection of subglacial channels during glacier lake outburst floods.

Development of a Sunspot Tracking System

NASA Technical Reports Server (NTRS)

Taylor, Jaime R.

1998-01-01

Large solar flares produce a significant amount of energetic particles which pose a hazard for human activity in space. In the hope of understanding flare mechanisms and thus better predicting solar flares, NASA's Marshall Space Flight Center (MSFC) developed an experimental vector magnetograph (EXVM) polarimeter to measure the Sun's magnetic field. The EXVM will be used to perform ground-based solar observations and will provide a proof of concept for the design of a similar instrument for the Japanese Solar-B space mission. The EXVM typically operates for a period of several minutes. During this time there is image motion due to atmospheric fluctuation and telescope wind loading. To optimize the EXVM performance an image motion compensation device (sunspot tracker) is needed. The sunspot tracker consists of two parts, an image motion determination system and an image deflection system. For image motion determination a CCD or CID camera is used to digitize an image, than an algorithm is applied to determine the motion. This motion or error signal is sent to the image deflection system which moves the image back to its original location. Both of these systems are under development. Two algorithms are available for sunspot tracking which require the use of only one row and one column of image data. To implement these algorithms, two identical independent systems are being developed, one system for each axis of motion. Two CID cameras have been purchased; the data from each camera will be used to determine image motion for each direction. The error signal generated by the tracking algorithm will be sent to an image deflection system consisting of an actuator and a mirror constrained to move about one axis. Magnetostrictive actuators were chosen to move the mirror over piezoelectrics due to their larger driving force and larger range of motion. The actuator and mirror mounts are currently under development.

Automatic online and real-time tumour motion monitoring during stereotactic liver treatments on a conventional linac by combined optical and sparse monoscopic imaging with kilovoltage x-rays (COSMIK)

NASA Astrophysics Data System (ADS)

Bertholet, Jenny; Toftegaard, Jakob; Hansen, Rune; Worm, Esben S.; Wan, Hanlin; Parikh, Parag J.; Weber, Britta; Høyer, Morten; Poulsen, Per R.

2018-03-01

The purpose of this study was to develop, validate and clinically demonstrate fully automatic tumour motion monitoring on a conventional linear accelerator by combined optical and sparse monoscopic imaging with kilovoltage x-rays (COSMIK). COSMIK combines auto-segmentation of implanted fiducial markers in cone-beam computed tomography (CBCT) projections and intra-treatment kV images with simultaneous streaming of an external motion signal. A pre-treatment CBCT is acquired with simultaneous recording of the motion of an external marker block on the abdomen. The 3-dimensional (3D) marker motion during the CBCT is estimated from the auto-segmented positions in the projections and used to optimize an external correlation model (ECM) of internal motion as a function of external motion. During treatment, the ECM estimates the internal motion from the external motion at 20 Hz. KV images are acquired every 3 s, auto-segmented, and used to update the ECM for baseline shifts between internal and external motion. The COSMIK method was validated using Calypso-recorded internal tumour motion with simultaneous camera-recorded external motion for 15 liver stereotactic body radiotherapy (SBRT) patients. The validation included phantom experiments and simulations hereof for 12 fractions and further simulations for 42 fractions. The simulations compared the accuracy of COSMIK with ECM-based monitoring without model updates and with model updates based on stereoscopic imaging as well as continuous kilovoltage intrafraction monitoring (KIM) at 10 Hz without an external signal. Clinical real-time tumour motion monitoring with COSMIK was performed offline for 14 liver SBRT patients (41 fractions) and online for one patient (two fractions). The mean 3D root-mean-square error for the four monitoring methods was 1.61 mm (COSMIK), 2.31 mm (ECM without updates), 1.49 mm (ECM with stereoscopic updates) and 0.75 mm (KIM). COSMIK is the first combined kV/optical real-time motion monitoring method used clinically online on a conventional accelerator. COSMIK gives less imaging dose than KIM and is in addition applicable when the kV imager cannot be deployed such as during non-coplanar fields.

Optical Flow in a Smart Sensor Based on Hybrid Analog-Digital Architecture

PubMed Central

Guzmán, Pablo; Díaz, Javier; Agís, Rodrigo; Ros, Eduardo

2010-01-01

The purpose of this study is to develop a motion sensor (delivering optical flow estimations) using a platform that includes the sensor itself, focal plane processing resources, and co-processing resources on a general purpose embedded processor. All this is implemented on a single device as a SoC (System-on-a-Chip). Optical flow is the 2-D projection into the camera plane of the 3-D motion information presented at the world scenario. This motion representation is widespread well-known and applied in the science community to solve a wide variety of problems. Most applications based on motion estimation require work in real-time; hence, this restriction must be taken into account. In this paper, we show an efficient approach to estimate the motion velocity vectors with an architecture based on a focal plane processor combined on-chip with a 32 bits NIOS II processor. Our approach relies on the simplification of the original optical flow model and its efficient implementation in a platform that combines an analog (focal-plane) and digital (NIOS II) processor. The system is fully functional and is organized in different stages where the early processing (focal plane) stage is mainly focus to pre-process the input image stream to reduce the computational cost in the post-processing (NIOS II) stage. We present the employed co-design techniques and analyze this novel architecture. We evaluate the system’s performance and accuracy with respect to the different proposed approaches described in the literature. We also discuss the advantages of the proposed approach as well as the degree of efficiency which can be obtained from the focal plane processing capabilities of the system. The final outcome is a low cost smart sensor for optical flow computation with real-time performance and reduced power consumption that can be used for very diverse application domains. PMID:22319283

Preplanning and Evaluating Video Documentaries and Features.

ERIC Educational Resources Information Center

Maynard, Riley

1997-01-01

This article presents a ten-part pre-production outline and post-production evaluation that helps communications students more effectively improve video skills. Examines camera movement and motion, camera angle and perspective, lighting, audio, graphics, backgrounds and color, special effects, editing, transitions, and music. Provides a glossary…

Measuring the Bed Load velocity in Laboratory flumes using ADCP and Digital Cameras

NASA Astrophysics Data System (ADS)

Conevski, Slaven; Guerrero, Massimo; Rennie, Colin; Bombardier, Josselin

2017-04-01

Measuring the transport rate and apparent velocity of the bedload is notoriously hard and there is not a certain technique that would obtain continues data. There are many empirical models, based on the estimation of the shear stress, but only few involve direct measurement of the bed load velocity. The bottom tracking (BT) mode of an acoustic Doppler current profiler (ADCP) has been used many times to estimate the apparent velocity of the bed load. Herein is the basic idea, to exploit the bias of the BT signal towards the bed load movement and to calibrate this signal with traditional measuring techniques. These measurements are quite scarce and seldom reliable since there are not taken in controlled conditions. So far, no clear confirmation has been conducted in laboratory-controlled conditions that would attest the assumptions made in the estimation of the apparent bed load velocity, nor in the calibration of the empirical equations. Therefore, this study explores several experiments under stationary conditions, where the signal of the ADCP BT mode is recorded and compared to the bed load motion recorded by digital camera videography. The experiments have been performed in the hydraulic laboratories of Ottawa and Bologna, using two different ADCPs and two different high resolution cameras. In total, more then 30 experiments were performed for different sediment mixtures and different hydraulic conditions. In general, a good match is documented between the apparent bed load velocity measured by the ADCP and the videography. The slight deviation in single experiments can be explained by gravel particles inhomogeneity, difficult in reproducing the same hydro-sedimentological conditions and the randomness of the backscattering strength.

Generalized parallel-perspective stereo mosaics from airborne video.

PubMed

Zhu, Zhigang; Hanson, Allen R; Riseman, Edward M

2004-02-01

In this paper, we present a new method for automatically and efficiently generating stereoscopic mosaics by seamless registration of images collected by a video camera mounted on an airborne platform. Using a parallel-perspective representation, a pair of geometrically registered stereo mosaics can be precisely constructed under quite general motion. A novel parallel ray interpolation for stereo mosaicing (PRISM) approach is proposed to make stereo mosaics seamless in the presence of obvious motion parallax and for rather arbitrary scenes. Parallel-perspective stereo mosaics generated with the PRISM method have better depth resolution than perspective stereo due to the adaptive baseline geometry. Moreover, unlike previous results showing that parallel-perspective stereo has a constant depth error, we conclude that the depth estimation error of stereo mosaics is in fact a linear function of the absolute depths of a scene. Experimental results on long video sequences are given.

Pre-impact fall detection system using dynamic threshold and 3D bounding box

NASA Astrophysics Data System (ADS)

Otanasap, Nuth; Boonbrahm, Poonpong

2017-02-01

Fall prevention and detection system have to subjugate many challenges in order to develop an efficient those system. Some of the difficult problems are obtrusion, occlusion and overlay in vision based system. Other associated issues are privacy, cost, noise, computation complexity and definition of threshold values. Estimating human motion using vision based usually involves with partial overlay, caused either by direction of view point between objects or body parts and camera, and these issues have to be taken into consideration. This paper proposes the use of dynamic threshold based and bounding box posture analysis method with multiple Kinect cameras setting for human posture analysis and fall detection. The proposed work only uses two Kinect cameras for acquiring distributed values and differentiating activities between normal and falls. If the peak value of head velocity is greater than the dynamic threshold value, bounding box posture analysis will be used to confirm fall occurrence. Furthermore, information captured by multiple Kinect placed in right angle will address the skeleton overlay problem due to single Kinect. This work contributes on the fusion of multiple Kinect based skeletons, based on dynamic threshold and bounding box posture analysis which is the only research work reported so far.

Dimensional coordinate measurements: application in characterizing cervical spine motion

NASA Astrophysics Data System (ADS)

Zheng, Weilong; Li, Linan; Wang, Shibin; Wang, Zhiyong; Shi, Nianke; Xue, Yuan

2014-06-01

Cervical spine as a complicated part in the human body, the form of its movement is diverse. The movements of the segments of vertebrae are three-dimensional, and it is reflected in the changes of the angle between two joint and the displacement in different directions. Under normal conditions, cervical can flex, extend, lateral flex and rotate. For there is no relative motion between measuring marks fixed on one segment of cervical vertebra, the cervical vertebrae with three marked points can be seen as a body. Body's motion in space can be decomposed into translational movement and rotational movement around a base point .This study concerns the calculation of dimensional coordinate of the marked points pasted to the human body's cervical spine by an optical method. Afterward, these measures will allow the calculation of motion parameters for every spine segment. For this study, we choose a three-dimensional measurement method based on binocular stereo vision. The object with marked points is placed in front of the CCD camera. Through each shot, we will get there two parallax images taken from different cameras. According to the principle of binocular vision we can be realized three-dimensional measurements. Cameras are erected parallelly. This paper describes the layout of experimental system and a mathematical model to get the coordinates.

Photogrammetric Modeling and Image-Based Rendering for Rapid Virtual Environment Creation

DTIC Science & Technology

2004-12-01

area and different methods have been proposed. Pertinent methods include: Camera Calibration , Structure from Motion, Stereo Correspondence, and Image...Based Rendering 1.1.1 Camera Calibration Determining the 3D structure of a model from multiple views becomes simpler if the intrinsic (or internal...can introduce significant nonlinearities into the image. We have found that camera calibration is a straightforward process which can simplify the

Automatic inference of geometric camera parameters and inter-camera topology in uncalibrated disjoint surveillance cameras

NASA Astrophysics Data System (ADS)

den Hollander, Richard J. M.; Bouma, Henri; Baan, Jan; Eendebak, Pieter T.; van Rest, Jeroen H. C.

2015-10-01

Person tracking across non-overlapping cameras and other types of video analytics benefit from spatial calibration information that allows an estimation of the distance between cameras and a relation between pixel coordinates and world coordinates within a camera. In a large environment with many cameras, or for frequent ad-hoc deployments of cameras, the cost of this calibration is high. This creates a barrier for the use of video analytics. Automating the calibration allows for a short configuration time, and the use of video analytics in a wider range of scenarios, including ad-hoc crisis situations and large scale surveillance systems. We show an autocalibration method entirely based on pedestrian detections in surveillance video in multiple non-overlapping cameras. In this paper, we show the two main components of automatic calibration. The first shows the intra-camera geometry estimation that leads to an estimate of the tilt angle, focal length and camera height, which is important for the conversion from pixels to meters and vice versa. The second component shows the inter-camera topology inference that leads to an estimate of the distance between cameras, which is important for spatio-temporal analysis of multi-camera tracking. This paper describes each of these methods and provides results on realistic video data.

Visual Control for Multirobot Organized Rendezvous.

PubMed

Lopez-Nicolas, G; Aranda, M; Mezouar, Y; Sagues, C

2012-08-01

This paper addresses the problem of visual control of a set of mobile robots. In our framework, the perception system consists of an uncalibrated flying camera performing an unknown general motion. The robots are assumed to undergo planar motion considering nonholonomic constraints. The goal of the control task is to drive the multirobot system to a desired rendezvous configuration relying solely on visual information given by the flying camera. The desired multirobot configuration is defined with an image of the set of robots in that configuration without any additional information. We propose a homography-based framework relying on the homography induced by the multirobot system that gives a desired homography to be used to define the reference target, and a new image-based control law that drives the robots to the desired configuration by imposing a rigidity constraint. This paper extends our previous work, and the main contributions are that the motion constraints on the flying camera are removed, the control law is improved by reducing the number of required steps, the stability of the new control law is proved, and real experiments are provided to validate the proposal.

Real-time film recording from stroke-written CRT's

NASA Technical Reports Server (NTRS)

Hunt, R.; Grunwald, A. J.

1980-01-01

Real-time simulation studies often require motion-picture recording of events directly from stroke written cathode-ray tubes (CRT's). Difficulty presented is prevention of "flicker," which results from lack of synchronization between display sequence on CRT and shutter motion of camera. Programmable method has been devised for phasing display sequence to shutter motion, ensuring flicker-free recordings.

Determination of the Static Friction Coefficient from Circular Motion

ERIC Educational Resources Information Center

Molina-Bolívar, J. A.; Cabrerizo-Vílchez, M. A.

2014-01-01

This paper describes a physics laboratory exercise for determining the coefficient of static friction between two surfaces. The circular motion of a coin placed on the surface of a rotating turntable has been studied. For this purpose, the motion is recorded with a high-speed digital video camera recording at 240 frames s[superscript-1], and the…

Using Motion Pictures to Teach Management: Refocusing the Camera Lens through the Infusion Approach to Diversity

ERIC Educational Resources Information Center

Bumpus, Minnette A.

2005-01-01

Motion pictures and television shows can provide mediums to facilitate the learning of management and organizational behavior theories and concepts. Although the motion pictures and television shows cited in the literature cover a broad range of cinematic categories, racial inclusion is limited. The objectives of this article are to document the…

The Motion Picture and the Teaching of English.

ERIC Educational Resources Information Center

Sheridan, Marion C.; And Others

Written to help a viewer watch a motion picture perceptively, this book explains the characteristics of the film as an art form and examines the role of motion pictures in the English curriculum. Specific topics covered include (1) the technical aspects of the production of films (the order of "shots," camera angle, and point of view), (2) the…

Model-based Estimation for Pose, Velocity of Projectile from Stereo Linear Array Image

NASA Astrophysics Data System (ADS)

Zhao, Zhuxin; Wen, Gongjian; Zhang, Xing; Li, Deren

2012-01-01

The pose (position and attitude) and velocity of in-flight projectiles have major influence on the performance and accuracy. A cost-effective method for measuring the gun-boosted projectiles is proposed. The method adopts only one linear array image collected by the stereo vision system combining a digital line-scan camera and a mirror near the muzzle. From the projectile's stereo image, the motion parameters (pose and velocity) are acquired by using a model-based optimization algorithm. The algorithm achieves optimal estimation of the parameters by matching the stereo projection of the projectile and that of the same size 3D model. The speed and the AOA (angle of attack) could also be determined subsequently. Experiments are made to test the proposed method.

Pedestrian detection based on redundant wavelet transform

NASA Astrophysics Data System (ADS)

Huang, Lin; Ji, Liping; Hu, Ping; Yang, Tiejun

2016-10-01

Intelligent video surveillance is to analysis video or image sequences captured by a fixed or mobile surveillance camera, including moving object detection, segmentation and recognition. By using it, we can be notified immediately in an abnormal situation. Pedestrian detection plays an important role in an intelligent video surveillance system, and it is also a key technology in the field of intelligent vehicle. So pedestrian detection has very vital significance in traffic management optimization, security early warn and abnormal behavior detection. Generally, pedestrian detection can be summarized as: first to estimate moving areas; then to extract features of region of interest; finally to classify using a classifier. Redundant wavelet transform (RWT) overcomes the deficiency of shift variant of discrete wavelet transform, and it has better performance in motion estimation when compared to discrete wavelet transform. Addressing the problem of the detection of multi-pedestrian with different speed, we present an algorithm of pedestrian detection based on motion estimation using RWT, combining histogram of oriented gradients (HOG) and support vector machine (SVM). Firstly, three intensities of movement (IoM) are estimated using RWT and the corresponding areas are segmented. According to the different IoM, a region proposal (RP) is generated. Then, the features of a RP is extracted using HOG. Finally, the features are fed into a SVM trained by pedestrian databases and the final detection results are gained. Experiments show that the proposed algorithm can detect pedestrians accurately and efficiently.

Motion-based nonuniformity correction in DoFP polarimeters

NASA Astrophysics Data System (ADS)

Kumar, Rakesh; Tyo, J. Scott; Ratliff, Bradley M.

2007-09-01

Division of Focal Plane polarimeters (DoFP) operate by integrating an array of micropolarizer elements with a focal plane array. These devices have been investigated for over a decade, and example systems have been built in all regions of the optical spectrum. DoFP devices have the distinct advantage that they are mechanically rugged, inherently temporally synchronized, and optically aligned. They have the concomitant disadvantage that each pixel in the FPA has a different instantaneous field of view (IFOV), meaning that the polarization component measurements that go into estimating the Stokes vector across the image come from four different points in the field. In addition to IFOV errors, microgrid camera systems operating in the LWIR have the additional problem that FPA nonuniformity (NU) noise can be quite severe. The spatial differencing nature of a DoFP system exacerbates the residual NU noise that is remaining after calibration, and is often the largest source of false polarization signatures away from regions where IFOV error dominates. We have recently presented a scene based algorithm that uses frame-to-frame motion to compensate for NU noise in unpolarized IR imagers. In this paper, we have extended that algorithm so that it can be used to compensate for NU noise on a DoFP polarimeter. Furthermore, the additional information provided by the scene motion can be used to significantly reduce the IFOV error. We have found a reduction of IFOV error by a factor of 10 if the scene motion is known exactly. Performance is reduced when the motion must be estimated from the scene, but still shows a marked improvement over static DoFP images.

Comparative assessment of techniques for initial pose estimation using monocular vision

NASA Astrophysics Data System (ADS)

Sharma, Sumant; D`Amico, Simone

2016-06-01

This work addresses the comparative assessment of initial pose estimation techniques for monocular navigation to enable formation-flying and on-orbit servicing missions. Monocular navigation relies on finding an initial pose, i.e., a coarse estimate of the attitude and position of the space resident object with respect to the camera, based on a minimum number of features from a three dimensional computer model and a single two dimensional image. The initial pose is estimated without the use of fiducial markers, without any range measurements or any apriori relative motion information. Prior work has been done to compare different pose estimators for terrestrial applications, but there is a lack of functional and performance characterization of such algorithms in the context of missions involving rendezvous operations in the space environment. Use of state-of-the-art pose estimation algorithms designed for terrestrial applications is challenging in space due to factors such as limited on-board processing power, low carrier to noise ratio, and high image contrasts. This paper focuses on performance characterization of three initial pose estimation algorithms in the context of such missions and suggests improvements.

Estimation of detection thresholds for redirected walking techniques.

PubMed

Steinicke, Frank; Bruder, Gerd; Jerald, Jason; Frenz, Harald; Lappe, Markus

2010-01-01

In immersive virtual environments (IVEs), users can control their virtual viewpoint by moving their tracked head and walking through the real world. Usually, movements in the real world are mapped one-to-one to virtual camera motions. With redirection techniques, the virtual camera is manipulated by applying gains to user motion so that the virtual world moves differently than the real world. Thus, users can walk through large-scale IVEs while physically remaining in a reasonably small workspace. In psychophysical experiments with a two-alternative forced-choice task, we have quantified how much humans can unknowingly be redirected on physical paths that are different from the visually perceived paths. We tested 12 subjects in three different experiments: (E1) discrimination between virtual and physical rotations, (E2) discrimination between virtual and physical straightforward movements, and (E3) discrimination of path curvature. In experiment E1, subjects performed rotations with different gains, and then had to choose whether the visually perceived rotation was smaller or greater than the physical rotation. In experiment E2, subjects chose whether the physical walk was shorter or longer than the visually perceived scaled travel distance. In experiment E3, subjects estimate the path curvature when walking a curved path in the real world while the visual display shows a straight path in the virtual world. Our results show that users can be turned physically about 49 percent more or 20 percent less than the perceived virtual rotation, distances can be downscaled by 14 percent and upscaled by 26 percent, and users can be redirected on a circular arc with a radius greater than 22 m while they believe that they are walking straight.

Position estimation and driving of an autonomous vehicle by monocular vision

NASA Astrophysics Data System (ADS)

Hanan, Jay C.; Kayathi, Pavan; Hughlett, Casey L.

2007-04-01

Automatic adaptive tracking in real-time for target recognition provided autonomous control of a scale model electric truck. The two-wheel drive truck was modified as an autonomous rover test-bed for vision based guidance and navigation. Methods were implemented to monitor tracking error and ensure a safe, accurate arrival at the intended science target. Some methods are situation independent relying only on the confidence error of the target recognition algorithm. Other methods take advantage of the scenario of combined motion and tracking to filter out anomalies. In either case, only a single calibrated camera was needed for position estimation. Results from real-time autonomous driving tests on the JPL simulated Mars yard are presented. Recognition error was often situation dependent. For the rover case, the background was in motion and may be characterized to provide visual cues on rover travel such as rate, pitch, roll, and distance to objects of interest or hazards. Objects in the scene may be used as landmarks, or waypoints, for such estimations. As objects are approached, their scale increases and their orientation may change. In addition, particularly on rough terrain, these orientation and scale changes may be unpredictable. Feature extraction combined with the neural network algorithm was successful in providing visual odometry in the simulated Mars environment.

A Novel Method for Tracking Individuals of Fruit Fly Swarms Flying in a Laboratory Flight Arena.

PubMed

Cheng, Xi En; Qian, Zhi-Ming; Wang, Shuo Hong; Jiang, Nan; Guo, Aike; Chen, Yan Qiu

2015-01-01

The growing interest in studying social behaviours of swarming fruit flies, Drosophila melanogaster, has heightened the need for developing tools that provide quantitative motion data. To achieve such a goal, multi-camera three-dimensional tracking technology is the key experimental gateway. We have developed a novel tracking system for tracking hundreds of fruit flies flying in a confined cubic flight arena. In addition to the proposed tracking algorithm, this work offers additional contributions in three aspects: body detection, orientation estimation, and data validation. To demonstrate the opportunities that the proposed system offers for generating high-throughput quantitative motion data, we conducted experiments on five experimental configurations. We also performed quantitative analysis on the kinematics and the spatial structure and the motion patterns of fruit fly swarms. We found that there exists an asymptotic distance between fruit flies in swarms as the population density increases. Further, we discovered the evidence for repulsive response when the distance between fruit flies approached the asymptotic distance. Overall, the proposed tracking system presents a powerful method for studying flight behaviours of fruit flies in a three-dimensional environment.

Global rotational motion and displacement estimation of digital image stabilization based on the oblique vectors matching algorithm

NASA Astrophysics Data System (ADS)

Yu, Fei; Hui, Mei; Zhao, Yue-jin

2009-08-01

The image block matching algorithm based on motion vectors of correlative pixels in oblique direction is presented for digital image stabilization. The digital image stabilization is a new generation of image stabilization technique which can obtains the information of relative motion among frames of dynamic image sequences by the method of digital image processing. In this method the matching parameters are calculated from the vectors projected in the oblique direction. The matching parameters based on the vectors contain the information of vectors in transverse and vertical direction in the image blocks at the same time. So the better matching information can be obtained after making correlative operation in the oblique direction. And an iterative weighted least square method is used to eliminate the error of block matching. The weights are related with the pixels' rotational angle. The center of rotation and the global emotion estimation of the shaking image can be obtained by the weighted least square from the estimation of each block chosen evenly from the image. Then, the shaking image can be stabilized with the center of rotation and the global emotion estimation. Also, the algorithm can run at real time by the method of simulated annealing in searching method of block matching. An image processing system based on DSP was used to exam this algorithm. The core processor in the DSP system is TMS320C6416 of TI, and the CCD camera with definition of 720×576 pixels was chosen as the input video signal. Experimental results show that the algorithm can be performed at the real time processing system and have an accurate matching precision.

Cost effective system for monitoring of fish migration with a camera

NASA Astrophysics Data System (ADS)

Sečnik, Matej; Brilly, Mitja; Vidmar, Andrej

2016-04-01

Within the European LIFE project Ljubljanica connects (LIFE10 NAT/SI/000142) we have developed a cost-effective solution for the monitoring of fish migration through the fish passes with the underwater camera. In the fish pass at Ambrožev trg and in the fish pass near the Fužine castle we installed a video camera called "Fishcam" to be able to monitor the migration of fish through the fish passes and success of its reconstruction. Live stream from fishcams installed in the fishpassesis available on our project website (http://ksh.fgg.uni-lj.si/ljubljanicaconnects/ang/12_camera). The system for the fish monitoring is made from two parts. First is the waterproof box for the computer with charger and the second part is the camera itself. We used a high sensitive Sony analogue camera. The advantage of this camera is that it has very good sensitivity in low light conditions, so it can take good quality pictures even at night with a minimum additional lighting. For the night recording we use additional IR reflector to illuminate passing fishes. The camera is connected to an 8-inch tablet PC. We decided to use a tablet PC because it is quite small, cheap, it is relatively fast and has a low power consumption. On the computer we use software which has advanced motion detection capabilities, so we can also detect the small fishes. When the fish is detected by a software, its photograph is automatically saved to local hard drive and for backup also on Google drive. The system for monitoring of fish migration has turned out to work very well. From the beginning of monitoring in June 2015 to end of the year there were more than 100.000 photographs produced. The first analysis of them was already prepared estimating fish species and their frequency in passing the fish pass.

MISR Watches Motion of the Moon's Shadow During Total Solar Eclipse

NASA Image and Video Library

2017-09-19

On Aug. 21, 2017, a total solar eclipse swept across the United States -- the first such eclipse in the contiguous 48 states since 1979, and the first cross-country eclipse since 1918. A partial eclipse was visible in all 50 states, and initial estimates suggest that upwards of 20 million people observed the Moon completely obscuring the Sun in the 70-mile-wide (113-kilometer-wide) path of totality. While viewing a total solar eclipse from the ground is an amazing experience, satellites orbiting Earth see the eclipse from a unique perspective. As the Moon's shadow passed through the United States, the Multi-angle Imaging SpectroRadiometer (MISR) instrument aboard NASA's Terra satellite was capturing images of eastern Wyoming and western Nebraska from its altitude of 438 miles (705 kilometers) above the surface. MISR gathers images on a strip about 249 miles (400 kilometers) wide directly below the path of the satellite. Incredibly, given that the shadow of the Moon took only 90 minutes to cross the entire United States, and Terra itself moves at a brisk 16,700 miles per hour from north to south, MISR happened to be in exactly the right place at the right time to capture totality. From the ground, the moment of totality appears suddenly, sweeping over the sky in just a few seconds. "I was unprepared for just how dark it actually was," says Mika Tosca, a researcher who works with MISR data and who observed the eclipse in Nebraska. "The streetlights even turned on. Everything fell silent, and I swear the temperature dropped." From the vantage point of space, however, it’s possible to see the entire shadow of the Moon, with the completely dark, circular umbra and the more diffuse penumbra. MISR contains nine cameras oriented at different angles, viewing forward, downward, and backward along the flight path, resulting in an approximate seven-minute interval for all nine cameras to image a single location on Earth's surface. This animation combines these nine images into a movie showing the motion of the Moon's shadow during this seven-minute period. In the first image, captured by the camera pointing farthest ahead of the satellite, totality has not quite begun in the area seen by MISR. From the second camera onward, totality sweeps across the image area from west to east, beginning just west of the town of Jay Em, Wyoming, and proceeding about halfway across the MISR swath to the town of Alliance, Nebraska. The motion of the lunar shadow in different pairs of images leads to estimates of the local ground speed ranging between 1,480 and 1,820 miles per hour (2,382 and 2,929 kilometers per hour). The spread in values is a measure of the uncertainty of the estimate. At this location, the predicted speed of the eclipse calculated from lunar orbital motion is about 1,658 miles per hour (2,668 kilometers per hour), which falls in the middle of the range estimated from the MISR images. Tosca's observation that the temperature dropped during the eclipse is a well-known phenomenon. The GLOBE Observer, a phone application dedicated to citizen science and sponsored by NASA, encouraged eclipse-goers to record the local air temperature at regular intervals. Data collected by nearby observers in the path of totality show that, on average, temperatures dropped by 9.3 degrees Fahrenheit (5.2 degrees Celsius) during the eclipse. This compares to an average of 5.4 degrees Fahrenheit drop measured at several Nebraska Mesonet weather stations within the path of totality. The decrease in the amount of sunlight reaching Earth affected more than temperatures. Areas that get a large portion of their power from solar energy were naturally concerned about shortages during the eclipse -- the state of California, though not in the path of totality, estimated that 6,000 megawatts of solar power would be lost during the eclipse. An animation is available at https://photojournal.jpl.nasa.gov/catalog/PIA21957

High speed imaging - An important industrial tool

NASA Technical Reports Server (NTRS)

Moore, Alton; Pinelli, Thomas E.

1986-01-01

High-speed photography, which is a rapid sequence of photographs that allow an event to be analyzed through the stoppage of motion or the production of slow-motion effects, is examined. In high-speed photography 16, 35, and 70 mm film and framing rates between 64-12,000 frames per second are utilized to measure such factors as angles, velocities, failure points, and deflections. The use of dual timing lamps in high-speed photography and the difficulties encountered with exposure and programming the camera and event are discussed. The application of video cameras to the recording of high-speed events is described.

Evaluating motion parallax and stereopsis as depth cues for autostereoscopic displays

NASA Astrophysics Data System (ADS)

Braun, Marius; Leiner, Ulrich; Ruschin, Detlef

2011-03-01

The perception of space in the real world is based on multifaceted depth cues, most of them monocular, some binocular. Developing 3D-displays raises the question, which of these depth cues are predominant and should be simulated by computational means in such a panel. Beyond the cues based on image content, such as shadows or patterns, Stereopsis and depth from motion parallax are the most significant mechanisms supporting observers with depth information. We set up a carefully designed test situation, widely excluding undesired other distance hints. Thereafter we conducted a user test to find out, which of these two depth cues is more relevant and whether a combination of both would increase accuracy in a depth estimation task. The trials were conducting utilizing our autostereoscopic "Free2C"-displays, which are capable to detect the user eye position and steer the image lobes dynamically into that direction. At the same time, eye position was used to update the virtual camera's location and thereby offering motion parallax to the observer. As far as we know, this was the first time that such a test has been conducted using an autosteresocopic display without any assistive technologies. Our results showed, in accordance with prior experiments, that both cues are effective, however Stereopsis is by order of magnitude more relevant. Combining both cues improved the precision of distance estimation by another 30-40%.

STS-41 crew is briefed on camera equipment during training session at JSC

NASA Technical Reports Server (NTRS)

1990-01-01

STS-41 crewmembers are briefed on camera equipment during training session at JSC. Trainer Judy M. Alexander explains the use 16mm motion picture equipment to (left to right) Pilot Robert D. Cabana, Mission Specialist (MS) Bruce E. Melnick, and MS Thomas D. Akers.

cBathy: A robust algorithm for estimating nearshore bathymetry

USGS Publications Warehouse

Plant, Nathaniel G.; Holman, Rob; Holland, K. Todd

2013-01-01

A three-part algorithm is described and tested to provide robust bathymetry maps based solely on long time series observations of surface wave motions. The first phase consists of frequency-dependent characterization of the wave field in which dominant frequencies are estimated by Fourier transform while corresponding wave numbers are derived from spatial gradients in cross-spectral phase over analysis tiles that can be small, allowing high-spatial resolution. Coherent spatial structures at each frequency are extracted by frequency-dependent empirical orthogonal function (EOF). In phase two, depths are found that best fit weighted sets of frequency-wave number pairs. These are subsequently smoothed in time in phase 3 using a Kalman filter that fills gaps in coverage and objectively averages new estimates of variable quality with prior estimates. Objective confidence intervals are returned. Tests at Duck, NC, using 16 surveys collected over 2 years showed a bias and root-mean-square (RMS) error of 0.19 and 0.51 m, respectively but were largest near the offshore limits of analysis (roughly 500 m from the camera) and near the steep shoreline where analysis tiles mix information from waves, swash and static dry sand. Performance was excellent for small waves but degraded somewhat with increasing wave height. Sand bars and their small-scale alongshore variability were well resolved. A single ground truth survey from a dissipative, low-sloping beach (Agate Beach, OR) showed similar errors over a region that extended several kilometers from the camera and reached depths of 14 m. Vector wave number estimates can also be incorporated into data assimilation models of nearshore dynamics.

A smart telerobotic system driven by monocular vision

NASA Technical Reports Server (NTRS)

Defigueiredo, R. J. P.; Maccato, A.; Wlczek, P.; Denney, B.; Scheerer, J.

1994-01-01

A robotic system that accepts autonomously generated motion and control commands is described. The system provides images from the monocular vision of a camera mounted on a robot's end effector, eliminating the need for traditional guidance targets that must be predetermined and specifically identified. The telerobotic vision system presents different views of the targeted object relative to the camera, based on a single camera image and knowledge of the target's solid geometry.

Ultrafast Imaging of Electronic Motion in Atoms and Molecules

DTIC Science & Technology

2016-01-12

pulses were measured with a home-made faraday cup and laser-triggered streak camera, respectively. Both are retractable and can measure the beam in...100 fs. The charge and duration of the electron pulses were measured with a home-made faraday cup and laser-triggered streak camera, respectively... faraday cup and laser-triggered streak camera, respectively. Both are retractable and can measure the beam in-situ. The gun was shown to generate pulses

Using a motion capture system for spatial localization of EEG electrodes

PubMed Central

Reis, Pedro M. R.; Lochmann, Matthias

2015-01-01

Electroencephalography (EEG) is often used in source analysis studies, in which the locations of cortex regions responsible for a signal are determined. For this to be possible, accurate positions of the electrodes at the scalp surface must be determined, otherwise errors in the source estimation will occur. Today, several methods for acquiring these positions exist but they are often not satisfyingly accurate or take a long time to perform. Therefore, in this paper we describe a method capable of determining the positions accurately and fast. This method uses an infrared light motion capture system (IR-MOCAP) with 8 cameras arranged around a human participant. It acquires 3D coordinates of each electrode and automatically labels them. Each electrode has a small reflector on top of it thus allowing its detection by the cameras. We tested the accuracy of the presented method by acquiring the electrodes positions on a rigid sphere model and comparing these with measurements from computer tomography (CT). The average Euclidean distance between the sphere model CT measurements and the presented method was 1.23 mm with an average standard deviation of 0.51 mm. We also tested the method with a human participant. The measurement was quickly performed and all positions were captured. These results tell that, with this method, it is possible to acquire electrode positions with minimal error and little time effort for the study participants and investigators. PMID:25941468

MO-FG-CAMPUS-JeP3-04: Feasibility Study of Real-Time Ultrasound Monitoring for Abdominal Stereotactic Body Radiation Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Su, Lin; Kien Ng, Sook; Zhang, Ying

Purpose: Ultrasound is ideal for real-time monitoring in radiotherapy with high soft tissue contrast, non-ionization, portability, and cost effectiveness. Few studies investigated clinical application of real-time ultrasound monitoring for abdominal stereotactic body radiation therapy (SBRT). This study aims to demonstrate the feasibility of real-time monitoring of 3D target motion using 4D ultrasound. Methods: An ultrasound probe holding system was designed to allow clinician to freely move and lock ultrasound probe. For phantom study, an abdominal ultrasound phantom was secured on a 2D programmable respiratory motion stage. One side of the stage was elevated than another side to generate 3D motion.more » The motion stage made periodic breath-hold movement. Phantom movement tracked by infrared camera was considered as ground truth. For volunteer study three healthy subjects underwent the same setup for abdominal SBRT with active breath control (ABC). 4D ultrasound B-mode images were acquired for both phantom and volunteers for real-time monitoring. 10 breath-hold cycles were monitored for each experiment. For phantom, the target motion tracked by ultrasound was compared with motion tracked by infrared camera. For healthy volunteers, the reproducibility of ABC breath-hold was evaluated. Results: Volunteer study showed the ultrasound system fitted well to the clinical SBRT setup. The reproducibility for 10 breath-holds is less than 2 mm in three directions for all three volunteers. For phantom study the motion between inspiration and expiration captured by camera (ground truth) is 2.35±0.02 mm, 1.28±0.04 mm, 8.85±0.03 mm in LR, AP, SI directly, respectively. The motion monitored by ultrasound is 2.21±0.07 mm, 1.32±0.12mm, 9.10±0.08mm, respectively. The motion monitoring error in any direction is less than 0.5 mm. Conclusion: The volunteer study proved the clinical feasibility of real-time ultrasound monitoring for abdominal SBRT. The phantom and volunteer ABC studies demonstrated sub-millimeter accuracy of 3D motion movement monitoring.« less

Optical Mapping of Membrane Potential and Epicardial Deformation in Beating Hearts.

PubMed

Zhang, Hanyu; Iijima, Kenichi; Huang, Jian; Walcott, Gregory P; Rogers, Jack M

2016-07-26

Cardiac optical mapping uses potentiometric fluorescent dyes to image membrane potential (Vm). An important limitation of conventional optical mapping is that contraction is usually arrested pharmacologically to prevent motion artifacts from obscuring Vm signals. However, these agents may alter electrophysiology, and by abolishing contraction, also prevent optical mapping from being used to study coupling between electrical and mechanical function. Here, we present a method to simultaneously map Vm and epicardial contraction in the beating heart. Isolated perfused swine hearts were stained with di-4-ANEPPS and fiducial markers were glued to the epicardium for motion tracking. The heart was imaged at 750 Hz with a video camera. Fluorescence was excited with cyan or blue LEDs on alternating camera frames, thus providing a 375-Hz effective sampling rate. Marker tracking enabled the pixel(s) imaging any epicardial site within the marked region to be identified in each camera frame. Cyan- and blue-elicited fluorescence have different sensitivities to Vm, but other signal features, primarily motion artifacts, are common. Thus, taking the ratio of fluorescence emitted by a motion-tracked epicardial site in adjacent frames removes artifacts, leaving Vm (excitation ratiometry). Reconstructed Vm signals were validated by comparison to monophasic action potentials and to conventional optical mapping signals. Binocular imaging with additional video cameras enabled marker motion to be tracked in three dimensions. From these data, epicardial deformation during the cardiac cycle was quantified by computing finite strain fields. We show that the method can simultaneously map Vm and strain in a left-sided working heart preparation and can image changes in both electrical and mechanical function 5 min after the induction of regional ischemia. By allowing high-resolution optical mapping in the absence of electromechanical uncoupling agents, the method relieves a long-standing limitation of optical mapping and has potential to enhance new studies in coupled cardiac electromechanics. Copyright © 2016 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Exploring the Language of Films.

ERIC Educational Resources Information Center

Roller, George E.

A film study course written for the Dade County, Fla. public schools is described which covers techniques of motion pictures and their historical development. Techniques include the "language of pictures" (distance shots, angle shots, color, lighting, arrangement), the "language of motion" (camera movement, subject movement),…

The Effects of Applying Game-Based Learning to Webcam Motion Sensor Games for Autistic Students' Sensory Integration Training

ERIC Educational Resources Information Center

Li, Kun-Hsien; Lou, Shi-Jer; Tsai, Huei-Yin; Shih, Ru-Chu

2012-01-01

This study aims to explore the effects of applying game-based learning to webcam motion sensor games for autistic students' sensory integration training for autistic students. The research participants were three autistic students aged from six to ten. Webcam camera as the research tool wad connected internet games to engage in motion sensor…

The phantom robot - Predictive displays for teleoperation with time delay

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Kim, Won S.; Venema, Steven C.

1990-01-01

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Study of the detail content of Apollo orbital photography

NASA Technical Reports Server (NTRS)

Kinzly, R. E.

1972-01-01

The results achieved during a study of the Detail Content of Apollo Orbital Photography are reported. The effect of residual motion smear or image reproduction processes upon the detail content of lunar surface imagery obtained from the orbiting command module are assessed. Data and conclusions obtained from the Apollo 8, 12, 14 and 15 missions are included. For the Apollo 8, 12 and 14 missions, the bracket-mounted Hasselblad camera had no mechanism internal to the camera for motion compensation. If the motion of the command module were left totally uncompensated, these photographs would exhibit a ground smear varying from 12 to 27 meters depending upon the focal length of the lens and the exposure time. During the photographic sequences motion compensation was attempted by firing the attitude control system of the spacecraft at a rate to compensate for the motion relative to the lunar surface. The residual smear occurring in selected frames of imagery was assessed using edge analyses methods to obtain and achieved modulation transfer function (MTF) which was compared to a baseline MTF.

Dissipation function and adaptive gradient reconstruction based smoke detection in video

NASA Astrophysics Data System (ADS)

Li, Bin; Zhang, Qiang; Shi, Chunlei

2017-11-01

A method for smoke detection in video is proposed. The camera monitoring the scene is assumed to be stationary. With the atmospheric scattering model, dissipation function is reflected transmissivity between the background objects in the scene and the camera. Dark channel prior and fast bilateral filter are used for estimating dissipation function which is only the function of the depth of field. Based on dissipation function, visual background extractor (ViBe) can be used for detecting smoke as a result of smoke's motion characteristics as well as detecting other moving targets. Since smoke has semi-transparent parts, the things which are covered by these parts can be recovered by poisson equation adaptively. The similarity between the recovered parts and the original background parts in the same position is calculated by Normalized Cross Correlation (NCC) and the original background's value is selected from the frame which is nearest to the current frame. The parts with high similarity are considered as smoke parts.

3D Surface Reconstruction of Rills in a Spanish Olive Grove

NASA Astrophysics Data System (ADS)

Brings, Christine; Gronz, Oliver; Seeger, Manuel; Wirtz, Stefan; Taguas, Encarnación; Ries, Johannes B.

2016-04-01

The low-cost, user-friendly photogrammetric Structure from Motion (SfM) technique is used for 3D surface reconstruction and difference calculation of an 18 meter long rill in South Spain (Andalusia, Puente Genil). The images were taken with a Canon HD video camera before and after a rill experiment in an olive grove. Recording with a video camera has compared to a photo camera a huge time advantage and the method also guarantees more than adequately overlapping sharp images. For each model, approximately 20 minutes of video were taken. As SfM needs single images, the sharpest image was automatically selected from 8 frame intervals. The sharpness was estimated using a derivative-based metric. Then, VisualSfM detects feature points in each image, searches matching feature points in all image pairs and recovers the camera and feature positions. Finally, by triangulation of camera positions and feature points the software reconstructs a point cloud of the rill surface. From the point cloud, 3D surface models (meshes) are created and via difference calculations of the pre and post model a visualization of the changes (erosion and accumulation areas) and quantification of erosion volumes are possible. The calculated volumes are presented in spatial units of the models and so real values must be converted via references. The results show that rills in olive groves have a high dynamic due to the lack of vegetation cover under the trees, so that the rill can incise until the bedrock. Another reason for the high activity is the intensive employment of machinery.

Using a wireless motion controller for 3D medical image catheter interactions

NASA Astrophysics Data System (ADS)

Vitanovski, Dime; Hahn, Dieter; Daum, Volker; Hornegger, Joachim

2009-02-01

State-of-the-art morphological imaging techniques usually provide high resolution 3D images with a huge number of slices. In clinical practice, however, 2D slice-based examinations are still the method of choice even for these large amounts of data. Providing intuitive interaction methods for specific 3D medical visualization applications is therefore a critical feature for clinical imaging applications. For the domain of catheter navigation and surgery planning, it is crucial to assist the physician with appropriate visualization techniques, such as 3D segmentation maps, fly-through cameras or virtual interaction approaches. There has been an ongoing development and improvement for controllers that help to interact with 3D environments in the domain of computer games. These controllers are based on both motion and infrared sensors and are typically used to detect 3D position and orientation. We have investigated how a state-of-the-art wireless motion sensor controller (Wiimote), developed by Nintendo, can be used for catheter navigation and planning purposes. By default the Wiimote controller only measure rough acceleration over a range of +/- 3g with 10% sensitivity and orientation. Therefore, a pose estimation algorithm was developed for computing accurate position and orientation in 3D space regarding 4 Infrared LEDs. Current results show that for the translation it is possible to obtain a mean error of (0.38cm, 0.41cm, 4.94cm) and for the rotation (0.16, 0.28) respectively. Within this paper we introduce a clinical prototype that allows steering of a virtual fly-through camera attached to the catheter tip by the Wii controller on basis of a segmented vessel tree.

Rapid assessment of forest canopy and light regime using smartphone hemispherical photography.

PubMed

Bianchi, Simone; Cahalan, Christine; Hale, Sophie; Gibbons, James Michael

2017-12-01

Hemispherical photography (HP), implemented with cameras equipped with "fisheye" lenses, is a widely used method for describing forest canopies and light regimes. A promising technological advance is the availability of low-cost fisheye lenses for smartphone cameras. However, smartphone camera sensors cannot record a full hemisphere. We investigate whether smartphone HP is a cheaper and faster but still adequate operational alternative to traditional cameras for describing forest canopies and light regimes. We collected hemispherical pictures with both smartphone and traditional cameras in 223 forest sample points, across different overstory species and canopy densities. The smartphone image acquisition followed a faster and simpler protocol than that for the traditional camera. We automatically thresholded all images. We processed the traditional camera images for Canopy Openness (CO) and Site Factor estimation. For smartphone images, we took two pictures with different orientations per point and used two processing protocols: (i) we estimated and averaged total canopy gap from the two single pictures, and (ii) merging the two pictures together, we formed images closer to full hemispheres and estimated from them CO and Site Factors. We compared the same parameters obtained from different cameras and estimated generalized linear mixed models (GLMMs) between them. Total canopy gap estimated from the first processing protocol for smartphone pictures was on average significantly higher than CO estimated from traditional camera images, although with a consistent bias. Canopy Openness and Site Factors estimated from merged smartphone pictures of the second processing protocol were on average significantly higher than those from traditional cameras images, although with relatively little absolute differences and scatter. Smartphone HP is an acceptable alternative to HP using traditional cameras, providing similar results with a faster and cheaper methodology. Smartphone outputs can be directly used as they are for ecological studies, or converted with specific models for a better comparison to traditional cameras.

Choosing a Motion Detector.

ERIC Educational Resources Information Center

Ballard, David M.

1990-01-01

Examines the characteristics of three types of motion detectors: Doppler radar, infrared, and ultrasonic wave, and how they are used on school buses to prevent students from being killed by their own school bus. Other safety devices cited are bus crossing arms and a camera monitor system. (MLF)

Controlling Brownian motion of single protein molecules and single fluorophores in aqueous buffer.

PubMed

Cohen, Adam E; Moerner, W E

2008-05-12

We present an Anti-Brownian Electrokinetic trap (ABEL trap) capable of trapping individual fluorescently labeled protein molecules in aqueous buffer. The ABEL trap operates by tracking the Brownian motion of a single fluorescent particle in solution, and applying a time-dependent electric field designed to induce an electrokinetic drift that cancels the Brownian motion. The trapping strength of the ABEL trap is limited by the latency of the feedback loop. In previous versions of the trap, this latency was set by the finite frame rate of the camera used for video-tracking. In the present system, the motion of the particle is tracked entirely in hardware (without a camera or image-processing software) using a rapidly rotating laser focus and lock-in detection. The feedback latency is set by the finite rate of arrival of photons. We demonstrate trapping of individual molecules of the protein GroEL in buffer, and we show confinement of single fluorophores of the dye Cy3 in water.

Restoration of motion blurred image with Lucy-Richardson algorithm

NASA Astrophysics Data System (ADS)

Li, Jing; Liu, Zhao Hui; Zhou, Liang

2015-10-01

Images will be blurred by relative motion between the camera and the object of interest. In this paper, we analyzed the process of motion-blurred image, and demonstrated a restoration method based on Lucy-Richardson algorithm. The blur extent and angle can be estimated by Radon transform algorithm and auto-correlation function, respectively, and then the point spread function (PSF) of the motion-blurred image can be obtained. Thus with the help of the obtained PSF, the Lucy-Richardson restoration algorithm is used for experimental analysis on the motion-blurred images that have different blur extents, spatial resolutions and signal-to-noise ratios (SNR's). Further, its effectiveness is also evaluated by structural similarity (SSIM). Further studies show that, at first, for the image with a spatial frequency of 0.2 per pixel, the modulation transfer function (MTF) of the restored images can maintains above 0.7 when the blur extent is no bigger than 13 pixels. That means the method compensates low frequency information of the image, while attenuates high frequency information. At second, we fund that the method is more effective on condition that the product of the blur extent and spatial frequency is smaller than 3.75. Finally, the Lucy-Richardson algorithm is found insensitive to the Gaussian noise (of which the variance is not bigger than 0.1) by calculating the MTF of the restored image.

A reduced-dimensionality approach to uncovering dyadic modes of body motion in conversations.

PubMed

Gaziv, Guy; Noy, Lior; Liron, Yuvalal; Alon, Uri

2017-01-01

Face-to-face conversations are central to human communication and a fascinating example of joint action. Beyond verbal content, one of the primary ways in which information is conveyed in conversations is body language. Body motion in natural conversations has been difficult to study precisely due to the large number of coordinates at play. There is need for fresh approaches to analyze and understand the data, in order to ask whether dyads show basic building blocks of coupled motion. Here we present a method for analyzing body motion during joint action using depth-sensing cameras, and use it to analyze a sample of scientific conversations. Our method consists of three steps: defining modes of body motion of individual participants, defining dyadic modes made of combinations of these individual modes, and lastly defining motion motifs as dyadic modes that occur significantly more often than expected given the single-person motion statistics. As a proof-of-concept, we analyze the motion of 12 dyads of scientists measured using two Microsoft Kinect cameras. In our sample, we find that out of many possible modes, only two were motion motifs: synchronized parallel torso motion in which the participants swayed from side to side in sync, and still segments where neither person moved. We find evidence of dyad individuality in the use of motion modes. For a randomly selected subset of 5 dyads, this individuality was maintained for at least 6 months. The present approach to simplify complex motion data and to define motion motifs may be used to understand other joint tasks and interactions. The analysis tools developed here and the motion dataset are publicly available.

A reduced-dimensionality approach to uncovering dyadic modes of body motion in conversations

PubMed Central

Noy, Lior; Liron, Yuvalal; Alon, Uri

2017-01-01

Face-to-face conversations are central to human communication and a fascinating example of joint action. Beyond verbal content, one of the primary ways in which information is conveyed in conversations is body language. Body motion in natural conversations has been difficult to study precisely due to the large number of coordinates at play. There is need for fresh approaches to analyze and understand the data, in order to ask whether dyads show basic building blocks of coupled motion. Here we present a method for analyzing body motion during joint action using depth-sensing cameras, and use it to analyze a sample of scientific conversations. Our method consists of three steps: defining modes of body motion of individual participants, defining dyadic modes made of combinations of these individual modes, and lastly defining motion motifs as dyadic modes that occur significantly more often than expected given the single-person motion statistics. As a proof-of-concept, we analyze the motion of 12 dyads of scientists measured using two Microsoft Kinect cameras. In our sample, we find that out of many possible modes, only two were motion motifs: synchronized parallel torso motion in which the participants swayed from side to side in sync, and still segments where neither person moved. We find evidence of dyad individuality in the use of motion modes. For a randomly selected subset of 5 dyads, this individuality was maintained for at least 6 months. The present approach to simplify complex motion data and to define motion motifs may be used to understand other joint tasks and interactions. The analysis tools developed here and the motion dataset are publicly available. PMID:28141861

Earth Observations taken by Expedition 41 crewmember

NASA Image and Video Library

2014-09-13

ISS041-E-013683 (13 Sept. 2014) --- Photographed with a mounted automated camera, this is one of a number of images featuring the European Space Agency?s Automated Transfer Vehicle (ATV-5 or Georges Lemaitre) docked with the International Space Station. Except for color changes, the images are almost identical. The variation in color from frame to frame is due to the camera?s response to the motion of the orbital outpost, relative to the illumination from the sun.

Earth Observations taken by Expedition 41 crewmember

NASA Image and Video Library

2014-09-13

ISS041-E-013687 (13 Sept. 2014) --- Photographed with a mounted automated camera, this is one of a number of images featuring the European Space Agency?s Automated Transfer Vehicle (ATV-5 or Georges Lemaitre) docked with the International Space Station. Except for color changes, the images are almost identical. The variation in color from frame to frame is due to the camera?s response to the motion of the orbital outpost, relative to the illumination from the sun.

Earth Observations taken by Expedition 41 crewmember

NASA Image and Video Library

2014-09-13

ISS041-E-013693 (13 Sept. 2014) --- Photographed with a mounted automated camera, this is one of a number of images featuring the European Space Agency?s Automated Transfer Vehicle (ATV-5 or Georges Lemaitre) docked with the International Space Station. Except for color changes, the images are almost identical. The variation in color from frame to frame is due to the camera?s response to the motion of the orbital outpost, relative to the illumination from the sun.

Validation of an image registration and segmentation method to measure stent graft motion on ECG-gated CT using a physical dynamic stent graft model

NASA Astrophysics Data System (ADS)

Koenrades, Maaike A.; Struijs, Ella M.; Klein, Almar; Kuipers, Henny; Geelkerken, Robert H.; Slump, Cornelis H.

2017-03-01

The application of endovascular aortic aneurysm repair has expanded over the last decade. However, the long-term performance of stent grafts, in particular durable fixation and sealing to the aortic wall, remains the main concern of this treatment. The sealing and fixation are challenged at every heartbeat due to downward and radial pulsatile forces. Yet knowledge on cardiac-induced dynamics of implanted stent grafts is sparse, as it is not measured in routine clinical follow-up. Such knowledge is particularly relevant to perform fatigue tests, to predict failure in the individual patient and to improve stent graft designs. Using a physical dynamic stent graft model in an anthropomorphic phantom, we have evaluated the performance of our previously proposed segmentation and registration algorithm to detect periodic motion of stent grafts on ECG-gated (3D+t) CT data. Abdominal aortic motion profiles were simulated in two series of Gaussian based patterns with different amplitudes and frequencies. Experiments were performed on a 64-slice CT scanner with a helical scan protocol and retrospective gating. Motion patterns as estimated by our algorithm were compared to motion patterns obtained from optical camera recordings of the physical stent graft model in motion. Absolute errors of the patterns' amplitude were smaller than 0.28 mm. Even the motion pattern with an amplitude of 0.23 mm was measured, although the amplitude of motion was overestimated by the algorithm with 43%. We conclude that the algorithm performs well for measurement of stent graft motion in the mm and sub-mm range. This ultimately is expected to aid in patient-specific risk assessment and improving stent graft designs.

Imaging of optically diffusive media by use of opto-elastography

NASA Astrophysics Data System (ADS)

Bossy, Emmanuel; Funke, Arik R.; Daoudi, Khalid; Tanter, Mickael; Fink, Mathias; Boccara, Claude

2007-02-01

We present a camera-based optical detection scheme designed to detect the transient motion created by the acoustic radiation force in elastic media. An optically diffusive tissue mimicking phantom was illuminated with coherent laser light, and a high speed camera (2 kHz frame rate) was used to acquire and cross-correlate consecutive speckle patterns. Time-resolved transient decorrelations of the optical speckle were measured as the results of localised motion induced in the medium by the radiation force and subsequent propagating shear waves. As opposed to classical acousto-optic techniques which are sensitive to vibrations induced by compressional waves at ultrasonic frequencies, the proposed technique is sensitive only to the low frequency transient motion induced in the medium by the radiation force. It therefore provides a way to assess both optical and shear mechanical properties.

Ultrafast electron microscopy integrated with a direct electron detection camera.

PubMed

Lee, Young Min; Kim, Young Jae; Kim, Ye-Jin; Kwon, Oh-Hoon

2017-07-01

In the past decade, we have witnessed the rapid growth of the field of ultrafast electron microscopy (UEM), which provides intuitive means to watch atomic and molecular motions of matter. Yet, because of the limited current of the pulsed electron beam resulting from space-charge effects, observations have been mainly made to periodic motions of the crystalline structure of hundreds of nanometers or higher by stroboscopic imaging at high repetition rates. Here, we develop an advanced UEM with robust capabilities for circumventing the present limitations by integrating a direct electron detection camera for the first time which allows for imaging at low repetition rates. This approach is expected to promote UEM to a more powerful platform to visualize molecular and collective motions and dissect fundamental physical, chemical, and materials phenomena in space and time.

Using the Standard Deviation of a Region of Interest in an Image to Estimate Camera to Emitter Distance

PubMed Central

Cano-García, Angel E.; Lazaro, José Luis; Infante, Arturo; Fernández, Pedro; Pompa-Chacón, Yamilet; Espinoza, Felipe

2012-01-01

In this study, a camera to infrared diode (IRED) distance estimation problem was analyzed. The main objective was to define an alternative to measures depth only using the information extracted from pixel grey levels of the IRED image to estimate the distance between the camera and the IRED. In this paper, the standard deviation of the pixel grey level in the region of interest containing the IRED image is proposed as an empirical parameter to define a model for estimating camera to emitter distance. This model includes the camera exposure time, IRED radiant intensity and the distance between the camera and the IRED. An expression for the standard deviation model related to these magnitudes was also derived and calibrated using different images taken under different conditions. From this analysis, we determined the optimum parameters to ensure the best accuracy provided by this alternative. Once the model calibration had been carried out, a differential method to estimate the distance between the camera and the IRED was defined and applied, considering that the camera was aligned with the IRED. The results indicate that this method represents a useful alternative for determining the depth information. PMID:22778608

Using the standard deviation of a region of interest in an image to estimate camera to emitter distance.

PubMed

Cano-García, Angel E; Lazaro, José Luis; Infante, Arturo; Fernández, Pedro; Pompa-Chacón, Yamilet; Espinoza, Felipe

2012-01-01

In this study, a camera to infrared diode (IRED) distance estimation problem was analyzed. The main objective was to define an alternative to measures depth only using the information extracted from pixel grey levels of the IRED image to estimate the distance between the camera and the IRED. In this paper, the standard deviation of the pixel grey level in the region of interest containing the IRED image is proposed as an empirical parameter to define a model for estimating camera to emitter distance. This model includes the camera exposure time, IRED radiant intensity and the distance between the camera and the IRED. An expression for the standard deviation model related to these magnitudes was also derived and calibrated using different images taken under different conditions. From this analysis, we determined the optimum parameters to ensure the best accuracy provided by this alternative. Once the model calibration had been carried out, a differential method to estimate the distance between the camera and the IRED was defined and applied, considering that the camera was aligned with the IRED. The results indicate that this method represents a useful alternative for determining the depth information.

Tracking a Head-Mounted Display in a Room-Sized Environment with Head-Mounted Cameras

DTIC Science & Technology

1990-04-01

poor resolution and a very limited working volume [Wan90]. 4 OPTOTRAK [Nor88] uses one camera with two dual-axis CCD infrared position sensors. Each...Nor88] Northern Digital. Trade literature on Optotrak - Northern Digital’s Three Dimensional Optical Motion Tracking and Analysis System. Northern Digital

Motion Sickness When Driving With a Head-Slaved Camera System

DTIC Science & Technology

2003-02-01

YPR-765 under armour (Report TM-97-A026). Soesterberg, The Netherlands: TNO Human Factors Research Institute. Van Erp, J.B.F., Padmos, P. & Tenkink, E...Institute. Van Erp, J.B.F., Van den Dobbelsteen, J.J. & Padmos, P. (1998). Improved camera-monitor system for driving YPR-765 under armour (Report TM-98

An HDR imaging method with DTDI technology for push-broom cameras

NASA Astrophysics Data System (ADS)

Sun, Wu; Han, Chengshan; Xue, Xucheng; Lv, Hengyi; Shi, Junxia; Hu, Changhong; Li, Xiangzhi; Fu, Yao; Jiang, Xiaonan; Huang, Liang; Han, Hongyin

2018-03-01

Conventionally, high dynamic-range (HDR) imaging is based on taking two or more pictures of the same scene with different exposure. However, due to a high-speed relative motion between the camera and the scene, it is hard for this technique to be applied to push-broom remote sensing cameras. For the sake of HDR imaging in push-broom remote sensing applications, the present paper proposes an innovative method which can generate HDR images without redundant image sensors or optical components. Specifically, this paper adopts an area array CMOS (complementary metal oxide semiconductor) with the digital domain time-delay-integration (DTDI) technology for imaging, instead of adopting more than one row of image sensors, thereby taking more than one picture with different exposure. And then a new HDR image by fusing two original images with a simple algorithm can be achieved. By conducting the experiment, the dynamic range (DR) of the image increases by 26.02 dB. The proposed method is proved to be effective and has potential in other imaging applications where there is a relative motion between the cameras and scenes.

Mars Odyssey Observes Martian Moons

NASA Image and Video Library

2018-02-22

Phobos and Deimos, the moons of Mars, are seen by the Mars Odyssey orbiter's Thermal Emission Imaging System, or THEMIS, camera. The images were taken in visible-wavelength light. THEMIS also recorded thermal-infrared imagery in the same scan. The apparent motion is due to progression of the camera's pointing during the 17-second span of the February 15, 2018, observation, not from motion of the two moons. This was the second observation of Phobos by Mars Odyssey; the first was on September 29, 2017. Researchers have been using THEMIS to examine Mars since early 2002, but the maneuver turning the orbiter around to point the camera at Phobos was developed only recently. The distance to Phobos from Odyssey during the observation was about 3,489 miles (5,615 kilometers). The distance to Deimos from Odyssey during the observation was about 12,222 miles (19,670 kilometers). An animation is available at https://photojournal.jpl.nasa.gov/catalog/PIA22248

Shuttlecock detection system for fully-autonomous badminton robot with two high-speed video cameras

NASA Astrophysics Data System (ADS)

Masunari, T.; Yamagami, K.; Mizuno, M.; Une, S.; Uotani, M.; Kanematsu, T.; Demachi, K.; Sano, S.; Nakamura, Y.; Suzuki, S.

2017-02-01

Two high-speed video cameras are successfully used to detect the motion of a flying shuttlecock of badminton. The shuttlecock detection system is applied to badminton robots that play badminton fully autonomously. The detection system measures the three dimensional position and velocity of a flying shuttlecock, and predicts the position where the shuttlecock falls to the ground. The badminton robot moves quickly to the position where the shuttle-cock falls to, and hits the shuttlecock back into the opponent's side of the court. In the game of badminton, there is a large audience, and some of them move behind a flying shuttlecock, which are a kind of background noise and makes it difficult to detect the motion of the shuttlecock. The present study demonstrates that such noises can be eliminated by the method of stereo imaging with two high-speed cameras.

Optical Indoor Positioning System Based on TFT Technology.

PubMed

Gőzse, István

2015-12-24

A novel indoor positioning system is presented in the paper. Similarly to the camera-based solutions, it is based on visual detection, but it conceptually differs from the classical approaches. First, the objects are marked by LEDs, and second, a special sensing unit is applied, instead of a camera, to track the motion of the markers. This sensing unit realizes a modified pinhole camera model, where the light-sensing area is fixed and consists of a small number of sensing elements (photodiodes), and it is the hole that can be moved. The markers are tracked by controlling the motion of the hole, such that the light of the LEDs always hits the photodiodes. The proposed concept has several advantages: Apart from its low computational demands, it is insensitive to the disturbing ambient light. Moreover, as every component of the system can be realized by simple and inexpensive elements, the overall cost of the system can be kept low.

Line-Constrained Camera Location Estimation in Multi-Image Stereomatching.

PubMed

Donné, Simon; Goossens, Bart; Philips, Wilfried

2017-08-23

Stereomatching is an effective way of acquiring dense depth information from a scene when active measurements are not possible. So-called lightfield methods take a snapshot from many camera locations along a defined trajectory (usually uniformly linear or on a regular grid-we will assume a linear trajectory) and use this information to compute accurate depth estimates. However, they require the locations for each of the snapshots to be known: the disparity of an object between images is related to both the distance of the camera to the object and the distance between the camera positions for both images. Existing solutions use sparse feature matching for camera location estimation. In this paper, we propose a novel method that uses dense correspondences to do the same, leveraging an existing depth estimation framework to also yield the camera locations along the line. We illustrate the effectiveness of the proposed technique for camera location estimation both visually for the rectification of epipolar plane images and quantitatively with its effect on the resulting depth estimation. Our proposed approach yields a valid alternative for sparse techniques, while still being executed in a reasonable time on a graphics card due to its highly parallelizable nature.

Eye gaze tracking for endoscopic camera positioning: an application of a hardware/software interface developed to automate Aesop.

PubMed

Ali, S M; Reisner, L A; King, B; Cao, A; Auner, G; Klein, M; Pandya, A K

2008-01-01

A redesigned motion control system for the medical robot Aesop allows automating and programming its movements. An IR eye tracking system has been integrated with this control interface to implement an intelligent, autonomous eye gaze-based laparoscopic positioning system. A laparoscopic camera held by Aesop can be moved based on the data from the eye tracking interface to keep the user's gaze point region at the center of a video feedback monitor. This system setup provides autonomous camera control that works around the surgeon, providing an optimal robotic camera platform.

STS-36 Mission Specialist Thuot operates 16mm camera on OV-104's middeck

NASA Image and Video Library

1990-03-03

STS-36 Mission Specialist (MS) Pierre J. Thuot operates 16mm ARRIFLEX motion picture camera mounted on the open airlock hatch via a bracket. Thuot uses the camera to record activity of his fellow STS-36 crewmembers on the middeck of Atlantis, Orbiter Vehicle (OV) 104. Positioned between the airlock hatch and the starboard wall-mounted sleep restraints, Thuot, wearing a FAIRFAX t-shirt, squints into the cameras eye piece. Thuot and four other astronauts spent four days, 10 hours and 19 minutes aboard OV-104 for the Department of Defense (DOD) devoted mission.

STS-36 Mission Specialist Thuot operates 16mm camera on OV-104's middeck

NASA Technical Reports Server (NTRS)

1990-01-01

STS-36 Mission Specialist (MS) Pierre J. Thuot operates 16mm ARRIFLEX motion picture camera mounted on the open airlock hatch via a bracket. Thuot uses the camera to record activity of his fellow STS-36 crewmembers on the middeck of Atlantis, Orbiter Vehicle (OV) 104. Positioned between the airlock hatch and the starboard wall-mounted sleep restraints, Thuot, wearing a FAIRFAX t-shirt, squints into the cameras eye piece. Thuot and four other astronauts spent four days, 10 hours and 19 minutes aboard OV-104 for the Department of Defense (DOD) devoted mission.

Homage to Bob Brodkey at 85: ejections, sweeps and the genesis and extensions of quadrant analysis

NASA Astrophysics Data System (ADS)

Wallace, James

2013-11-01

Almost 50 years ago Bob Brodkey and his student, Corino, conceived and carried out a visualization experiment for the very near wall region of a turbulent pipe flow (JFM 37) that, together with the turbulent boundary layer visualization of Kline et al. (JFM 30), excited the turbulence community. Using a high speed movie camera mounted on a lathe bed that recorded magnified images in a moving frame of reference, they observed the motions of small particles in the sub- and buffer-layers. Surprisingly, these motion were not nearly so locally random as was the general view of turbulence at the time. Rather, connected regions of the near wall flow decelerated and then erupted away from the wall in what they called ``ejections.'' These decelerated motions were followed by larger scale connected motions toward the wall from above that they called ``sweeps.'' Brodkey and Corino estimated that ejections accounted for 70 % the Reynolds shear stress at Red = 20 , 000 while only occurring about 18 % of the time. Wallace et al. (JFM 54) attempted to quantify these visual observations by conceiving of and carrying out a quadrant analyisis in a turbulent oil channel flow. This paper will trace this history and describe the expanding use of these ideas in turbulence research today.

System and method for generating motion corrected tomographic images

DOEpatents

Gleason, Shaun S [Knoxville, TN; Goddard, Jr., James S.

2012-05-01

A method and related system for generating motion corrected tomographic images includes the steps of illuminating a region of interest (ROI) to be imaged being part of an unrestrained live subject and having at least three spaced apart optical markers thereon. Simultaneous images are acquired from a first and a second camera of the markers from different angles. Motion data comprising 3D position and orientation of the markers relative to an initial reference position is then calculated. Motion corrected tomographic data obtained from the ROI using the motion data is then obtained, where motion corrected tomographic images obtained therefrom.

Teasing Apart Complex Motions using VideoPoint

NASA Astrophysics Data System (ADS)

Fischer, Mark

2002-10-01

Using video analysis software such as VideoPoint, it is possible to explore the physics of any phenomenon that can be captured on videotape. The good news is that complex motions can be filmed and analyzed. The bad news is that the motions can become very complex very quickly. An example of such a complicated motion, the 2-dimensional motion of an object as filmed by a camera that is moving and rotating in the same plane will be discussed. Methods for extracting the desired object motion will be given as well as suggestions for shooting more easily analyzable video clips.

Automatic 3D relief acquisition and georeferencing of road sides by low-cost on-motion SfM

NASA Astrophysics Data System (ADS)

Voumard, Jérémie; Bornemann, Perrick; Malet, Jean-Philippe; Derron, Marc-Henri; Jaboyedoff, Michel

2017-04-01

3D terrain relief acquisition is important for a large part of geosciences. Several methods have been developed to digitize terrains, such as total station, LiDAR, GNSS or photogrammetry. To digitize road (or rail tracks) sides on long sections, mobile spatial imaging system or UAV are commonly used. In this project, we compare a still fairly new method -the SfM on-motion technics- with some traditional technics of terrain digitizing (terrestrial laser scanning, traditional SfM, UAS imaging solutions, GNSS surveying systems and total stations). The SfM on-motion technics generates 3D spatial data by photogrammetric processing of images taken from a moving vehicle. Our mobile system consists of six action cameras placed on a vehicle. Four fisheye cameras mounted on a mast on the vehicle roof are placed at 3.2 meters above the ground. Three of them have a GNNS chip providing geotagged images. Two pictures were acquired every second by each camera. 4K resolution fisheye videos were also used to extract 8.3M not geotagged pictures. All these pictures are then processed with the Agisoft PhotoScan Professional software. Results from the SfM on-motion technics are compared with results from classical SfM photogrammetry on a 500 meters long alpine track. They were also compared with mobile laser scanning data on the same road section. First results seem to indicate that slope structures are well observable up to decimetric accuracy. For the georeferencing, the planimetric (XY) accuracy of few meters is much better than the altimetric (Z) accuracy. There is indeed a Z coordinate shift of few tens of meters between GoPro cameras and Garmin camera. This makes necessary to give a greater freedom to altimetric coordinates in the processing software. Benefits of this low-cost SfM on-motion method are: 1) a simple setup to use in the field (easy to switch between vehicle types as car, train, bike, etc.), 2) a low cost and 3) an automatic georeferencing of 3D points clouds. Main disadvantages are: 1) results are less accurate than those from LiDAR system, 2) a heavy images processing and 3) a short distance of acquisition.

Creative Film-Making.

ERIC Educational Resources Information Center

Smallman, Kirk

The fundamentals of motion picture photography are introduced with a physiological explanation for the illusion of motion in a film. Film stock formats and emulsions, camera features, and lights are listed and described. Various techniques of exposure control are illustrated in terms of their effects. Photographing action with a stationary or a…

A Vision-Based Motion Sensor for Undergraduate Laboratories.

ERIC Educational Resources Information Center

Salumbides, Edcel John; Maristela, Joyce; Uy, Alfredson; Karremans, Kees

2002-01-01

Introduces an alternative method to determine the mechanics of a moving object that uses computer vision algorithms with a charge-coupled device (CCD) camera as a recording device. Presents two experiments, pendulum motion and terminal velocity, to compare results of the alternative and conventional methods. (YDS)

Three-dimensional reconstruction of the fast-start swimming kinematics of densely schooling fish

PubMed Central

Paley, Derek A.

2012-01-01

Information transmission via non-verbal cues such as a fright response can be quantified in a fish school by reconstructing individual fish motion in three dimensions. In this paper, we describe an automated tracking framework to reconstruct the full-body trajectories of densely schooling fish using two-dimensional silhouettes in multiple cameras. We model the shape of each fish as a series of elliptical cross sections along a flexible midline. We estimate the size of each ellipse using an iterated extended Kalman filter. The shape model is used in a model-based tracking framework in which simulated annealing is applied at each step to estimate the midline. Results are presented for eight fish with occlusions. The tracking system is currently being used to investigate fast-start behaviour of schooling fish in response to looming stimuli. PMID:21642367

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

Real-Time External Respiratory Motion Measuring Technique Using an RGB-D Camera and Principal Component Analysis †

PubMed Central

Wijenayake, Udaya; Park, Soon-Yong

2017-01-01

Accurate tracking and modeling of internal and external respiratory motion in the thoracic and abdominal regions of a human body is a highly discussed topic in external beam radiotherapy treatment. Errors in target/normal tissue delineation and dose calculation and the increment of the healthy tissues being exposed to high radiation doses are some of the unsolicited problems caused due to inaccurate tracking of the respiratory motion. Many related works have been introduced for respiratory motion modeling, but a majority of them highly depend on radiography/fluoroscopy imaging, wearable markers or surgical node implanting techniques. We, in this article, propose a new respiratory motion tracking approach by exploiting the advantages of an RGB-D camera. First, we create a patient-specific respiratory motion model using principal component analysis (PCA) removing the spatial and temporal noise of the input depth data. Then, this model is utilized for real-time external respiratory motion measurement with high accuracy. Additionally, we introduce a marker-based depth frame registration technique to limit the measuring area into an anatomically consistent region that helps to handle the patient movements during the treatment. We achieved a 0.97 correlation comparing to a spirometer and 0.53 mm average error considering a laser line scanning result as the ground truth. As future work, we will use this accurate measurement of external respiratory motion to generate a correlated motion model that describes the movements of internal tumors. PMID:28792468

Motion Evaluation for Rehabilitation Training of the Disabled

NASA Astrophysics Data System (ADS)

Kim, Tae-Young; Park, Jun; Lim, Cheol-Su

In this paper, a motion evaluation technique for rehabilitation training is introduced. Motion recognition technologies have been developed for determining matching motions in the training set. However, we need to measure how well and how much of the motion has been followed for training motion evaluation. We employed a Finite State Machine as a framework of motion evaluation. For similarity analysis, we used weighted angular value differences although any template matching algorithm may be used. For robustness under illumination changes, IR LED's and cameras with IR-pass filter were used. Developed technique was successfully used for rehabilitation training of the disabled. Therapists appraised the system as practically useful.

A Height Estimation Approach for Terrain Following Flights from Monocular Vision

PubMed Central

Campos, Igor S. G.; Nascimento, Erickson R.; Freitas, Gustavo M.; Chaimowicz, Luiz

2016-01-01

In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights. The proposed methodology consists of using optical flow to track features from videos obtained by the UAV, as well as its motion information to estimate the flying height. To determine if the height estimation is reliable, we trained a decision tree that takes the optical flow information as input and classifies whether the output is trustworthy or not. The classifier achieved accuracies of 80% for positives and 90% for negatives, while the height estimation algorithm presented good accuracy. PMID:27929424

Practical use of high-speed cameras for research and development within the automotive industry: yesterday and today

NASA Astrophysics Data System (ADS)

Steinmetz, Klaus

1995-05-01

Within the automotive industry, especially for the development and improvement of safety systems, we find a lot of high accelerated motions, that can not be followed and consequently not be analyzed by human eye. For the vehicle safety tests at AUDI, which are performed as 'Crash Tests', 'Sled Tests' and 'Static Component Tests', 'Stalex', 'Hycam', and 'Locam' cameras are in use. Nowadays the automobile production is inconceivable without the use of high speed cameras.

STS-31 crew activity on the middeck of the Earth-orbiting Discovery, OV-103

NASA Image and Video Library

1990-04-29

STS031-05-002 (24-29 April 1990) --- A 35mm camera with a "fish eye" lens captured this high angle image on Discovery's middeck. Astronaut Kathryn D. Sullivan works with the IMAX camera in foreground, while Astronaut Steven A. Hawley consults a checklist in corner. An Arriflex motion picture camera records student ion arc experiment in apparatus mounted on stowage locker. The experiment was the project of Gregory S. Peterson, currently a student at Utah State University.

Movable Cameras And Monitors For Viewing Telemanipulator

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Venema, Steven C.

1993-01-01

Three methods proposed to assist operator viewing telemanipulator on video monitor in control station when video image generated by movable video camera in remote workspace of telemanipulator. Monitors rotated or shifted and/or images in them transformed to adjust coordinate systems of scenes visible to operator according to motions of cameras and/or operator's preferences. Reduces operator's workload and probability of error by obviating need for mental transformations of coordinates during operation. Methods applied in outer space, undersea, in nuclear industry, in surgery, in entertainment, and in manufacturing.

On a novel low cost high accuracy experimental setup for tomographic particle image velocimetry

NASA Astrophysics Data System (ADS)

Discetti, Stefano; Ianiro, Andrea; Astarita, Tommaso; Cardone, Gennaro

2013-07-01

This work deals with the critical aspects related to cost reduction of a Tomo PIV setup and to the bias errors introduced in the velocity measurements by the coherent motion of the ghost particles. The proposed solution consists of using two independent imaging systems composed of three (or more) low speed single frame cameras, which can be up to ten times cheaper than double shutter cameras with the same image quality. Each imaging system is used to reconstruct a particle distribution in the same measurement region, relative to the first and the second exposure, respectively. The reconstructed volumes are then interrogated by cross-correlation in order to obtain the measured velocity field, as in the standard tomographic PIV implementation. Moreover, differently from tomographic PIV, the ghost particle distributions of the two exposures are uncorrelated, since their spatial distribution is camera orientation dependent. For this reason, the proposed solution promises more accurate results, without the bias effect of the coherent ghost particles motion. Guidelines for the implementation and the application of the present method are proposed. The performances are assessed with a parametric study on synthetic experiments. The proposed low cost system produces a much lower modulation with respect to an equivalent three-camera system. Furthermore, the potential accuracy improvement using the Motion Tracking Enhanced MART (Novara et al 2010 Meas. Sci. Technol. 21 035401) is much higher than in the case of the standard implementation of tomographic PIV.

3D landslide motion from a UAV-derived time-series of morphological attributes

NASA Astrophysics Data System (ADS)

Valasia Peppa, Maria; Mills, Jon Philip; Moore, Philip; Miller, Pauline; Chambers, Jon

2017-04-01

Landslides are recognised as dynamic and significantly hazardous phenomena. Time-series observations can improve the understanding of a landslide's complex behaviour and aid assessment of its geometry and kinematics. Conventional quantification of landslide motion involves the installation of survey markers into the ground at discrete locations and periodic observations over time. However, such surveying is labour intensive, provides limited spatial resolution, is occasionally hazardous for steep terrain, or even impossible for inaccessible mountainous areas. The emergence of mini unmanned aerial vehicles (UAVs) equipped with off-the-shelf compact cameras, alongside the structure-from-motion (SfM) photogrammetric pipeline and modern pixel-based matching approaches, has expedited the automatic generation of high resolution digital elevation models (DEMs). Moreover, cross-correlation functions applied to finely co-registered consecutive orthomosaics and/or DEMs have been widely used to determine the displacement of moving features in an automated way, resulting in high spatial resolution motion vectors. This research focuses on estimating the 3D displacement field of an active slow moving earth-slide earth-flow landslide located in Lias mudrocks of North Yorkshire, UK, with the ultimate aim of assessing landslide deformation patterns. The landslide extends approximately 290 m E-W and 230 m N-S, with an average slope of 12˚ and 50 m elevation difference from N-S. Cross-correlation functions were applied to an eighteen-month duration, UAV-derived, time-series of morphological attributes in order to determine motion vectors for subsequent landslide analysis. A self-calibrating bundle adjustment was firstly incorporated into the SfM pipeline and utilised to process imagery acquired using a Panasonic Lumix DMC-LX5 compact camera from a mini fixed-wing Quest 300 UAV, with 2 m wingspan and maximum 5 kg payload. Data from six field campaigns were used to generate a DEM time-series at 6 cm spatial resolution. DEMs were georeferenced into a common reference frame using control information from surveyed ground control points. The accuracy of the co-registration was estimated from planimetric and vertical RMS errors at independent checkpoints as 4 cm and 3 cm respectively. Afterwards, various morphological attributes, including shaded relief, curvature and openness were calculated from the UAV-derived DEMs. These attributes are indicative of the local structures of discernible geomorphological features (e.g. scarps, ridges, cracks, etc.), the motion of which can be monitored using the cross-correlation algorithm. Multiple experiments were conducted to test the performance of the cross-correlation function implemented on successive epochs. Two benchmark datasets were used for validation of the cross-correlation results: a) the motion vectors generated from the surveyed 3D position of installed markers; b) the calculated displacements of features, manually tracked from successive UAV-derived orthomosaics. Both benchmark datasets detected a maximum planimetric displacement of approximately 1 m at the foot of the landslide, with a dominant N-S orientation, between December 2014 and May 2016. Preliminary cross-correlation results illustrated a similar planimetric motion in both magnitude and orientation, however user intervention was required to filter spurious displacement vectors.

Heliostat kinematic system calibration using uncalibrated cameras

NASA Astrophysics Data System (ADS)

Burisch, Michael; Gomez, Luis; Olasolo, David; Villasante, Cristobal

2017-06-01

The efficiency of the solar field greatly depends on the ability of the heliostats to precisely reflect solar radiation onto a central receiver. To control the heliostats with such a precision accurate knowledge of the motion of each of them modeled as a kinematic system is required. Determining the parameters of this system for each heliostat by a calibration system is crucial for the efficient operation of the solar field. For small sized heliostats being able to make such a calibration in a fast and automatic manner is imperative as the solar field potentially contain tens or even hundreds of thousands of them. A calibration system which can rapidly recalibrate a whole solar field would also allow reducing costs. Heliostats are generally designed to provide stability over a large period of time. Being able to relax this requirement and compensate any occurring error by adapting parameters in a model, the costs of the heliostat can be reduced. The presented method describes such an automatic calibration system using uncalibrated cameras rigidly attached to each heliostat. The cameras are used to observe targets spread out through the solar field; based on this the kinematic system of the heliostat can be estimated with high precision. A comparison of this approach to similar solutions shows the viability of the proposed solution.

Are camera surveys useful for assessing recruitment in white-tailed deer?

DOE PAGES

Chitwood, M. Colter; Lashley, Marcus A.; Kilgo, John C.; ...

2016-12-27

Camera surveys commonly are used by managers and hunters to estimate white-tailed deer Odocoileus virginianus density and demographic rates. Though studies have documented biases and inaccuracies in the camera survey methodology, camera traps remain popular due to ease of use, cost-effectiveness, and ability to survey large areas. Because recruitment is a key parameter in ungulate population dynamics, there is a growing need to test the effectiveness of camera surveys for assessing fawn recruitment. At Savannah River Site, South Carolina, we used six years of camera-based recruitment estimates (i.e. fawn:doe ratio) to predict concurrently collected annual radiotag-based survival estimates. The coefficientmore » of determination (R) was 0.445, indicating some support for the viability of cameras to reflect recruitment. Here, we added two years of data from Fort Bragg Military Installation, North Carolina, which improved R to 0.621 without accounting for site-specific variability. Also, we evaluated the correlation between year-to-year changes in recruitment and survival using the Savannah River Site data; R was 0.758, suggesting that camera-based recruitment could be useful as an indicator of the trend in survival. Because so few researchers concurrently estimate survival and camera-based recruitment, examining this relationship at larger spatial scales while controlling for numerous confounding variables remains difficult. We believe that future research should test the validity of our results from other areas with varying deer and camera densities, as site (e.g. presence of feral pigs Sus scrofa) and demographic (e.g. fawn age at time of camera survey) parameters may have a large influence on detectability. Until such biases are fully quantified, we urge researchers and managers to use caution when advocating the use of camera-based recruitment estimates.« less

CCDs in the Mechanics Lab--A Competitive Alternative (Part II).

ERIC Educational Resources Information Center

Pinto, Fabrizio

1995-01-01

Describes a system of interactive astronomy whereby nonscience students are able to acquire their own images from a room remotely linked to a telescope. Briefly discusses some applications of Charge-Coupled Device cameras (CCDs) in teaching free fall, projectile motion, and the motion of the pendulum. (JRH)

Video Analysis of Muscle Motion

ERIC Educational Resources Information Center

Foster, Boyd

2004-01-01

In this article, the author discusses how video cameras can help students in physical education and sport science classes successfully learn and present anatomy and kinesiology content at levels. Video analysis of physical activity is an excellent way to expand student knowledge of muscle location and function, planes and axes of motion, and…

Robust estimation of simulated urinary volume from camera images under bathroom illumination.

PubMed

Honda, Chizuru; Bhuiyan, Md Shoaib; Kawanaka, Haruki; Watanabe, Eiichi; Oguri, Koji

2016-08-01

General uroflowmetry method involves the risk of nosocomial infections or time and effort of the recording. Medical institutions, therefore, need to measure voided volume simply and hygienically. Multiple cylindrical model that can estimate the fluid flow rate from the photographed image using camera has been proposed in an earlier study. This study implemented a flow rate estimation by using a general-purpose camera system (Raspberry Pi Camera Module) and the multiple cylindrical model. However, large amounts of noise in extracting liquid region are generated by the variation of the illumination when performing measurements in the bathroom. So the estimation error gets very large. In other words, the specifications of the previous study's camera setup regarding the shutter type and the frame rate was too strict. In this study, we relax the specifications to achieve a flow rate estimation using a general-purpose camera. In order to determine the appropriate approximate curve, we propose a binarizing method using background subtraction at each scanning row and a curve approximation method using RANSAC. Finally, by evaluating the estimation accuracy of our experiment and by comparing it with the earlier study's results, we show the effectiveness of our proposed method for flow rate estimation.

Audiovisual quality estimation of mobile phone video cameras with interpretation-based quality approach

NASA Astrophysics Data System (ADS)

Radun, Jenni E.; Virtanen, Toni; Olives, Jean-Luc; Vaahteranoksa, Mikko; Vuori, Tero; Nyman, Göte

2007-01-01

We present an effective method for comparing subjective audiovisual quality and the features related to the quality changes of different video cameras. Both quantitative estimation of overall quality and qualitative description of critical quality features are achieved by the method. The aim was to combine two image quality evaluation methods, the quantitative Absolute Category Rating (ACR) method with hidden reference removal and the qualitative Interpretation- Based Quality (IBQ) method in order to see how they complement each other in audiovisual quality estimation tasks. 26 observers estimated the audiovisual quality of six different cameras, mainly mobile phone video cameras. In order to achieve an efficient subjective estimation of audiovisual quality, only two contents with different quality requirements were recorded with each camera. The results show that the subjectively important quality features were more related to the overall estimations of cameras' visual video quality than to the features related to sound. The data demonstrated two significant quality dimensions related to visual quality: darkness and sharpness. We conclude that the qualitative methodology can complement quantitative quality estimations also with audiovisual material. The IBQ approach is valuable especially, when the induced quality changes are multidimensional.

Robot acting on moving bodies (RAMBO): Preliminary results

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madju; Harwood, David

1989-01-01

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

A Markerless 3D Computerized Motion Capture System Incorporating a Skeleton Model for Monkeys.

PubMed

Nakamura, Tomoya; Matsumoto, Jumpei; Nishimaru, Hiroshi; Bretas, Rafael Vieira; Takamura, Yusaku; Hori, Etsuro; Ono, Taketoshi; Nishijo, Hisao

2016-01-01

In this study, we propose a novel markerless motion capture system (MCS) for monkeys, in which 3D surface images of monkeys were reconstructed by integrating data from four depth cameras, and a skeleton model of the monkey was fitted onto 3D images of monkeys in each frame of the video. To validate the MCS, first, estimated 3D positions of body parts were compared between the 3D MCS-assisted estimation and manual estimation based on visual inspection when a monkey performed a shuttling behavior in which it had to avoid obstacles in various positions. The mean estimation error of the positions of body parts (3-14 cm) and of head rotation (35-43°) between the 3D MCS-assisted and manual estimation were comparable to the errors between two different experimenters performing manual estimation. Furthermore, the MCS could identify specific monkey actions, and there was no false positive nor false negative detection of actions compared with those in manual estimation. Second, to check the reproducibility of MCS-assisted estimation, the same analyses of the above experiments were repeated by a different user. The estimation errors of positions of most body parts between the two experimenters were significantly smaller in the MCS-assisted estimation than in the manual estimation. Third, effects of methamphetamine (MAP) administration on the spontaneous behaviors of four monkeys were analyzed using the MCS. MAP significantly increased head movements, tended to decrease locomotion speed, and had no significant effect on total path length. The results were comparable to previous human clinical data. Furthermore, estimated data following MAP injection (total path length, walking speed, and speed of head rotation) correlated significantly between the two experimenters in the MCS-assisted estimation (r = 0.863 to 0.999). The results suggest that the presented MCS in monkeys is useful in investigating neural mechanisms underlying various psychiatric disorders and developing pharmacological interventions.

Integrating motion-detection cameras and hair snags for wolverine identification

Treesearch

Audrey J. Magoun; Clinton D. Long; Michael K. Schwartz; Kristine L. Pilgrim; Richard E. Lowell; Patrick Valkenburg

2011-01-01

We developed an integrated system for photographing a wolverine's (Gulo gulo) ventral pattern while concurrently collecting hair for microsatellite DNA genotyping. Our objectives were to 1) test the system on a wild population of wolverines using an array of camera and hair-snag (C&H) stations in forested habitat where wolverines were known to occur, 2)...

Vapour Pressure and Adiabatic Cooling from Champagne: Slow-Motion Visualization of Gas Thermodynamics

ERIC Educational Resources Information Center

Vollmer, Michael; Mollmann, Klaus-Peter

2012-01-01

The recent introduction of inexpensive high-speed cameras offers a new experimental approach to many simple but fast-occurring events in physics. In this paper, the authors present two simple demonstration experiments recorded with high-speed cameras in the fields of gas dynamics and thermal physics. The experiments feature vapour pressure effects…

The World in Slow Motion: Using a High-Speed Camera in a Physics Workshop

ERIC Educational Resources Information Center

Dewanto, Andreas; Lim, Geok Quee; Kuang, Jianhong; Zhang, Jinfeng; Yeo, Ye

2012-01-01

We present a physics workshop for college students to investigate various physical phenomena using high-speed cameras. The technical specifications required, the step-by-step instructions, as well as the practical limitations of the workshop, are discussed. This workshop is also intended to be a novel way to promote physics to Generation-Y…

Camera traps and activity signs to estimate wild boar density and derive abundance indices.

PubMed

Massei, Giovanna; Coats, Julia; Lambert, Mark Simon; Pietravalle, Stephane; Gill, Robin; Cowan, Dave

2018-04-01

Populations of wild boar and feral pigs are increasing worldwide, in parallel with their significant environmental and economic impact. Reliable methods of monitoring trends and estimating abundance are needed to measure the effects of interventions on population size. The main aims of this study, carried out in five English woodlands were: (i) to compare wild boar abundance indices obtained from camera trap surveys and from activity signs; and (ii) to assess the precision of density estimates in relation to different densities of camera traps. For each woodland, we calculated a passive activity index (PAI) based on camera trap surveys, rooting activity and wild boar trails on transects, and estimated absolute densities based on camera trap surveys. PAIs obtained using different methods showed similar patterns. We found significant between-year differences in abundance of wild boar using PAIs based on camera trap surveys and on trails on transects, but not on signs of rooting on transects. The density of wild boar from camera trap surveys varied between 0.7 and 7 animals/km 2 . Increasing the density of camera traps above nine per km 2 did not increase the precision of the estimate of wild boar density. PAIs based on number of wild boar trails and on camera trap data appear to be more sensitive to changes in population size than PAIs based on signs of rooting. For wild boar densities similar to those recorded in this study, nine camera traps per km 2 are sufficient to estimate the mean density of wild boar. © 2017 Crown copyright. Pest Management Science © 2017 Society of Chemical Industry. © 2017 Crown copyright. Pest Management Science © 2017 Society of Chemical Industry.

Implementation of a Real-Time Stacking Algorithm in a Photogrammetric Digital Camera for Uavs

NASA Astrophysics Data System (ADS)

Audi, A.; Pierrot-Deseilligny, M.; Meynard, C.; Thom, C.

2017-08-01

In the recent years, unmanned aerial vehicles (UAVs) have become an interesting tool in aerial photography and photogrammetry activities. In this context, some applications (like cloudy sky surveys, narrow-spectral imagery and night-vision imagery) need a longexposure time where one of the main problems is the motion blur caused by the erratic camera movements during image acquisition. This paper describes an automatic real-time stacking algorithm which produces a high photogrammetric quality final composite image with an equivalent long-exposure time using several images acquired with short-exposure times. Our method is inspired by feature-based image registration technique. The algorithm is implemented on the light-weight IGN camera, which has an IMU sensor and a SoC/FPGA. To obtain the correct parameters for the resampling of images, the presented method accurately estimates the geometrical relation between the first and the Nth image, taking into account the internal parameters and the distortion of the camera. Features are detected in the first image by the FAST detector, than homologous points on other images are obtained by template matching aided by the IMU sensors. The SoC/FPGA in the camera is used to speed up time-consuming parts of the algorithm such as features detection and images resampling in order to achieve a real-time performance as we want to write only the resulting final image to save bandwidth on the storage device. The paper includes a detailed description of the implemented algorithm, resource usage summary, resulting processing time, resulting images, as well as block diagrams of the described architecture. The resulting stacked image obtained on real surveys doesn't seem visually impaired. Timing results demonstrate that our algorithm can be used in real-time since its processing time is less than the writing time of an image in the storage device. An interesting by-product of this algorithm is the 3D rotation estimated by a photogrammetric method between poses, which can be used to recalibrate in real-time the gyrometers of the IMU.

Introductory review on `Flying Triangulation': a motion-robust optical 3D measurement principle

NASA Astrophysics Data System (ADS)

Ettl, Svenja

2015-04-01

'Flying Triangulation' (FlyTri) is a recently developed principle which allows for a motion-robust optical 3D measurement of rough surfaces. It combines a simple sensor with sophisticated algorithms: a single-shot sensor acquires 2D camera images. From each camera image, a 3D profile is generated. The series of 3D profiles generated are aligned to one another by algorithms, without relying on any external tracking device. It delivers real-time feedback of the measurement process which enables an all-around measurement of objects. The principle has great potential for small-space acquisition environments, such as the measurement of the interior of a car, and motion-sensitive measurement tasks, such as the intraoral measurement of teeth. This article gives an overview of the basic ideas and applications of FlyTri. The main challenges and their solutions are discussed. Measurement examples are also given to demonstrate the potential of the measurement principle.

A High-Speed Motion-Picture Study of Normal Combustion, Knock and Preignition in a Spark-Ignition Engines

NASA Technical Reports Server (NTRS)

Rothrock, A M; Spencer, R C; Miller, Cearcy D

1941-01-01

Combustion in a spark-ignition engine was investigated by means of the NACA high-speed motion-picture cameras. This camera is operated at a speed of 40,000 photographs a second and therefore makes possible the study of changes that take place in the intervals as short as 0.000025 second. When the motion pictures are projected at the normal speed of 16 frames a second, any rate of movement shown is slowed down 2500 times. Photographs are presented of normal combustion, of combustion from preignitions, and of knock both with and without preignition. The photographs of combustion show that knock may be preceded by a period of exothermic reaction in the end zone that persists for a time interval of as much as 0.0006 second. The knock takes place in 0.00005 second or less.

Scalable Photogrammetric Motion Capture System "mosca": Development and Application

NASA Astrophysics Data System (ADS)

Knyaz, V. A.

2015-05-01

Wide variety of applications (from industrial to entertainment) has a need for reliable and accurate 3D information about motion of an object and its parts. Very often the process of movement is rather fast as in cases of vehicle movement, sport biomechanics, animation of cartoon characters. Motion capture systems based on different physical principles are used for these purposes. The great potential for obtaining high accuracy and high degree of automation has vision-based system due to progress in image processing and analysis. Scalable inexpensive motion capture system is developed as a convenient and flexible tool for solving various tasks requiring 3D motion analysis. It is based on photogrammetric techniques of 3D measurements and provides high speed image acquisition, high accuracy of 3D measurements and highly automated processing of captured data. Depending on the application the system can be easily modified for different working areas from 100 mm to 10 m. The developed motion capture system uses from 2 to 4 technical vision cameras for video sequences of object motion acquisition. All cameras work in synchronization mode at frame rate up to 100 frames per second under the control of personal computer providing the possibility for accurate calculation of 3D coordinates of interest points. The system was used for a set of different applications fields and demonstrated high accuracy and high level of automation.

Inner hair cell stereocilia movements captured in-situ by a high-speed camera with subpixel image processing

NASA Astrophysics Data System (ADS)

Wang, Yanli; Puria, Sunil; Steele, Charles R.; Ricci, Anthony J.

2018-05-01

Mechanical stimulation of the stereocilia hair bundles of the inner and outer hair cells (IHCs and OHCs, respectively) drives IHC synaptic release and OHC electromotility. The modes of hair-bundle motion can have a dramatic influence on the electrophysiological responses of the hair cells. The in vivo modes of motion are, however, unknown for both IHC and OHC bundles. In this work, we are developing technology to investigate the in situ hair-bundle motion in excised mouse cochleae, for which the hair bundles of the OHCs are embedded in the tectorial membrane but those of the IHCs are not. Motion is generated by pushing onto the stapes at 1 kHz with a glass probe coupled to a piezo stack, and recorded using a high-speed camera at 10,000 frames per second. The motions of individual IHC stereocilia and the cell boundary are analyzed using 2D and 1D Gaussian fitting algorithms, respectively. Preliminary results show that the IHC bundle moves mainly in the radial direction and exhibits a small degree of splay, and that the stereocilia in the second row move less than those in the first row, even in the same focal plane.

Implementation of an IMU Aided Image Stacking Algorithm in a Digital Camera for Unmanned Aerial Vehicles

PubMed Central

Audi, Ahmad; Pierrot-Deseilligny, Marc; Meynard, Christophe

2017-01-01

Images acquired with a long exposure time using a camera embedded on UAVs (Unmanned Aerial Vehicles) exhibit motion blur due to the erratic movements of the UAV. The aim of the present work is to be able to acquire several images with a short exposure time and use an image processing algorithm to produce a stacked image with an equivalent long exposure time. Our method is based on the feature point image registration technique. The algorithm is implemented on the light-weight IGN (Institut national de l’information géographique) camera, which has an IMU (Inertial Measurement Unit) sensor and an SoC (System on Chip)/FPGA (Field-Programmable Gate Array). To obtain the correct parameters for the resampling of the images, the proposed method accurately estimates the geometrical transformation between the first and the N-th images. Feature points are detected in the first image using the FAST (Features from Accelerated Segment Test) detector, then homologous points on other images are obtained by template matching using an initial position benefiting greatly from the presence of the IMU sensor. The SoC/FPGA in the camera is used to speed up some parts of the algorithm in order to achieve real-time performance as our ultimate objective is to exclusively write the resulting image to save bandwidth on the storage device. The paper includes a detailed description of the implemented algorithm, resource usage summary, resulting processing time, resulting images and block diagrams of the described architecture. The resulting stacked image obtained for real surveys does not seem visually impaired. An interesting by-product of this algorithm is the 3D rotation estimated by a photogrammetric method between poses, which can be used to recalibrate in real time the gyrometers of the IMU. Timing results demonstrate that the image resampling part of this algorithm is the most demanding processing task and should also be accelerated in the FPGA in future work. PMID:28718788

Implementation of an IMU Aided Image Stacking Algorithm in a Digital Camera for Unmanned Aerial Vehicles.

PubMed

Audi, Ahmad; Pierrot-Deseilligny, Marc; Meynard, Christophe; Thom, Christian

2017-07-18

Images acquired with a long exposure time using a camera embedded on UAVs (Unmanned Aerial Vehicles) exhibit motion blur due to the erratic movements of the UAV. The aim of the present work is to be able to acquire several images with a short exposure time and use an image processing algorithm to produce a stacked image with an equivalent long exposure time. Our method is based on the feature point image registration technique. The algorithm is implemented on the light-weight IGN (Institut national de l'information géographique) camera, which has an IMU (Inertial Measurement Unit) sensor and an SoC (System on Chip)/FPGA (Field-Programmable Gate Array). To obtain the correct parameters for the resampling of the images, the proposed method accurately estimates the geometrical transformation between the first and the N -th images. Feature points are detected in the first image using the FAST (Features from Accelerated Segment Test) detector, then homologous points on other images are obtained by template matching using an initial position benefiting greatly from the presence of the IMU sensor. The SoC/FPGA in the camera is used to speed up some parts of the algorithm in order to achieve real-time performance as our ultimate objective is to exclusively write the resulting image to save bandwidth on the storage device. The paper includes a detailed description of the implemented algorithm, resource usage summary, resulting processing time, resulting images and block diagrams of the described architecture. The resulting stacked image obtained for real surveys does not seem visually impaired. An interesting by-product of this algorithm is the 3D rotation estimated by a photogrammetric method between poses, which can be used to recalibrate in real time the gyrometers of the IMU. Timing results demonstrate that the image resampling part of this algorithm is the most demanding processing task and should also be accelerated in the FPGA in future work.

3D for the people: multi-camera motion capture in the field with consumer-grade cameras and open source software

PubMed Central

Evangelista, Dennis J.; Ray, Dylan D.; Hedrick, Tyson L.

2016-01-01

ABSTRACT Ecological, behavioral and biomechanical studies often need to quantify animal movement and behavior in three dimensions. In laboratory studies, a common tool to accomplish these measurements is the use of multiple, calibrated high-speed cameras. Until very recently, the complexity, weight and cost of such cameras have made their deployment in field situations risky; furthermore, such cameras are not affordable to many researchers. Here, we show how inexpensive, consumer-grade cameras can adequately accomplish these measurements both within the laboratory and in the field. Combined with our methods and open source software, the availability of inexpensive, portable and rugged cameras will open up new areas of biological study by providing precise 3D tracking and quantification of animal and human movement to researchers in a wide variety of field and laboratory contexts. PMID:27444791

Quantified, Interactive Simulation of AMCW ToF Camera Including Multipath Effects

PubMed Central

Lambers, Martin; Kolb, Andreas

2017-01-01

In the last decade, Time-of-Flight (ToF) range cameras have gained increasing popularity in robotics, automotive industry, and home entertainment. Despite technological developments, ToF cameras still suffer from error sources such as multipath interference or motion artifacts. Thus, simulation of ToF cameras, including these artifacts, is important to improve camera and algorithm development. This paper presents a physically-based, interactive simulation technique for amplitude modulated continuous wave (AMCW) ToF cameras, which, among other error sources, includes single bounce indirect multipath interference based on an enhanced image-space approach. The simulation accounts for physical units down to the charge level accumulated in sensor pixels. Furthermore, we present the first quantified comparison for ToF camera simulators. We present bidirectional reference distribution function (BRDF) measurements for selected, purchasable materials in the near-infrared (NIR) range, craft real and synthetic scenes out of these materials and quantitatively compare the range sensor data. PMID:29271888

Quantified, Interactive Simulation of AMCW ToF Camera Including Multipath Effects.

PubMed

Bulczak, David; Lambers, Martin; Kolb, Andreas

2017-12-22

In the last decade, Time-of-Flight (ToF) range cameras have gained increasing popularity in robotics, automotive industry, and home entertainment. Despite technological developments, ToF cameras still suffer from error sources such as multipath interference or motion artifacts. Thus, simulation of ToF cameras, including these artifacts, is important to improve camera and algorithm development. This paper presents a physically-based, interactive simulation technique for amplitude modulated continuous wave (AMCW) ToF cameras, which, among other error sources, includes single bounce indirect multipath interference based on an enhanced image-space approach. The simulation accounts for physical units down to the charge level accumulated in sensor pixels. Furthermore, we present the first quantified comparison for ToF camera simulators. We present bidirectional reference distribution function (BRDF) measurements for selected, purchasable materials in the near-infrared (NIR) range, craft real and synthetic scenes out of these materials and quantitatively compare the range sensor data.

Photogrammetry System and Method for Determining Relative Motion Between Two Bodies

NASA Technical Reports Server (NTRS)

Miller, Samuel A. (Inventor); Severance, Kurt (Inventor)

2014-01-01

A photogrammetry system and method provide for determining the relative position between two objects. The system utilizes one or more imaging devices, such as high speed cameras, that are mounted on a first body, and three or more photogrammetry targets of a known location on a second body. The system and method can be utilized with cameras having fish-eye, hyperbolic, omnidirectional, or other lenses. The system and method do not require overlapping fields-of-view if two or more cameras are utilized. The system and method derive relative orientation by equally weighting information from an arbitrary number of heterogeneous cameras, all with non-overlapping fields-of-view. Furthermore, the system can make the measurements with arbitrary wide-angle lenses on the cameras.

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Transparent thin shield for radio frequency transmit coils.

PubMed

Rivera, Debra S; Schulz, Jessica; Siegert, Thomas; Zuber, Verena; Turner, Robert

2015-02-01

To identify a shielding material compatible with optical head-motion tracking for prospective motion correction and which minimizes radio frequency (RF) radiation losses at 7 T without sacrificing line-of-sight to an imaging target. We evaluated a polyamide mesh coated with silver. The thickness of the coating was approximated from the composition ratio provided by the material vendor and validated by an estimate derived from electrical conductivity and light transmission measurements. The performance of the shield is compared to a split-copper shield in the context of a four-channel transmit-only loop array. The mesh contains less than a skin-depth of silver coating (300 MHz) and attenuates light by 15 %. Elements of the array vary less in the presence of the mesh shield as compared to the split-copper shield indicating that the array behaves more symmetrically with the mesh shield. No degradation of transmit efficiency was observed for the mesh as compared to the split-copper shield. We present a shield compatible with future integration of camera-based motion-tracking systems. Based on transmit performance and eddy-current evaluations the mesh shield is appropriate for use at 7 T.

A Novel Method for Tracking Individuals of Fruit Fly Swarms Flying in a Laboratory Flight Arena

PubMed Central

Cheng, Xi En; Qian, Zhi-Ming; Wang, Shuo Hong; Jiang, Nan; Guo, Aike; Chen, Yan Qiu

2015-01-01

The growing interest in studying social behaviours of swarming fruit flies, Drosophila melanogaster, has heightened the need for developing tools that provide quantitative motion data. To achieve such a goal, multi-camera three-dimensional tracking technology is the key experimental gateway. We have developed a novel tracking system for tracking hundreds of fruit flies flying in a confined cubic flight arena. In addition to the proposed tracking algorithm, this work offers additional contributions in three aspects: body detection, orientation estimation, and data validation. To demonstrate the opportunities that the proposed system offers for generating high-throughput quantitative motion data, we conducted experiments on five experimental configurations. We also performed quantitative analysis on the kinematics and the spatial structure and the motion patterns of fruit fly swarms. We found that there exists an asymptotic distance between fruit flies in swarms as the population density increases. Further, we discovered the evidence for repulsive response when the distance between fruit flies approached the asymptotic distance. Overall, the proposed tracking system presents a powerful method for studying flight behaviours of fruit flies in a three-dimensional environment. PMID:26083385

Keyboard before Head Tracking Depresses User Success in Remote Camera Control

NASA Astrophysics Data System (ADS)

Zhu, Dingyun; Gedeon, Tom; Taylor, Ken

In remote mining, operators of complex machinery have more tasks or devices to control than they have hands. For example, operating a rock breaker requires two handed joystick control to position and fire the jackhammer, leaving the camera control to either automatic control or require the operator to switch between controls. We modelled such a teleoperated setting by performing experiments using a simple physical game analogue, being a half size table soccer game with two handles. The complex camera angles of the mining application were modelled by obscuring the direct view of the play area and the use of a Pan-Tilt-Zoom (PTZ) camera. The camera control was via either a keyboard or via head tracking using two different sets of head gestures called “head motion” and “head flicking” for turning camera motion on/off. Our results show that the head motion control was able to provide a comparable performance to using a keyboard, while head flicking was significantly worse. In addition, the sequence of use of the three control methods is highly significant. It appears that use of the keyboard first depresses successful use of the head tracking methods, with significantly better results when one of the head tracking methods was used first. Analysis of the qualitative survey data collected supports that the worst (by performance) method was disliked by participants. Surprisingly, use of that worst method as the first control method significantly enhanced performance using the other two control methods.

Efficient Wide Baseline Structure from Motion

NASA Astrophysics Data System (ADS)

Michelini, Mario; Mayer, Helmut

2016-06-01

This paper presents a Structure from Motion approach for complex unorganized image sets. To achieve high accuracy and robustness, image triplets are employed and (an approximate) camera calibration is assumed to be known. The focus lies on a complete linking of images even in case of large image distortions, e.g., caused by wide baselines, as well as weak baselines. A method for embedding image descriptors into Hamming space is proposed for fast image similarity ranking. The later is employed to limit the number of pairs to be matched by a wide baseline method. An iterative graph-based approach is proposed formulating image linking as the search for a terminal Steiner minimum tree in a line graph. Finally, additional links are determined and employed to improve the accuracy of the pose estimation. By this means, loops in long image sequences are implicitly closed. The potential of the proposed approach is demonstrated by results for several complex image sets also in comparison with VisualSFM.

In-situ calibration of nonuniformity in infrared staring and modulated systems

NASA Astrophysics Data System (ADS)

Black, Wiley T.

Infrared cameras can directly measure the apparent temperature of objects, providing thermal imaging. However, the raw output from most infrared cameras suffers from a strong, often limiting noise source called nonuniformity. Manufacturing imperfections in infrared focal planes lead to high pixel-to-pixel sensitivity to electronic bias, focal plane temperature, and other effects. The resulting imagery can only provide useful thermal imaging after a nonuniformity calibration has been performed. Traditionally, these calibrations are performed by momentarily blocking the field of view with a at temperature plate or blackbody cavity. However because the pattern is a coupling of manufactured sensitivities with operational variations, periodic recalibration is required, sometimes on the order of tens of seconds. A class of computational methods called Scene-Based Nonuniformity Correction (SBNUC) has been researched for over 20 years where the nonuniformity calibration is estimated in digital processing by analysis of the video stream in the presence of camera motion. The most sophisticated SBNUC methods can completely and robustly eliminate the high-spatial frequency component of nonuniformity with only an initial reference calibration or potentially no physical calibration. I will demonstrate a novel algorithm that advances these SBNUC techniques to support all spatial frequencies of nonuniformity correction. Long-wave infrared microgrid polarimeters are a class of camera that incorporate a microscale per-pixel wire-grid polarizer directly affixed to each pixel of the focal plane. These cameras have the capability of simultaneously measuring thermal imagery and polarization in a robust integrated package with no moving parts. I will describe the necessary adaptations of my SBNUC method to operate on this class of sensor as well as demonstrate SBNUC performance in LWIR polarimetry video collected on the UA mall.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chitwood, M. Colter; Lashley, Marcus A.; Kilgo, John C.

Camera surveys commonly are used by managers and hunters to estimate white-tailed deer Odocoileus virginianus density and demographic rates. Though studies have documented biases and inaccuracies in the camera survey methodology, camera traps remain popular due to ease of use, cost-effectiveness, and ability to survey large areas. Because recruitment is a key parameter in ungulate population dynamics, there is a growing need to test the effectiveness of camera surveys for assessing fawn recruitment. At Savannah River Site, South Carolina, we used six years of camera-based recruitment estimates (i.e. fawn:doe ratio) to predict concurrently collected annual radiotag-based survival estimates. The coefficientmore » of determination (R) was 0.445, indicating some support for the viability of cameras to reflect recruitment. Here, we added two years of data from Fort Bragg Military Installation, North Carolina, which improved R to 0.621 without accounting for site-specific variability. Also, we evaluated the correlation between year-to-year changes in recruitment and survival using the Savannah River Site data; R was 0.758, suggesting that camera-based recruitment could be useful as an indicator of the trend in survival. Because so few researchers concurrently estimate survival and camera-based recruitment, examining this relationship at larger spatial scales while controlling for numerous confounding variables remains difficult. We believe that future research should test the validity of our results from other areas with varying deer and camera densities, as site (e.g. presence of feral pigs Sus scrofa) and demographic (e.g. fawn age at time of camera survey) parameters may have a large influence on detectability. Until such biases are fully quantified, we urge researchers and managers to use caution when advocating the use of camera-based recruitment estimates.« less

Multisensor data fusion across time and space

NASA Astrophysics Data System (ADS)

Villeneuve, Pierre V.; Beaven, Scott G.; Reed, Robert A.

2014-06-01

Field measurement campaigns typically deploy numerous sensors having different sampling characteristics for spatial, temporal, and spectral domains. Data analysis and exploitation is made more difficult and time consuming as the sample data grids between sensors do not align. This report summarizes our recent effort to demonstrate feasibility of a processing chain capable of "fusing" image data from multiple independent and asynchronous sensors into a form amenable to analysis and exploitation using commercially-available tools. Two important technical issues were addressed in this work: 1) Image spatial registration onto a common pixel grid, 2) Image temporal interpolation onto a common time base. The first step leverages existing image matching and registration algorithms. The second step relies upon a new and innovative use of optical flow algorithms to perform accurate temporal upsampling of slower frame rate imagery. Optical flow field vectors were first derived from high-frame rate, high-resolution imagery, and then finally used as a basis for temporal upsampling of the slower frame rate sensor's imagery. Optical flow field values are computed using a multi-scale image pyramid, thus allowing for more extreme object motion. This involves preprocessing imagery to varying resolution scales and initializing new vector flow estimates using that from the previous coarser-resolution image. Overall performance of this processing chain is demonstrated using sample data involving complex too motion observed by multiple sensors mounted to the same base. Multiple sensors were included, including a high-speed visible camera, up to a coarser resolution LWIR camera.

Real-time image mosaicing for medical applications.

PubMed

Loewke, Kevin E; Camarillo, David B; Jobst, Christopher A; Salisbury, J Kenneth

2007-01-01

In this paper we describe the development of a robotically-assisted image mosaicing system for medical applications. The processing occurs in real-time due to a fast initial image alignment provided by robotic position sensing. Near-field imaging, defined by relatively large camera motion, requires translations as well as pan and tilt orientations to be measured. To capture these measurements we use 5-d.o.f. sensing along with a hand-eye calibration to account for sensor offset. This sensor-based approach speeds up the mosaicing, eliminates cumulative errors, and readily handles arbitrary camera motions. Our results have produced visually satisfactory mosaics on a dental model but can be extended to other medical images.

Fault-tolerant feature-based estimation of space debris rotational motion during active removal missions

NASA Astrophysics Data System (ADS)

Biondi, Gabriele; Mauro, Stefano; Pastorelli, Stefano; Sorli, Massimo

2018-05-01

One of the key functionalities required by an Active Debris Removal mission is the assessment of the target kinematics and inertial properties. Passive sensors, such as stereo cameras, are often included in the onboard instrumentation of a chaser spacecraft for capturing sequential photographs and for tracking features of the target surface. A plenty of methods, based on Kalman filtering, are available for the estimation of the target's state from feature positions; however, to guarantee the filter convergence, they typically require continuity of measurements and the capability of tracking a fixed set of pre-defined features of the object. These requirements clash with the actual tracking conditions: failures in feature detection often occur and the assumption of having some a-priori knowledge about the shape of the target could be restrictive in certain cases. The aim of the presented work is to propose a fault-tolerant alternative method for estimating the angular velocity and the relative magnitudes of the principal moments of inertia of the target. Raw data regarding the positions of the tracked features are processed to evaluate corrupted values of a 3-dimentional parameter which entirely describes the finite screw motion of the debris and which primarily is invariant on the particular set of considered features of the object. Missing values of the parameter are completely restored exploiting the typical periodicity of the rotational motion of an uncontrolled satellite: compressed sensing techniques, typically adopted for recovering images or for prognostic applications, are herein used in a completely original fashion for retrieving a kinematic signal that appears sparse in the frequency domain. Due to its invariance about the features, no assumptions are needed about the target's shape and continuity of the tracking. The obtained signal is useful for the indirect evaluation of an attitude signal that feeds an unscented Kalman filter for the estimation of the global rotational state of the target. The results of the computer simulations showed a good robustness of the method and its potential applicability for general motion conditions of the target.

TH-AB-202-11: Spatial and Rotational Quality Assurance of 6DOF Patient Tracking Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Belcher, AH; Liu, X; Grelewicz, Z

2016-06-15

Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations (6DOF). In this work, we develop a novel technique to evaluate the 6DOF performance of external motion tracking systems. We apply this methodology to an infrared (IR) marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to follow input trajectories with sub-millimeter and sub-degree accuracy. The 6DOF positions of the robotic system were then tracked and recordedmore » independently by three optical camera systems. A calibration methodology which associates the motion phantom and camera coordinate frames was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20×20×16 mm and 5×5×5 degree workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results: The technique found the accuracy of the IR marker tracking system to have maximal root mean square error (RMSE) values of 0.25 mm translationally and 0.09 degrees rotationally, in any one axis, comparing intended 6DOF positions to positions measured by the IR camera. The 6DOF RSME discrepancy for the first 3D optical surface tracking unit yielded maximal values of 0.60 mm and 0.11 degrees over the same 6DOF volume. An earlier generation 3D optical surface tracker was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.74 mm and 0.28 degrees within the same 6DOF evaluation space. Conclusion: The proposed technique was effective at evaluating the performance of 6DOF patient tracking systems. All systems examined exhibited tracking capabilities at the sub-millimeter and sub-degree level within a 6DOF workspace.« less

Large Scale Structure From Motion for Autonomous Underwater Vehicle Surveys

DTIC Science & Technology

2004-09-01

Govern the Formation of Multiple Images of a Scene and Some of Their Applications. MIT Press, 2001. [26] 0. Faugeras and S. Maybank . Motion from point...Machine Vision Conference, volume 1, pages 384-393, September 2002. [69] S. Maybank and 0. Faugeras. A theory of self-calibration of a moving camera

Settling dynamics of asymmetric rigid fibers

Treesearch

E.J. Tozzi; C Tim Scott; David Vahey; D.J. Klingenberg

2011-01-01

The three-dimensional motion of asymmetric rigid fibers settling under gravity in a quiescent fluid was experimentally measured using a pair of cameras located on a movable platform. The particle motion typically consisted of an initial transient after which the particle approached a steady rate of rotation about an axis parallel to the acceleration of gravity, with...

Design of a compact low-power human-computer interaction equipment for hand motion

NASA Astrophysics Data System (ADS)

Wu, Xianwei; Jin, Wenguang

2017-01-01

Human-Computer Interaction (HCI) raises demand of convenience, endurance, responsiveness and naturalness. This paper describes a design of a compact wearable low-power HCI equipment applied to gesture recognition. System combines multi-mode sense signals: the vision sense signal and the motion sense signal, and the equipment is equipped with the depth camera and the motion sensor. The dimension (40 mm × 30 mm) and structure is compact and portable after tight integration. System is built on a module layered framework, which contributes to real-time collection (60 fps), process and transmission via synchronous confusion with asynchronous concurrent collection and wireless Blue 4.0 transmission. To minimize equipment's energy consumption, system makes use of low-power components, managing peripheral state dynamically, switching into idle mode intelligently, pulse-width modulation (PWM) of the NIR LEDs of the depth camera and algorithm optimization by the motion sensor. To test this equipment's function and performance, a gesture recognition algorithm is applied to system. As the result presents, general energy consumption could be as low as 0.5 W.

Robust object tracking techniques for vision-based 3D motion analysis applications

NASA Astrophysics Data System (ADS)

Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

2016-04-01

Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

NASA Technical Reports Server (NTRS)

Wolf, Michael; Ansar, Adnan I.; Brennan, Shane; Clouse, Daniel S.; Padgett, Curtis W.

2012-01-01

The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

Calculation for simulation of archery goal value using a web camera and ultrasonic sensor

NASA Astrophysics Data System (ADS)

Rusjdi, Darma; Abdurrasyid, Wulandari, Dewi Arianti

2017-08-01

Development of the device simulator digital indoor archery-based embedded systems as a solution to the limitations of the field or open space is adequate, especially in big cities. Development of the device requires simulations to calculate the value of achieving the target based on the approach defined by the parabolic motion variable initial velocity and direction of motion of the arrow reaches the target. The simulator device should be complemented with an initial velocity measuring device using ultrasonic sensors and measuring direction of the target using a digital camera. The methodology uses research and development of application software from modeling and simulation approach. The research objective to create simulation applications calculating the value of the achievement of the target arrows. Benefits as a preliminary stage for the development of the simulator device of archery. Implementation of calculating the value of the target arrows into the application program generates a simulation game of archery that can be used as a reference development of the digital archery simulator in a room with embedded systems using ultrasonic sensors and web cameras. Applications developed with the simulation calculation comparing the outer radius of the circle produced a camera from a distance of three meters.

Using Wide-Field Meteor Cameras to Actively Engage Students in Science

NASA Astrophysics Data System (ADS)

Kuehn, D. M.; Scales, J. N.

2012-08-01

Astronomy has always afforded teachers an excellent topic to develop students' interest in science. New technology allows the opportunity to inexpensively outfit local school districts with sensitive, wide-field video cameras that can detect and track brighter meteors and other objects. While the data-collection and analysis process can be mostly automated by software, there is substantial human involvement that is necessary in the rejection of spurious detections, in performing dynamics and orbital calculations, and the rare recovery and analysis of fallen meteorites. The continuous monitoring allowed by dedicated wide-field surveillance cameras can provide students with a better understanding of the behavior of the night sky including meteors and meteor showers, stellar motion, the motion of the Sun, Moon, and planets, phases of the Moon, meteorological phenomena, etc. Additionally, some students intrigued by the possibility of UFOs and "alien visitors" may find that actual monitoring data can help them develop methods for identifying "unknown" objects. We currently have two ultra-low light-level surveillance cameras coupled to fish-eye lenses that are actively obtaining data. We have developed curricula suitable for middle or high school students in astronomy and earth science courses and are in the process of testing and revising our materials.

Trapping Elusive Cats: Using Intensive Camera Trapping to Estimate the Density of a Rare African Felid

PubMed Central

Brassine, Eléanor; Parker, Daniel

2015-01-01

Camera trapping studies have become increasingly popular to produce population estimates of individually recognisable mammals. Yet, monitoring techniques for rare species which occur at extremely low densities are lacking. Additionally, species which have unpredictable movements may make obtaining reliable population estimates challenging due to low detectability. Our study explores the effectiveness of intensive camera trapping for estimating cheetah (Acinonyx jubatus) numbers. Using both a more traditional, systematic grid approach and pre-determined, targeted sites for camera placement, the cheetah population of the Northern Tuli Game Reserve, Botswana was sampled between December 2012 and October 2013. Placement of cameras in a regular grid pattern yielded very few (n = 9) cheetah images and these were insufficient to estimate cheetah density. However, pre-selected cheetah scent-marking posts provided 53 images of seven adult cheetahs (0.61 ± 0.18 cheetahs/100km²). While increasing the length of the camera trapping survey from 90 to 130 days increased the total number of cheetah images obtained (from 53 to 200), no new individuals were recorded and the estimated population density remained stable. Thus, our study demonstrates that targeted camera placement (irrespective of survey duration) is necessary for reliably assessing cheetah densities where populations are naturally very low or dominated by transient individuals. Significantly our approach can easily be applied to other rare predator species. PMID:26698574

Trapping Elusive Cats: Using Intensive Camera Trapping to Estimate the Density of a Rare African Felid.

PubMed

Brassine, Eléanor; Parker, Daniel

2015-01-01

Camera trapping studies have become increasingly popular to produce population estimates of individually recognisable mammals. Yet, monitoring techniques for rare species which occur at extremely low densities are lacking. Additionally, species which have unpredictable movements may make obtaining reliable population estimates challenging due to low detectability. Our study explores the effectiveness of intensive camera trapping for estimating cheetah (Acinonyx jubatus) numbers. Using both a more traditional, systematic grid approach and pre-determined, targeted sites for camera placement, the cheetah population of the Northern Tuli Game Reserve, Botswana was sampled between December 2012 and October 2013. Placement of cameras in a regular grid pattern yielded very few (n = 9) cheetah images and these were insufficient to estimate cheetah density. However, pre-selected cheetah scent-marking posts provided 53 images of seven adult cheetahs (0.61 ± 0.18 cheetahs/100 km²). While increasing the length of the camera trapping survey from 90 to 130 days increased the total number of cheetah images obtained (from 53 to 200), no new individuals were recorded and the estimated population density remained stable. Thus, our study demonstrates that targeted camera placement (irrespective of survey duration) is necessary for reliably assessing cheetah densities where populations are naturally very low or dominated by transient individuals. Significantly our approach can easily be applied to other rare predator species.

ESARR: enhanced situational awareness via road sign recognition

NASA Astrophysics Data System (ADS)

Perlin, V. E.; Johnson, D. B.; Rohde, M. M.; Lupa, R. M.; Fiorani, G.; Mohammad, S.

2010-04-01

The enhanced situational awareness via road sign recognition (ESARR) system provides vehicle position estimates in the absence of GPS signal via automated processing of roadway fiducials (primarily directional road signs). Sign images are detected and extracted from vehicle-mounted camera system, and preprocessed and read via a custom optical character recognition (OCR) system specifically designed to cope with low quality input imagery. Vehicle motion and 3D scene geometry estimation enables efficient and robust sign detection with low false alarm rates. Multi-level text processing coupled with GIS database validation enables effective interpretation even of extremely low resolution low contrast sign images. In this paper, ESARR development progress will be reported on, including the design and architecture, image processing framework, localization methodologies, and results to date. Highlights of the real-time vehicle-based directional road-sign detection and interpretation system will be described along with the challenges and progress in overcoming them.

Real-time Awake Animal Motion Tracking System for SPECT Imaging

DOE Office of Scientific and Technical Information (OSTI.GOV)

Goddard Jr, James Samuel; Baba, Justin S; Lee, Seung Joon

Enhancements have been made in the development of a real-time optical pose measurement and tracking system that provides 3D position and orientation data for a single photon emission computed tomography (SPECT) imaging system for awake, unanesthetized, unrestrained small animals. Three optical cameras with infrared (IR) illumination view the head movements of an animal enclosed in a transparent burrow. Markers placed on the head provide landmark points for image segmentation. Strobed IR LED s are synchronized to the cameras and illuminate the markers to prevent motion blur for each set of images. The system using the three cameras automatically segments themore » markers, detects missing data, rejects false reflections, performs trinocular marker correspondence, and calculates the 3D pose of the animal s head. Improvements have been made in methods for segmentation, tracking, and 3D calculation to give higher speed and more accurate measurements during a scan. The optical hardware has been installed within a Siemens MicroCAT II small animal scanner at Johns Hopkins without requiring functional changes to the scanner operation. The system has undergone testing using both phantoms and live mice and has been characterized in terms of speed, accuracy, robustness, and reliability. Experimental data showing these motion tracking results are given.« less

How long is enough to detect terrestrial animals? Estimating the minimum trapping effort on camera traps

PubMed Central

Si, Xingfeng; Kays, Roland

2014-01-01

Camera traps is an important wildlife inventory tool for estimating species diversity at a site. Knowing what minimum trapping effort is needed to detect target species is also important to designing efficient studies, considering both the number of camera locations, and survey length. Here, we take advantage of a two-year camera trapping dataset from a small (24-ha) study plot in Gutianshan National Nature Reserve, eastern China to estimate the minimum trapping effort actually needed to sample the wildlife community. We also evaluated the relative value of adding new camera sites or running cameras for a longer period at one site. The full dataset includes 1727 independent photographs captured during 13,824 camera days, documenting 10 resident terrestrial species of birds and mammals. Our rarefaction analysis shows that a minimum of 931 camera days would be needed to detect the resident species sufficiently in the plot, and c. 8700 camera days to detect all 10 resident species. In terms of detecting a diversity of species, the optimal sampling period for one camera site was c. 40, or long enough to record about 20 independent photographs. Our analysis of evaluating the increasing number of additional camera sites shows that rotating cameras to new sites would be more efficient for measuring species richness than leaving cameras at fewer sites for a longer period. PMID:24868493

Optical Indoor Positioning System Based on TFT Technology

PubMed Central

Gőzse, István

2015-01-01

A novel indoor positioning system is presented in the paper. Similarly to the camera-based solutions, it is based on visual detection, but it conceptually differs from the classical approaches. First, the objects are marked by LEDs, and second, a special sensing unit is applied, instead of a camera, to track the motion of the markers. This sensing unit realizes a modified pinhole camera model, where the light-sensing area is fixed and consists of a small number of sensing elements (photodiodes), and it is the hole that can be moved. The markers are tracked by controlling the motion of the hole, such that the light of the LEDs always hits the photodiodes. The proposed concept has several advantages: Apart from its low computational demands, it is insensitive to the disturbing ambient light. Moreover, as every component of the system can be realized by simple and inexpensive elements, the overall cost of the system can be kept low. PMID:26712753

Flexcam Image Capture Viewing and Spot Tracking

NASA Technical Reports Server (NTRS)

Rao, Shanti

2008-01-01

Flexcam software was designed to allow continuous monitoring of the mechanical deformation of the telescope structure at Palomar Observatory. Flexcam allows the user to watch the motion of a star with a low-cost astronomical camera, to measure the motion of the star on the image plane, and to feed this data back into the telescope s control system. This automatic interaction between the camera and a user interface facilitates integration and testing. Flexcam is a CCD image capture and analysis tool for the ST-402 camera from Santa Barbara Instruments Group (SBIG). This program will automatically take a dark exposure and then continuously display corrected images. The image size, bit depth, magnification, exposure time, resolution, and filter are always displayed on the title bar. Flexcam locates the brightest pixel and then computes the centroid position of the pixels falling in a box around that pixel. This tool continuously writes the centroid position to a network file that can be used by other instruments.

Effects of frame rate and image resolution on pulse rate measured using multiple camera imaging photoplethysmography

NASA Astrophysics Data System (ADS)

Blackford, Ethan B.; Estepp, Justin R.

2015-03-01

Non-contact, imaging photoplethysmography uses cameras to facilitate measurements including pulse rate, pulse rate variability, respiration rate, and blood perfusion by measuring characteristic changes in light absorption at the skin's surface resulting from changes in blood volume in the superficial microvasculature. Several factors may affect the accuracy of the physiological measurement including imager frame rate, resolution, compression, lighting conditions, image background, participant skin tone, and participant motion. Before this method can gain wider use outside basic research settings, its constraints and capabilities must be well understood. Recently, we presented a novel approach utilizing a synchronized, nine-camera, semicircular array backed by measurement of an electrocardiogram and fingertip reflectance photoplethysmogram. Twenty-five individuals participated in six, five-minute, controlled head motion artifact trials in front of a black and dynamic color backdrop. Increasing the input channel space for blind source separation using the camera array was effective in mitigating error from head motion artifact. Herein we present the effects of lower frame rates at 60 and 30 (reduced from 120) frames per second and reduced image resolution at 329x246 pixels (one-quarter of the original 658x492 pixel resolution) using bilinear and zero-order downsampling. This is the first time these factors have been examined for a multiple imager array and align well with previous findings utilizing a single imager. Examining windowed pulse rates, there is little observable difference in mean absolute error or error distributions resulting from reduced frame rates or image resolution, thus lowering requirements for systems measuring pulse rate over sufficient length time windows.

Monitoring lava-dome growth during the 2004-2008 Mount St. Helens, Washington, eruption using oblique terrestrial photography

USGS Publications Warehouse

Major, J.J.; Dzurisin, D.; Schilling, S.P.; Poland, Michael P.

2009-01-01

We present an analysis of lava dome growth during the 2004–2008 eruption of Mount St. Helens using oblique terrestrial images from a network of remotely placed cameras. This underutilized monitoring tool augmented more traditional monitoring techniques, and was used to provide a robust assessment of the nature, pace, and state of the eruption and to quantify the kinematics of dome growth. Eruption monitoring using terrestrial photography began with a single camera deployed at the mouth of the volcano's crater during the first year of activity. Analysis of those images indicates that the average lineal extrusion rate decayed approximately logarithmically from about 8 m/d to about 2 m/d (± 2 m/d) from November 2004 through December 2005, and suggests that the extrusion rate fluctuated on time scales of days to weeks. From May 2006 through September 2007, imagery from multiple cameras deployed around the volcano allowed determination of 3-dimensional motion across the dome complex. Analysis of the multi-camera imagery shows spatially differential, but remarkably steady to gradually slowing, motion, from about 1–2 m/d from May through October 2006, to about 0.2–1.0 m/d from May through September 2007. In contrast to the fluctuations in lineal extrusion rate documented during the first year of eruption, dome motion from May 2006 through September 2007 was monotonic (± 0.10 m/d) to gradually slowing on time scales of weeks to months. The ability to measure spatial and temporal rates of motion of the effusing lava dome from oblique terrestrial photographs provided a significant, and sometimes the sole, means of identifying and quantifying dome growth during the eruption, and it demonstrates the utility of using frequent, long-term terrestrial photography to monitor and study volcanic eruptions.

Robotic Vision-Based Localization in an Urban Environment

NASA Technical Reports Server (NTRS)

Mchenry, Michael; Cheng, Yang; Matthies

2007-01-01

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Rapid-Response or Repeat-Mode Topography from Aerial Structure from Motion

NASA Astrophysics Data System (ADS)

Nissen, E.; Johnson, K. L.; Fitzgerald, F. S.; Morgan, M.; White, J.

2014-12-01

This decade has seen a surge of interest in Structure-from-Motion (SfM) as a means of generating high-resolution topography and coregistered texture maps from stereo digital photographs. Using an unstructured set of overlapping photographs captured from multiple viewpoints and minimal GPS ground control, SfM solves simultaneously for scene topography and camera positions, orientations and lens parameters. The use of cheap unmanned aerial vehicles or tethered helium balloons as camera platforms expedites data collection and overcomes many of the cost, time and logistical limitations of LiDAR surveying, making it a potentially valuable tool for rapid response mapping and repeat monitoring applications. We begin this presentation by assessing what data resolutions and precisions are achievable using a simple aerial camera platform and commercial SfM software (we use the popular Agisoft Photoscan package). SfM point clouds generated at two small (~0.1 km2), sparsely-vegetated field sites in California compare favorably with overlapping airborne and terrestrial LiDAR surveys, with closest point distances of a few centimeters between the independent datasets. Next, we go on to explore the method in more challenging conditions, in response to a major landslide in Mesa County, Colorado, on 25th May 2014. Photographs collected from a small UAV were used to generate a high-resolution model of the 4.5 x 1 km landslide several days before an airborne LiDAR survey could be organized and flown. An initial estimate of the mass balance of the landslide could quickly be made by differencing this model against pre-event topography generated using stereo photographs collected in 2009 as part of the National Agricultural Imagery Program (NAIP). This case study therefore demonstrates the rich potential offered by this technique, as well as some of the challenges, particularly with respect to the treatment of vegetation.

Smartphone snapshot mapping of skin chromophores under triple-wavelength laser illumination

NASA Astrophysics Data System (ADS)

Spigulis, Janis; Oshina, Ilze; Berzina, Anna; Bykov, Alexander

2017-09-01

Chromophore distribution maps are useful tools for skin malformation severity assessment and for monitoring of skin recovery after burns, surgeries, and other interactions. The chromophore maps can be obtained by processing several spectral images of skin, e.g., captured by hyperspectral or multispectral cameras during seconds or even minutes. To avoid motion artifacts and simplify the procedure, a single-snapshot technique for mapping melanin, oxyhemoglobin, and deoxyhemoglobin of in-vivo skin by a smartphone under simultaneous three-wavelength (448-532-659 nm) laser illumination is proposed and examined. Three monochromatic spectral images related to the illumination wavelengths were extracted from the smartphone camera RGB image data set with respect to crosstalk between the RGB detection bands. Spectral images were further processed accordingly to Beer's law in a three chromophore approximation. Photon absorption path lengths in skin at the exploited wavelengths were estimated by means of Monte Carlo simulations. The technique was validated clinically on three kinds of skin lesions: nevi, hemangiomas, and seborrheic keratosis. Design of the developed add-on laser illumination system, image-processing details, and the results of clinical measurements are presented and discussed.

Automation of workplace lifting hazard assessment for musculoskeletal injury prevention.

PubMed

Spector, June T; Lieblich, Max; Bao, Stephen; McQuade, Kevin; Hughes, Margaret

2014-01-01

Existing methods for practically evaluating musculoskeletal exposures such as posture and repetition in workplace settings have limitations. We aimed to automate the estimation of parameters in the revised United States National Institute for Occupational Safety and Health (NIOSH) lifting equation, a standard manual observational tool used to evaluate back injury risk related to lifting in workplace settings, using depth camera (Microsoft Kinect) and skeleton algorithm technology. A large dataset (approximately 22,000 frames, derived from six subjects) of simultaneous lifting and other motions recorded in a laboratory setting using the Kinect (Microsoft Corporation, Redmond, Washington, United States) and a standard optical motion capture system (Qualysis, Qualysis Motion Capture Systems, Qualysis AB, Sweden) was assembled. Error-correction regression models were developed to improve the accuracy of NIOSH lifting equation parameters estimated from the Kinect skeleton. Kinect-Qualysis errors were modelled using gradient boosted regression trees with a Huber loss function. Models were trained on data from all but one subject and tested on the excluded subject. Finally, models were tested on three lifting trials performed by subjects not involved in the generation of the model-building dataset. Error-correction appears to produce estimates for NIOSH lifting equation parameters that are more accurate than those derived from the Microsoft Kinect algorithm alone. Our error-correction models substantially decreased the variance of parameter errors. In general, the Kinect underestimated parameters, and modelling reduced this bias, particularly for more biased estimates. Use of the raw Kinect skeleton model tended to result in falsely high safe recommended weight limits of loads, whereas error-corrected models gave more conservative, protective estimates. Our results suggest that it may be possible to produce reasonable estimates of posture and temporal elements of tasks such as task frequency in an automated fashion, although these findings should be confirmed in a larger study. Further work is needed to incorporate force assessments and address workplace feasibility challenges. We anticipate that this approach could ultimately be used to perform large-scale musculoskeletal exposure assessment not only for research but also to provide real-time feedback to workers and employers during work method improvement activities and employee training.

Principal axis-based correspondence between multiple cameras for people tracking.

PubMed

Hu, Weiming; Hu, Min; Zhou, Xue; Tan, Tieniu; Lou, Jianguang; Maybank, Steve

2006-04-01

Visual surveillance using multiple cameras has attracted increasing interest in recent years. Correspondence between multiple cameras is one of the most important and basic problems which visual surveillance using multiple cameras brings. In this paper, we propose a simple and robust method, based on principal axes of people, to match people across multiple cameras. The correspondence likelihood reflecting the similarity of pairs of principal axes of people is constructed according to the relationship between "ground-points" of people detected in each camera view and the intersections of principal axes detected in different camera views and transformed to the same view. Our method has the following desirable properties: 1) Camera calibration is not needed. 2) Accurate motion detection and segmentation are less critical due to the robustness of the principal axis-based feature to noise. 3) Based on the fused data derived from correspondence results, positions of people in each camera view can be accurately located even when the people are partially occluded in all views. The experimental results on several real video sequences from outdoor environments have demonstrated the effectiveness, efficiency, and robustness of our method.

Cinematic camera emulation using two-dimensional color transforms

NASA Astrophysics Data System (ADS)

McElvain, Jon S.; Gish, Walter

2015-02-01

For cinematic and episodic productions, on-set look management is an important component of the creative process, and involves iterative adjustments of the set, actors, lighting and camera configuration. Instead of using the professional motion capture device to establish a particular look, the use of a smaller form factor DSLR is considered for this purpose due to its increased agility. Because the spectral response characteristics will be different between the two camera systems, a camera emulation transform is needed to approximate the behavior of the destination camera. Recently, twodimensional transforms have been shown to provide high-accuracy conversion of raw camera signals to a defined colorimetric state. In this study, the same formalism is used for camera emulation, whereby a Canon 5D Mark III DSLR is used to approximate the behavior a Red Epic cinematic camera. The spectral response characteristics for both cameras were measured and used to build 2D as well as 3x3 matrix emulation transforms. When tested on multispectral image databases, the 2D emulation transforms outperform their matrix counterparts, particularly for images containing highly chromatic content.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gaffney, Kelly

Movies have transformed our perception of the world. With slow motion photography, we can see a hummingbird flap its wings, and a bullet pierce an apple. The remarkably small and extremely fast molecular world that determines how your body functions cannot be captured with even the most sophisticated movie camera today. To see chemistry in real time requires a camera capable of seeing molecules that are one ten billionth of a foot with a frame rate of 10 trillion frames per second! SLAC has embarked on the construction of just such a camera. Please join me as I discuss howmore » this molecular movie camera will work and how it will change our perception of the molecular world.« less

A computerized recognition system for the home-based physiotherapy exercises using an RGBD camera.

PubMed

Ar, Ilktan; Akgul, Yusuf Sinan

2014-11-01

Computerized recognition of the home based physiotherapy exercises has many benefits and it has attracted considerable interest among the computer vision community. However, most methods in the literature view this task as a special case of motion recognition. In contrast, we propose to employ the three main components of a physiotherapy exercise (the motion patterns, the stance knowledge, and the exercise object) as different recognition tasks and embed them separately into the recognition system. The low level information about each component is gathered using machine learning methods. Then, we use a generative Bayesian network to recognize the exercise types by combining the information from these sources at an abstract level, which takes the advantage of domain knowledge for a more robust system. Finally, a novel postprocessing step is employed to estimate the exercise repetitions counts. The performance evaluation of the system is conducted with a new dataset which contains RGB (red, green, and blue) and depth videos of home-based exercise sessions for commonly applied shoulder and knee exercises. The proposed system works without any body-part segmentation, bodypart tracking, joint detection, and temporal segmentation methods. In the end, favorable exercise recognition rates and encouraging results on the estimation of repetition counts are obtained.

Unmanned aerial vehicle-based structure from motion biomass inventory estimates

NASA Astrophysics Data System (ADS)

Bedell, Emily; Leslie, Monique; Fankhauser, Katie; Burnett, Jonathan; Wing, Michael G.; Thomas, Evan A.

2017-04-01

Riparian vegetation restoration efforts require cost-effective, accurate, and replicable impact assessments. We present a method to use an unmanned aerial vehicle (UAV) equipped with a GoPro digital camera to collect photogrammetric data of a 0.8-ha riparian restoration. A three-dimensional point cloud was created from the photos using "structure from motion" techniques. The point cloud was analyzed and compared to traditional, ground-based monitoring techniques. Ground-truth data were collected on 6.3% of the study site and averaged across the entire site to report stem heights in stems/ha in three height classes. The project site was divided into four analysis sections, one for derivation of parameters used in the UAV data analysis and the remaining three sections reserved for method validation. Comparing the ground-truth data to the UAV generated data produced an overall error of 21.6% and indicated an R2 value of 0.98. A Bland-Altman analysis indicated a 95% probability that the UAV stems/section result will be within 61 stems/section of the ground-truth data. The ground-truth data are reported with an 80% confidence interval of ±1032 stems/ha thus, the UAV was able to estimate stems well within this confidence interval.

The MicronEye Motion Monitor: A New Tool for Class and Laboratory Demonstrations.

ERIC Educational Resources Information Center

Nissan, M.; And Others

1988-01-01

Describes a special camera that can be directly linked to a computer that has been adapted for studying movement. Discusses capture, processing, and analysis of two-dimensional data with either IBM PC or Apple II computers. Gives examples of a variety of mechanical tests including pendulum motion, air track, and air table. (CW)

Observation of Planetary Motion Using a Digital Camera

ERIC Educational Resources Information Center

Meyn, Jan-Peter

2008-01-01

A digital SLR camera with a standard lens (50 mm focal length, f/1.4) on a fixed tripod is used to obtain photographs of the sky which contain stars up to 8[superscript m] apparent magnitude. The angle of view is large enough to ensure visual identification of the photograph with a large sky region in a stellar map. The resolution is sufficient to…

Automated Quantification of the Landing Error Scoring System With a Markerless Motion-Capture System.

PubMed

Mauntel, Timothy C; Padua, Darin A; Stanley, Laura E; Frank, Barnett S; DiStefano, Lindsay J; Peck, Karen Y; Cameron, Kenneth L; Marshall, Stephen W

2017-11-01

  The Landing Error Scoring System (LESS) can be used to identify individuals with an elevated risk of lower extremity injury. The limitation of the LESS is that raters identify movement errors from video replay, which is time-consuming and, therefore, may limit its use by clinicians. A markerless motion-capture system may be capable of automating LESS scoring, thereby removing this obstacle.   To determine the reliability of an automated markerless motion-capture system for scoring the LESS.   Cross-sectional study.   United States Military Academy.   A total of 57 healthy, physically active individuals (47 men, 10 women; age = 18.6 ± 0.6 years, height = 174.5 ± 6.7 cm, mass = 75.9 ± 9.2 kg).   Participants completed 3 jump-landing trials that were recorded by standard video cameras and a depth camera. Their movement quality was evaluated by expert LESS raters (standard video recording) using the LESS rubric and by software that automates LESS scoring (depth-camera data). We recorded an error for a LESS item if it was present on at least 2 of 3 jump-landing trials. We calculated κ statistics, prevalence- and bias-adjusted κ (PABAK) statistics, and percentage agreement for each LESS item. Interrater reliability was evaluated between the 2 expert rater scores and between a consensus expert score and the markerless motion-capture system score.   We observed reliability between the 2 expert LESS raters (average κ = 0.45 ± 0.35, average PABAK = 0.67 ± 0.34; percentage agreement = 0.83 ± 0.17). The markerless motion-capture system had similar reliability with consensus expert scores (average κ = 0.48 ± 0.40, average PABAK = 0.71 ± 0.27; percentage agreement = 0.85 ± 0.14). However, reliability was poor for 5 LESS items in both LESS score comparisons.   A markerless motion-capture system had the same level of reliability as expert LESS raters, suggesting that an automated system can accurately assess movement. Therefore, clinicians can use the markerless motion-capture system to reliably score the LESS without being limited by the time requirements of manual LESS scoring.

Visual acuity, contrast sensitivity, and range performance with compressed motion video

NASA Astrophysics Data System (ADS)

Bijl, Piet; de Vries, Sjoerd C.

2010-10-01

Video of visual acuity (VA) and contrast sensitivity (CS) test charts in a complex background was recorded using a CCD color camera mounted on a computer-controlled tripod and was fed into real-time MPEG-2 compression/decompression equipment. The test charts were based on the triangle orientation discrimination (TOD) test method and contained triangle test patterns of different sizes and contrasts in four possible orientations. In a perception experiment, observers judged the orientation of the triangles in order to determine VA and CS thresholds at the 75% correct level. Three camera velocities (0, 1.0, and 2.0 deg/s, or 0, 4.1, and 8.1 pixels/frame) and four compression rates (no compression, 4 Mb/s, 2 Mb/s, and 1 Mb/s) were used. VA is shown to be rather robust to any combination of motion and compression. CS, however, dramatically decreases when motion is combined with high compression ratios. The measured thresholds were fed into the TOD target acquisition model to predict the effect of motion and compression on acquisition ranges for tactical military vehicles. The effect of compression on static performance is limited but strong with motion video. The data suggest that with the MPEG2 algorithm, the emphasis is on the preservation of image detail at the cost of contrast loss.

Closed form unsupervised registration of multi-temporal structure from motion-multiview stereo data using non-linearly weighted image features

NASA Astrophysics Data System (ADS)

Seers, T. D.; Hodgetts, D.

2013-12-01

Seers, T. D. & Hodgetts, D. School of Earth, Atmospheric and Environmental Sciences, University of Manchester, UK. M13 9PL. The detection of topological change at the Earth's surface is of considerable scholarly interest, allowing the quantification of the rates of geomorphic processes whilst providing lucid insights into the underlying mechanisms driving landscape evolution. In this regard, the past decade has witnessed the ever increasing proliferation of studies employing multi-temporal topographic data in within the geosciences, bolstered by continuing technical advancements in the acquisition and processing of prerequisite datasets. Provided by workers within the field of Computer Vision, multiview stereo (MVS) dense surface reconstructions, primed by structure-from-motion (SfM) based camera pose estimation represents one such development. Providing a cost effective, operationally efficient data capture medium, the modest requirement of a consumer grade camera for data collection coupled with the minimal user intervention required during post-processing makes SfM-MVS an attractive alternative to terrestrial laser scanners for collecting multi-temporal topographic datasets. However, in similitude to terrestrial scanner derived data, the co-registration of spatially coincident or partially overlapping scans produced by SfM-MVS presents a major technical challenge, particularly in the case of semi non-rigid scenes produced during topographic change detection studies. Moreover, the arbitrary scaling resulting from SfM ambiguity requires that a scale matrix must be estimated during the transformation, introducing further complexity into its formulation. Here, we present a novel, fully unsupervised algorithm which utilises non-linearly weighted image features for the solving the similarity transform (scale, translation rotation) between partially overlapping scans produced by SfM-MVS image processing. With the only initialization condition being partial intersection between input image sets, our method has major advantages over conventional iterative least squares minimization based methods (e.g. Iterative Closest Point variants), acting only on rigid areas of target scenes, being capable of reliably estimating the scaling factor and requiring no incipient estimation of the transformation to initialize (i.e. manual rough alignment). Moreover, because the solution is closed form, convergence is considerably more expedient that most iterative methods. It is hoped that the availability of improved co-registration routines, such as the one presented here, will facilitate the routine collection of multi-temporal topographic datasets by a wider range of geoscience practitioners.

Continuous non-contact vital sign monitoring in neonatal intensive care unit

PubMed Central

Guazzi, Alessandro; Jorge, João; Davis, Sara; Watkinson, Peter; Green, Gabrielle; Shenvi, Asha; McCormick, Kenny; Tarassenko, Lionel

2014-01-01

Current technologies to allow continuous monitoring of vital signs in pre-term infants in the hospital require adhesive electrodes or sensors to be in direct contact with the patient. These can cause stress, pain, and also damage the fragile skin of the infants. It has been established previously that the colour and volume changes in superficial blood vessels during the cardiac cycle can be measured using a digital video camera and ambient light, making it possible to obtain estimates of heart rate or breathing rate. Most of the papers in the literature on non-contact vital sign monitoring report results on adult healthy human volunteers in controlled environments for short periods of time. The authors' current clinical study involves the continuous monitoring of pre-term infants, for at least four consecutive days each, in the high-dependency care area of the Neonatal Intensive Care Unit (NICU) at the John Radcliffe Hospital in Oxford. The authors have further developed their video-based, non-contact monitoring methods to obtain continuous estimates of heart rate, respiratory rate and oxygen saturation for infants nursed in incubators. In this Letter, it is shown that continuous estimates of these three parameters can be computed with an accuracy which is clinically useful. During stable sections with minimal infant motion, the mean absolute error between the camera-derived estimates of heart rate and the reference value derived from the ECG is similar to the mean absolute error between the ECG-derived value and the heart rate value from a pulse oximeter. Continuous non-contact vital sign monitoring in the NICU using ambient light is feasible, and the authors have shown that clinically important events such as a bradycardia accompanied by a major desaturation can be identified with their algorithms for processing the video signal. PMID:26609384

Continuous non-contact vital sign monitoring in neonatal intensive care unit.

PubMed

Villarroel, Mauricio; Guazzi, Alessandro; Jorge, João; Davis, Sara; Watkinson, Peter; Green, Gabrielle; Shenvi, Asha; McCormick, Kenny; Tarassenko, Lionel

2014-09-01

Current technologies to allow continuous monitoring of vital signs in pre-term infants in the hospital require adhesive electrodes or sensors to be in direct contact with the patient. These can cause stress, pain, and also damage the fragile skin of the infants. It has been established previously that the colour and volume changes in superficial blood vessels during the cardiac cycle can be measured using a digital video camera and ambient light, making it possible to obtain estimates of heart rate or breathing rate. Most of the papers in the literature on non-contact vital sign monitoring report results on adult healthy human volunteers in controlled environments for short periods of time. The authors' current clinical study involves the continuous monitoring of pre-term infants, for at least four consecutive days each, in the high-dependency care area of the Neonatal Intensive Care Unit (NICU) at the John Radcliffe Hospital in Oxford. The authors have further developed their video-based, non-contact monitoring methods to obtain continuous estimates of heart rate, respiratory rate and oxygen saturation for infants nursed in incubators. In this Letter, it is shown that continuous estimates of these three parameters can be computed with an accuracy which is clinically useful. During stable sections with minimal infant motion, the mean absolute error between the camera-derived estimates of heart rate and the reference value derived from the ECG is similar to the mean absolute error between the ECG-derived value and the heart rate value from a pulse oximeter. Continuous non-contact vital sign monitoring in the NICU using ambient light is feasible, and the authors have shown that clinically important events such as a bradycardia accompanied by a major desaturation can be identified with their algorithms for processing the video signal.

Real-time people counting system using a single video camera

NASA Astrophysics Data System (ADS)

Lefloch, Damien; Cheikh, Faouzi A.; Hardeberg, Jon Y.; Gouton, Pierre; Picot-Clemente, Romain

2008-02-01

There is growing interest in video-based solutions for people monitoring and counting in business and security applications. Compared to classic sensor-based solutions the video-based ones allow for more versatile functionalities, improved performance with lower costs. In this paper, we propose a real-time system for people counting based on single low-end non-calibrated video camera. The two main challenges addressed in this paper are: robust estimation of the scene background and the number of real persons in merge-split scenarios. The latter is likely to occur whenever multiple persons move closely, e.g. in shopping centers. Several persons may be considered to be a single person by automatic segmentation algorithms, due to occlusions or shadows, leading to under-counting. Therefore, to account for noises, illumination and static objects changes, a background substraction is performed using an adaptive background model (updated over time based on motion information) and automatic thresholding. Furthermore, post-processing of the segmentation results is performed, in the HSV color space, to remove shadows. Moving objects are tracked using an adaptive Kalman filter, allowing a robust estimation of the objects future positions even under heavy occlusion. The system is implemented in Matlab, and gives encouraging results even at high frame rates. Experimental results obtained based on the PETS2006 datasets are presented at the end of the paper.

Multi-Angle Snowflake Camera Instrument Handbook

DOE Office of Scientific and Technical Information (OSTI.GOV)

Stuefer, Martin; Bailey, J.

2016-07-01

The Multi-Angle Snowflake Camera (MASC) takes 9- to 37-micron resolution stereographic photographs of free-falling hydrometers from three angles, while simultaneously measuring their fall speed. Information about hydrometeor size, shape orientation, and aspect ratio is derived from MASC photographs. The instrument consists of three commercial cameras separated by angles of 36º. Each camera field of view is aligned to have a common single focus point about 10 cm distant from the cameras. Two near-infrared emitter pairs are aligned with the camera’s field of view within a 10-angular ring and detect hydrometeor passage, with the lower emitters configured to trigger the MASCmore » cameras. The sensitive IR motion sensors are designed to filter out slow variations in ambient light. Fall speed is derived from successive triggers along the fall path. The camera exposure times are extremely short, in the range of 1/25,000th of a second, enabling the MASC to capture snowflake sizes ranging from 30 micrometers to 3 cm.« less

Minimum Requirements for Taxicab Security Cameras.

PubMed

Zeng, Shengke; Amandus, Harlan E; Amendola, Alfred A; Newbraugh, Bradley H; Cantis, Douglas M; Weaver, Darlene

2014-07-01

The homicide rate of taxicab-industry is 20 times greater than that of all workers. A NIOSH study showed that cities with taxicab-security cameras experienced significant reduction in taxicab driver homicides. Minimum technical requirements and a standard test protocol for taxicab-security cameras for effective taxicab-facial identification were determined. The study took more than 10,000 photographs of human-face charts in a simulated-taxicab with various photographic resolutions, dynamic ranges, lens-distortions, and motion-blurs in various light and cab-seat conditions. Thirteen volunteer photograph-evaluators evaluated these face photographs and voted for the minimum technical requirements for taxicab-security cameras. Five worst-case scenario photographic image quality thresholds were suggested: the resolution of XGA-format, highlight-dynamic-range of 1 EV, twilight-dynamic-range of 3.3 EV, lens-distortion of 30%, and shutter-speed of 1/30 second. These minimum requirements will help taxicab regulators and fleets to identify effective taxicab-security cameras, and help taxicab-security camera manufacturers to improve the camera facial identification capability.

Markerless rat head motion tracking using structured light for brain PET imaging of unrestrained awake small animals

NASA Astrophysics Data System (ADS)

Miranda, Alan; Staelens, Steven; Stroobants, Sigrid; Verhaeghe, Jeroen

2017-03-01

Preclinical positron emission tomography (PET) imaging in small animals is generally performed under anesthesia to immobilize the animal during scanning. More recently, for rat brain PET studies, methods to perform scans of unrestrained awake rats are being developed in order to avoid the unwanted effects of anesthesia on the brain response. Here, we investigate the use of a projected structure stereo camera to track the motion of the rat head during the PET scan. The motion information is then used to correct the PET data. The stereo camera calculates a 3D point cloud representation of the scene and the tracking is performed by point cloud matching using the iterative closest point algorithm. The main advantage of the proposed motion tracking is that no intervention, e.g. for marker attachment, is needed. A manually moved microDerenzo phantom experiment and 3 awake rat [18F]FDG experiments were performed to evaluate the proposed tracking method. The tracking accuracy was 0.33 mm rms. After motion correction image reconstruction, the microDerenzo phantom was recovered albeit with some loss of resolution. The reconstructed FWHM of the 2.5 and 3 mm rods increased with 0.94 and 0.51 mm respectively in comparison with the motion-free case. In the rat experiments, the average tracking success rate was 64.7%. The correlation of relative brain regional [18F]FDG uptake between the anesthesia and awake scan reconstructions was increased from on average 0.291 (not significant) before correction to 0.909 (p  <  0.0001) after motion correction. Markerless motion tracking using structured light can be successfully used for tracking of the rat head for motion correction in awake rat PET scans.

The use of uncalibrated roadside CCTV cameras to estimate mean traffic speed

DOT National Transportation Integrated Search

2001-12-01

In this report, we present a novel approach for estimating traffic speed using a sequence of images from an un-calibrated camera. We assert that exact calibration is not necessary to estimate speed. Instead, to estimate speed, we use: (1) geometric r...

Robust Video Stabilization Using Particle Keypoint Update and l1-Optimized Camera Path

PubMed Central

Jeon, Semi; Yoon, Inhye; Jang, Jinbeum; Yang, Seungji; Kim, Jisung; Paik, Joonki

2017-01-01

Acquisition of stabilized video is an important issue for various type of digital cameras. This paper presents an adaptive camera path estimation method using robust feature detection to remove shaky artifacts in a video. The proposed algorithm consists of three steps: (i) robust feature detection using particle keypoints between adjacent frames; (ii) camera path estimation and smoothing; and (iii) rendering to reconstruct a stabilized video. As a result, the proposed algorithm can estimate the optimal homography by redefining important feature points in the flat region using particle keypoints. In addition, stabilized frames with less holes can be generated from the optimal, adaptive camera path that minimizes a temporal total variation (TV). The proposed video stabilization method is suitable for enhancing the visual quality for various portable cameras and can be applied to robot vision, driving assistant systems, and visual surveillance systems. PMID:28208622

Mark-recapture and mark-resight methods for estimating abundance with remote cameras: a carnivore case study

USGS Publications Warehouse

Alanso, Robert S.; McClintock, Brett T.; Lyren, Lisa M.; Boydston, Erin E.; Crooks, Kevin R.

2015-01-01

Abundance estimation of carnivore populations is difficult and has prompted the use of non-invasive detection methods, such as remotely-triggered cameras, to collect data. To analyze photo data, studies focusing on carnivores with unique pelage patterns have utilized a mark-recapture framework and studies of carnivores without unique pelage patterns have used a mark-resight framework. We compared mark-resight and mark-recapture estimation methods to estimate bobcat (Lynx rufus) population sizes, which motivated the development of a new "hybrid" mark-resight model as an alternative to traditional methods. We deployed a sampling grid of 30 cameras throughout the urban southern California study area. Additionally, we physically captured and marked a subset of the bobcat population with GPS telemetry collars. Since we could identify individual bobcats with photos of unique pelage patterns and a subset of the population was physically marked, we were able to use traditional mark-recapture and mark-resight methods, as well as the new “hybrid” mark-resight model we developed to estimate bobcat abundance. We recorded 109 bobcat photos during 4,669 camera nights and physically marked 27 bobcats with GPS telemetry collars. Abundance estimates produced by the traditional mark-recapture, traditional mark-resight, and “hybrid” mark-resight methods were similar, however precision differed depending on the models used. Traditional mark-recapture and mark-resight estimates were relatively imprecise with percent confidence interval lengths exceeding 100% of point estimates. Hybrid mark-resight models produced better precision with percent confidence intervals not exceeding 57%. The increased precision of the hybrid mark-resight method stems from utilizing the complete encounter histories of physically marked individuals (including those never detected by a camera trap) and the encounter histories of naturally marked individuals detected at camera traps. This new estimator may be particularly useful for estimating abundance of uniquely identifiable species that are difficult to sample using camera traps alone.

Robust Hand Motion Tracking through Data Fusion of 5DT Data Glove and Nimble VR Kinect Camera Measurements

PubMed Central

Arkenbout, Ewout A.; de Winter, Joost C. F.; Breedveld, Paul

2015-01-01

Vision based interfaces for human computer interaction have gained increasing attention over the past decade. This study presents a data fusion approach of the Nimble VR vision based system, using the Kinect camera, with the contact based 5DT Data Glove. Data fusion was achieved through a Kalman filter. The Nimble VR and filter output were compared using measurements performed on (1) a wooden hand model placed in various static postures and orientations; and (2) three differently sized human hands during active finger flexions. Precision and accuracy of joint angle estimates as a function of hand posture and orientation were determined. Moreover, in light of possible self-occlusions of the fingers in the Kinect camera images, data completeness was assessed. Results showed that the integration of the Data Glove through the Kalman filter provided for the proximal interphalangeal (PIP) joints of the fingers a substantial improvement of 79% in precision, from 2.2 deg to 0.9 deg. Moreover, a moderate improvement of 31% in accuracy (being the mean angular deviation from the true joint angle) was established, from 24 deg to 17 deg. The metacarpophalangeal (MCP) joint was relatively unaffected by the Kalman filter. Moreover, the Data Glove increased data completeness, thus providing a substantial advantage over the sole use of the Nimble VR system. PMID:26694395

Robust Hand Motion Tracking through Data Fusion of 5DT Data Glove and Nimble VR Kinect Camera Measurements.

PubMed

Arkenbout, Ewout A; de Winter, Joost C F; Breedveld, Paul

2015-12-15

Vision based interfaces for human computer interaction have gained increasing attention over the past decade. This study presents a data fusion approach of the Nimble VR vision based system, using the Kinect camera, with the contact based 5DT Data Glove. Data fusion was achieved through a Kalman filter. The Nimble VR and filter output were compared using measurements performed on (1) a wooden hand model placed in various static postures and orientations; and (2) three differently sized human hands during active finger flexions. Precision and accuracy of joint angle estimates as a function of hand posture and orientation were determined. Moreover, in light of possible self-occlusions of the fingers in the Kinect camera images, data completeness was assessed. Results showed that the integration of the Data Glove through the Kalman filter provided for the proximal interphalangeal (PIP) joints of the fingers a substantial improvement of 79% in precision, from 2.2 deg to 0.9 deg. Moreover, a moderate improvement of 31% in accuracy (being the mean angular deviation from the true joint angle) was established, from 24 deg to 17 deg. The metacarpophalangeal (MCP) joint was relatively unaffected by the Kalman filter. Moreover, the Data Glove increased data completeness, thus providing a substantial advantage over the sole use of the Nimble VR system.

Identifying sports videos using replay, text, and camera motion features

NASA Astrophysics Data System (ADS)

Kobla, Vikrant; DeMenthon, Daniel; Doermann, David S.

1999-12-01

Automated classification of digital video is emerging as an important piece of the puzzle in the design of content management systems for digital libraries. The ability to classify videos into various classes such as sports, news, movies, or documentaries, increases the efficiency of indexing, browsing, and retrieval of video in large databases. In this paper, we discuss the extraction of features that enable identification of sports videos directly from the compressed domain of MPEG video. These features include detecting the presence of action replays, determining the amount of scene text in vide, and calculating various statistics on camera and/or object motion. The features are derived from the macroblock, motion,and bit-rate information that is readily accessible from MPEG video with very minimal decoding, leading to substantial gains in processing speeds. Full-decoding of selective frames is required only for text analysis. A decision tree classifier built using these features is able to identify sports clips with an accuracy of about 93 percent.

Absolute colorimetric characterization of a DSLR camera

NASA Astrophysics Data System (ADS)

Guarnera, Giuseppe Claudio; Bianco, Simone; Schettini, Raimondo

2014-03-01

A simple but effective technique for absolute colorimetric camera characterization is proposed. It offers a large dynamic range requiring just a single, off-the-shelf target and a commonly available controllable light source for the characterization. The characterization task is broken down in two modules, respectively devoted to absolute luminance estimation and to colorimetric characterization matrix estimation. The characterized camera can be effectively used as a tele-colorimeter, giving an absolute estimation of the XYZ data in cd=m2. The user is only required to vary the f - number of the camera lens or the exposure time t, to better exploit the sensor dynamic range. The estimated absolute tristimulus values closely match the values measured by a professional spectro-radiometer.

In-air versus underwater comparison of 3D reconstruction accuracy using action sport cameras.

PubMed

Bernardina, Gustavo R D; Cerveri, Pietro; Barros, Ricardo M L; Marins, João C B; Silvatti, Amanda P

2017-01-25

Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the literature. Statistically, the 3D accuracy obtained in the in-air environment was poorer (p<10 -5 ) than the one in the underwater environment, across all the tested camera configurations. Related to the repeatability of the camera parameters, we found a very low variability in both environments (1.7% and 2.9%, in-air and underwater). This result encourage the use of ASC technology to perform quantitative reconstruction both in-air and underwater environments. Copyright © 2016 Elsevier Ltd. All rights reserved.

Detection of unknown targets from aerial camera and extraction of simple object fingerprints for the purpose of target reacquisition

NASA Astrophysics Data System (ADS)

Mundhenk, T. Nathan; Ni, Kang-Yu; Chen, Yang; Kim, Kyungnam; Owechko, Yuri

2012-01-01

An aerial multiple camera tracking paradigm needs to not only spot unknown targets and track them, but also needs to know how to handle target reacquisition as well as target handoff to other cameras in the operating theater. Here we discuss such a system which is designed to spot unknown targets, track them, segment the useful features and then create a signature fingerprint for the object so that it can be reacquired or handed off to another camera. The tracking system spots unknown objects by subtracting background motion from observed motion allowing it to find targets in motion, even if the camera platform itself is moving. The area of motion is then matched to segmented regions returned by the EDISON mean shift segmentation tool. Whole segments which have common motion and which are contiguous to each other are grouped into a master object. Once master objects are formed, we have a tight bound on which to extract features for the purpose of forming a fingerprint. This is done using color and simple entropy features. These can be placed into a myriad of different fingerprints. To keep data transmission and storage size low for camera handoff of targets, we try several different simple techniques. These include Histogram, Spatiogram and Single Gaussian Model. These are tested by simulating a very large number of target losses in six videos over an interval of 1000 frames each from the DARPA VIVID video set. Since the fingerprints are very simple, they are not expected to be valid for long periods of time. As such, we test the shelf life of fingerprints. This is how long a fingerprint is good for when stored away between target appearances. Shelf life gives us a second metric of goodness and tells us if a fingerprint method has better accuracy over longer periods. In videos which contain multiple vehicle occlusions and vehicles of highly similar appearance we obtain a reacquisition rate for automobiles of over 80% using the simple single Gaussian model compared with the null hypothesis of <20%. Additionally, the performance for fingerprints stays well above the null hypothesis for as much as 800 frames. Thus, a simple and highly compact single Gaussian model is useful for target reacquisition. Since the model is agnostic to view point and object size, it is expected to perform as well on a test of target handoff. Since some of the performance degradation is due to problems with the initial target acquisition and tracking, the simple Gaussian model may perform even better with an improved initial acquisition technique. Also, since the model makes no assumption about the object to be tracked, it should be possible to use it to fingerprint a multitude of objects, not just cars. Further accuracy may be obtained by creating manifolds of objects from multiple samples.

On the Integration of Medium Wave Infrared Cameras for Vision-Based Navigation

DTIC Science & Technology

2015-03-01

SWIR Short Wave Infrared VisualSFM Visual Structure from Motion WPAFB Wright Patterson Air Force Base xi ON THE INTEGRATION OF MEDIUM WAVE INFRARED...Structure from Motion Visual Structure from Motion ( VisualSFM ) is an application that performs incremental SfM using images fed into it of a scene [20...too drastically in between frames. When this happens, VisualSFM will begin creating a new model with images that do not fit to the old one. These new

Bubble driven quasioscillatory translational motion of catalytic micromotors.

PubMed

Manjare, Manoj; Yang, Bo; Zhao, Y-P

2012-09-21

A new quasioscillatory translational motion has been observed for big Janus catalytic micromotors with a fast CCD camera. Such motional behavior is found to coincide with both the bubble growth and burst processes resulting from the catalytic reaction, and the competition of the two processes generates a net forward motion. Detailed physical models have been proposed to describe the above processes. It is suggested that the bubble growth process imposes a growth force moving the micromotor forward, while the burst process induces an instantaneous local pressure depression pulling the micromotor backward. The theoretic predictions are consistent with the experimental data.

Bubble Driven Quasioscillatory Translational Motion of Catalytic Micromotors

NASA Astrophysics Data System (ADS)

Manjare, Manoj; Yang, Bo; Zhao, Y.-P.

2012-09-01

A new quasioscillatory translational motion has been observed for big Janus catalytic micromotors with a fast CCD camera. Such motional behavior is found to coincide with both the bubble growth and burst processes resulting from the catalytic reaction, and the competition of the two processes generates a net forward motion. Detailed physical models have been proposed to describe the above processes. It is suggested that the bubble growth process imposes a growth force moving the micromotor forward, while the burst process induces an instantaneous local pressure depression pulling the micromotor backward. The theoretic predictions are consistent with the experimental data.

Motion estimation by integrated low cost system (vision and MEMS) for positioning of a scooter "Vespa"

NASA Astrophysics Data System (ADS)

Guarnieri, A.; Milan, N.; Pirotti, F.; Vettore, A.

2011-12-01

In the automotive sector, especially in these last decade, a growing number of investigations have taken into account electronic systems to check and correct the behavior of drivers, increasing road safety. The possibility to identify with high accuracy the vehicle position in a mapping reference frame for driving directions and best-route analysis is also another topic which attracts lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate time by time the position, orientation and velocity of the system. To this aim low cost GPS and MEMS (sensors can be used. In comparison to a four wheel vehicle, the dynamics of a two wheel vehicle (e.g. a scooter) feature a higher level of complexity. Indeed more degrees of freedom must be taken into account to describe the motion of the latter. For example a scooter can twist sideways, thus generating a roll angle. A slight pitch angle has to be considered as well, since wheel suspensions have a higher degree of motion with respect to four wheel vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a motorcycle ("Vespa" scooter), which can be used as alternative to the "classical" approach based on the integration of GPS and INS sensors. Position and orientation of the scooter are derived from MEMS data and images acquired by on-board digital camera. A Bayesian filter provides the means for integrating the data from MEMS-based orientation sensor and the GPS receiver.

Versatile microsecond movie camera

NASA Astrophysics Data System (ADS)

Dreyfus, R. W.

1980-03-01

A laboratory-type movie camera is described which satisfies many requirements in the range 1 microsec to 1 sec. The camera consists of a He-Ne laser and compatible state-of-the-art components; the primary components are an acoustooptic modulator, an electromechanical beam deflector, and a video tape system. The present camera is distinct in its operation in that submicrosecond laser flashes freeze the image motion while still allowing the simplicity of electromechanical image deflection in the millisecond range. The gating and pulse delay circuits of an oscilloscope synchronize the modulator and scanner relative to the subject being photographed. The optical table construction and electronic control enhance the camera's versatility and adaptability. The instant replay video tape recording allows for easy synchronization and immediate viewing of the results. Economy is achieved by using off-the-shelf components, optical table construction, and short assembly time.

Estimation of Center of Mass Trajectory using Wearable Sensors during Golf Swing.

PubMed

Najafi, Bijan; Lee-Eng, Jacqueline; Wrobel, James S; Goebel, Ruben

2015-06-01

This study suggests a wearable sensor technology to estimate center of mass (CoM) trajectory during a golf swing. Groups of 3, 4, and 18 participants were recruited, respectively, for the purpose of three validation studies. Study 1 examined the accuracy of the system to estimate a 3D body segment angle compared to a camera-based motion analyzer (Vicon®). Study 2 assessed the accuracy of three simplified CoM trajectory models. Finally, Study 3 assessed the accuracy of the proposed CoM model during multiple golf swings. A relatively high agreement was observed between wearable sensors and the reference (Vicon®) for angle measurement (r > 0.99, random error <1.2° (1.5%) for anterior-posterior; <0.9° (2%) for medial-lateral; and <3.6° (2.5%) for internal-external direction). The two-link model yielded a better agreement with the reference system compared to one-link model (r > 0.93 v. r = 0.52, respectively). On the same note, the proposed two-link model estimated CoM trajectory during golf swing with relatively good accuracy (r > 0.9, A-P random error <1cm (7.7%) and <2cm (10.4%) for M-L). The proposed system appears to accurately quantify the kinematics of CoM trajectory as a surrogate of dynamic postural control during an athlete's movement and its portability, makes it feasible to fit the competitive environment without restricting surface type. Key pointsThis study demonstrates that wearable technology based on inertial sensors are accurate to estimate center of mass trajectory in complex athletic task (e.g., golf swing)This study suggests that two-link model of human body provides optimum tradeoff between accuracy and minimum number of sensor module for estimation of center of mass trajectory in particular during fast movements.Wearable technologies based on inertial sensors are viable option for assessing dynamic postural control in complex task outside of gait laboratory and constraints of cameras, surface, and base of support.

The application of a low-cost 3D depth camera for patient set-up and respiratory motion management in radiotherapy

NASA Astrophysics Data System (ADS)

Tahavori, Fatemeh

Respiratory motion induces uncertainty in External Beam Radiotherapy (EBRT), which can result in sub-optimal dose delivery to the target tissue and unwanted dose to normal tissue. The conventional approach to managing patient respiratory motion for EBRT within the area of abdominal-thoracic cancer is through the use of internal radiological imaging methods (e.g. Megavoltage imaging or Cone-Beam Computed Tomography) or via surrogate estimates of tumour position using external markers placed on the patient chest. This latter method uses tracking with video-based techniques, and relies on an assumed correlation or mathematical model, between the external surrogate signal and the internal target position. The marker's trajectory can be used in both respiratory gating techniques and real-time tracking methods. Internal radiological imaging methods bring with them limited temporal resolution, and additional radiation burden, which can be addressed by external marker-based methods that carry no such issues. Moreover, by including multiple external markers and placing them closer to the internal target organs, the effciency of correlation algorithms can be increased. However, the quality of such external monitoring methods is underpinned by the performance of the associated correlation model. Therefore, several new approaches to correlation modelling have been developed as part of this thesis and compared using publicly-available datasets. Highly competitive results have been obtained when compared against state-of-the-art methods. Marker-based methods also have the disadvantages of requiring manual set-up time for marker placement and patient positioning and potential issues with reproducibility of marker placement. This motivates the investigation of non-contact marker-free methods for use in EBRT, which is the main topic of this thesis. The Microsoft Kinect is used as an example of a low-cost consumer grade 3D depth camera for capturing and analysing external respiratory motion. This thesis makes the first presentation of detailed studies of external respiratory motion captured using such low-cost technology and demonstrates its potential in a healthcare environment. Firstly, the fundamental performance of a range of Microsoft Kinect sensors is assessed for use in radiotherapy (and potentially other healthcare applications), in terms of static and dynamic performance using both phantoms and volunteers. Then external respiratory motion is captured using the above technology from a group of 32 healthy volunteers and Principal Component Analysis (PCA) is applied to a region of interest encompassing the complete anterior surface to demonstrate breathing style. This work demonstrates that this surface motion can be compactly described by the first two PCA eigenvectors. The reproducibility of subject-specific EBRT set-up using conventional laser-based alignment and marker-based Deep Inspiration Breath Hold (DIBH) methods are also studied using the Microsoft Kinect sensor. A cohort of five healthy female volunteers is repeatedly set-up for left-sided breast cancer EBRT and multiple DIBH episodes captured over five separate sessions representing multiple fractionated radiotherapy treatment sessions, but without dose delivery. This provided an independent assessment that subjects were set-up and generally achieved variations within currently accepted margins of clinical practice. Moreover, this work demonstrated the potential role of consumer-grade 3D depth camera technology as a possible replacement for marker based set-up and DIBH management procedures. This brings with it the additional benefits of low cost, and potential through-put benefits, as patient set-up could ultimately be fully automated with this technology, and DIBH could be independently monitored without requiring preparatory manual intervention.

Accuracy and Precision of a Custom Camera-Based System for 2-D and 3-D Motion Tracking during Speech and Nonspeech Motor Tasks

ERIC Educational Resources Information Center

Feng, Yongqiang; Max, Ludo

2014-01-01

Purpose: Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable…

STS-28 Columbia, OV-102, MS Brown uses ARRIFLEX camera on aft flight deck

NASA Image and Video Library

1989-08-13

STS028-17-033 (August 1989) --- Astronaut Mark N. Brown, STS-28 mission specialist, pauses from a session of motion-picture photography conducted through one of the aft windows on the flight deck of the Earth-orbiting Space Shuttle Columbia. He is using an Arriflex camera. The horizon of the blue and white appearing Earth and its airglow are visible in the background.

Efficient subtle motion detection from high-speed video for sound recovery and vibration analysis using singular value decomposition-based approach

NASA Astrophysics Data System (ADS)

Zhang, Dashan; Guo, Jie; Jin, Yi; Zhu, Chang'an

2017-09-01

High-speed cameras provide full field measurement of structure motions and have been applied in nondestructive testing and noncontact structure monitoring. Recently, a phase-based method has been proposed to extract sound-induced vibrations from phase variations in videos, and this method provides insights into the study of remote sound surveillance and material analysis. An efficient singular value decomposition (SVD)-based approach is introduced to detect sound-induced subtle motions from pixel intensities in silent high-speed videos. A high-speed camera is initially applied to capture a video of the vibrating objects stimulated by sound fluctuations. Then, subimages collected from a small region on the captured video are reshaped into vectors and reconstructed to form a matrix. Orthonormal image bases (OIBs) are obtained from the SVD of the matrix; available vibration signal can then be obtained by projecting subsequent subimages onto specific OIBs. A simulation test is initiated to validate the effectiveness and efficiency of the proposed method. Two experiments are conducted to demonstrate the potential applications in sound recovery and material analysis. Results show that the proposed method efficiently detects subtle motions from the video.

Educational Aspects of the CONCAM Sky Monitoring Project

NASA Astrophysics Data System (ADS)

Nemiroff, R. J.; Rafert, J. B.; Ftaclas, C.; Pereira, W. E.; Perez-Ramirez, D.

2000-12-01

We have built a prototype CONtinuous CAMera (CONCAM) that mates a fisheye lens to a CCD camera run by a laptop computer. Presently, one CONCAM is deployed at Kitt Peak National Observatory and another is being set up on Mauna Kea in Hawaii. CONCAMs can detect stars of visual magnitude 6 near the image center in a two-minute exposure. CONCAMs are weather-proof, take continuous data from 2 π steradians on the sky, are programmable over the internet, create data files downloadable over the internet, are small enough to fit inside a briefcase, and cost under \\$10 K. . Images archived at http://concam.net can be used to teach many introductory concepts. These include: the rotation of the Earth, the relative location and phase of the Moon, the location and relative motion of planets, the location of the Galactic plane, the motion of Earth satellites, the location and motion of comets, the motion of meteors, the radiant of a meteor shower, the relative locations of interesting stars, and the relative brightness changes of highly variable stars. Concam.net is not meant to replace first hand student observations of the sky, but rather to complement them with classroom-accessible actual-sky-image examples.

Graphics simulation and training aids for advanced teleoperation

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

1993-01-01

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Noise Reduction in Brainwaves by Using Both EEG Signals and Frontal Viewing Camera Images

PubMed Central

Bang, Jae Won; Choi, Jong-Suk; Park, Kang Ryoung

2013-01-01

Electroencephalogram (EEG)-based brain-computer interfaces (BCIs) have been used in various applications, including human–computer interfaces, diagnosis of brain diseases, and measurement of cognitive status. However, EEG signals can be contaminated with noise caused by user's head movements. Therefore, we propose a new method that combines an EEG acquisition device and a frontal viewing camera to isolate and exclude the sections of EEG data containing these noises. This method is novel in the following three ways. First, we compare the accuracies of detecting head movements based on the features of EEG signals in the frequency and time domains and on the motion features of images captured by the frontal viewing camera. Second, the features of EEG signals in the frequency domain and the motion features captured by the frontal viewing camera are selected as optimal ones. The dimension reduction of the features and feature selection are performed using linear discriminant analysis. Third, the combined features are used as inputs to support vector machine (SVM), which improves the accuracy in detecting head movements. The experimental results show that the proposed method can detect head movements with an average error rate of approximately 3.22%, which is smaller than that of other methods. PMID:23669713

Dynamic light scattering microscopy

NASA Astrophysics Data System (ADS)

Dzakpasu, Rhonda

An optical microscope technique, dynamic light scattering microscopy (DLSM) that images dynamically scattered light fluctuation decay rates is introduced. Using physical optics we show theoretically that within the optical resolution of the microscope, relative motions between scattering centers are sufficient to produce significant phase variations resulting in interference intensity fluctuations in the image plane. The time scale for these intensity fluctuations is predicted. The spatial coherence distance defining the average distance between constructive and destructive interference in the image plane is calculated and compared with the pixel size. We experimentally tested DLSM on polystyrene latex nanospheres and living macrophage cells. In order to record these rapid fluctuations, on a slow progressive scan CCD camera, we used a thin laser line of illumination on the sample such that only a single column of pixels in the CCD camera is illuminated. This allowed the use of the rate of the column-by-column readout transfer process as the acquisition rate of the camera. This manipulation increased the data acquisition rate by at least an order of magnitude in comparison to conventional CCD cameras rates defined by frames/s. Analysis of the observed fluctuations provides information regarding the rates of motion of the scattering centers. These rates, acquired from each position on the sample are used to create a spatial map of the fluctuation decay rates. Our experiments show that with this technique, we are able to achieve a good signal-to-noise ratio and can monitor fast intensity fluctuations, on the order of milliseconds. DLSM appears to provide dynamic information about fast motions within cells at a sub-optical resolution scale and provides a new kind of spatial contrast.

Hybrid Systems Diagnosis

NASA Technical Reports Server (NTRS)

McIlraith, Sheila; Biswas, Gautam; Clancy, Dan; Gupta, Vineet

2005-01-01

This paper reports on an on-going Project to investigate techniques to diagnose complex dynamical systems that are modeled as hybrid systems. In particular, we examine continuous systems with embedded supervisory controllers that experience abrupt, partial or full failure of component devices. We cast the diagnosis problem as a model selection problem. To reduce the space of potential models under consideration, we exploit techniques from qualitative reasoning to conjecture an initial set of qualitative candidate diagnoses, which induce a smaller set of models. We refine these diagnoses using parameter estimation and model fitting techniques. As a motivating case study, we have examined the problem of diagnosing NASA's Sprint AERCam, a small spherical robotic camera unit with 12 thrusters that enable both linear and rotational motion.

Monocular Visual Odometry Based on Trifocal Tensor Constraint

NASA Astrophysics Data System (ADS)

Chen, Y. J.; Yang, G. L.; Jiang, Y. X.; Liu, X. Y.

2018-02-01

For the problem of real-time precise localization in the urban street, a monocular visual odometry based on Extend Kalman fusion of optical-flow tracking and trifocal tensor constraint is proposed. To diminish the influence of moving object, such as pedestrian, we estimate the motion of the camera by extracting the features on the ground, which improves the robustness of the system. The observation equation based on trifocal tensor constraint is derived, which can form the Kalman filter alone with the state transition equation. An Extend Kalman filter is employed to cope with the nonlinear system. Experimental results demonstrate that, compares with Yu’s 2-step EKF method, the algorithm is more accurate which meets the needs of real-time accurate localization in cities.

Partial camera automation in an unmanned air vehicle.

PubMed

Korteling, J E; van der Borg, W

1997-03-01

The present study focused on an intelligent, semiautonomous, interface for a camera operator of a simulated unmanned air vehicle (UAV). This interface used system "knowledge" concerning UAV motion in order to assist a camera operator in tracking an object moving through the landscape below. The semiautomated system compensated for the translations of the UAV relative to the earth. This compensation was accompanied by the appropriate joystick movements ensuring tactile (haptic) feedback of these system interventions. The operator had to superimpose self-initiated joystick manipulations over these system-initiated joystick motions in order to track the motion of a target (a driving truck) relative to the terrain. Tracking data showed that subjects performed substantially better with the active system. Apparently, the subjects had no difficulty in maintaining control, i.e., "following" the active stick while superimposing self-initiated control movements over the system-interventions. Furthermore, tracking performance with an active interface was clearly superior relative to the passive system. The magnitude of this effect was equal to the effect of update-frequency (2-5 Hz) of the monitor image. The benefits of update frequency enhancement and semiautomated tracking were the greatest under difficult steering conditions. Mental workload scores indicated that, for the difficult tracking-dynamics condition, both semiautomation and update frequency increase resulted in less experienced mental effort. For the easier dynamics this effect was only seen for update frequency.

Accuracy and precision of a custom camera-based system for 2D and 3D motion tracking during speech and nonspeech motor tasks

PubMed Central

Feng, Yongqiang; Max, Ludo

2014-01-01

Purpose Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories, and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable alternative, provided that they offer high temporal resolution and sub-millimeter accuracy. Method We examined the accuracy and precision of 2D and 3D data recorded with a system that combines consumer-grade digital cameras capturing 60, 120, or 240 frames per second (fps), retro-reflective markers, commercially-available computer software (APAS, Ariel Dynamics), and a custom calibration device. Results Overall mean error (RMSE) across tests was 0.15 mm for static tracking and 0.26 mm for dynamic tracking, with corresponding precision (SD) values of 0.11 and 0.19 mm, respectively. The effect of frame rate varied across conditions, but, generally, accuracy was reduced at 240 fps. The effect of marker size (3 vs. 6 mm diameter) was negligible at all frame rates for both 2D and 3D data. Conclusion Motion tracking with consumer-grade digital cameras and the APAS software can achieve sub-millimeter accuracy at frame rates that are appropriate for kinematic analyses of lip/jaw movements for both research and clinical purposes. PMID:24686484

A new position measurement system using a motion-capture camera for wind tunnel tests.

PubMed

Park, Hyo Seon; Kim, Ji Young; Kim, Jin Gi; Choi, Se Woon; Kim, Yousok

2013-09-13

Considering the characteristics of wind tunnel tests, a position measurement system that can minimize the effects on the flow of simulated wind must be established. In this study, a motion-capture camera was used to measure the displacement responses of structures in a wind tunnel test, and the applicability of the system was tested. A motion-capture system (MCS) could output 3D coordinates using two-dimensional image coordinates obtained from the camera. Furthermore, this remote sensing system had some flexibility regarding lab installation because of its ability to measure at relatively long distances from the target structures. In this study, we performed wind tunnel tests on a pylon specimen and compared the measured responses of the MCS with the displacements measured with a laser displacement sensor (LDS). The results of the comparison revealed that the time-history displacement measurements from the MCS slightly exceeded those of the LDS. In addition, we confirmed the measuring reliability of the MCS by identifying the dynamic properties (natural frequency, damping ratio, and mode shape) of the test specimen using system identification methods (frequency domain decomposition, FDD). By comparing the mode shape obtained using the aforementioned methods with that obtained using the LDS, we also confirmed that the MCS could construct a more accurate mode shape (bending-deflection mode shape) with the 3D measurements.

A New Position Measurement System Using a Motion-Capture Camera for Wind Tunnel Tests

PubMed Central

Park, Hyo Seon; Kim, Ji Young; Kim, Jin Gi; Choi, Se Woon; Kim, Yousok

2013-01-01

Considering the characteristics of wind tunnel tests, a position measurement system that can minimize the effects on the flow of simulated wind must be established. In this study, a motion-capture camera was used to measure the displacement responses of structures in a wind tunnel test, and the applicability of the system was tested. A motion-capture system (MCS) could output 3D coordinates using two-dimensional image coordinates obtained from the camera. Furthermore, this remote sensing system had some flexibility regarding lab installation because of its ability to measure at relatively long distances from the target structures. In this study, we performed wind tunnel tests on a pylon specimen and compared the measured responses of the MCS with the displacements measured with a laser displacement sensor (LDS). The results of the comparison revealed that the time-history displacement measurements from the MCS slightly exceeded those of the LDS. In addition, we confirmed the measuring reliability of the MCS by identifying the dynamic properties (natural frequency, damping ratio, and mode shape) of the test specimen using system identification methods (frequency domain decomposition, FDD). By comparing the mode shape obtained using the aforementioned methods with that obtained using the LDS, we also confirmed that the MCS could construct a more accurate mode shape (bending-deflection mode shape) with the 3D measurements. PMID:24064600

Blind image deblurring based on trained dictionary and curvelet using sparse representation

NASA Astrophysics Data System (ADS)

Feng, Liang; Huang, Qian; Xu, Tingfa; Li, Shao

2015-04-01

Motion blur is one of the most significant and common artifacts causing poor image quality in digital photography, in which many factors resulted. In imaging process, if the objects are moving quickly in the scene or the camera moves in the exposure interval, the image of the scene would blur along the direction of relative motion between the camera and the scene, e.g. camera shake, atmospheric turbulence. Recently, sparse representation model has been widely used in signal and image processing, which is an effective method to describe the natural images. In this article, a new deblurring approach based on sparse representation is proposed. An overcomplete dictionary learned from the trained image samples via the KSVD algorithm is designed to represent the latent image. The motion-blur kernel can be treated as a piece-wise smooth function in image domain, whose support is approximately a thin smooth curve, so we employed curvelet to represent the blur kernel. Both of overcomplete dictionary and curvelet system have high sparsity, which improves the robustness to the noise and more satisfies the observer's visual demand. With the two priors, we constructed restoration model of blurred images and succeeded to solve the optimization problem with the help of alternating minimization technique. The experiment results prove the method can preserve the texture of original images and suppress the ring artifacts effectively.

Feasibility study for the application of the large format camera as a payload for the Orbiter program

NASA Technical Reports Server (NTRS)

1978-01-01

The large format camera (LFC) designed as a 30 cm focal length cartographic camera system that employs forward motion compensation in order to achieve the full image resolution provided by its 80 degree field angle lens is described. The feasibility of application of the current LFC design to deployment in the orbiter program as the Orbiter Camera Payload System was assessed and the changes that are necessary to meet such a requirement are discussed. Current design and any proposed design changes were evaluated relative to possible future deployment of the LFC on a free flyer vehicle or in a WB-57F. Preliminary mission interface requirements for the LFC are given.

Mechanical Design of the LSST Camera

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nordby, Martin; Bowden, Gordon; Foss, Mike

2008-06-13

The LSST camera is a tightly packaged, hermetically-sealed system that is cantilevered into the main beam of the LSST telescope. It is comprised of three refractive lenses, on-board storage for five large filters, a high-precision shutter, and a cryostat that houses the 3.2 giga-pixel CCD focal plane along with its support electronics. The physically large optics and focal plane demand large structural elements to support them, but the overall size of the camera and its components must be minimized to reduce impact on the image stability. Also, focal plane and optics motions must be minimized to reduce systematic errors inmore » image reconstruction. Design and analysis for the camera body and cryostat will be detailed.« less

Real-time intra-fraction-motion tracking using the treatment couch: a feasibility study

NASA Astrophysics Data System (ADS)

D'Souza, Warren D.; Naqvi, Shahid A.; Yu, Cedric X.

2005-09-01

Significant differences between planned and delivered treatments may occur due to respiration-induced tumour motion, leading to underdosing of parts of the tumour and overdosing of parts of the surrounding critical structures. Existing methods proposed to counter tumour motion include breath-holds, gating and MLC-based tracking. Breath-holds and gating techniques increase treatment time considerably, whereas MLC-based tracking is limited to two dimensions. We present an alternative solution in which a robotic couch moves in real time in response to organ motion. To demonstrate proof-of-principle, we constructed a miniature adaptive couch model consisting of two movable platforms that simulate tumour motion and couch motion, respectively. These platforms were connected via an electronic feedback loop so that the bottom platform responded to the motion of the top platform. We tested our model with a seven-field step-and-shoot delivery case in which we performed three film-based experiments: (1) static geometry, (2) phantom-only motion and (3) phantom motion with simulated couch motion. Our measurements demonstrate that the miniature couch was able to compensate for phantom motion to the extent that the dose distributions were practically indistinguishable from those in static geometry. Motivated by this initial success, we investigated a real-time couch compensation system consisting of a stereoscopic infra-red camera system interfaced to a robotic couch known as the Hexapod™, which responds in real time to any change in position detected by the cameras. Optical reflectors placed on a solid water phantom were used as surrogates for motion. We tested the effectiveness of couch-based motion compensation for fixed fields and a dynamic arc delivery cases. Due to hardware limitations, we performed film-based experiments (1), (2) and (3), with the robotic couch at a phantom motion period and dose rate of 16 s and 100 MU min-1, respectively. Analysis of film measurements showed near-equivalent dose distributions (<=2 mm agreement of corresponding isodose lines) for static geometry and motion-synchronized real-time robotic couch tracking-based radiation delivery.

A head motion estimation algorithm for motion artifact correction in dental CT imaging

NASA Astrophysics Data System (ADS)

Hernandez, Daniel; Elsayed Eldib, Mohamed; Hegazy, Mohamed A. A.; Hye Cho, Myung; Cho, Min Hyoung; Lee, Soo Yeol

2018-03-01

A small head motion of the patient can compromise the image quality in a dental CT, in which a slow cone-beam scan is adopted. We introduce a retrospective head motion estimation method by which we can estimate the motion waveform from the projection images without employing any external motion monitoring devices. We compute the cross-correlation between every two successive projection images, which results in a sinusoid-like displacement curve over the projection view when there is no patient motion. However, the displacement curve deviates from the sinusoid-like form when patient motion occurs. We develop a method to estimate the motion waveform with a single parameter derived from the displacement curve with aid of image entropy minimization. To verify the motion estimation method, we use a lab-built micro-CT that can emulate major head motions during dental CT scans, such as tilting and nodding, in a controlled way. We find that the estimated motion waveform conforms well to the actual motion waveform. To further verify the motion estimation method, we correct the motion artifacts with the estimated motion waveform. After motion artifact correction, the corrected images look almost identical to the reference images, with structural similarity index values greater than 0.81 in the phantom and rat imaging studies.

Computationally efficient video restoration for Nyquist sampled imaging sensors combining an affine-motion-based temporal Kalman filter and adaptive Wiener filter.

PubMed

Rucci, Michael; Hardie, Russell C; Barnard, Kenneth J

2014-05-01

In this paper, we present a computationally efficient video restoration algorithm to address both blur and noise for a Nyquist sampled imaging system. The proposed method utilizes a temporal Kalman filter followed by a correlation-model based spatial adaptive Wiener filter (AWF). The Kalman filter employs an affine background motion model and novel process-noise variance estimate. We also propose and demonstrate a new multidelay temporal Kalman filter designed to more robustly treat local motion. The AWF is a spatial operation that performs deconvolution and adapts to the spatially varying residual noise left in the Kalman filter stage. In image areas where the temporal Kalman filter is able to provide significant noise reduction, the AWF can be aggressive in its deconvolution. In other areas, where less noise reduction is achieved with the Kalman filter, the AWF balances the deconvolution with spatial noise reduction. In this way, the Kalman filter and AWF work together effectively, but without the computational burden of full joint spatiotemporal processing. We also propose a novel hybrid system that combines a temporal Kalman filter and BM3D processing. To illustrate the efficacy of the proposed methods, we test the algorithms on both simulated imagery and video collected with a visible camera.

Structure-From for Calibration of a Vehicle Camera System with Non-Overlapping Fields-Of in AN Urban Environment

NASA Astrophysics Data System (ADS)

Hanel, A.; Stilla, U.

2017-05-01

Vehicle environment cameras observing traffic participants in the area around a car and interior cameras observing the car driver are important data sources for driver intention recognition algorithms. To combine information from both camera groups, a camera system calibration can be performed. Typically, there is no overlapping field-of-view between environment and interior cameras. Often no marked reference points are available in environments, which are a large enough to cover a car for the system calibration. In this contribution, a calibration method for a vehicle camera system with non-overlapping camera groups in an urban environment is described. A-priori images of an urban calibration environment taken with an external camera are processed with the structure-frommotion method to obtain an environment point cloud. Images of the vehicle interior, taken also with an external camera, are processed to obtain an interior point cloud. Both point clouds are tied to each other with images of both image sets showing the same real-world objects. The point clouds are transformed into a self-defined vehicle coordinate system describing the vehicle movement. On demand, videos can be recorded with the vehicle cameras in a calibration drive. Poses of vehicle environment cameras and interior cameras are estimated separately using ground control points from the respective point cloud. All poses of a vehicle camera estimated for different video frames are optimized in a bundle adjustment. In an experiment, a point cloud is created from images of an underground car park, as well as a point cloud of the interior of a Volkswagen test car is created. Videos of two environment and one interior cameras are recorded. Results show, that the vehicle camera poses are estimated successfully especially when the car is not moving. Position standard deviations in the centimeter range can be achieved for all vehicle cameras. Relative distances between the vehicle cameras deviate between one and ten centimeters from tachymeter reference measurements.

Observation and analysis of high-speed human motion with frequent occlusion in a large area

NASA Astrophysics Data System (ADS)

Wang, Yuru; Liu, Jiafeng; Liu, Guojun; Tang, Xianglong; Liu, Peng

2009-12-01

The use of computer vision technology in collecting and analyzing statistics during sports matches or training sessions is expected to provide valuable information for tactics improvement. However, the measurements published in the literature so far are either unreliably documented to be used in training planning due to their limitations or unsuitable for studying high-speed motion in large area with frequent occlusions. A sports annotation system is introduced in this paper for tracking high-speed non-rigid human motion over a large playing area with the aid of motion camera, taking short track speed skating competitions as an example. The proposed system is composed of two sub-systems: precise camera motion compensation and accurate motion acquisition. In the video registration step, a distinctive invariant point feature detector (probability density grads detector) and a global parallax based matching points filter are used, to provide reliable and robust matching across a large range of affine distortion and illumination change. In the motion acquisition step, a two regions' relationship constrained joint color model and Markov chain Monte Carlo based joint particle filter are emphasized, by dividing the human body into two relative key regions. Several field tests are performed to assess measurement errors, including comparison to popular algorithms. With the help of the system presented, the system obtains position data on a 30 m × 60 m large rink with root-mean-square error better than 0.3975 m, velocity and acceleration data with absolute error better than 1.2579 m s-1 and 0.1494 m s-2, respectively.

Ambient-Light-Canceling Camera Using Subtraction of Frames

NASA Technical Reports Server (NTRS)

Morookian, John Michael

2004-01-01

The ambient-light-canceling camera (ALCC) is a proposed near-infrared electronic camera that would utilize a combination of (1) synchronized illumination during alternate frame periods and (2) subtraction of readouts from consecutive frames to obtain images without a background component of ambient light. The ALCC is intended especially for use in tracking the motion of an eye by the pupil center corneal reflection (PCCR) method. Eye tracking by the PCCR method has shown potential for application in human-computer interaction for people with and without disabilities, and for noninvasive monitoring, detection, and even diagnosis of physiological and neurological deficiencies. In the PCCR method, an eye is illuminated by near-infrared light from a lightemitting diode (LED). Some of the infrared light is reflected from the surface of the cornea. Some of the infrared light enters the eye through the pupil and is reflected from back of the eye out through the pupil a phenomenon commonly observed as the red-eye effect in flash photography. An electronic camera is oriented to image the user's eye. The output of the camera is digitized and processed by algorithms that locate the two reflections. Then from the locations of the centers of the two reflections, the direction of gaze is computed. As described thus far, the PCCR method is susceptible to errors caused by reflections of ambient light. Although a near-infrared band-pass optical filter can be used to discriminate against ambient light, some sources of ambient light have enough in-band power to compete with the LED signal. The mode of operation of the ALCC would complement or supplant spectral filtering by providing more nearly complete cancellation of the effect of ambient light. In the operation of the ALCC, a near-infrared LED would be pulsed on during one camera frame period and off during the next frame period. Thus, the scene would be illuminated by both the LED (signal) light and the ambient (background) light during one frame period, and would be illuminated with only ambient (background) light during the next frame period. The camera output would be digitized and sent to a computer, wherein the pixel values of the background-only frame would be subtracted from the pixel values of the signal-plus-background frame to obtain signal-only pixel values (see figure). To prevent artifacts of motion from entering the images, it would be necessary to acquire image data at a rate greater than the standard video rate of 30 frames per second. For this purpose, the ALCC would exploit a novel control technique developed at NASA s Jet Propulsion Laboratory for advanced charge-coupled-device (CCD) cameras. This technique provides for readout from a subwindow [region of interest (ROI)] within the image frame. Because the desired reflections from the eye would typically occupy a small fraction of the area within the image frame, the ROI capability would make it possible to acquire and subtract pixel values at rates of several hundred frames per second considerably greater than the standard video rate and sufficient to both (1) suppress motion artifacts and (2) track the motion of the eye between consecutive subtractive frame pairs.

Sensor for In-Motion Continuous 3D Shape Measurement Based on Dual Line-Scan Cameras

PubMed Central

Sun, Bo; Zhu, Jigui; Yang, Linghui; Yang, Shourui; Guo, Yin

2016-01-01

The acquisition of three-dimensional surface data plays an increasingly important role in the industrial sector. Numerous 3D shape measurement techniques have been developed. However, there are still limitations and challenges in fast measurement of large-scale objects or high-speed moving objects. The innovative line scan technology opens up new potentialities owing to the ultra-high resolution and line rate. To this end, a sensor for in-motion continuous 3D shape measurement based on dual line-scan cameras is presented. In this paper, the principle and structure of the sensor are investigated. The image matching strategy is addressed and the matching error is analyzed. The sensor has been verified by experiments and high-quality results are obtained. PMID:27869731

Detection of unmanned aerial vehicles using a visible camera system.

PubMed

Hu, Shuowen; Goldman, Geoffrey H; Borel-Donohue, Christoph C

2017-01-20

Unmanned aerial vehicles (UAVs) flown by adversaries are an emerging asymmetric threat to homeland security and the military. To help address this threat, we developed and tested a computationally efficient UAV detection algorithm consisting of horizon finding, motion feature extraction, blob analysis, and coherence analysis. We compare the performance of this algorithm against two variants, one using the difference image intensity as the motion features and another using higher-order moments. The proposed algorithm and its variants are tested using field test data of a group 3 UAV acquired with a panoramic video camera in the visible spectrum. The performance of the algorithms was evaluated using receiver operating characteristic curves. The results show that the proposed approach had the best performance compared to the two algorithmic variants.

3-D Velocimetry of Strombolian Explosions

NASA Astrophysics Data System (ADS)

Taddeucci, J.; Gaudin, D.; Orr, T. R.; Scarlato, P.; Houghton, B. F.; Del Bello, E.

2014-12-01

Using two synchronized high-speed cameras we were able to reconstruct the three-dimensional displacement and velocity field of bomb-sized pyroclasts in Strombolian explosions at Stromboli Volcano. Relatively low-intensity Strombolian-style activity offers a rare opportunity to observe volcanic processes that remain hidden from view during more violent explosive activity. Such processes include the ejection and emplacement of bomb-sized clasts along pure or drag-modified ballistic trajectories, in-flight bomb collision, and gas liberation dynamics. High-speed imaging of Strombolian activity has already opened new windows for the study of the abovementioned processes, but to date has only utilized two-dimensional analysis with limited motion detection and ability to record motion towards or away from the observer. To overcome this limitation, we deployed two synchronized high-speed video cameras at Stromboli. The two cameras, located sixty meters apart, filmed Strombolian explosions at 500 and 1000 frames per second and with different resolutions. Frames from the two cameras were pre-processed and combined into a single video showing frames alternating from one to the other camera. Bomb-sized pyroclasts were then manually identified and tracked in the combined video, together with fixed reference points located as close as possible to the vent. The results from manual tracking were fed to a custom software routine that, knowing the relative position of the vent and cameras, and the field of view of the latter, provided the position of each bomb relative to the reference points. By tracking tens of bombs over five to ten frames at different intervals during one explosion, we were able to reconstruct the three-dimensional evolution of the displacement and velocity fields of bomb-sized pyroclasts during individual Strombolian explosions. Shifting jet directivity and dispersal angle clearly appear from the three-dimensional analysis.

Resting and Postexercise Heart Rate Detection From Fingertip and Facial Photoplethysmography Using a Smartphone Camera: A Validation Study

PubMed Central

Chan, Christy KY; Li, Christien KH; To, Olivia TL; Lai, William HS; Tse, Gary; Poh, Yukkee C; Poh, Ming-Zher

2017-01-01

Background Modern smartphones allow measurement of heart rate (HR) by detecting pulsatile photoplethysmographic (PPG) signals with built-in cameras from the fingertips or the face, without physical contact, by extracting subtle beat-to-beat variations of skin color. Objective The objective of our study was to evaluate the accuracy of HR measurements at rest and after exercise using a smartphone-based PPG detection app. Methods A total of 40 healthy participants (20 men; mean age 24.7, SD 5.2 years; von Luschan skin color range 14-27) underwent treadmill exercise using the Bruce protocol. We recorded simultaneous PPG signals for each participant by having them (1) facing the front camera and (2) placing their index fingertip over an iPhone’s back camera. We analyzed the PPG signals from the Cardiio-Heart Rate Monitor + 7 Minute Workout (Cardiio) smartphone app for HR measurements compared with a continuous 12-lead electrocardiogram (ECG) as the reference. Recordings of 20 seconds’ duration each were acquired at rest, and immediately after moderate- (50%-70% maximum HR) and vigorous- (70%-85% maximum HR) intensity exercise, and repeated successively until return to resting HR. We used Bland-Altman plots to examine agreement between ECG and PPG-estimated HR. The accuracy criterion was root mean square error (RMSE) ≤5 beats/min or ≤10%, whichever was greater, according to the American National Standards Institute/Association for the Advancement of Medical Instrumentation EC-13 standard. Results We analyzed a total of 631 fingertip and 626 facial PPG measurements. Fingertip PPG-estimated HRs were strongly correlated with resting ECG HR (r=.997, RMSE=1.03 beats/min or 1.40%), postmoderate-intensity exercise (r=.994, RMSE=2.15 beats/min or 2.53%), and postvigorous-intensity exercise HR (r=.995, RMSE=2.01 beats/min or 1.93%). The correlation of facial PPG-estimated HR was stronger with resting ECG HR (r=.997, RMSE=1.02 beats/min or 1.44%) than with postmoderate-intensity exercise (r=.982, RMSE=3.68 beats/min or 4.11%) or with postvigorous-intensity exercise (r=.980, RMSE=3.84 beats/min or 3.73%). Bland-Altman plots showed better agreement between ECG and fingertip PPG-estimated HR than between ECG and facial PPG-estimated HR. Conclusions We found that HR detection by the Cardiio smartphone app was accurate at rest and after moderate- and vigorous-intensity exercise in a healthy young adult sample. Contact-free facial PPG detection is more convenient but is less accurate than finger PPG due to body motion after exercise. PMID:28288955

The kinelite project. A new powerful motion analyser for spacelab and space station

NASA Astrophysics Data System (ADS)

Venet, M.; Pinard, H.; McIntyre, J.; Berthoz, A.; Lacquaniti, F.

The goal of the Kinelite Project is to develop a space qualified motion analysis system to be used in space by the scientific community, mainly to support neuroscience protocols. The measurement principle of the Kinelite is to determine, by triangulation mean, the 3D position of small, lightweight, reflective markers positionned at the different points of interest. The scene is illuminated by Infra Red flashes and the reflected light is acquired by up to 8 precalibrated and synchronized CCD cameras. The main characteristics of the system are: - Camera field of view: 45 °, - Number of cameras: 2 to 8, - Acquisition frequency: 25, 50, 100 or 200 Hz, - CCD format: 256 × 256, - Number of markers: up to 64, - 3D accuracy: 2 mm, - Main dimensions: 45 cm × 45 cm × 30 cm, - Mass: 23 kg, - Power consumption: less than 200 W. The Kinelite will first fly aboard the NASA Spacelab; it will be used, during the NEUROLAB mission (4/98), to support the "Frames of References and Internal Models" (Principal Investigator: Pr. A.BERTHOZ, Co Investigators: J. Mc INTYRE, F. LACQUANITI).

Vision robot with rotational camera for searching ID tags

NASA Astrophysics Data System (ADS)

Kimura, Nobutaka; Moriya, Toshio

2008-02-01

We propose a new concept, called "real world crawling", in which intelligent mobile sensors completely recognize environments by actively gathering information in those environments and integrating that information on the basis of location. First we locate objects by widely and roughly scanning the entire environment with these mobile sensors, and we check the objects in detail by moving the sensors to find out exactly what and where they are. We focused on the automation of inventory counting with barcodes as an application of our concept. We developed "a barcode reading robot" which autonomously moved in a warehouse. It located and read barcode ID tags using a camera and a barcode reader while moving. However, motion blurs caused by the robot's translational motion made it difficult to recognize the barcodes. Because of the high computational cost of image deblurring software, we used the pan rotation of the camera to reduce these blurs. We derived the appropriate pan rotation velocity from the robot's translational velocity and from the distance to the surfaces of barcoded boxes. We verified the effectiveness of our method in an experimental test.

Automatic multi-camera calibration for deployable positioning systems

NASA Astrophysics Data System (ADS)

Axelsson, Maria; Karlsson, Mikael; Rudner, Staffan

2012-06-01

Surveillance with automated positioning and tracking of subjects and vehicles in 3D is desired in many defence and security applications. Camera systems with stereo or multiple cameras are often used for 3D positioning. In such systems, accurate camera calibration is needed to obtain a reliable 3D position estimate. There is also a need for automated camera calibration to facilitate fast deployment of semi-mobile multi-camera 3D positioning systems. In this paper we investigate a method for automatic calibration of the extrinsic camera parameters (relative camera pose and orientation) of a multi-camera positioning system. It is based on estimation of the essential matrix between each camera pair using the 5-point method for intrinsically calibrated cameras. The method is compared to a manual calibration method using real HD video data from a field trial with a multicamera positioning system. The method is also evaluated on simulated data from a stereo camera model. The results show that the reprojection error of the automated camera calibration method is close to or smaller than the error for the manual calibration method and that the automated calibration method can replace the manual calibration.

Recognition of Drainage Tunnels during Glacier Lake Outburst Events from Terrestrial Image Sequences

NASA Astrophysics Data System (ADS)

Schwalbe, E.; Koschitzki, R.; Maas, H.-G.

2016-06-01

In recent years, many glaciers all over the world have been distinctly retreating and thinning. One of the consequences of this is the increase of so called glacier lake outburst flood events (GLOFs). The mechanisms ruling such GLOF events are still not yet fully understood by glaciologists. Thus, there is a demand for data and measurements that can help to understand and model the phenomena. Thereby, a main issue is to obtain information about the location and formation of subglacial channels through which some lakes, dammed by a glacier, start to drain. The paper will show how photogrammetric image sequence analysis can be used to collect such data. For the purpose of detecting a subglacial tunnel, a camera has been installed in a pilot study to observe the area of the Colonia Glacier (Northern Patagonian Ice Field) where it dams the Lake Cachet II. To verify the hypothesis, that the course of the subglacial tunnel is indicated by irregular surface motion patterns during its collapse, the camera acquired image sequences of the glacier surface during several GLOF events. Applying tracking techniques to these image sequences, surface feature motion trajectories could be obtained for a dense raster of glacier points. Since only a single camera has been used for image sequence acquisition, depth information is required to scale the trajectories. Thus, for scaling and georeferencing of the measurements a GPS-supported photogrammetric network has been measured. The obtained motion fields of the Colonia Glacier deliver information about the glacier's behaviour before during and after a GLOF event. If the daily vertical glacier motion of the glacier is integrated over a period of several days and projected into a satellite image, the location and shape of the drainage channel underneath the glacier becomes visible. The high temporal resolution of the motion fields may also allows for an analysis of the tunnels dynamic in comparison to the changing water level of the lake.

First Evidence of Jupiter Ring

NASA Technical Reports Server (NTRS)

1979-01-01

First evidence of a ring around the planet Jupiter is seen in this photograph taken by Voyager 1 on March 4, 1979. The multiple exposure of the extremely thin faint ring appears as a broad light band crossing the center of the picture. The edge of the ring is 1,212,000 km from the spacecraft and 57,000 km from the visible cloud deck of Jupiter. The background stars look like broken hair pins because of spacecraft motion during the 11 minute 12 second exposure. The wavy motion of the star trails is due to the ultra-slow natural oscillation of the spacecraft (with a period of 78 seconds). The black dots are geometric calibration points in the camera. The ring thickness is estimated to be 30 km or less. The photograph was part of a sequence planned to search for such rings in Jupiter's equatorial plane. The ring has been invisible from Earth because of its thinness and its transparency when viewed at any angle except straight on. JPL manages and controls the Voyager Project for NASA's Office of Space Science.

Jupiter's ring

NASA Technical Reports Server (NTRS)

1979-01-01

First evidence of a ring around the planet Jupiter is seen in this photograph taken by Voyager 1 on March 4, 1979. The multiple exposure of the extremely thin faint ring appears as a broad light band crossing the center of the picture. The edge of the ring is 1,212,000 km from the spacecraft and 57,000 km from the visible cloud deck of Jupiter. The background stars look like broken hair pins because of spacecraft motion during the 11 minute 12 second exposure. The wavy motion of the star trails is due to the ultra-slow natural oscillation of the spacecraft (with a period of 78 seconds). The black dots are geometric calibration points in the camera. The ring thickness is estimated to be 30 km or less. The photograph was part of a sequence planned to search for such rings in Jupiter's equatorial plane. The ring has been invisible from Earth because of its thinness and its transparency when viewed at any angle except straight on. JPL manages and controls the Voyager Project for NASA's Office of Space Science.

Jupiter Ring

NASA Image and Video Library

2000-03-23

First evidence of a ring around the planet Jupiter is seen in this photograph taken by Voyager 1 on March 4, 1979. The multiple exposure of the extremely thin faint ring appears as a broad light band crossing the center of the picture. The edge of the ring is 1,212,000 km from the spacecraft and 57,000 km from the visible cloud deck of Jupiter. The background stars look like broken hair pins because of spacecraft motion during the 11 minute 12 second exposure. The wavy motion of the star trails is due to the ultra-slow natural oscillation of the spacecraft (with a period of 78 seconds). The black dots are geometric calibration points in the camera. The ring thickness is estimated to be 30 km or less. The photograph was part of a sequence planned to search for such rings in Jupiter's equatorial plane. The ring has been invisible from Earth because of its thinness and its transparency when viewed at any angle except straight on. JPL manages and controls the Voyager Project for NASA's Office of Space Science. http://photojournal.jpl.nasa.gov/catalog/PIA02251

The Feasibility of 3d Point Cloud Generation from Smartphones

NASA Astrophysics Data System (ADS)

Alsubaie, N.; El-Sheimy, N.

2016-06-01

This paper proposes a new technique for increasing the accuracy of direct geo-referenced image-based 3D point cloud generated from low-cost sensors in smartphones. The smartphone's motion sensors are used to directly acquire the Exterior Orientation Parameters (EOPs) of the captured images. These EOPs, along with the Interior Orientation Parameters (IOPs) of the camera/ phone, are used to reconstruct the image-based 3D point cloud. However, because smartphone motion sensors suffer from poor GPS accuracy, accumulated drift and high signal noise, inaccurate 3D mapping solutions often result. Therefore, horizontal and vertical linear features, visible in each image, are extracted and used as constraints in the bundle adjustment procedure. These constraints correct the relative position and orientation of the 3D mapping solution. Once the enhanced EOPs are estimated, the semi-global matching algorithm (SGM) is used to generate the image-based dense 3D point cloud. Statistical analysis and assessment are implemented herein, in order to demonstrate the feasibility of 3D point cloud generation from the consumer-grade sensors in smartphones.

Computer aided photographic engineering

NASA Technical Reports Server (NTRS)

Hixson, Jeffrey A.; Rieckhoff, Tom

1988-01-01

High speed photography is an excellent source of engineering data but only provides a two-dimensional representation of a three-dimensional event. Multiple cameras can be used to provide data for the third dimension but camera locations are not always available. A solution to this problem is to overlay three-dimensional CAD/CAM models of the hardware being tested onto a film or photographic image, allowing the engineer to measure surface distances, relative motions between components, and surface variations.

Films for Learning: Some Observations on the Present, Past, and Future Role of the Educational Motion Picture.

ERIC Educational Resources Information Center

Flory, John

Although there have been great developments in motion picture technology, such as super 8mm film, magnetic sound, low cost color film, simpler projectors and movie cameras, and cartridge-loading projectors, there is still only limited use of audiovisual materials in the classroom today. This paper suggests some of the possible reasons for the lack…

SU-E-T-570: New Quality Assurance Method Using Motion Tracking for 6D Robotic Couches

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheon, W; Cho, J; Ahn, S

Purpose: To accommodate geometrically accurate patient positioning, a robotic couch that is capable of 6-degrees of freedom has been introduced. However, conventional couch QA methods are not sufficient to enable the necessary accuracy of tests. Therefore, we have developed a camera based motion detection and geometry calibration system for couch QA. Methods: Employing a Visual-Tracking System (VTS, BonitaB10, Vicon, UK) which tracks infrared reflective(IR) markers, camera calibration was conducted using a 5.7 × 5.7 × 5.7 cm{sup 3} cube attached with IR markers at each corner. After positioning a robotic-couch at the origin with the cube on the table top,more » 3D coordinates of the cube’s eight corners were acquired by VTS in the VTS coordinate system. Next, positions in reference coordinates (roomcoordinates) were assigned using the known relation between each point. Finally, camera calibration was completed by finding a transformation matrix between VTS and reference coordinate systems and by applying a pseudo inverse matrix method. After the calibration, the accuracy of linear and rotational motions as well as couch sagging could be measured by analyzing the continuously acquired data of the cube while the couch moves to a designated position. Accuracy of the developed software was verified through comparison with measurement data when using a Laser tracker (FARO, Lake Mary, USA) for a robotic-couch installed for proton therapy. Results: VTS system could track couch motion accurately and measured position in room-coordinates. The VTS measurements and Laser tracker data agreed within 1% of difference for linear and rotational motions. Also because the program analyzes motion in 3-Dimension, it can compute couch sagging. Conclusion: Developed QA system provides submillimeter/ degree accuracy which fulfills the high-end couch QA. This work was supported by the National Research Foundation of Korea funded by Ministry of Science, ICT & Future Planning. (2013M2A2A7043507 and 2012M3A9B6055201)« less

SU-E-J-12: An Image-Guided Soft Robotic Patient Positioning System for Maskless Head-And-Neck Cancer Radiotherapy: A Proof-Of-Concept Study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ogunmolu, O; Gans, N; Jiang, S

Purpose: We propose a surface-image-guided soft robotic patient positioning system for maskless head-and-neck radiotherapy. The ultimate goal of this project is to utilize a soft robot to realize non-rigid patient positioning and real-time motion compensation. In this proof-of-concept study, we design a position-based visual servoing control system for an air-bladder-based soft robot and investigate its performance in controlling the flexion/extension cranial motion on a mannequin head phantom. Methods: The current system consists of Microsoft Kinect depth camera, an inflatable air bladder (IAB), pressured air source, pneumatic valve actuators, custom-built current regulators, and a National Instruments myRIO microcontroller. The performance ofmore » the designed system was evaluated on a mannequin head, with a ball joint fixed below its neck to simulate torso-induced head motion along flexion/extension direction. The IAB is placed beneath the mannequin head. The Kinect camera captures images of the mannequin head, extracts the face, and measures the position of the head relative to the camera. This distance is sent to the myRIO, which runs control algorithms and sends actuation commands to the valves, inflating and deflating the IAB to induce head motion. Results: For a step input, i.e. regulation of the head to a constant displacement, the maximum error was a 6% overshoot, which the system then reduces to 0% steady-state error. In this initial investigation, the settling time to reach the regulated position was approximately 8 seconds, with 2 seconds of delay between the command start of motion due to capacitance of the pneumatics, for a total of 10 seconds to regulate the error. Conclusion: The surface image-guided soft robotic patient positioning system can achieve accurate mannequin head flexion/extension motion. Given this promising initial Result, the extension of the current one-dimensional soft robot control to multiple IABs for non-rigid positioning control will be pursued.« less

Potential for application of an acoustic camera in particle tracking velocimetry.

PubMed

Wu, Fu-Chun; Shao, Yun-Chuan; Wang, Chi-Kuei; Liou, Jim

2008-11-01

We explored the potential and limitations for applying an acoustic camera as the imaging instrument of particle tracking velocimetry. The strength of the acoustic camera is its usability in low-visibility environments where conventional optical cameras are ineffective, while its applicability is limited by lower temporal and spatial resolutions. We conducted a series of experiments in which acoustic and optical cameras were used to simultaneously image the rotational motion of tracer particles, allowing for a comparison of the acoustic- and optical-based velocities. The results reveal that the greater fluctuations associated with the acoustic-based velocities are primarily attributed to the lower temporal resolution. The positive and negative biases induced by the lower spatial resolution are balanced, with the positive ones greater in magnitude but the negative ones greater in quantity. These biases reduce with the increase in the mean particle velocity and approach minimum as the mean velocity exceeds the threshold value that can be sensed by the acoustic camera.

Ranging Apparatus and Method Implementing Stereo Vision System

NASA Technical Reports Server (NTRS)

Li, Larry C. (Inventor); Cox, Brian J. (Inventor)

1997-01-01

A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.