Simultaneous tracking and regulation visual servoing of wheeled mobile robots with uncalibrated extrinsic parameters

NASA Astrophysics Data System (ADS)

Lu, Qun; Yu, Li; Zhang, Dan; Zhang, Xuebo

2018-01-01

This paper presentsa global adaptive controller that simultaneously solves tracking and regulation for wheeled mobile robots with unknown depth and uncalibrated camera-to-robot extrinsic parameters. The rotational angle and the scaled translation between the current camera frame and the reference camera frame, as well as the ones between the desired camera frame and the reference camera frame can be calculated in real time by using the pose estimation techniques. A transformed system is first obtained, for which an adaptive controller is then designed to accomplish both tracking and regulation tasks, and the controller synthesis is based on Lyapunov's direct method. Finally, the effectiveness of the proposed method is illustrated by a simulation study.

A quasi-dense matching approach and its calibration application with Internet photos.

PubMed

Wan, Yanli; Miao, Zhenjiang; Wu, Q M Jonathan; Wang, Xifu; Tang, Zhen; Wang, Zhifei

2015-03-01

This paper proposes a quasi-dense matching approach to the automatic acquisition of camera parameters, which is required for recovering 3-D information from 2-D images. An affine transformation-based optimization model and a new matching cost function are used to acquire quasi-dense correspondences with high accuracy in each pair of views. These correspondences can be effectively detected and tracked at the sub-pixel level in multiviews with our neighboring view selection strategy. A two-layer iteration algorithm is proposed to optimize 3-D quasi-dense points and camera parameters. In the inner layer, different optimization strategies based on local photometric consistency and a global objective function are employed to optimize the 3-D quasi-dense points and camera parameters, respectively. In the outer layer, quasi-dense correspondences are resampled to guide a new estimation and optimization process of the camera parameters. We demonstrate the effectiveness of our algorithm with several experiments.

Space-variant restoration of images degraded by camera motion blur.

PubMed

Sorel, Michal; Flusser, Jan

2008-02-01

We examine the problem of restoration from multiple images degraded by camera motion blur. We consider scenes with significant depth variations resulting in space-variant blur. The proposed algorithm can be applied if the camera moves along an arbitrary curve parallel to the image plane, without any rotations. The knowledge of camera trajectory and camera parameters is not necessary. At the input, the user selects a region where depth variations are negligible. The algorithm belongs to the group of variational methods that estimate simultaneously a sharp image and a depth map, based on the minimization of a cost functional. To initialize the minimization, it uses an auxiliary window-based depth estimation algorithm. Feasibility of the algorithm is demonstrated by three experiments with real images.

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.

Pairing field methods to improve inference in wildlife surveys while accommodating detection covariance.

PubMed

Clare, John; McKinney, Shawn T; DePue, John E; Loftin, Cynthia S

2017-10-01

It is common to use multiple field sampling methods when implementing wildlife surveys to compare method efficacy or cost efficiency, integrate distinct pieces of information provided by separate methods, or evaluate method-specific biases and misclassification error. Existing models that combine information from multiple field methods or sampling devices permit rigorous comparison of method-specific detection parameters, enable estimation of additional parameters such as false-positive detection probability, and improve occurrence or abundance estimates, but with the assumption that the separate sampling methods produce detections independently of one another. This assumption is tenuous if methods are paired or deployed in close proximity simultaneously, a common practice that reduces the additional effort required to implement multiple methods and reduces the risk that differences between method-specific detection parameters are confounded by other environmental factors. We develop occupancy and spatial capture-recapture models that permit covariance between the detections produced by different methods, use simulation to compare estimator performance of the new models to models assuming independence, and provide an empirical application based on American marten (Martes americana) surveys using paired remote cameras, hair catches, and snow tracking. Simulation results indicate existing models that assume that methods independently detect organisms produce biased parameter estimates and substantially understate estimate uncertainty when this assumption is violated, while our reformulated models are robust to either methodological independence or covariance. Empirical results suggested that remote cameras and snow tracking had comparable probability of detecting present martens, but that snow tracking also produced false-positive marten detections that could potentially substantially bias distribution estimates if not corrected for. Remote cameras detected marten individuals more readily than passive hair catches. Inability to photographically distinguish individual sex did not appear to induce negative bias in camera density estimates; instead, hair catches appeared to produce detection competition between individuals that may have been a source of negative bias. Our model reformulations broaden the range of circumstances in which analyses incorporating multiple sources of information can be robustly used, and our empirical results demonstrate that using multiple field-methods can enhance inferences regarding ecological parameters of interest and improve understanding of how reliably survey methods sample these parameters. © 2017 by the Ecological Society of America.

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.

Metric Calibration of a Focused Plenoptic Camera Based on a 3d Calibration Target

NASA Astrophysics Data System (ADS)

Zeller, N.; Noury, C. A.; Quint, F.; Teulière, C.; Stilla, U.; Dhome, M.

2016-06-01

In this paper we present a new calibration approach for focused plenoptic cameras. We derive a new mathematical projection model of a focused plenoptic camera which considers lateral as well as depth distortion. Therefore, we derive a new depth distortion model directly from the theory of depth estimation in a focused plenoptic camera. In total the model consists of five intrinsic parameters, the parameters for radial and tangential distortion in the image plane and two new depth distortion parameters. In the proposed calibration we perform a complete bundle adjustment based on a 3D calibration target. The residual of our optimization approach is three dimensional, where the depth residual is defined by a scaled version of the inverse virtual depth difference and thus conforms well to the measured data. Our method is evaluated based on different camera setups and shows good accuracy. For a better characterization of our approach we evaluate the accuracy of virtual image points projected back to 3D space.

COBRA ATD multispectral camera response model

NASA Astrophysics Data System (ADS)

Holmes, V. Todd; Kenton, Arthur C.; Hilton, Russell J.; Witherspoon, Ned H.; Holloway, John H., Jr.

2000-08-01

A new multispectral camera response model has been developed in support of the US Marine Corps (USMC) Coastal Battlefield Reconnaissance and Analysis (COBRA) Advanced Technology Demonstration (ATD) Program. This analytical model accurately estimates response form five Xybion intensified IMC 201 multispectral cameras used for COBRA ATD airborne minefield detection. The camera model design is based on a series of camera response curves which were generated through optical laboratory test performed by the Naval Surface Warfare Center, Dahlgren Division, Coastal Systems Station (CSS). Data fitting techniques were applied to these measured response curves to obtain nonlinear expressions which estimates digitized camera output as a function of irradiance, intensifier gain, and exposure. This COBRA Camera Response Model was proven to be very accurate, stable over a wide range of parameters, analytically invertible, and relatively simple. This practical camera model was subsequently incorporated into the COBRA sensor performance evaluation and computational tools for research analysis modeling toolbox in order to enhance COBRA modeling and simulation capabilities. Details of the camera model design and comparisons of modeled response to measured experimental data are presented.

A vision-based system for measuring the displacements of large structures: Simultaneous adaptive calibration and full motion estimation

NASA Astrophysics Data System (ADS)

Santos, C. Almeida; Costa, C. Oliveira; Batista, J.

2016-05-01

The paper describes a kinematic model-based solution to estimate simultaneously the calibration parameters of the vision system and the full-motion (6-DOF) of large civil engineering structures, namely of long deck suspension bridges, from a sequence of stereo images captured by digital cameras. Using an arbitrary number of images and assuming a smooth structure motion, an Iterated Extended Kalman Filter is used to recursively estimate the projection matrices of the cameras and the structure full-motion (displacement and rotation) over time, helping to meet the structure health monitoring fulfilment. Results related to the performance evaluation, obtained by numerical simulation and with real experiments, are reported. The real experiments were carried out in indoor and outdoor environment using a reduced structure model to impose controlled motions. In both cases, the results obtained with a minimum setup comprising only two cameras and four non-coplanar tracking points, showed a high accuracy results for on-line camera calibration and structure full motion estimation.

Modeling and Compensating Temperature-Dependent Non-Uniformity Noise in IR Microbolometer Cameras

PubMed Central

Wolf, Alejandro; Pezoa, Jorge E.; Figueroa, Miguel

2016-01-01

Images rendered by uncooled microbolometer-based infrared (IR) cameras are severely degraded by the spatial non-uniformity (NU) noise. The NU noise imposes a fixed-pattern over the true images, and the intensity of the pattern changes with time due to the temperature instability of such cameras. In this paper, we present a novel model and a compensation algorithm for the spatial NU noise and its temperature-dependent variations. The model separates the NU noise into two components: a constant term, which corresponds to a set of NU parameters determining the spatial structure of the noise, and a dynamic term, which scales linearly with the fluctuations of the temperature surrounding the array of microbolometers. We use a black-body radiator and samples of the temperature surrounding the IR array to offline characterize both the constant and the temperature-dependent NU noise parameters. Next, the temperature-dependent variations are estimated online using both a spatially uniform Hammerstein-Wiener estimator and a pixelwise least mean squares (LMS) estimator. We compensate for the NU noise in IR images from two long-wave IR cameras. Results show an excellent NU correction performance and a root mean square error of less than 0.25 ∘C, when the array’s temperature varies by approximately 15 ∘C. PMID:27447637

Multispectral imaging of absorption and scattering properties of in vivo exposed rat brain using a digital red-green-blue camera.

PubMed

Yoshida, Keiichiro; Nishidate, Izumi; Ishizuka, Tomohiro; Kawauchi, Satoko; Sato, Shunichi; Sato, Manabu

2015-05-01

In order to estimate multispectral images of the absorption and scattering properties in the cerebral cortex of in vivo rat brain, we investigated spectral reflectance images estimated by the Wiener estimation method using a digital RGB camera. A Monte Carlo simulation-based multiple regression analysis for the corresponding spectral absorbance images at nine wavelengths (500, 520, 540, 560, 570, 580, 600, 730, and 760 nm) was then used to specify the absorption and scattering parameters of brain tissue. In this analysis, the concentrations of oxygenated hemoglobin and that of deoxygenated hemoglobin were estimated as the absorption parameters, whereas the coefficient a and the exponent b of the reduced scattering coefficient spectrum approximated by a power law function were estimated as the scattering parameters. The spectra of absorption and reduced scattering coefficients were reconstructed from the absorption and scattering parameters, and the spectral images of absorption and reduced scattering coefficients were then estimated. In order to confirm the feasibility of this method, we performed in vivo experiments on exposed rat brain. The estimated images of the absorption coefficients were dominated by the spectral characteristics of hemoglobin. The estimated spectral images of the reduced scattering coefficients had a broad scattering spectrum, exhibiting a larger magnitude at shorter wavelengths, corresponding to the typical spectrum of brain tissue published in the literature. The changes in the estimated absorption and scattering parameters during normoxia, hyperoxia, and anoxia indicate the potential applicability of the method by which to evaluate the pathophysiological conditions of in vivo brain due to the loss of tissue viability.

Uav Cameras: Overview and Geometric Calibration Benchmark

NASA Astrophysics Data System (ADS)

Cramer, M.; Przybilla, H.-J.; Zurhorst, A.

2017-08-01

Different UAV platforms and sensors are used in mapping already, many of them equipped with (sometimes) modified cameras as known from the consumer market. Even though these systems normally fulfil their requested mapping accuracy, the question arises, which system performs best? This asks for a benchmark, to check selected UAV based camera systems in well-defined, reproducible environments. Such benchmark is tried within this work here. Nine different cameras used on UAV platforms, representing typical camera classes, are considered. The focus is laid on the geometry here, which is tightly linked to the process of geometrical calibration of the system. In most applications the calibration is performed in-situ, i.e. calibration parameters are obtained as part of the project data itself. This is often motivated because consumer cameras do not keep constant geometry, thus, cannot be seen as metric cameras. Still, some of the commercial systems are quite stable over time, as it was proven from repeated (terrestrial) calibrations runs. Already (pre-)calibrated systems may offer advantages, especially when the block geometry of the project does not allow for a stable and sufficient in-situ calibration. Especially for such scenario close to metric UAV cameras may have advantages. Empirical airborne test flights in a calibration field have shown how block geometry influences the estimated calibration parameters and how consistent the parameters from lab calibration can be reproduced.

Data filtering with support vector machines in geometric camera calibration.

PubMed

Ergun, B; Kavzoglu, T; Colkesen, I; Sahin, C

2010-02-01

The use of non-metric digital cameras in close-range photogrammetric applications and machine vision has become a popular research agenda. Being an essential component of photogrammetric evaluation, camera calibration is a crucial stage for non-metric cameras. Therefore, accurate camera calibration and orientation procedures have become prerequisites for the extraction of precise and reliable 3D metric information from images. The lack of accurate inner orientation parameters can lead to unreliable results in the photogrammetric process. A camera can be well defined with its principal distance, principal point offset and lens distortion parameters. Different camera models have been formulated and used in close-range photogrammetry, but generally sensor orientation and calibration is performed with a perspective geometrical model by means of the bundle adjustment. In this study, support vector machines (SVMs) using radial basis function kernel is employed to model the distortions measured for Olympus Aspherical Zoom lens Olympus E10 camera system that are later used in the geometric calibration process. It is intended to introduce an alternative approach for the on-the-job photogrammetric calibration stage. Experimental results for DSLR camera with three focal length settings (9, 18 and 36 mm) were estimated using bundle adjustment with additional parameters, and analyses were conducted based on object point discrepancies and standard errors. Results show the robustness of the SVMs approach on the correction of image coordinates by modelling total distortions on-the-job calibration process using limited number of images.

Finding Intrinsic and Extrinsic Viewing Parameters from a Single Realist Painting

NASA Astrophysics Data System (ADS)

Jordan, Tadeusz; Stork, David G.; Khoo, Wai L.; Zhu, Zhigang

In this paper we studied the geometry of a three-dimensional tableau from a single realist painting - Scott Fraser’s Three way vanitas (2006). The tableau contains a carefully chosen complex arrangement of objects including a moth, egg, cup, and strand of string, glass of water, bone, and hand mirror. Each of the three plane mirrors presents a different view of the tableau from a virtual camera behind each mirror and symmetric to the artist’s viewing point. Our new contribution was to incorporate single-view geometric information extracted from the direct image of the wooden mirror frames in order to obtain the camera models of both the real camera and the three virtual cameras. Both the intrinsic and extrinsic parameters are estimated for the direct image and the images in three plane mirrors depicted within the painting.

Vanishing Point Extraction and Refinement for Robust Camera Calibration

PubMed Central

Tsai, Fuan

2017-01-01

This paper describes a flexible camera calibration method using refined vanishing points without prior information. Vanishing points are estimated from human-made features like parallel lines and repeated patterns. With the vanishing points extracted from the three mutually orthogonal directions, the interior and exterior orientation parameters can be further calculated using collinearity condition equations. A vanishing point refinement process is proposed to reduce the uncertainty caused by vanishing point localization errors. The fine-tuning algorithm is based on the divergence of grouped feature points projected onto the reference plane, minimizing the standard deviation of each of the grouped collinear points with an O(1) computational complexity. This paper also presents an automated vanishing point estimation approach based on the cascade Hough transform. The experiment results indicate that the vanishing point refinement process can significantly improve camera calibration parameters and the root mean square error (RMSE) of the constructed 3D model can be reduced by about 30%. PMID:29280966

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

PubMed

Ci, Wenyan; Huang, Yingping

2016-10-17

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.

Automatic portion estimation and visual refinement in mobile dietary assessment

PubMed Central

Woo, Insoo; Otsmo, Karl; Kim, SungYe; Ebert, David S.; Delp, Edward J.; Boushey, Carol J.

2011-01-01

As concern for obesity grows, the need for automated and accurate methods to monitor nutrient intake becomes essential as dietary intake provides a valuable basis for managing dietary imbalance. Moreover, as mobile devices with built-in cameras have become ubiquitous, one potential means of monitoring dietary intake is photographing meals using mobile devices and having an automatic estimate of the nutrient contents returned. One of the challenging problems of the image-based dietary assessment is the accurate estimation of food portion size from a photograph taken with a mobile digital camera. In this work, we describe a method to automatically calculate portion size of a variety of foods through volume estimation using an image. These “portion volumes” utilize camera parameter estimation and model reconstruction to determine the volume of food items, from which nutritional content is then extrapolated. In this paper, we describe our initial results of accuracy evaluation using real and simulated meal images and demonstrate the potential of our approach. PMID:22242198

Automatic portion estimation and visual refinement in mobile dietary assessment

NASA Astrophysics Data System (ADS)

Woo, Insoo; Otsmo, Karl; Kim, SungYe; Ebert, David S.; Delp, Edward J.; Boushey, Carol J.

2010-01-01

As concern for obesity grows, the need for automated and accurate methods to monitor nutrient intake becomes essential as dietary intake provides a valuable basis for managing dietary imbalance. Moreover, as mobile devices with built-in cameras have become ubiquitous, one potential means of monitoring dietary intake is photographing meals using mobile devices and having an automatic estimate of the nutrient contents returned. One of the challenging problems of the image-based dietary assessment is the accurate estimation of food portion size from a photograph taken with a mobile digital camera. In this work, we describe a method to automatically calculate portion size of a variety of foods through volume estimation using an image. These "portion volumes" utilize camera parameter estimation and model reconstruction to determine the volume of food items, from which nutritional content is then extrapolated. In this paper, we describe our initial results of accuracy evaluation using real and simulated meal images and demonstrate the potential of our approach.

Fusion of Building Information and Range Imaging for Autonomous Location Estimation in Indoor Environments

PubMed Central

Kohoutek, Tobias K.; Mautz, Rainer; Wegner, Jan D.

2013-01-01

We present a novel approach for autonomous location estimation and navigation in indoor environments using range images and prior scene knowledge from a GIS database (CityGML). What makes this task challenging is the arbitrary relative spatial relation between GIS and Time-of-Flight (ToF) range camera further complicated by a markerless configuration. We propose to estimate the camera's pose solely based on matching of GIS objects and their detected location in image sequences. We develop a coarse-to-fine matching strategy that is able to match point clouds without any initial parameters. Experiments with a state-of-the-art ToF point cloud show that our proposed method delivers an absolute camera position with decimeter accuracy, which is sufficient for many real-world applications (e.g., collision avoidance). PMID:23435055

Preliminary Evaluation of a Commercial 360 Multi-Camera Rig for Photogrammetric Purposes

NASA Astrophysics Data System (ADS)

Teppati Losè, L.; Chiabrando, F.; Spanò, A.

2018-05-01

The research presented in this paper is focused on a preliminary evaluation of a 360 multi-camera rig: the possibilities to use the images acquired by the system in a photogrammetric workflow and for the creation of spherical images are investigated and different tests and analyses are reported. Particular attention is dedicated to different operative approaches for the estimation of the interior orientation parameters of the cameras, both from an operative and theoretical point of view. The consistency of the six cameras that compose the 360 system was in depth analysed adopting a self-calibration approach in a commercial photogrammetric software solution. A 3D calibration field was projected and created, and several topographic measurements were performed in order to have a set of control points to enhance and control the photogrammetric process. The influence of the interior parameters of the six cameras were analyse both in the different phases of the photogrammetric workflow (reprojection errors on the single tie point, dense cloud generation, geometrical description of the surveyed object, etc.), both in the stitching of the different images into a single spherical panorama (some consideration on the influence of the camera parameters on the overall quality of the spherical image are reported also in these section).

Spatially explicit inference for open populations: estimating demographic parameters from camera-trap studies

USGS Publications Warehouse

Gardner, Beth; Reppucci, Juan; Lucherini, Mauro; Royle, J. Andrew

2010-01-01

We develop a hierarchical capture–recapture model for demographically open populations when auxiliary spatial information about location of capture is obtained. Such spatial capture–recapture data arise from studies based on camera trapping, DNA sampling, and other situations in which a spatial array of devices records encounters of unique individuals. We integrate an individual-based formulation of a Jolly-Seber type model with recently developed spatially explicit capture–recapture models to estimate density and demographic parameters for survival and recruitment. We adopt a Bayesian framework for inference under this model using the method of data augmentation which is implemented in the software program WinBUGS. The model was motivated by a camera trapping study of Pampas cats Leopardus colocolo from Argentina, which we present as an illustration of the model in this paper. We provide estimates of density and the first quantitative assessment of vital rates for the Pampas cat in the High Andes. The precision of these estimates is poor due likely to the sparse data set. Unlike conventional inference methods which usually rely on asymptotic arguments, Bayesian inferences are valid in arbitrary sample sizes, and thus the method is ideal for the study of rare or endangered species for which small data sets are typical.

Spatially explicit inference for open populations: estimating demographic parameters from camera-trap studies.

PubMed

Gardner, Beth; Reppucci, Juan; Lucherini, Mauro; Royle, J Andrew

2010-11-01

We develop a hierarchical capture-recapture model for demographically open populations when auxiliary spatial information about location of capture is obtained. Such spatial capture-recapture data arise from studies based on camera trapping, DNA sampling, and other situations in which a spatial array of devices records encounters of unique individuals. We integrate an individual-based formulation of a Jolly-Seber type model with recently developed spatially explicit capture-recapture models to estimate density and demographic parameters for survival and recruitment. We adopt a Bayesian framework for inference under this model using the method of data augmentation which is implemented in the software program WinBUGS. The model was motivated by a camera trapping study of Pampas cats Leopardus colocolo from Argentina, which we present as an illustration of the model in this paper. We provide estimates of density and the first quantitative assessment of vital rates for the Pampas cat in the High Andes. The precision of these estimates is poor due likely to the sparse data set. Unlike conventional inference methods which usually rely on asymptotic arguments, Bayesian inferences are valid in arbitrary sample sizes, and thus the method is ideal for the study of rare or endangered species for which small data sets are typical.

Positioning in Time and Space - Cost-Effective Exterior Orientation for Airborne Archaeological Photographs

NASA Astrophysics Data System (ADS)

Verhoeven, G.; Wieser, M.; Briese, C.; Doneus, M.

2013-07-01

Since manned, airborne aerial reconnaissance for archaeological purposes is often characterised by more-or-less random photographing of archaeological features on the Earth, the exact position and orientation of the camera during image acquisition becomes very important in an effective inventorying and interpretation workflow of these aerial photographs. Although the positioning is generally achieved by simultaneously logging the flight path or directly recording the camera's position with a GNSS receiver, this approach does not allow to record the necessary roll, pitch and yaw angles of the camera. The latter are essential elements for the complete exterior orientation of the camera, which allows - together with the inner orientation of the camera - to accurately define the portion of the Earth recorded in the photograph. This paper proposes a cost-effective, accurate and precise GNSS/IMU solution (image position: 2.5 m and orientation: 2°, both at 1σ) to record all essential exterior orientation parameters for the direct georeferencing of the images. After the introduction of the utilised hardware, this paper presents the developed software that allows recording and estimating these parameters. Furthermore, this direct georeferencing information can be embedded into the image's metadata. Subsequently, the first results of the estimation of the mounting calibration (i.e. the misalignment between the camera and GNSS/IMU coordinate frame) are provided. Furthermore, a comparison with a dedicated commercial photographic GNSS/IMU solution will prove the superiority of the introduced solution. Finally, an outlook on future tests and improvements finalises this article.

Indirect Correspondence-Based Robust Extrinsic Calibration of LiDAR and Camera

PubMed Central

Sim, Sungdae; Sock, Juil; Kwak, Kiho

2016-01-01

LiDAR and cameras have been broadly utilized in computer vision and autonomous vehicle applications. However, in order to convert data between the local coordinate systems, we must estimate the rigid body transformation between the sensors. In this paper, we propose a robust extrinsic calibration algorithm that can be implemented easily and has small calibration error. The extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected onto the image plane. The features are edge and centerline features on a v-shaped calibration target. The proposed algorithm contributes two ways to improve the calibration accuracy. First, we use different weights to distance between a point and a line feature according to the correspondence accuracy of the features. Second, we apply a penalizing function to exclude the influence of outliers in the calibration datasets. Additionally, based on our robust calibration approach for a single LiDAR-camera pair, we introduce a joint calibration that estimates the extrinsic parameters of multiple sensors at once by minimizing one objective function with loop closing constraints. We conduct several experiments to evaluate the performance of our extrinsic calibration algorithm. The experimental results show that our calibration method has better performance than the other approaches. PMID:27338416

Optical fringe-reflection deflectometry with bundle adjustment

NASA Astrophysics Data System (ADS)

Xiao, Yong-Liang; Li, Sikun; Zhang, Qican; Zhong, Jianxin; Su, Xianyu; You, Zhisheng

2018-06-01

Liquid crystal display (LCD) screens are located outside of a camera's field of view in fringe-reflection deflectometry. Therefore, fringes that are displayed on LCD screens are obtained through specular reflection by a fixed camera. Thus, the pose calibration between the camera and LCD screen is one of the main challenges in fringe-reflection deflectometry. A markerless planar mirror is used to reflect the LCD screen more than three times, and the fringes are mapped into the fixed camera. The geometrical calibration can be accomplished by estimating the pose between the camera and the virtual image of fringes. Considering the relation between their pose, the incidence and reflection rays can be unified in the camera frame, and a forward triangulation intersection can be operated in the camera frame to measure three-dimensional (3D) coordinates of the specular surface. In the final optimization, constraint-bundle adjustment is operated to refine simultaneously the camera intrinsic parameters, including distortion coefficients, estimated geometrical pose between the LCD screen and camera, and 3D coordinates of the specular surface, with the help of the absolute phase collinear constraint. Simulation and experiment results demonstrate that the pose calibration with planar mirror reflection is simple and feasible, and the constraint-bundle adjustment can enhance the 3D coordinate measurement accuracy in fringe-reflection deflectometry.

A curve fitting method for extrinsic camera calibration from a single image of a cylindrical object

NASA Astrophysics Data System (ADS)

Winkler, A. W.; Zagar, B. G.

2013-08-01

An important step in the process of optical steel coil quality assurance is to measure the proportions of width and radius of steel coils as well as the relative position and orientation of the camera. This work attempts to estimate these extrinsic parameters from single images by using the cylindrical coil itself as the calibration target. Therefore, an adaptive least-squares algorithm is applied to fit parametrized curves to the detected true coil outline in the acquisition. The employed model allows for strictly separating the intrinsic and the extrinsic parameters. Thus, the intrinsic camera parameters can be calibrated beforehand using available calibration software. Furthermore, a way to segment the true coil outline in the acquired images is motivated. The proposed optimization method yields highly accurate results and can be generalized even to measure other solids which cannot be characterized by the identification of simple geometric primitives.

Using a trichromatic CCD camera for spectral skylight estimation.

PubMed

López-Alvarez, Miguel A; Hernández-Andrés, Javier; Romero, Javier; Olmo, F J; Cazorla, A; Alados-Arboledas, L

2008-12-01

In a previous work [J. Opt. Soc. Am. A 24, 942-956 (2007)] we showed how to design an optimum multispectral system aimed at spectral recovery of skylight. Since high-resolution multispectral images of skylight could be interesting for many scientific disciplines, here we also propose a nonoptimum but much cheaper and faster approach to achieve this goal by using a trichromatic RGB charge-coupled device (CCD) digital camera. The camera is attached to a fish-eye lens, hence permitting us to obtain a spectrum of every point of the skydome corresponding to each pixel of the image. In this work we show how to apply multispectral techniques to the sensors' responses of a common trichromatic camera in order to obtain skylight spectra from them. This spectral information is accurate enough to estimate experimental values of some climate parameters or to be used in algorithms for automatic cloud detection, among many other possible scientific applications.

Real-time image restoration for iris recognition systems.

PubMed

Kang, Byung Jun; Park, Kang Ryoung

2007-12-01

In the field of biometrics, it has been reported that iris recognition techniques have shown high levels of accuracy because unique patterns of the human iris, which has very many degrees of freedom, are used. However, because conventional iris cameras have small depth-of-field (DOF) areas, input iris images can easily be blurred, which can lead to lower recognition performance, since iris patterns are transformed by the blurring caused by optical defocusing. To overcome these problems, an autofocusing camera can be used. However, this inevitably increases the cost, size, and complexity of the system. Therefore, we propose a new real-time iris image-restoration method, which can increase the camera's DOF without requiring any additional hardware. This paper presents five novelties as compared to previous works: 1) by excluding eyelash and eyelid regions, it is possible to obtain more accurate focus scores from input iris images; 2) the parameter of the point spread function (PSF) can be estimated in terms of camera optics and measured focus scores; therefore, parameter estimation is more accurate than it has been in previous research; 3) because the PSF parameter can be obtained by using a predetermined equation, iris image restoration can be done in real-time; 4) by using a constrained least square (CLS) restoration filter that considers noise, performance can be greatly enhanced; and 5) restoration accuracy can also be enhanced by estimating the weight value of the noise-regularization term of the CLS filter according to the amount of image blurring. Experimental results showed that iris recognition errors when using the proposed restoration method were greatly reduced as compared to those results achieved without restoration or those achieved using previous iris-restoration methods.

In vivo imaging of scattering and absorption properties of exposed brain using a digital red-green-blue camera

NASA Astrophysics Data System (ADS)

Nishidate, Izumi; Yoshida, Keiichiro; Kawauchi, Satoko; Sato, Shunichi; Sato, Manabu

2014-03-01

We investigate a method to estimate the spectral images of reduced scattering coefficients and the absorption coefficients of in vivo exposed brain tissues in the range from visible to near-infrared wavelength (500-760 nm) based on diffuse reflectance spectroscopy using a digital RGB camera. In the proposed method, the multi-spectral reflectance images of in vivo exposed brain are reconstructed from the digital red, green blue images using the Wiener estimation algorithm. The Monte Carlo simulation-based multiple regression analysis for the absorbance spectra is then used to specify the absorption and scattering parameters of brain tissue. In this analysis, the concentration of oxygenated hemoglobin and that of deoxygenated hemoglobin are estimated as the absorption parameters whereas the scattering amplitude a and the scattering power b in the expression of μs'=aλ-b as the scattering parameters, respectively. The spectra of absorption and reduced scattering coefficients are reconstructed from the absorption and scattering parameters, and finally, the spectral images of absorption and reduced scattering coefficients are estimated. The estimated images of absorption coefficients were dominated by the spectral characteristics of hemoglobin. The estimated spectral images of reduced scattering coefficients showed a broad scattering spectrum, exhibiting larger magnitude at shorter wavelengths, corresponding to the typical spectrum of brain tissue published in the literature. In vivo experiments with exposed brain of rats during CSD confirmed the possibility of the method to evaluate both hemodynamics and changes in tissue morphology due to electrical depolarization.

D Point Cloud Model Colorization by Dense Registration of Digital Images

NASA Astrophysics Data System (ADS)

Crombez, N.; Caron, G.; Mouaddib, E.

2015-02-01

Architectural heritage is a historic and artistic property which has to be protected, preserved, restored and must be shown to the public. Modern tools like 3D laser scanners are more and more used in heritage documentation. Most of the time, the 3D laser scanner is completed by a digital camera which is used to enrich the accurate geometric informations with the scanned objects colors. However, the photometric quality of the acquired point clouds is generally rather low because of several problems presented below. We propose an accurate method for registering digital images acquired from any viewpoints on point clouds which is a crucial step for a good colorization by colors projection. We express this image-to-geometry registration as a pose estimation problem. The camera pose is computed using the entire images intensities under a photometric visual and virtual servoing (VVS) framework. The camera extrinsic and intrinsic parameters are automatically estimated. Because we estimates the intrinsic parameters we do not need any informations about the camera which took the used digital image. Finally, when the point cloud model and the digital image are correctly registered, we project the 3D model in the digital image frame and assign new colors to the visible points. The performance of the approach is proven in simulation and real experiments on indoor and outdoor datasets of the cathedral of Amiens, which highlight the success of our method, leading to point clouds with better photometric quality and resolution.

Evaluation of thermal cameras in quality systems according to ISO 9000 or EN 45000 standards

NASA Astrophysics Data System (ADS)

Chrzanowski, Krzysztof

2001-03-01

According to the international standards ISO 9001-9004 and EN 45001-45003 the industrial plants and the accreditation laboratories that implemented the quality systems according to these standards are required to evaluate an uncertainty of measurements. Manufacturers of thermal cameras do not offer any data that could enable estimation of measurement uncertainty of these imagers. Difficulties in determining the measurement uncertainty is an important limitation of thermal cameras for applications in the industrial plants and the cooperating accreditation laboratories that have implemented these quality systems. A set of parameters for characterization of commercial thermal cameras, a measuring set, some results of testing of these cameras, a mathematical model of uncertainty, and a software that enables quick calculation of uncertainty of temperature measurements with thermal cameras are presented in this paper.

CTER-rapid estimation of CTF parameters with error assessment.

PubMed

Penczek, Pawel A; Fang, Jia; Li, Xueming; Cheng, Yifan; Loerke, Justus; Spahn, Christian M T

2014-05-01

In structural electron microscopy, the accurate estimation of the Contrast Transfer Function (CTF) parameters, particularly defocus and astigmatism, is of utmost importance for both initial evaluation of micrograph quality and for subsequent structure determination. Due to increases in the rate of data collection on modern microscopes equipped with new generation cameras, it is also important that the CTF estimation can be done rapidly and with minimal user intervention. Finally, in order to minimize the necessity for manual screening of the micrographs by a user it is necessary to provide an assessment of the errors of fitted parameters values. In this work we introduce CTER, a CTF parameters estimation method distinguished by its computational efficiency. The efficiency of the method makes it suitable for high-throughput EM data collection, and enables the use of a statistical resampling technique, bootstrap, that yields standard deviations of estimated defocus and astigmatism amplitude and angle, thus facilitating the automation of the process of screening out inferior micrograph data. Furthermore, CTER also outputs the spatial frequency limit imposed by reciprocal space aliasing of the discrete form of the CTF and the finite window size. We demonstrate the efficiency and accuracy of CTER using a data set collected on a 300kV Tecnai Polara (FEI) using the K2 Summit DED camera in super-resolution counting mode. Using CTER we obtained a structure of the 80S ribosome whose large subunit had a resolution of 4.03Å without, and 3.85Å with, inclusion of astigmatism parameters. Copyright © 2014 Elsevier B.V. All rights reserved.

Realtime Reconstruction of an Animating Human Body from a Single Depth Camera.

PubMed

Chen, Yin; Cheng, Zhi-Quan; Lai, Chao; Martin, Ralph R; Dang, Gang

2016-08-01

We present a method for realtime reconstruction of an animating human body,which produces a sequence of deforming meshes representing a given performance captured by a single commodity depth camera. We achieve realtime single-view mesh completion by enhancing the parameterized SCAPE model.Our method, which we call Realtime SCAPE, performs full-body reconstruction without the use of markers.In Realtime SCAPE, estimations of body shape parameters and pose parameters, needed for reconstruction, are decoupled. Intrinsic body shape is first precomputed for a given subject, by determining shape parameters with the aid of a body shape database. Subsequently, per-frame pose parameter estimation is performed by means of linear blending skinning (LBS); the problem is decomposed into separately finding skinning weights and transformations. The skinning weights are also determined offline from the body shape database,reducing online reconstruction to simply finding the transformations in LBS. Doing so is formulated as a linear variational problem;carefully designed constraints are used to impose temporal coherence and alleviate artifacts. Experiments demonstrate that our method can produce full-body mesh sequences with high fidelity.

Calibration of a dual-PTZ camera system for stereo vision

NASA Astrophysics Data System (ADS)

Chang, Yau-Zen; Hou, Jung-Fu; Tsao, Yi Hsiang; Lee, Shih-Tseng

2010-08-01

In this paper, we propose a calibration process for the intrinsic and extrinsic parameters of dual-PTZ camera systems. The calibration is based on a complete definition of six coordinate systems fixed at the image planes, and the pan and tilt rotation axes of the cameras. Misalignments between estimated and ideal coordinates of image corners are formed into cost values to be solved by the Nelder-Mead simplex optimization method. Experimental results show that the system is able to obtain 3D coordinates of objects with a consistent accuracy of 1 mm when the distance between the dual-PTZ camera set and the objects are from 0.9 to 1.1 meters.

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

Ocelot (Leopardus pardalis) Density in Central Amazonia.

PubMed

Rocha, Daniel Gomes da; Sollmann, Rahel; Ramalho, Emiliano Esterci; Ilha, Renata; Tan, Cedric K W

2016-01-01

Ocelots (Leopardus pardalis) are presumed to be the most abundant of the wild cats throughout their distribution range and to play an important role in the dynamics of sympatric small-felid populations. However, ocelot ecological information is limited, particularly for the Amazon. We conducted three camera-trap surveys during three consecutive dry seasons to estimate ocelot density in Amanã Reserve, Central Amazonia, Brazil. We implemented a spatial capture-recapture (SCR) model that shared detection parameters among surveys. A total effort of 7020 camera-trap days resulted in 93 independent ocelot records. The estimate of ocelot density in Amanã Reserve (24.84 ± SE 6.27 ocelots per 100 km2) was lower than at other sites in the Amazon and also lower than that expected from a correlation of density with latitude and rainfall. We also discuss the importance of using common parameters for survey scenarios with low recapture rates. This is the first density estimate for ocelots in the Brazilian Amazon, which is an important stronghold for the species.

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.

Spatial and temporal skin blood volume and saturation estimation using a multispectral snapshot imaging camera

NASA Astrophysics Data System (ADS)

Ewerlöf, Maria; Larsson, Marcus; Salerud, E. Göran

2017-02-01

Hyperspectral imaging (HSI) can estimate the spatial distribution of skin blood oxygenation, using visible to near-infrared light. HSI oximeters often use a liquid-crystal tunable filter, an acousto-optic tunable filter or mechanically adjustable filter wheels, which has too long response/switching times to monitor tissue hemodynamics. This work aims to evaluate a multispectral snapshot imaging system to estimate skin blood volume and oxygen saturation with high temporal and spatial resolution. We use a snapshot imager, the xiSpec camera (MQ022HG-IM-SM4X4-VIS, XIMEA), having 16 wavelength-specific Fabry-Perot filters overlaid on the custom CMOS-chip. The spectral distribution of the bands is however substantially overlapping, which needs to be taken into account for an accurate analysis. An inverse Monte Carlo analysis is performed using a two-layered skin tissue model, defined by epidermal thickness, haemoglobin concentration and oxygen saturation, melanin concentration and spectrally dependent reduced-scattering coefficient, all parameters relevant for human skin. The analysis takes into account the spectral detector response of the xiSpec camera. At each spatial location in the field-of-view, we compare the simulated output to the detected diffusively backscattered spectra to find the best fit. The imager is evaluated for spatial and temporal variations during arterial and venous occlusion protocols applied to the forearm. Estimated blood volume changes and oxygenation maps at 512x272 pixels show values that are comparable to reference measurements performed in contact with the skin tissue. We conclude that the snapshot xiSpec camera, paired with an inverse Monte Carlo algorithm, permits us to use this sensor for spatial and temporal measurement of varying physiological parameters, such as skin tissue blood volume and oxygenation.

Dynamic calibration of pan-tilt-zoom cameras for traffic monitoring.

PubMed

Song, Kai-Tai; Tai, Jen-Chao

2006-10-01

Pan-tilt-zoom (PTZ) cameras have been widely used in recent years for monitoring and surveillance applications. These cameras provide flexible view selection as well as a wider observation range. This makes them suitable for vision-based traffic monitoring and enforcement systems. To employ PTZ cameras for image measurement applications, one first needs to calibrate the camera to obtain meaningful results. For instance, the accuracy of estimating vehicle speed depends on the accuracy of camera calibration and that of vehicle tracking results. This paper presents a novel calibration method for a PTZ camera overlooking a traffic scene. The proposed approach requires no manual operation to select the positions of special features. It automatically uses a set of parallel lane markings and the lane width to compute the camera parameters, namely, focal length, tilt angle, and pan angle. Image processing procedures have been developed for automatically finding parallel lane markings. Interesting experimental results are presented to validate the robustness and accuracy of the proposed method.

Satellite angular velocity estimation based on star images and optical flow techniques.

PubMed

Fasano, Giancarmine; Rufino, Giancarlo; Accardo, Domenico; Grassi, Michele

2013-09-25

An optical flow-based technique is proposed to estimate spacecraft angular velocity based on sequences of star-field images. It does not require star identification and can be thus used to also deliver angular rate information when attitude determination is not possible, as during platform de tumbling or slewing. Region-based optical flow calculation is carried out on successive star images preprocessed to remove background. Sensor calibration parameters, Poisson equation, and a least-squares method are then used to estimate the angular velocity vector components in the sensor rotating frame. A theoretical error budget is developed to estimate the expected angular rate accuracy as a function of camera parameters and star distribution in the field of view. The effectiveness of the proposed technique is tested by using star field scenes generated by a hardware-in-the-loop testing facility and acquired by a commercial-off-the shelf camera sensor. Simulated cases comprise rotations at different rates. Experimental results are presented which are consistent with theoretical estimates. In particular, very accurate angular velocity estimates are generated at lower slew rates, while in all cases the achievable accuracy in the estimation of the angular velocity component along boresight is about one order of magnitude worse than the other two components.

Satellite Angular Velocity Estimation Based on Star Images and Optical Flow Techniques

PubMed Central

Fasano, Giancarmine; Rufino, Giancarlo; Accardo, Domenico; Grassi, Michele

2013-01-01

An optical flow-based technique is proposed to estimate spacecraft angular velocity based on sequences of star-field images. It does not require star identification and can be thus used to also deliver angular rate information when attitude determination is not possible, as during platform de tumbling or slewing. Region-based optical flow calculation is carried out on successive star images preprocessed to remove background. Sensor calibration parameters, Poisson equation, and a least-squares method are then used to estimate the angular velocity vector components in the sensor rotating frame. A theoretical error budget is developed to estimate the expected angular rate accuracy as a function of camera parameters and star distribution in the field of view. The effectiveness of the proposed technique is tested by using star field scenes generated by a hardware-in-the-loop testing facility and acquired by a commercial-off-the shelf camera sensor. Simulated cases comprise rotations at different rates. Experimental results are presented which are consistent with theoretical estimates. In particular, very accurate angular velocity estimates are generated at lower slew rates, while in all cases the achievable accuracy in the estimation of the angular velocity component along boresight is about one order of magnitude worse than the other two components. PMID:24072023

Automatic Calibration of Stereo-Cameras Using Ordinary Chess-Board Patterns

NASA Astrophysics Data System (ADS)

Prokos, A.; Kalisperakis, I.; Petsa, E.; Karras, G.

2012-07-01

Automation of camera calibration is facilitated by recording coded 2D patterns. Our toolbox for automatic camera calibration using images of simple chess-board patterns is freely available on the Internet. But it is unsuitable for stereo-cameras whose calibration implies recovering camera geometry and their true-to-scale relative orientation. In contrast to all reported methods requiring additional specific coding to establish an object space coordinate system, a toolbox for automatic stereo-camera calibration relying on ordinary chess-board patterns is presented here. First, the camera calibration algorithm is applied to all image pairs of the pattern to extract nodes of known spacing, order them in rows and columns, and estimate two independent camera parameter sets. The actual node correspondences on stereo-pairs remain unknown. Image pairs of a textured 3D scene are exploited for finding the fundamental matrix of the stereo-camera by applying RANSAC to point matches established with the SIFT algorithm. A node is then selected near the centre of the left image; its match on the right image is assumed as the node closest to the corresponding epipolar line. This yields matches for all nodes (since these have already been ordered), which should also satisfy the 2D epipolar geometry. Measures for avoiding mismatching are taken. With automatically estimated initial orientation values, a bundle adjustment is performed constraining all pairs on a common (scaled) relative orientation. Ambiguities regarding the actual exterior orientations of the stereo-camera with respect to the pattern are irrelevant. Results from this automatic method show typical precisions not above 1/4 pixels for 640×480 web cameras.

Study of the Integration of LIDAR and Photogrammetric Datasets by in Situ Camera Calibration and Integrated Sensor Orientation

NASA Astrophysics Data System (ADS)

Mitishita, E.; Costa, F.; Martins, M.

2017-05-01

Photogrammetric and Lidar datasets should be in the same mapping or geodetic frame to be used simultaneously in an engineering project. Nowadays direct sensor orientation is a common procedure used in simultaneous photogrammetric and Lidar surveys. Although the direct sensor orientation technologies provide a high degree of automation process due to the GNSS/INS technologies, the accuracies of the results obtained from the photogrammetric and Lidar surveys are dependent on the quality of a group of parameters that models accurately the user conditions of the system at the moment the job is performed. This paper shows the study that was performed to verify the importance of the in situ camera calibration and Integrated Sensor Orientation without control points to increase the accuracies of the photogrammetric and LIDAR datasets integration. The horizontal and vertical accuracies of photogrammetric and Lidar datasets integration by photogrammetric procedure improved significantly when the Integrated Sensor Orientation (ISO) approach was performed using Interior Orientation Parameter (IOP) values estimated from the in situ camera calibration. The horizontal and vertical accuracies, estimated by the Root Mean Square Error (RMSE) of the 3D discrepancies from the Lidar check points, increased around of 37% and 198% respectively.

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.

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.

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 Semi-Automatic Image-Based Close Range 3D Modeling Pipeline Using a Multi-Camera Configuration

PubMed Central

Rau, Jiann-Yeou; Yeh, Po-Chia

2012-01-01

The generation of photo-realistic 3D models is an important task for digital recording of cultural heritage objects. This study proposes an image-based 3D modeling pipeline which takes advantage of a multi-camera configuration and multi-image matching technique that does not require any markers on or around the object. Multiple digital single lens reflex (DSLR) cameras are adopted and fixed with invariant relative orientations. Instead of photo-triangulation after image acquisition, calibration is performed to estimate the exterior orientation parameters of the multi-camera configuration which can be processed fully automatically using coded targets. The calibrated orientation parameters of all cameras are applied to images taken using the same camera configuration. This means that when performing multi-image matching for surface point cloud generation, the orientation parameters will remain the same as the calibrated results, even when the target has changed. Base on this invariant character, the whole 3D modeling pipeline can be performed completely automatically, once the whole system has been calibrated and the software was seamlessly integrated. Several experiments were conducted to prove the feasibility of the proposed system. Images observed include that of a human being, eight Buddhist statues, and a stone sculpture. The results for the stone sculpture, obtained with several multi-camera configurations were compared with a reference model acquired by an ATOS-I 2M active scanner. The best result has an absolute accuracy of 0.26 mm and a relative accuracy of 1:17,333. It demonstrates the feasibility of the proposed low-cost image-based 3D modeling pipeline and its applicability to a large quantity of antiques stored in a museum. PMID:23112656

A semi-automatic image-based close range 3D modeling pipeline using a multi-camera configuration.

PubMed

Rau, Jiann-Yeou; Yeh, Po-Chia

2012-01-01

The generation of photo-realistic 3D models is an important task for digital recording of cultural heritage objects. This study proposes an image-based 3D modeling pipeline which takes advantage of a multi-camera configuration and multi-image matching technique that does not require any markers on or around the object. Multiple digital single lens reflex (DSLR) cameras are adopted and fixed with invariant relative orientations. Instead of photo-triangulation after image acquisition, calibration is performed to estimate the exterior orientation parameters of the multi-camera configuration which can be processed fully automatically using coded targets. The calibrated orientation parameters of all cameras are applied to images taken using the same camera configuration. This means that when performing multi-image matching for surface point cloud generation, the orientation parameters will remain the same as the calibrated results, even when the target has changed. Base on this invariant character, the whole 3D modeling pipeline can be performed completely automatically, once the whole system has been calibrated and the software was seamlessly integrated. Several experiments were conducted to prove the feasibility of the proposed system. Images observed include that of a human being, eight Buddhist statues, and a stone sculpture. The results for the stone sculpture, obtained with several multi-camera configurations were compared with a reference model acquired by an ATOS-I 2M active scanner. The best result has an absolute accuracy of 0.26 mm and a relative accuracy of 1:17,333. It demonstrates the feasibility of the proposed low-cost image-based 3D modeling pipeline and its applicability to a large quantity of antiques stored in a museum.

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers.

PubMed

Wang, Fei; Dong, Hang; Chen, Yanan; Zheng, Nanning

2016-12-09

Strong demands for accurate non-cooperative target measurement have been arising recently for the tasks of assembling and capturing. Spherical objects are one of the most common targets in these applications. However, the performance of the traditional vision-based reconstruction method was limited for practical use when handling poorly-textured targets. In this paper, we propose a novel multi-sensor fusion system for measuring and reconstructing textureless non-cooperative spherical targets. Our system consists of four simple lasers and a visual camera. This paper presents a complete framework of estimating the geometric parameters of textureless spherical targets: (1) an approach to calibrate the extrinsic parameters between a camera and simple lasers; and (2) a method to reconstruct the 3D position of the laser spots on the target surface and achieve the refined results via an optimized scheme. The experiment results show that our proposed calibration method can obtain a fine calibration result, which is comparable to the state-of-the-art LRF-based methods, and our calibrated system can estimate the geometric parameters with high accuracy in real time.

An Accurate Non-Cooperative Method for Measuring Textureless Spherical Target Based on Calibrated Lasers

PubMed Central

Wang, Fei; Dong, Hang; Chen, Yanan; Zheng, Nanning

2016-01-01

Strong demands for accurate non-cooperative target measurement have been arising recently for the tasks of assembling and capturing. Spherical objects are one of the most common targets in these applications. However, the performance of the traditional vision-based reconstruction method was limited for practical use when handling poorly-textured targets. In this paper, we propose a novel multi-sensor fusion system for measuring and reconstructing textureless non-cooperative spherical targets. Our system consists of four simple lasers and a visual camera. This paper presents a complete framework of estimating the geometric parameters of textureless spherical targets: (1) an approach to calibrate the extrinsic parameters between a camera and simple lasers; and (2) a method to reconstruct the 3D position of the laser spots on the target surface and achieve the refined results via an optimized scheme. The experiment results show that our proposed calibration method can obtain a fine calibration result, which is comparable to the state-of-the-art LRF-based methods, and our calibrated system can estimate the geometric parameters with high accuracy in real time. PMID:27941705

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%.

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.

A Foot-Arch Parameter Measurement System Using a RGB-D Camera.

PubMed

Chun, Sungkuk; Kong, Sejin; Mun, Kyung-Ryoul; Kim, Jinwook

2017-08-04

The conventional method of measuring foot-arch parameters is highly dependent on the measurer's skill level, so accurate measurements are difficult to obtain. To solve this problem, we propose an autonomous geometric foot-arch analysis platform that is capable of capturing the sole of the foot and yields three foot-arch parameters: arch index (AI), arch width (AW) and arch height (AH). The proposed system captures 3D geometric and color data on the plantar surface of the foot in a static standing pose using a commercial RGB-D camera. It detects the region of the foot surface in contact with the footplate by applying the clustering and Markov random field (MRF)-based image segmentation methods. The system computes the foot-arch parameters by analyzing the 2/3D shape of the contact region. Validation experiments were carried out to assess the accuracy and repeatability of the system. The average errors for AI, AW, and AH estimation on 99 data collected from 11 subjects during 3 days were -0.17%, 0.95 mm, and 0.52 mm, respectively. Reliability and statistical analysis on the estimated foot-arch parameters, the robustness to the change of weights used in the MRF, the processing time were also performed to show the feasibility of the system.

A Foot-Arch Parameter Measurement System Using a RGB-D Camera

PubMed Central

Kong, Sejin; Mun, Kyung-Ryoul; Kim, Jinwook

2017-01-01

The conventional method of measuring foot-arch parameters is highly dependent on the measurer’s skill level, so accurate measurements are difficult to obtain. To solve this problem, we propose an autonomous geometric foot-arch analysis platform that is capable of capturing the sole of the foot and yields three foot-arch parameters: arch index (AI), arch width (AW) and arch height (AH). The proposed system captures 3D geometric and color data on the plantar surface of the foot in a static standing pose using a commercial RGB-D camera. It detects the region of the foot surface in contact with the footplate by applying the clustering and Markov random field (MRF)-based image segmentation methods. The system computes the foot-arch parameters by analyzing the 2/3D shape of the contact region. Validation experiments were carried out to assess the accuracy and repeatability of the system. The average errors for AI, AW, and AH estimation on 99 data collected from 11 subjects during 3 days were −0.17%, 0.95 mm, and 0.52 mm, respectively. Reliability and statistical analysis on the estimated foot-arch parameters, the robustness to the change of weights used in the MRF, the processing time were also performed to show the feasibility of the system. PMID:28777349

Selection of optical model of stereophotography experiment for determination the cloud base height as a problem of testing of statistical hypotheses

NASA Astrophysics Data System (ADS)

Chulichkov, Alexey I.; Nikitin, Stanislav V.; Emilenko, Alexander S.; Medvedev, Andrey P.; Postylyakov, Oleg V.

2017-10-01

Earlier, we developed a method for estimating the height and speed of clouds from cloud images obtained by a pair of digital cameras. The shift of a fragment of the cloud in the right frame relative to its position in the left frame is used to estimate the height of the cloud and its velocity. This shift is estimated by the method of the morphological analysis of images. However, this method requires that the axes of the cameras are parallel. Instead of real adjustment of the axes, we use virtual camera adjustment, namely, a transformation of a real frame, the result of which could be obtained if all the axes were perfectly adjusted. For such adjustment, images of stars as infinitely distant objects were used: on perfectly aligned cameras, images on both the right and left frames should be identical. In this paper, we investigate in more detail possible mathematical models of cloud image deformations caused by the misalignment of the axes of two cameras, as well as their lens aberration. The simplest model follows the paraxial approximation of lens (without lens aberrations) and reduces to an affine transformation of the coordinates of one of the frames. The other two models take into account the lens distortion of the 3rd and 3rd and 5th orders respectively. It is shown that the models differ significantly when converting coordinates near the edges of the frame. Strict statistical criteria allow choosing the most reliable model, which is as much as possible consistent with the measurement data. Further, each of these three models was used to determine parameters of the image deformations. These parameters are used to provide cloud images to mean what they would have when measured using an ideal setup, and then the distance to cloud is calculated. The results were compared with data of a laser range finder.

An Integrated Optimal Estimation Approach to Spitzer Space Telescope Focal Plane Survey

NASA Technical Reports Server (NTRS)

Bayard, David S.; Kang, Bryan H.; Brugarolas, Paul B.; Boussalis, D.

2004-01-01

This paper discusses an accurate and efficient method for focal plane survey that was used for the Spitzer Space Telescope. The approach is based on using a high-order 37-state Instrument Pointing Frame (IPF) Kalman filter that combines both engineering parameters and science parameters into a single filter formulation. In this approach, engineering parameters such as pointing alignments, thermomechanical drift and gyro drifts are estimated along with science parameters such as plate scales and optical distortions. This integrated approach has many advantages compared to estimating the engineering and science parameters separately. The resulting focal plane survey approach is applicable to a diverse range of science instruments such as imaging cameras, spectroscopy slits, and scanning-type arrays alike. The paper will summarize results from applying the IPF Kalman Filter to calibrating the Spitzer Space Telescope focal plane, containing the MIPS, IRAC, and the IRS science Instrument arrays.

Motion capture for human motion measuring by using single camera with triangle markers

NASA Astrophysics Data System (ADS)

Takahashi, Hidenori; Tanaka, Takayuki; Kaneko, Shun'ichi

2005-12-01

This study aims to realize a motion capture for measuring 3D human motions by using single camera. Although motion capture by using multiple cameras is widely used in sports field, medical field, engineering field and so on, optical motion capture method with one camera is not established. In this paper, the authors achieved a 3D motion capture by using one camera, named as Mono-MoCap (MMC), on the basis of two calibration methods and triangle markers which each length of side is given. The camera calibration methods made 3D coordinates transformation parameter and a lens distortion parameter with Modified DLT method. The triangle markers enabled to calculate a coordinate value of a depth direction on a camera coordinate. Experiments of 3D position measurement by using the MMC on a measurement space of cubic 2 m on each side show an average error of measurement of a center of gravity of a triangle marker was less than 2 mm. As compared with conventional motion capture method by using multiple cameras, the MMC has enough accuracy for 3D measurement. Also, by putting a triangle marker on each human joint, the MMC was able to capture a walking motion, a standing-up motion and a bending and stretching motion. In addition, a method using a triangle marker together with conventional spherical markers was proposed. Finally, a method to estimate a position of a marker by measuring the velocity of the marker was proposed in order to improve the accuracy of MMC.

Incremental Multi-view 3D Reconstruction Starting from Two Images Taken by a Stereo Pair of Cameras

NASA Astrophysics Data System (ADS)

El hazzat, Soulaiman; Saaidi, Abderrahim; Karam, Antoine; Satori, Khalid

2015-03-01

In this paper, we present a new method for multi-view 3D reconstruction based on the use of a binocular stereo vision system constituted of two unattached cameras to initialize the reconstruction process. Afterwards , the second camera of stereo vision system (characterized by varying parameters) moves to capture more images at different times which are used to obtain an almost complete 3D reconstruction. The first two projection matrices are estimated by using a 3D pattern with known properties. After that, 3D scene points are recovered by triangulation of the matched interest points between these two images. The proposed approach is incremental. At each insertion of a new image, the camera projection matrix is estimated using the 3D information already calculated and new 3D points are recovered by triangulation from the result of the matching of interest points between the inserted image and the previous image. For the refinement of the new projection matrix and the new 3D points, a local bundle adjustment is performed. At first, all projection matrices are estimated, the matches between consecutive images are detected and Euclidean sparse 3D reconstruction is obtained. So, to increase the number of matches and have a more dense reconstruction, the Match propagation algorithm, more suitable for interesting movement of the camera, was applied on the pairs of consecutive images. The experimental results show the power and robustness of the proposed approach.

The algorithm of motion blur image restoration based on PSF half-blind estimation

NASA Astrophysics Data System (ADS)

Chen, Da-Ke; Lin, Zhe

2011-08-01

A novel algorithm of motion blur image restoration based on PSF half-blind estimation with Hough transform was introduced on the basis of full analysis of the principle of TDICCD camera, with the problem that vertical uniform linear motion estimation used by IBD algorithm as the original value of PSF led to image restoration distortion. Firstly, the mathematical model of image degradation was established with the transcendental information of multi-frame images, and then two parameters (movement blur length and angle) that have crucial influence on PSF estimation was set accordingly. Finally, the ultimate restored image can be acquired through multiple iterative of the initial value of PSF estimation in Fourier domain, which the initial value was gained by the above method. Experimental results show that the proposal algorithm can not only effectively solve the image distortion problem caused by relative motion between TDICCD camera and movement objects, but also the details characteristics of original image are clearly restored.

A New Approach for Combining Time-of-Flight and RGB Cameras Based on Depth-Dependent Planar Projective Transformations

PubMed Central

Salinas, Carlota; Fernández, Roemi; Montes, Héctor; Armada, Manuel

2015-01-01

Image registration for sensor fusion is a valuable technique to acquire 3D and colour information for a scene. Nevertheless, this process normally relies on feature-matching techniques, which is a drawback for combining sensors that are not able to deliver common features. The combination of ToF and RGB cameras is an instance that problem. Typically, the fusion of these sensors is based on the extrinsic parameter computation of the coordinate transformation between the two cameras. This leads to a loss of colour information because of the low resolution of the ToF camera, and sophisticated algorithms are required to minimize this issue. This work proposes a method for sensor registration with non-common features and that avoids the loss of colour information. The depth information is used as a virtual feature for estimating a depth-dependent homography lookup table (Hlut). The homographies are computed within sets of ground control points of 104 images. Since the distance from the control points to the ToF camera are known, the working distance of each element on the Hlut is estimated. Finally, two series of experimental tests have been carried out in order to validate the capabilities of the proposed method. PMID:26404315

Onboard TDI stage estimation and calibration using SNR analysis

NASA Astrophysics Data System (ADS)

Haghshenas, Javad

2017-09-01

Electro-Optical design of a push-broom space camera for a Low Earth Orbit (LEO) remote sensing satellite is performed based on the noise analysis of TDI sensors for very high GSDs and low light level missions. It is well demonstrated that the CCD TDI mode of operation provides increased photosensitivity relative to a linear CCD array, without the sacrifice of spatial resolution. However, for satellite imaging, in order to utilize the advantages which the TDI mode of operation offers, attention should be given to the parameters which affect the image quality of TDI sensors such as jitters, vibrations, noises and etc. A predefined TDI stages may not properly satisfy image quality requirement of the satellite camera. Furthermore, in order to use the whole dynamic range of the sensor, imager must be capable to set the TDI stages in every shots based on the affecting parameters. This paper deals with the optimal estimation and setting the stages based on tradeoffs among MTF, noises and SNR. On-board SNR estimation is simulated using the atmosphere analysis based on the MODTRAN algorithm in PcModWin software. According to the noises models, we have proposed a formulation to estimate TDI stages in such a way to satisfy the system SNR requirement. On the other hand, MTF requirement must be satisfy in the same manner. A proper combination of both parameters will guaranty the full dynamic range usage along with the high SNR and image quality.

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

Single-camera visual odometry to track a surgical X-ray C-arm base.

PubMed

Esfandiari, Hooman; Lichti, Derek; Anglin, Carolyn

2017-12-01

This study provides a framework for a single-camera odometry system for localizing a surgical C-arm base. An application-specific monocular visual odometry system (a downward-looking consumer-grade camera rigidly attached to the C-arm base) is proposed in this research. The cumulative dead-reckoning estimation of the base is extracted based on frame-to-frame homography estimation. Optical-flow results are utilized to feed the odometry. Online positional and orientation parameters are then reported. Positional accuracy of better than 2% (of the total traveled distance) for most of the cases and 4% for all the cases studied and angular accuracy of better than 2% (of absolute cumulative changes in orientation) were achieved with this method. This study provides a robust and accurate tracking framework that not only can be integrated with the current C-arm joint-tracking system (i.e. TC-arm) but also is capable of being employed for similar applications in other fields (e.g. robotics).

Intelligent person identification system using stereo camera-based height and stride estimation

NASA Astrophysics Data System (ADS)

Ko, Jung-Hwan; Jang, Jae-Hun; Kim, Eun-Soo

2005-05-01

In this paper, a stereo camera-based intelligent person identification system is suggested. In the proposed method, face area of the moving target person is extracted from the left image of the input steros image pair by using a threshold value of YCbCr color model and by carrying out correlation between the face area segmented from this threshold value of YCbCr color model and the right input image, the location coordinates of the target face can be acquired, and then these values are used to control the pan/tilt system through the modified PID-based recursive controller. Also, by using the geometric parameters between the target face and the stereo camera system, the vertical distance between the target and stereo camera system can be calculated through a triangulation method. Using this calculated vertical distance and the angles of the pan and tilt, the target's real position data in the world space can be acquired and from them its height and stride values can be finally extracted. Some experiments with video images for 16 moving persons show that a person could be identified with these extracted height and stride parameters.

Uncertainty Propagation Methods for High-Dimensional Complex Systems

NASA Astrophysics Data System (ADS)

Mukherjee, Arpan

Researchers are developing ever smaller aircraft called Micro Aerial Vehicles (MAVs). The Space Robotics Group has joined the field by developing a dragonfly-inspired MAV. This thesis presents two contributions to this project. The first is the development of a dynamical model of the internal MAV components to be used for tuning design parameters and as a future plant model. This model is derived using the Lagrangian method and differs from others because it accounts for the internal dynamics of the system. The second contribution of this thesis is an estimation algorithm that can be used to determine prototype performance and verify the dynamical model from the first part. Based on the Gauss-Newton Batch Estimator, this algorithm uses a single camera and known points of interest on the wing to estimate the wing kinematic angles. Unlike other single-camera methods, this method is probabilistically based rather than being geometric.

Computer vision research with new imaging technology

NASA Astrophysics Data System (ADS)

Hou, Guangqi; Liu, Fei; Sun, Zhenan

2015-12-01

Light field imaging is capable of capturing dense multi-view 2D images in one snapshot, which record both intensity values and directions of rays simultaneously. As an emerging 3D device, the light field camera has been widely used in digital refocusing, depth estimation, stereoscopic display, etc. Traditional multi-view stereo (MVS) methods only perform well on strongly texture surfaces, but the depth map contains numerous holes and large ambiguities on textureless or low-textured regions. In this paper, we exploit the light field imaging technology on 3D face modeling in computer vision. Based on a 3D morphable model, we estimate the pose parameters from facial feature points. Then the depth map is estimated through the epipolar plane images (EPIs) method. At last, the high quality 3D face model is exactly recovered via the fusing strategy. We evaluate the effectiveness and robustness on face images captured by a light field camera with different poses.

Bundle Adjustment-Based Stability Analysis Method with a Case Study of a Dual Fluoroscopy Imaging System

NASA Astrophysics Data System (ADS)

Al-Durgham, K.; Lichti, D. D.; Detchev, I.; Kuntze, G.; Ronsky, J. L.

2018-05-01

A fundamental task in photogrammetry is the temporal stability analysis of a camera/imaging-system's calibration parameters. This is essential to validate the repeatability of the parameters' estimation, to detect any behavioural changes in the camera/imaging system and to ensure precise photogrammetric products. Many stability analysis methods exist in the photogrammetric literature; each one has different methodological bases, and advantages and disadvantages. This paper presents a simple and rigorous stability analysis method that can be straightforwardly implemented for a single camera or an imaging system with multiple cameras. The basic collinearity model is used to capture differences between two calibration datasets, and to establish the stability analysis methodology. Geometric simulation is used as a tool to derive image and object space scenarios. Experiments were performed on real calibration datasets from a dual fluoroscopy (DF; X-ray-based) imaging system. The calibration data consisted of hundreds of images and thousands of image observations from six temporal points over a two-day period for a precise evaluation of the DF system stability. The stability of the DF system - for a single camera analysis - was found to be within a range of 0.01 to 0.66 mm in terms of 3D coordinates root-mean-square-error (RMSE), and 0.07 to 0.19 mm for dual cameras analysis. It is to the authors' best knowledge that this work is the first to address the topic of DF stability analysis.

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.

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.

Automated face detection for occurrence and occupancy estimation in chimpanzees.

PubMed

Crunchant, Anne-Sophie; Egerer, Monika; Loos, Alexander; Burghardt, Tilo; Zuberbühler, Klaus; Corogenes, Katherine; Leinert, Vera; Kulik, Lars; Kühl, Hjalmar S

2017-03-01

Surveying endangered species is necessary to evaluate conservation effectiveness. Camera trapping and biometric computer vision are recent technological advances. They have impacted on the methods applicable to field surveys and these methods have gained significant momentum over the last decade. Yet, most researchers inspect footage manually and few studies have used automated semantic processing of video trap data from the field. The particular aim of this study is to evaluate methods that incorporate automated face detection technology as an aid to estimate site use of two chimpanzee communities based on camera trapping. As a comparative baseline we employ traditional manual inspection of footage. Our analysis focuses specifically on the basic parameter of occurrence where we assess the performance and practical value of chimpanzee face detection software. We found that the semi-automated data processing required only 2-4% of the time compared to the purely manual analysis. This is a non-negligible increase in efficiency that is critical when assessing the feasibility of camera trap occupancy surveys. Our evaluations suggest that our methodology estimates the proportion of sites used relatively reliably. Chimpanzees are mostly detected when they are present and when videos are filmed in high-resolution: the highest recall rate was 77%, for a false alarm rate of 2.8% for videos containing only chimpanzee frontal face views. Certainly, our study is only a first step for transferring face detection software from the lab into field application. Our results are promising and indicate that the current limitation of detecting chimpanzees in camera trap footage due to lack of suitable face views can be easily overcome on the level of field data collection, that is, by the combined placement of multiple high-resolution cameras facing reverse directions. This will enable to routinely conduct chimpanzee occupancy surveys based on camera trapping and semi-automated processing of footage. Using semi-automated ape face detection technology for processing camera trap footage requires only 2-4% of the time compared to manual analysis and allows to estimate site use by chimpanzees relatively reliably. © 2017 Wiley Periodicals, Inc.

Three-dimensional online surface reconstruction of augmented fluorescence lifetime maps using photometric stereo (Conference Presentation)

NASA Astrophysics Data System (ADS)

Unger, Jakob; Lagarto, Joao; Phipps, Jennifer; Ma, Dinglong; Bec, Julien; Sorger, Jonathan; Farwell, Gregory; Bold, Richard; Marcu, Laura

2017-02-01

Multi-Spectral Time-Resolved Fluorescence Spectroscopy (ms-TRFS) can provide label-free real-time feedback on tissue composition and pathology during surgical procedures by resolving the fluorescence decay dynamics of the tissue. Recently, an ms-TRFS system has been developed in our group, allowing for either point-spectroscopy fluorescence lifetime measurements or dynamic raster tissue scanning by merging a 450 nm aiming beam with the pulsed fluorescence excitation light in a single fiber collection. In order to facilitate an augmented real-time display of fluorescence decay parameters, the lifetime values are back projected to the white light video. The goal of this study is to develop a 3D real-time surface reconstruction aiming for a comprehensive visualization of the decay parameters and providing an enhanced navigation for the surgeon. Using a stereo camera setup, we use a combination of image feature matching and aiming beam stereo segmentation to establish a 3D surface model of the decay parameters. After camera calibration, texture-related features are extracted for both camera images and matched providing a rough estimation of the surface. During the raster scanning, the rough estimation is successively refined in real-time by tracking the aiming beam positions using an advanced segmentation algorithm. The method is evaluated for excised breast tissue specimens showing a high precision and running in real-time with approximately 20 frames per second. The proposed method shows promising potential for intraoperative navigation, i.e. tumor margin assessment. Furthermore, it provides the basis for registering the fluorescence lifetime maps to the tissue surface adapting it to possible tissue deformations.

Science, conservation, and camera traps

USGS Publications Warehouse

Nichols, James D.; Karanth, K. Ullas; O'Connel, Allan F.; O'Connell, Allan F.; Nichols, James D.; Karanth, K. Ullas

2011-01-01

Biologists commonly perceive camera traps as a new tool that enables them to enter the hitherto secret world of wild animals. Camera traps are being used in a wide range of studies dealing with animal ecology, behavior, and conservation. Our intention in this volume is not to simply present the various uses of camera traps, but to focus on their use in the conduct of science and conservation. In this chapter, we provide an overview of these two broad classes of endeavor and sketch the manner in which camera traps are likely to be able to contribute to them. Our main point here is that neither photographs of individual animals, nor detection history data, nor parameter estimates generated from detection histories are the ultimate objective of a camera trap study directed at either science or management. Instead, the ultimate objectives are best viewed as either gaining an understanding of how ecological systems work (science) or trying to make wise decisions that move systems from less desirable to more desirable states (conservation, management). Therefore, we briefly describe here basic approaches to science and management, emphasizing the role of field data and associated analyses in these processes. We provide examples of ways in which camera trap data can inform science and management.

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.

Estimation of demographic parameters in a tiger population from long-term camera trap data

USGS Publications Warehouse

Karanth, K. Ullas; Nichols, James D.; O'Connell, Allan F.; Nichols, James D.; Karanth, K. Ullas

2011-01-01

Chapter 7 (Karanth et al.) illustrated the use of camera trapping in combination with closed population capture–recapture (CR) models to estimate densities of tigers Panthera tigris. Such estimates can be very useful for investigating variation across space for a particular species (e.g., Karanth et al. 2004) or variation among species at a specific location. In addition, estimates of density continued at the same site(s) over multiple years are very useful for understanding and managing populations of large carnivores. Such multi-year studies can yield estimates of rates of change in abundance. Additionally, because the fates of marked individuals are tracked through time, biologists can delve deeper into factors driving changes in abundance such as rates of survival, recruitment and movement (Williams et al. 2002). Fortunately, modern CR approaches permit the modeling of populations that change between sampling occasions as a result of births, deaths, immigration and emigration (Pollock et al. 1990; Nichols 1992). Some of these early “open population” models focused on estimation of survival rates and, to a lesser extent, abundance, but more recent models permit estimation of recruitment and movement rates as well.

Estimation of tiger densities in India using photographic captures and recaptures

USGS Publications Warehouse

Karanth, U.; Nichols, J.D.

1998-01-01

Previously applied methods for estimating tiger (Panthera tigris) abundance using total counts based on tracks have proved unreliable. In this paper we use a field method proposed by Karanth (1995), combining camera-trap photography to identify individual tigers based on stripe patterns, with capture-recapture estimators. We developed a sampling design for camera-trapping and used the approach to estimate tiger population size and density in four representative tiger habitats in different parts of India. The field method worked well and provided data suitable for analysis using closed capture-recapture models. The results suggest the potential for applying this methodology for estimating abundances, survival rates and other population parameters in tigers and other low density, secretive animal species with distinctive coat patterns or other external markings. Estimated probabilities of photo-capturing tigers present in the study sites ranged from 0.75 - 1.00. The estimated mean tiger densities ranged from 4.1 (SE hat= 1.31) to 11.7 (SE hat= 1.93) tigers/100 km2. The results support the previous suggestions of Karanth and Sunquist (1995) that densities of tigers and other large felids may be primarily determined by prey community structure at a given site.

Color image lossy compression based on blind evaluation and prediction of noise characteristics

NASA Astrophysics Data System (ADS)

Ponomarenko, Nikolay N.; Lukin, Vladimir V.; Egiazarian, Karen O.; Lepisto, Leena

2011-03-01

The paper deals with JPEG adaptive lossy compression of color images formed by digital cameras. Adaptation to noise characteristics and blur estimated for each given image is carried out. The dominant factor degrading image quality is determined in a blind manner. Characteristics of this dominant factor are then estimated. Finally, a scaling factor that determines quantization steps for default JPEG table is adaptively set (selected). Within this general framework, two possible strategies are considered. A first one presumes blind estimation for an image after all operations in digital image processing chain just before compressing a given raster image. A second strategy is based on prediction of noise and blur parameters from analysis of RAW image under quite general assumptions concerning characteristics parameters of transformations an image will be subject to at further processing stages. The advantages of both strategies are discussed. The first strategy provides more accurate estimation and larger benefit in image compression ratio (CR) compared to super-high quality (SHQ) mode. However, it is more complicated and requires more resources. The second strategy is simpler but less beneficial. The proposed approaches are tested for quite many real life color images acquired by digital cameras and shown to provide more than two time increase of average CR compared to SHQ mode without introducing visible distortions with respect to SHQ compressed images.

Laser speckle spatiotemporal variance analysis for noninvasive widefield measurements of blood pulsation and pulse rate on a camera-phone.

PubMed

Remer, Itay; Bilenca, Alberto

2015-11-01

Photoplethysmography is a well-established technique for the noninvasive measurement of blood pulsation. However, photoplethysmographic devices typically need to be in contact with the surface of the tissue and provide data from a single contact point. Extensions of conventional photoplethysmography to measurements over a wide field-of-view exist, but require advanced signal processing due to the low signal-to-noise-ratio of the photoplethysmograms. Here, we present a noncontact method based on temporal sampling of time-integrated speckle using a camera-phone for noninvasive, widefield measurements of physiological parameters across the human fingertip including blood pulsation and resting heart-rate frequency. The results show that precise estimation of these parameters with high spatial resolution is enabled by measuring the local temporal variation of speckle patterns of backscattered light from subcutaneous skin, thereby opening up the possibility for accurate high resolution blood pulsation imaging on a camera-phone. Camera-phone laser speckle imager along with measured relative blood perfusion maps of a fingertip showing skin perfusion response to a pulse pressure applied to the upper arm. The figure is for illustration only; the imager was stabilized on a stand throughout the experiments. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Multimodel Kalman filtering for adaptive nonuniformity correction in infrared sensors.

PubMed

Pezoa, Jorge E; Hayat, Majeed M; Torres, Sergio N; Rahman, Md Saifur

2006-06-01

We present an adaptive technique for the estimation of nonuniformity parameters of infrared focal-plane arrays that is robust with respect to changes and uncertainties in scene and sensor characteristics. The proposed algorithm is based on using a bank of Kalman filters in parallel. Each filter independently estimates state variables comprising the gain and the bias matrices of the sensor, according to its own dynamic-model parameters. The supervising component of the algorithm then generates the final estimates of the state variables by forming a weighted superposition of all the estimates rendered by each Kalman filter. The weights are computed and updated iteratively, according to the a posteriori-likelihood principle. The performance of the estimator and its ability to compensate for fixed-pattern noise is tested using both simulated and real data obtained from two cameras operating in the mid- and long-wave infrared regime.

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.

Robust and Accurate Image-Based Georeferencing Exploiting Relative Orientation Constraints

NASA Astrophysics Data System (ADS)

Cavegn, S.; Blaser, S.; Nebiker, S.; Haala, N.

2018-05-01

Urban environments with extended areas of poor GNSS coverage as well as indoor spaces that often rely on real-time SLAM algorithms for camera pose estimation require sophisticated georeferencing in order to fulfill our high requirements of a few centimeters for absolute 3D point measurement accuracies. Since we focus on image-based mobile mapping, we extended the structure-from-motion pipeline COLMAP with georeferencing capabilities by integrating exterior orientation parameters from direct sensor orientation or SLAM as well as ground control points into bundle adjustment. Furthermore, we exploit constraints for relative orientation parameters among all cameras in bundle adjustment, which leads to a significant robustness and accuracy increase especially by incorporating highly redundant multi-view image sequences. We evaluated our integrated georeferencing approach on two data sets, one captured outdoors by a vehicle-based multi-stereo mobile mapping system and the other captured indoors by a portable panoramic mobile mapping system. We obtained mean RMSE values for check point residuals between image-based georeferencing and tachymetry of 2 cm in an indoor area, and 3 cm in an urban environment where the measurement distances are a multiple compared to indoors. Moreover, in comparison to a solely image-based procedure, our integrated georeferencing approach showed a consistent accuracy increase by a factor of 2-3 at our outdoor test site. Due to pre-calibrated relative orientation parameters, images of all camera heads were oriented correctly in our challenging indoor environment. By performing self-calibration of relative orientation parameters among respective cameras of our vehicle-based mobile mapping system, remaining inaccuracies from suboptimal test field calibration were successfully compensated.

Toward a Smartphone Application for Estimation of Pulse Transit Time

PubMed Central

Liu, He; Ivanov, Kamen; Wang, Yadong; Wang, Lei

2015-01-01

Pulse transit time (PTT) is an important physiological parameter that directly correlates with the elasticity and compliance of vascular walls and variations in blood pressure. This paper presents a PTT estimation method based on photoplethysmographic imaging (PPGi). The method utilizes two opposing cameras for simultaneous acquisition of PPGi waveform signals from the index fingertip and the forehead temple. An algorithm for the detection of maxima and minima in PPGi signals was developed, which includes technology for interpolation of the real positions of these points. We compared our PTT measurements with those obtained from the current methodological standards. Statistical results indicate that the PTT measured by our proposed method exhibits a good correlation with the established method. The proposed method is especially suitable for implementation in dual-camera-smartphones, which could facilitate PTT measurement among populations affected by cardiac complications. PMID:26516861

Toward a Smartphone Application for Estimation of Pulse Transit Time.

PubMed

Liu, He; Ivanov, Kamen; Wang, Yadong; Wang, Lei

2015-10-27

Pulse transit time (PTT) is an important physiological parameter that directly correlates with the elasticity and compliance of vascular walls and variations in blood pressure. This paper presents a PTT estimation method based on photoplethysmographic imaging (PPGi). The method utilizes two opposing cameras for simultaneous acquisition of PPGi waveform signals from the index fingertip and the forehead temple. An algorithm for the detection of maxima and minima in PPGi signals was developed, which includes technology for interpolation of the real positions of these points. We compared our PTT measurements with those obtained from the current methodological standards. Statistical results indicate that the PTT measured by our proposed method exhibits a good correlation with the established method. The proposed method is especially suitable for implementation in dual-camera-smartphones, which could facilitate PTT measurement among populations affected by cardiac complications.

TESS Lens-Bezel Assembly Modal Testing

NASA Technical Reports Server (NTRS)

Dilworth, Brandon J.; Karlicek, Alexandra

2017-01-01

The Transiting Exoplanet Survey Satellite (TESS) program, led by the Kavli Institute for Astrophysics and Space Research at the Massachusetts Institute of Technology (MIT) will be the first-ever spaceborne all-sky transit survey. MIT Lincoln Laboratory is responsible for the cameras, including the lens assemblies, detector assemblies, lens hoods, and camera mounts. TESS is scheduled to be launched in August of 2017 with the primary goal to detect small planets with bright host starts in the solar neighborhood, so that detailed characterizations of the planets and their atmospheres can be performed. The TESS payload consists of four identical cameras and a data handling unit. Each camera consists of a lens assembly with seven optical elements and a detector assembly with four charge-coupled devices (CCDs) including their associated electronics. The optical prescription requires that several of the lenses are in close proximity to a neighboring element. A finite element model (FEM) was developed to estimate the relative deflections between each lens-bezel assembly under launch loads to predict that there are adequate clearances preventing the lenses from making contact. Modal tests using non-contact response measurements were conducted to experimentally estimate the modal parameters of the lens-bezel assembly, and used to validate the initial FEM assumptions. Key Words Non-contact measurements, modal analysis, model validation

Enhancement Strategies for Frame-To Uas Stereo Visual Odometry

NASA Astrophysics Data System (ADS)

Kersten, J.; Rodehorst, V.

2016-06-01

Autonomous navigation of indoor unmanned aircraft systems (UAS) requires accurate pose estimations usually obtained from indirect measurements. Navigation based on inertial measurement units (IMU) is known to be affected by high drift rates. The incorporation of cameras provides complementary information due to the different underlying measurement principle. The scale ambiguity problem for monocular cameras is avoided when a light-weight stereo camera setup is used. However, also frame-to-frame stereo visual odometry (VO) approaches are known to accumulate pose estimation errors over time. Several valuable real-time capable techniques for outlier detection and drift reduction in frame-to-frame VO, for example robust relative orientation estimation using random sample consensus (RANSAC) and bundle adjustment, are available. This study addresses the problem of choosing appropriate VO components. We propose a frame-to-frame stereo VO method based on carefully selected components and parameters. This method is evaluated regarding the impact and value of different outlier detection and drift-reduction strategies, for example keyframe selection and sparse bundle adjustment (SBA), using reference benchmark data as well as own real stereo data. The experimental results demonstrate that our VO method is able to estimate quite accurate trajectories. Feature bucketing and keyframe selection are simple but effective strategies which further improve the VO results. Furthermore, introducing the stereo baseline constraint in pose graph optimization (PGO) leads to significant improvements.

Stereoscopic 3D reconstruction using motorized zoom lenses within an embedded system

NASA Astrophysics Data System (ADS)

Liu, Pengcheng; Willis, Andrew; Sui, Yunfeng

2009-02-01

This paper describes a novel embedded system capable of estimating 3D positions of surfaces viewed by a stereoscopic rig consisting of a pair of calibrated cameras. Novel theoretical and technical aspects of the system are tied to two aspects of the design that deviate from typical stereoscopic reconstruction systems: (1) incorporation of an 10x zoom lens (Rainbow- H10x8.5) and (2) implementation of the system on an embedded system. The system components include a DSP running μClinux, an embedded version of the Linux operating system, and an FPGA. The DSP orchestrates data flow within the system and performs complex computational tasks and the FPGA provides an interface to the system devices which consist of a CMOS camera pair and a pair of servo motors which rotate (pan) each camera. Calibration of the camera pair is accomplished using a collection of stereo images that view a common chess board calibration pattern for a set of pre-defined zoom positions. Calibration settings for an arbitrary zoom setting are estimated by interpolation of the camera parameters. A low-computational cost method for dense stereo matching is used to compute depth disparities for the stereo image pairs. Surface reconstruction is accomplished by classical triangulation of the matched points from the depth disparities. This article includes our methods and results for the following problems: (1) automatic computation of the focus and exposure settings for the lens and camera sensor, (2) calibration of the system for various zoom settings and (3) stereo reconstruction results for several free form objects.

Calibration Method for IATS and Application in Multi-Target Monitoring Using Coded Targets

NASA Astrophysics Data System (ADS)

Zhou, Yueyin; Wagner, Andreas; Wunderlich, Thomas; Wasmeier, Peter

2017-06-01

The technique of Image Assisted Total Stations (IATS) has been studied for over ten years and is composed of two major parts: one is the calibration procedure which combines the relationship between the camera system and the theodolite system; the other is the automatic target detection on the image by various methods of photogrammetry or computer vision. Several calibration methods have been developed, mostly using prototypes with an add-on camera rigidly mounted on the total station. However, these prototypes are not commercially available. This paper proposes a calibration method based on Leica MS50 which has two built-in cameras each with a resolution of 2560 × 1920 px: an overview camera and a telescope (on-axis) camera. Our work in this paper is based on the on-axis camera which uses the 30-times magnification of the telescope. The calibration consists of 7 parameters to estimate. We use coded targets, which are common tools in photogrammetry for orientation, to detect different targets in IATS images instead of prisms and traditional ATR functions. We test and verify the efficiency and stability of this monitoring method with multi-target.

Extrinsic Calibration of Camera Networks Based on Pedestrians

PubMed Central

Guan, Junzhi; Deboeverie, Francis; Slembrouck, Maarten; Van Haerenborgh, Dirk; Van Cauwelaert, Dimitri; Veelaert, Peter; Philips, Wilfried

2016-01-01

In this paper, we propose a novel extrinsic calibration method for camera networks by analyzing tracks of pedestrians. First of all, we extract the center lines of walking persons by detecting their heads and feet in the camera images. We propose an easy and accurate method to estimate the 3D positions of the head and feet w.r.t. a local camera coordinate system from these center lines. We also propose a RANSAC-based orthogonal Procrustes approach to compute relative extrinsic parameters connecting the coordinate systems of cameras in a pairwise fashion. Finally, we refine the extrinsic calibration matrices using a method that minimizes the reprojection error. While existing state-of-the-art calibration methods explore epipolar geometry and use image positions directly, the proposed method first computes 3D positions per camera and then fuses the data. This results in simpler computations and a more flexible and accurate calibration method. Another advantage of our method is that it can also handle the case of persons walking along straight lines, which cannot be handled by most of the existing state-of-the-art calibration methods since all head and feet positions are co-planar. This situation often happens in real life. PMID:27171080

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

Edge Modeling by Two Blur Parameters in Varying Contrasts.

PubMed

Seo, Suyoung

2018-06-01

This paper presents a method of modeling edge profiles with two blur parameters, and estimating and predicting those edge parameters with varying brightness combinations and camera-to-object distances (COD). First, the validity of the edge model is proven mathematically. Then, it is proven experimentally with edges from a set of images captured for specifically designed target sheets and with edges from natural images. Estimation of the two blur parameters for each observed edge profile is performed with a brute-force method to find parameters that produce global minimum errors. Then, using the estimated blur parameters, actual blur parameters of edges with arbitrary brightness combinations are predicted using a surface interpolation method (i.e., kriging). The predicted surfaces show that the two blur parameters of the proposed edge model depend on both dark-side edge brightness and light-side edge brightness following a certain global trend. This is similar across varying CODs. The proposed edge model is compared with a one-blur parameter edge model using experiments of the root mean squared error for fitting the edge models to each observed edge profile. The comparison results suggest that the proposed edge model has superiority over the one-blur parameter edge model in most cases where edges have varying brightness combinations.

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

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.

ARNICA: the Arcetri Observatory NICMOS3 imaging camera

NASA Astrophysics Data System (ADS)

Lisi, Franco; Baffa, Carlo; Hunt, Leslie K.

1993-10-01

ARNICA (ARcetri Near Infrared CAmera) is the imaging camera for the near infrared bands between 1.0 and 2.5 micrometers that Arcetri Observatory has designed and built as a general facility for the TIRGO telescope (1.5 m diameter, f/20) located at Gornergrat (Switzerland). The scale is 1' per pixel, with sky coverage of more than 4' X 4' on the NICMOS 3 (256 X 256 pixels, 40 micrometers side) detector array. The optical path is compact enough to be enclosed in a 25.4 cm diameter dewar; the working temperature is 76 K. The camera is remotely controlled by a 486 PC, connected to the array control electronics via a fiber-optics link. A C-language package, running under MS-DOS on the 486 PC, acquires and stores the frames, and controls the timing of the array. We give an estimate of performance, in terms of sensitivity with an assigned observing time, along with some details on the main parameters of the NICMOS 3 detector.

A new procedure of modal parameter estimation for high-speed digital image correlation

NASA Astrophysics Data System (ADS)

Huňady, Róbert; Hagara, Martin

2017-09-01

The paper deals with the use of 3D digital image correlation in determining modal parameters of mechanical systems. It is a non-contact optical method, which for the measurement of full-field spatial displacements and strains of bodies uses precise digital cameras with high image resolution. Most often this method is utilized for testing of components or determination of material properties of various specimens. In the case of using high-speed cameras for measurement, the correlation system is capable of capturing various dynamic behaviors, including vibration. This enables the potential use of the mentioned method in experimental modal analysis. For that purpose, the authors proposed a measuring chain for the correlation system Q-450 and developed a software application called DICMAN 3D, which allows the direct use of this system in the area of modal testing. The created application provides the post-processing of measured data and the estimation of modal parameters. It has its own graphical user interface, in which several algorithms for the determination of natural frequencies, mode shapes and damping of particular modes of vibration are implemented. The paper describes the basic principle of the new estimation procedure which is crucial in the light of post-processing. Since the FRF matrix resulting from the measurement is usually relatively large, the estimation of modal parameters directly from the FRF matrix may be time-consuming and may occupy a large part of computer memory. The procedure implemented in DICMAN 3D provides a significant reduction in memory requirements and computational time while achieving a high accuracy of modal parameters. Its computational efficiency is particularly evident when the FRF matrix consists of thousands of measurement DOFs. The functionality of the created software application is presented on a practical example in which the modal parameters of a composite plate excited by an impact hammer were determined. For the verification of the obtained results a verification experiment was conducted during which the vibration responses were measured using conventional acceleration sensors. In both cases MIMO analysis was realized.

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras.

PubMed

Li, Zhenyu; Wang, Bin; Liu, Hong

2016-08-30

Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme.

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

PubMed Central

Li, Zhenyu; Wang, Bin; Liu, Hong

2016-01-01

Satellite capturing with free-floating space robots is still a challenging task due to the non-fixed base and unknown mass property issues. In this paper gyro and eye-in-hand camera data are adopted as an alternative choice for solving this problem. For this improved system, a new modeling approach that reduces the complexity of system control and identification is proposed. With the newly developed model, the space robot is equivalent to a ground-fixed manipulator system. Accordingly, a self-tuning control scheme is applied to handle such a control problem including unknown parameters. To determine the controller parameters, an estimator is designed based on the least-squares technique for identifying the unknown mass properties in real time. The proposed method is tested with a credible 3-dimensional ground verification experimental system, and the experimental results confirm the effectiveness of the proposed control scheme. PMID:27589748

Uav-Based Automatic Tree Growth Measurement for Biomass Estimation

NASA Astrophysics Data System (ADS)

Karpina, M.; Jarząbek-Rychard, M.; Tymków, P.; Borkowski, A.

2016-06-01

Manual in-situ measurements of geometric tree parameters for the biomass volume estimation are time-consuming and economically non-effective. Photogrammetric techniques can be deployed in order to automate the measurement procedure. The purpose of the presented work is an automatic tree growth estimation based on Unmanned Aircraft Vehicle (UAV) imagery. The experiment was conducted in an agriculture test field with scots pine canopies. The data was collected using a Leica Aibotix X6V2 platform equipped with a Nikon D800 camera. Reference geometric parameters of selected sample plants were measured manually each week. In situ measurements were correlated with the UAV data acquisition. The correlation aimed at the investigation of optimal conditions for a flight and parameter settings for image acquisition. The collected images are processed in a state of the art tool resulting in a generation of dense 3D point clouds. The algorithm is developed in order to estimate geometric tree parameters from 3D points. Stem positions and tree tops are identified automatically in a cross section, followed by the calculation of tree heights. The automatically derived height values are compared to the reference measurements performed manually. The comparison allows for the evaluation of automatic growth estimation process. The accuracy achieved using UAV photogrammetry for tree heights estimation is about 5cm.

Calibration of imaging parameters for space-borne airglow photography using city light positions

NASA Astrophysics Data System (ADS)

Hozumi, Yuta; Saito, Akinori; Ejiri, Mitsumu K.

2016-09-01

A new method for calibrating imaging parameters of photographs taken from the International Space Station (ISS) is presented in this report. Airglow in the mesosphere and the F-region ionosphere was captured on the limb of the Earth with a digital single-lens reflex camera from the ISS by astronauts. To utilize the photographs as scientific data, imaging parameters, such as the angle of view, exact position, and orientation of the camera, should be determined because they are not measured at the time of imaging. A new calibration method using city light positions shown in the photographs was developed to determine these imaging parameters with high accuracy suitable for airglow study. Applying the pinhole camera model, the apparent city light positions on the photograph are matched with the actual city light locations on Earth, which are derived from the global nighttime stable light map data obtained by the Defense Meteorological Satellite Program satellite. The correct imaging parameters are determined in an iterative process by matching the apparent positions on the image with the actual city light locations. We applied this calibration method to photographs taken on August 26, 2014, and confirmed that the result is correct. The precision of the calibration was evaluated by comparing the results from six different photographs with the same imaging parameters. The precisions in determining the camera position and orientation are estimated to be ±2.2 km and ±0.08°, respectively. The 0.08° difference in the orientation yields a 2.9-km difference at a tangential point of 90 km in altitude. The airglow structures in the photographs were mapped to geographical points using the calibrated imaging parameters and compared with a simultaneous observation by the Visible and near-Infrared Spectral Imager of the Ionosphere, Mesosphere, Upper Atmosphere, and Plasmasphere mapping mission installed on the ISS. The comparison shows good agreements and supports the validity of the calibration. This calibration technique makes it possible to utilize photographs taken on low-Earth-orbit satellites in the nighttime as a reference for the airglow and aurora structures.[Figure not available: see fulltext.

Vision System Measures Motions of Robot and External Objects

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2008-01-01

A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.

Geometrical pose and structural estimation from a single image for automatic inspection of filter components

NASA Astrophysics Data System (ADS)

Liu, Yonghuai; Rodrigues, Marcos A.

2000-03-01

This paper describes research on the application of machine vision techniques to a real time automatic inspection task of air filter components in a manufacturing line. A novel calibration algorithm is proposed based on a special camera setup where defective items would show a large calibration error. The algorithm makes full use of rigid constraints derived from the analysis of geometrical properties of reflected correspondence vectors which have been synthesized into a single coordinate frame and provides a closed form solution to the estimation of all parameters. For a comparative study of performance, we also developed another algorithm based on this special camera setup using epipolar geometry. A number of experiments using synthetic data have shown that the proposed algorithm is generally more accurate and robust than the epipolar geometry based algorithm and that the geometric properties of reflected correspondence vectors provide effective constraints to the calibration of rigid body transformations.

Sub-Camera Calibration of a Penta-Camera

NASA Astrophysics Data System (ADS)

Jacobsen, K.; Gerke, M.

2016-03-01

Penta cameras consisting of a nadir and four inclined cameras are becoming more and more popular, having the advantage of imaging also facades in built up areas from four directions. Such system cameras require a boresight calibration of the geometric relation of the cameras to each other, but also a calibration of the sub-cameras. Based on data sets of the ISPRS/EuroSDR benchmark for multi platform photogrammetry the inner orientation of the used IGI Penta DigiCAM has been analyzed. The required image coordinates of the blocks Dortmund and Zeche Zollern have been determined by Pix4Dmapper and have been independently adjusted and analyzed by program system BLUH. With 4.1 million image points in 314 images respectively 3.9 million image points in 248 images a dense matching was provided by Pix4Dmapper. With up to 19 respectively 29 images per object point the images are well connected, nevertheless the high number of images per object point are concentrated to the block centres while the inclined images outside the block centre are satisfying but not very strongly connected. This leads to very high values for the Student test (T-test) of the finally used additional parameters or in other words, additional parameters are highly significant. The estimated radial symmetric distortion of the nadir sub-camera corresponds to the laboratory calibration of IGI, but there are still radial symmetric distortions also for the inclined cameras with a size exceeding 5μm even if mentioned as negligible based on the laboratory calibration. Radial and tangential effects of the image corners are limited but still available. Remarkable angular affine systematic image errors can be seen especially in the block Zeche Zollern. Such deformations are unusual for digital matrix cameras, but it can be caused by the correlation between inner and exterior orientation if only parallel flight lines are used. With exception of the angular affinity the systematic image errors for corresponding cameras of both blocks have the same trend, but as usual for block adjustments with self calibration, they still show significant differences. Based on the very high number of image points the remaining image residuals can be safely determined by overlaying and averaging the image residuals corresponding to their image coordinates. The size of the systematic image errors, not covered by the used additional parameters, is in the range of a square mean of 0.1 pixels corresponding to 0.6μm. They are not the same for both blocks, but show some similarities for corresponding cameras. In general the bundle block adjustment with a satisfying set of additional parameters, checked by remaining systematic errors, is required for use of the whole geometric potential of the penta camera. Especially for object points on facades, often only in two images and taken with a limited base length, the correct handling of systematic image errors is important. At least in the analyzed data sets the self calibration of sub-cameras by bundle block adjustment suffers from the correlation of the inner to the exterior calibration due to missing crossing flight directions. As usual, the systematic image errors differ from block to block even without the influence of the correlation to the exterior orientation.

An improved method to estimate reflectance parameters for high dynamic range imaging

NASA Astrophysics Data System (ADS)

Li, Shiying; Deguchi, Koichiro; Li, Renfa; Manabe, Yoshitsugu; Chihara, Kunihiro

2008-01-01

Two methods are described to accurately estimate diffuse and specular reflectance parameters for colors, gloss intensity and surface roughness, over the dynamic range of the camera used to capture input images. Neither method needs to segment color areas on an image, or to reconstruct a high dynamic range (HDR) image. The second method improves on the first, bypassing the requirement for specific separation of diffuse and specular reflection components. For the latter method, diffuse and specular reflectance parameters are estimated separately, using the least squares method. Reflection values are initially assumed to be diffuse-only reflection components, and are subjected to the least squares method to estimate diffuse reflectance parameters. Specular reflection components, obtained by subtracting the computed diffuse reflection components from reflection values, are then subjected to a logarithmically transformed equation of the Torrance-Sparrow reflection model, and specular reflectance parameters for gloss intensity and surface roughness are finally estimated using the least squares method. Experiments were carried out using both methods, with simulation data at different saturation levels, generated according to the Lambert and Torrance-Sparrow reflection models, and the second method, with spectral images captured by an imaging spectrograph and a moving light source. Our results show that the second method can estimate the diffuse and specular reflectance parameters for colors, gloss intensity and surface roughness more accurately and faster than the first one, so that colors and gloss can be reproduced more efficiently for HDR imaging.

Development of a highly automated system for the remote evaluation of individual tree parameters

Treesearch

Richard Pollock

2000-01-01

A highly-automated procedure for remotely estimating individual tree location, crown diameter, species class, and height has been developed. This procedure will involve the use of a multimodal airborne sensing system that consists of a digital frame camera, a scanning laser rangefinder, and a position and orientation measurement system. Data from the multimodal sensing...

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.

An automated calibration method for non-see-through head mounted displays.

PubMed

Gilson, Stuart J; Fitzgibbon, Andrew W; Glennerster, Andrew

2011-08-15

Accurate calibration of a head mounted display (HMD) is essential both for research on the visual system and for realistic interaction with virtual objects. Yet, existing calibration methods are time consuming and depend on human judgements, making them error prone, and are often limited to optical see-through HMDs. Building on our existing approach to HMD calibration Gilson et al. (2008), we show here how it is possible to calibrate a non-see-through HMD. A camera is placed inside a HMD displaying an image of a regular grid, which is captured by the camera. The HMD is then removed and the camera, which remains fixed in position, is used to capture images of a tracked calibration object in multiple positions. The centroids of the markers on the calibration object are recovered and their locations re-expressed in relation to the HMD grid. This allows established camera calibration techniques to be used to recover estimates of the HMD display's intrinsic parameters (width, height, focal length) and extrinsic parameters (optic centre and orientation of the principal ray). We calibrated a HMD in this manner and report the magnitude of the errors between real image features and reprojected features. Our calibration method produces low reprojection errors without the need for error-prone human judgements. Copyright © 2011 Elsevier B.V. All rights reserved.

Machine-Vision Aids for Improved Flight Operations

NASA Technical Reports Server (NTRS)

Menon, P. K.; Chatterji, Gano B.

1996-01-01

The development of machine vision based pilot aids to help reduce night approach and landing accidents is explored. The techniques developed are motivated by the desire to use the available information sources for navigation such as the airport lighting layout, attitude sensors and Global Positioning System to derive more precise aircraft position and orientation information. The fact that airport lighting geometry is known and that images of airport lighting can be acquired by the camera, has lead to the synthesis of machine vision based algorithms for runway relative aircraft position and orientation estimation. The main contribution of this research is the synthesis of seven navigation algorithms based on two broad families of solutions. The first family of solution methods consists of techniques that reconstruct the airport lighting layout from the camera image and then estimate the aircraft position components by comparing the reconstructed lighting layout geometry with the known model of the airport lighting layout geometry. The second family of methods comprises techniques that synthesize the image of the airport lighting layout using a camera model and estimate the aircraft position and orientation by comparing this image with the actual image of the airport lighting acquired by the camera. Algorithms 1 through 4 belong to the first family of solutions while Algorithms 5 through 7 belong to the second family of solutions. Algorithms 1 and 2 are parameter optimization methods, Algorithms 3 and 4 are feature correspondence methods and Algorithms 5 through 7 are Kalman filter centered algorithms. Results of computer simulation are presented to demonstrate the performance of all the seven algorithms developed.

High-precision method of binocular camera calibration with a distortion model.

PubMed

Li, Weimin; Shan, Siyu; Liu, Hui

2017-03-10

A high-precision camera calibration method for binocular stereo vision system based on a multi-view template and alternative bundle adjustment is presented in this paper. The proposed method could be achieved by taking several photos on a specially designed calibration template that has diverse encoded points in different orientations. In this paper, the method utilized the existing algorithm used for monocular camera calibration to obtain the initialization, which involves a camera model, including radial lens distortion and tangential distortion. We created a reference coordinate system based on the left camera coordinate to optimize the intrinsic parameters of left camera through alternative bundle adjustment to obtain optimal values. Then, optimal intrinsic parameters of the right camera can be obtained through alternative bundle adjustment when we create a reference coordinate system based on the right camera coordinate. We also used all intrinsic parameters that were acquired to optimize extrinsic parameters. Thus, the optimal lens distortion parameters and intrinsic and extrinsic parameters were obtained. Synthetic and real data were used to test the method. The simulation results demonstrate that the maximum mean absolute relative calibration errors are about 3.5e-6 and 1.2e-6 for the focal length and the principal point, respectively, under zero-mean Gaussian noise with 0.05 pixels standard deviation. The real result shows that the reprojection error of our model is about 0.045 pixels with the relative standard deviation of 1.0e-6 over the intrinsic parameters. The proposed method is convenient, cost-efficient, highly precise, and simple to carry out.

Comparison of parameters of modern cooled and uncooled thermal cameras

NASA Astrophysics Data System (ADS)

Bareła, Jarosław; Kastek, Mariusz; Firmanty, Krzysztof; Krupiński, Michał

2017-10-01

During the design of a system employing thermal cameras one always faces a problem of choosing the camera types best suited for the task. In many cases such a choice is far from optimal one, and there are several reasons for that. System designers often favor tried and tested solution they are used to. They do not follow the latest developments in the field of infrared technology and sometimes their choices are based on prejudice and not on facts. The paper presents the results of measurements of basic parameters of MWIR and LWIR thermal cameras, carried out in a specialized testing laboratory. The measured parameters are decisive in terms of image quality generated by thermal cameras. All measurements were conducted according to current procedures and standards. However the camera settings were not optimized for a specific test conditions or parameter measurements. Instead the real settings used in normal camera operations were applied to obtain realistic camera performance figures. For example there were significant differences between measured values of noise parameters and catalogue data provided by manufacturers, due to the application of edge detection filters to increase detection and recognition ranges. The purpose of this paper is to provide help in choosing the optimal thermal camera for particular application, answering the question whether to opt for cheaper microbolometer device or apply slightly better (in terms of specifications) yet more expensive cooled unit. Measurements and analysis were performed by qualified personnel with several dozen years of experience in both designing and testing of thermal camera systems with both cooled and uncooled focal plane arrays. Cameras of similar array sizes and optics were compared, and for each tested group the best performing devices were selected.

Satellite markers: a simple method for ground truth car pose on stereo video

NASA Astrophysics Data System (ADS)

Gil, Gustavo; Savino, Giovanni; Piantini, Simone; Pierini, Marco

2018-04-01

Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

An open-source, FireWire camera-based, Labview-controlled image acquisition system for automated, dynamic pupillometry and blink detection.

PubMed

de Souza, John Kennedy Schettino; Pinto, Marcos Antonio da Silva; Vieira, Pedro Gabrielle; Baron, Jerome; Tierra-Criollo, Carlos Julio

2013-12-01

The dynamic, accurate measurement of pupil size is extremely valuable for studying a large number of neuronal functions and dysfunctions. Despite tremendous and well-documented progress in image processing techniques for estimating pupil parameters, comparatively little work has been reported on practical hardware issues involved in designing image acquisition systems for pupil analysis. Here, we describe and validate the basic features of such a system which is based on a relatively compact, off-the-shelf, low-cost FireWire digital camera. We successfully implemented two configurable modes of video record: a continuous mode and an event-triggered mode. The interoperability of the whole system is guaranteed by a set of modular software components hosted on a personal computer and written in Labview. An offline analysis suite of image processing algorithms for automatically estimating pupillary and eyelid parameters were assessed using data obtained in human subjects. Our benchmark results show that such measurements can be done in a temporally precise way at a sampling frequency of up to 120 Hz and with an estimated maximum spatial resolution of 0.03 mm. Our software is made available free of charge to the scientific community, allowing end users to either use the software as is or modify it to suit their own needs. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Assessing the Crop-Water Status in Almond (Prunus dulcis Mill.) Trees via Thermal Imaging Camera Connected to Smartphone.

PubMed

García-Tejero, Iván Francisco; Ortega-Arévalo, Carlos José; Iglesias-Contreras, Manuel; Moreno, José Manuel; Souza, Luciene; Tavira, Simón Cuadros; Durán-Zuazo, Víctor Hugo

2018-03-31

Different tools are being implemented in order to improve the water management in agricultural irrigated areas of semiarid environments. Thermography has been progressively introduced as a promising technique for irrigation scheduling and the assessing of crop-water status, especially when deficit irrigation is being implemented. However, an important limitation is related to the cost of the actual cameras, this being a severe limitation to its practical usage by farmers and technicians. This work evaluates the potential and the robustness of a thermal imaging camera that is connected to smartphone (Flir One) recently developed by Flir Systems Inc. as a first step to assess the crop water status. The trial was developed in mature almond ( Prunus dulcis Mill.) trees that are subjected to different irrigation treatments. Thermal information obtained by the Flir One camera was deal with the thermal information obtained with a conventional Thermal Camera (Flir SC660) with a high resolution, and subsequently, confronted with other related plant physiological parameters (leaf water potential, Ψ leaf , and stomatal conductance, g s ). Thermal imaging camera connected to smartphone provided useful information in estimating the crop-water status in almond trees, being a potential promising tool to accelerate the monitoring process and thereby enhance water-stress management of almond orchards.

Assessing the Crop-Water Status in Almond (Prunus dulcis Mill.) Trees via Thermal Imaging Camera Connected to Smartphone

PubMed Central

García-Tejero, Iván Francisco; Ortega-Arévalo, Carlos José; Iglesias-Contreras, Manuel; Moreno, José Manuel; Souza, Luciene; Tavira, Simón Cuadros; Durán-Zuazo, Víctor Hugo

2018-01-01

Different tools are being implemented in order to improve the water management in agricultural irrigated areas of semiarid environments. Thermography has been progressively introduced as a promising technique for irrigation scheduling and the assessing of crop-water status, especially when deficit irrigation is being implemented. However, an important limitation is related to the cost of the actual cameras, this being a severe limitation to its practical usage by farmers and technicians. This work evaluates the potential and the robustness of a thermal imaging camera that is connected to smartphone (Flir One) recently developed by Flir Systems Inc. as a first step to assess the crop water status. The trial was developed in mature almond (Prunus dulcis Mill.) trees that are subjected to different irrigation treatments. Thermal information obtained by the Flir One camera was deal with the thermal information obtained with a conventional Thermal Camera (Flir SC660) with a high resolution, and subsequently, confronted with other related plant physiological parameters (leaf water potential, Ψleaf, and stomatal conductance, gs). Thermal imaging camera connected to smartphone provided useful information in estimating the crop-water status in almond trees, being a potential promising tool to accelerate the monitoring process and thereby enhance water-stress management of almond orchards. PMID:29614740

3D bubble reconstruction using multiple cameras and space carving method

NASA Astrophysics Data System (ADS)

Fu, Yucheng; Liu, Yang

2018-07-01

An accurate measurement of bubble shape and size has a significant value in understanding the behavior of bubbles that exist in many engineering applications. Past studies usually use one or two cameras to estimate bubble volume, surface area, among other parameters. The 3D bubble shape and rotation angle are generally not available in these studies. To overcome this challenge and obtain more detailed information of individual bubbles, a 3D imaging system consisting of four high-speed cameras is developed in this paper, and the space carving method is used to reconstruct the 3D bubble shape based on the recorded high-speed images from different view angles. The proposed method can reconstruct the bubble surface with minimal assumptions. A benchmarking test is performed in a 3 cm  ×  1 cm rectangular channel with stagnant water. The results show that the newly proposed method can measure the bubble volume with an error of less than 2% compared with the syringe reading. The conventional two-camera system has an error around 10%. The one-camera system has an error greater than 25%. The visualization of a 3D bubble rising demonstrates the wall influence on bubble rotation angle and aspect ratio. This also explains the large error that exists in the single camera measurement.

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.

Instrumentation for Infrared Airglow Clutter.

DTIC Science & Technology

1987-03-10

gain, and filter position to the Camera Head, and monitors these parameters as well as preamp video. GAZER is equipped with a Lenzar wide angle, low...Specifications/Parameters VIDEO SENSOR: Camera ...... . LENZAR Intensicon-8 LLLTV using 2nd gen * micro-channel intensifier and proprietary camera tube

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.

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.

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.

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.

Determining approximate age of digital images using sensor defects

NASA Astrophysics Data System (ADS)

Fridrich, Jessica; Goljan, Miroslav

2011-02-01

The goal of temporal forensics is to establish temporal relationship among two or more pieces of evidence. In this paper, we focus on digital images and describe a method using which an analyst can estimate the acquisition time of an image given a set of other images from the same camera whose time ordering is known. This is achieved by first estimating the parameters of pixel defects, including their onsets, and then detecting their presence in the image under investigation. Both estimators are constructed using the maximum-likelihood principle. The accuracy and limitations of this approach are illustrated on experiments with three cameras. Forensic and law-enforcement analysts are expected to benefit from this technique in situations when the temporal data stored in the EXIF header is lost due to processing or editing images off-line or when the header cannot be trusted. Reliable methods for establishing temporal order between individual pieces of evidence can help reveal deception attempts of an adversary or a criminal. The causal relationship may also provide information about the whereabouts of the photographer.

Monte-Carlo Simulation for Accuracy Assessment of a Single Camera Navigation System

NASA Astrophysics Data System (ADS)

Bethmann, F.; Luhmann, T.

2012-07-01

The paper describes a simulation-based optimization of an optical tracking system that is used as a 6DOF navigation system for neurosurgery. Compared to classical system used in clinical navigation, the presented system has two unique properties: firstly, the system will be miniaturized and integrated into an operating microscope for neurosurgery; secondly, due to miniaturization a single camera approach has been designed. Single camera techniques for 6DOF measurements show a special sensitivity against weak geometric configurations between camera and object. In addition, the achievable accuracy potential depends significantly on the geometric properties of the tracked objects (locators). Besides quality and stability of the targets used on the locator, their geometric configuration is of major importance. In the following the development and investigation of a simulation program is presented which allows for the assessment and optimization of the system with respect to accuracy. Different system parameters can be altered as well as different scenarios indicating the operational use of the system. Measurement deviations are estimated based on the Monte-Carlo method. Practical measurements validate the correctness of the numerical simulation results.

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.

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.

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.

Estimating detection and density of the Andean cat in the high Andes

USGS Publications Warehouse

Reppucci, J.; Gardner, B.; Lucherini, M.

2011-01-01

The Andean cat (Leopardus jacobita) is one of the most endangered, yet least known, felids. Although the Andean cat is considered at risk of extinction, rigorous quantitative population studies are lacking. Because physical observations of the Andean cat are difficult to make in the wild, we used a camera-trapping array to photo-capture individuals. The survey was conducted in northwestern Argentina at an elevation of approximately 4,200 m during October-December 2006 and April-June 2007. In each year we deployed 22 pairs of camera traps, which were strategically placed. To estimate detection probability and density we applied models for spatial capture-recapture using a Bayesian framework. Estimated densities were 0.07 and 0.12 individual/km 2 for 2006 and 2007, respectively. Mean baseline detection probability was estimated at 0.07. By comparison, densities of the Pampas cat (Leopardus colocolo), another poorly known felid that shares its habitat with the Andean cat, were estimated at 0.74-0.79 individual/km2 in the same study area for 2006 and 2007, and its detection probability was estimated at 0.02. Despite having greater detectability, the Andean cat is rarer in the study region than the Pampas cat. Properly accounting for the detection probability is important in making reliable estimates of density, a key parameter in conservation and management decisions for any species. ?? 2011 American Society of Mammalogists.

Estimating detection and density of the Andean cat in the high Andes

USGS Publications Warehouse

Reppucci, Juan; Gardner, Beth; Lucherini, Mauro

2011-01-01

The Andean cat (Leopardus jacobita) is one of the most endangered, yet least known, felids. Although the Andean cat is considered at risk of extinction, rigorous quantitative population studies are lacking. Because physical observations of the Andean cat are difficult to make in the wild, we used a camera-trapping array to photo-capture individuals. The survey was conducted in northwestern Argentina at an elevation of approximately 4,200 m during October–December 2006 and April–June 2007. In each year we deployed 22 pairs of camera traps, which were strategically placed. To estimate detection probability and density we applied models for spatial capture–recapture using a Bayesian framework. Estimated densities were 0.07 and 0.12 individual/km2 for 2006 and 2007, respectively. Mean baseline detection probability was estimated at 0.07. By comparison, densities of the Pampas cat (Leopardus colocolo), another poorly known felid that shares its habitat with the Andean cat, were estimated at 0.74–0.79 individual/km2 in the same study area for 2006 and 2007, and its detection probability was estimated at 0.02. Despite having greater detectability, the Andean cat is rarer in the study region than the Pampas cat. Properly accounting for the detection probability is important in making reliable estimates of density, a key parameter in conservation and management decisions for any species.

Camera calibration for multidirectional flame chemiluminescence tomography

NASA Astrophysics Data System (ADS)

Wang, Jia; Zhang, Weiguang; Zhang, Yuhong; Yu, Xun

2017-04-01

Flame chemiluminescence tomography (FCT), which combines computerized tomography theory and multidirectional chemiluminescence emission measurements, can realize instantaneous three-dimensional (3-D) diagnostics for flames with high spatial and temporal resolutions. One critical step of FCT is to record the projections by multiple cameras from different view angles. For high accuracy reconstructions, it requires that extrinsic parameters (the positions and orientations) and intrinsic parameters (especially the image distances) of cameras be accurately calibrated first. Taking the focus effect of the camera into account, a modified camera calibration method was presented for FCT, and a 3-D calibration pattern was designed to solve the parameters. The precision of the method was evaluated by reprojections of feature points to cameras with the calibration results. The maximum root mean square error of the feature points' position is 1.42 pixels and 0.0064 mm for the image distance. An FCT system with 12 cameras was calibrated by the proposed method and the 3-D CH* intensity of a propane flame was measured. The results showed that the FCT system provides reasonable reconstruction accuracy using the camera's calibration results.

Camera traps and mark-resight models: The value of ancillary data for evaluating assumptions

USGS Publications Warehouse

Parsons, Arielle W.; Simons, Theodore R.; Pollock, Kenneth H.; Stoskopf, Michael K.; Stocking, Jessica J.; O'Connell, Allan F.

2015-01-01

Unbiased estimators of abundance and density are fundamental to the study of animal ecology and critical for making sound management decisions. Capture–recapture models are generally considered the most robust approach for estimating these parameters but rely on a number of assumptions that are often violated but rarely validated. Mark-resight models, a form of capture–recapture, are well suited for use with noninvasive sampling methods and allow for a number of assumptions to be relaxed. We used ancillary data from continuous video and radio telemetry to evaluate the assumptions of mark-resight models for abundance estimation on a barrier island raccoon (Procyon lotor) population using camera traps. Our island study site was geographically closed, allowing us to estimate real survival and in situ recruitment in addition to population size. We found several sources of bias due to heterogeneity of capture probabilities in our study, including camera placement, animal movement, island physiography, and animal behavior. Almost all sources of heterogeneity could be accounted for using the sophisticated mark-resight models developed by McClintock et al. (2009b) and this model generated estimates similar to a spatially explicit mark-resight model previously developed for this population during our study. Spatially explicit capture–recapture models have become an important tool in ecology and confer a number of advantages; however, non-spatial models that account for inherent individual heterogeneity may perform nearly as well, especially where immigration and emigration are limited. Non-spatial models are computationally less demanding, do not make implicit assumptions related to the isotropy of home ranges, and can provide insights with respect to the biological traits of the local population.

Optical variability of extragalactic objects used to tie the HIPPARCOS reference frame to an extragalactic system using Hubble space telescope observations

NASA Technical Reports Server (NTRS)

Bozyan, Elizabeth P.; Hemenway, Paul D.; Argue, A. Noel

1990-01-01

Observations of a set of 89 extragalactic objects (EGOs) will be made with the Hubble Space Telescope Fine Guidance Sensors and Planetary Camera in order to link the HIPPARCOS Instrumental System to an extragalactic coordinate system. Most of the sources chosen for observation contain compact radio sources and stellarlike nuclei; 65 percent are optical variables beyond a 0.2 mag limit. To ensure proper exposure times, accurate mean magnitudes are necessary. In many cases, the average magnitudes listed in the literature were not adequate. The literature was searched for all relevant photometric information for the EGOs, and photometric parameters were derived, including mean magnitude, maximum range, and timescale of variability. This paper presents the results of that search and the parameters derived. The results will allow exposure times to be estimated such that an observed magnitude different from the tabular magnitude by 0.5 mag in either direction will not degrade the astrometric centering ability on a Planetary Camera CCD frame.

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.

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.

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.

Development of a Compton camera for safeguards applications in a pyroprocessing facility

NASA Astrophysics Data System (ADS)

Park, Jin Hyung; Kim, Young Su; Kim, Chan Hyeong; Seo, Hee; Park, Se-Hwan; Kim, Ho-Dong

2014-11-01

The Compton camera has a potential to be used for localizing nuclear materials in a large pyroprocessing facility due to its unique Compton kinematics-based electronic collimation method. Our R&D group, KAERI, and Hanyang University have made an effort to develop a scintillation-detector-based large-area Compton camera for safeguards applications. In the present study, a series of Monte Carlo simulations was performed with Geant4 in order to examine the effect of the detector parameters and the feasibility of using a Compton camera to obtain an image of the nuclear material distribution. Based on the simulation study, experimental studies were performed to assess the possibility of Compton imaging in accordance with the type of the crystal. Two different types of Compton cameras were fabricated and tested with a pixelated type of LYSO (Ce) and a monolithic type of NaI(Tl). The conclusions of this study as a design rule for a large-area Compton camera can be summarized as follows: 1) The energy resolution, rather than position resolution, of the component detector was the limiting factor for the imaging resolution, 2) the Compton imaging system needs to be placed as close as possible to the source location, and 3) both pixelated and monolithic types of crystals can be utilized; however, the monolithic types, require a stochastic-method-based position-estimating algorithm for improving the position resolution.

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.

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.

Acquisition of 3d Information for Vanished Structure by Using Only AN Ancient Picture

NASA Astrophysics Data System (ADS)

Kunii, Y.; Sakamoto, R.

2016-06-01

In order to acquire 3D information for reconstruction of vanished historical structure, grasp of 3D shape of such structure was attempted by using an ancient picture. Generally, 3D information of a structure is acquired by photogrammetric theory which requires two or more pictures. This paper clarifies that the geometrical information of the structure was obtained only from an ancient picture, and 3D information was acquired. This kind of method was applied for an ancient picture of the Old Imperial Theatre. The Old Imperial Theatre in the picture is constituted by two-point perspective. Therefore, estimated value of focal length of camera, length of camera to the Old Imperial Theatre and some parameters were calculated by estimation of field angle, using body height as an index of length and some geometrical information. Consequently, 3D coordinate of 120 measurement points on the surface of the Old Imperial Theatre were calculated respectively, and 3DCG modeling of the Old Imperial Theatre was realized.

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.

Slit-Slat Collimator Equipped Gamma Camera for Whole-Mouse SPECT-CT Imaging

NASA Astrophysics Data System (ADS)

Cao, Liji; Peter, Jörg

2012-06-01

A slit-slat collimator is developed for a gamma camera intended for small-animal imaging (mice). The tungsten housing of a roof-shaped collimator forms a slit opening, and the slats are made of lead foils separated by sparse polyurethane material. Alignment of the collimator with the camera's pixelated crystal is performed by adjusting a micrometer screw while monitoring a Co-57 point source for maximum signal intensity. For SPECT, the collimator forms a cylindrical field-of-view enabling whole mouse imaging with transaxial magnification and constant on-axis sensitivity over the entire axial direction. As the gamma camera is part of a multimodal imaging system incorporating also x-ray CT, five parameters corresponding to the geometric displacements of the collimator as well as to the mechanical co-alignment between the gamma camera and the CT subsystem are estimated by means of bimodal calibration sources. To illustrate the performance of the slit-slat collimator and to compare its performance to a single pinhole collimator, a Derenzo phantom study is performed. Transaxial resolution along the entire long axis is comparable to a pinhole collimator of same pinhole diameter. Axial resolution of the slit-slat collimator is comparable to that of a parallel beam collimator. Additionally, data from an in-vivo mouse study are presented.

Automatically assessing properties of dynamic cameras for camera selection and rapid deployment of video content analysis tasks in large-scale ad-hoc networks

NASA Astrophysics Data System (ADS)

den Hollander, Richard J. M.; Bouma, Henri; van Rest, Jeroen H. C.; ten Hove, Johan-Martijn; ter Haar, Frank B.; Burghouts, Gertjan J.

2017-10-01

Video analytics is essential for managing large quantities of raw data that are produced by video surveillance systems (VSS) for the prevention, repression and investigation of crime and terrorism. Analytics is highly sensitive to changes in the scene, and for changes in the optical chain so a VSS with analytics needs careful configuration and prompt maintenance to avoid false alarms. However, there is a trend from static VSS consisting of fixed CCTV cameras towards more dynamic VSS deployments over public/private multi-organization networks, consisting of a wider variety of visual sensors, including pan-tilt-zoom (PTZ) cameras, body-worn cameras and cameras on moving platforms. This trend will lead to more dynamic scenes and more frequent changes in the optical chain, creating structural problems for analytics. If these problems are not adequately addressed, analytics will not be able to continue to meet end users' developing needs. In this paper, we present a three-part solution for managing the performance of complex analytics deployments. The first part is a register containing meta data describing relevant properties of the optical chain, such as intrinsic and extrinsic calibration, and parameters of the scene such as lighting conditions or measures for scene complexity (e.g. number of people). A second part frequently assesses these parameters in the deployed VSS, stores changes in the register, and signals relevant changes in the setup to the VSS administrator. A third part uses the information in the register to dynamically configure analytics tasks based on VSS operator input. In order to support the feasibility of this solution, we give an overview of related state-of-the-art technologies for autocalibration (self-calibration), scene recognition and lighting estimation in relation to person detection. The presented solution allows for rapid and robust deployment of Video Content Analysis (VCA) tasks in large scale ad-hoc networks.

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

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.

Superficial vessel reconstruction with a multiview camera system

PubMed Central

Marreiros, Filipe M. M.; Rossitti, Sandro; Karlsson, Per M.; Wang, Chunliang; Gustafsson, Torbjörn; Carleberg, Per; Smedby, Örjan

2016-01-01

Abstract. We aim at reconstructing superficial vessels of the brain. Ultimately, they will serve to guide the deformation methods to compensate for the brain shift. A pipeline for three-dimensional (3-D) vessel reconstruction using three mono-complementary metal-oxide semiconductor cameras has been developed. Vessel centerlines are manually selected in the images. Using the properties of the Hessian matrix, the centerline points are assigned direction information. For correspondence matching, a combination of methods was used. The process starts with epipolar and spatial coherence constraints (geometrical constraints), followed by relaxation labeling and an iterative filtering where the 3-D points are compared to surfaces obtained using the thin-plate spline with decreasing relaxation parameter. Finally, the points are shifted to their local centroid position. Evaluation in virtual, phantom, and experimental images, including intraoperative data from patient experiments, shows that, with appropriate camera positions, the error estimates (root-mean square error and mean error) are ∼1  mm. PMID:26759814

Homography-based visual servo regulation of mobile robots.

PubMed

Fang, Yongchun; Dixon, Warren E; Dawson, Darren M; Chawda, Prakash

2005-10-01

A monocular camera-based vision system attached to a mobile robot (i.e., the camera-in-hand configuration) is considered in this paper. By comparing corresponding target points of an object from two different camera images, geometric relationships are exploited to derive a transformation that relates the actual position and orientation of the mobile robot to a reference position and orientation. This transformation is used to synthesize a rotation and translation error system from the current position and orientation to the fixed reference position and orientation. Lyapunov-based techniques are used to construct an adaptive estimate to compensate for a constant, unmeasurable depth parameter, and to prove asymptotic regulation of the mobile robot. The contribution of this paper is that Lyapunov techniques are exploited to craft an adaptive controller that enables mobile robot position and orientation regulation despite the lack of an object model and the lack of depth information. Experimental results are provided to illustrate the performance of the controller.

A Flexile and High Precision Calibration Method for Binocular Structured Light Scanning System

PubMed Central

Yuan, Jianying; Wang, Qiong; Li, Bailin

2014-01-01

3D (three-dimensional) structured light scanning system is widely used in the field of reverse engineering, quality inspection, and so forth. Camera calibration is the key for scanning precision. Currently, 2D (two-dimensional) or 3D fine processed calibration reference object is usually applied for high calibration precision, which is difficult to operate and the cost is high. In this paper, a novel calibration method is proposed with a scale bar and some artificial coded targets placed randomly in the measuring volume. The principle of the proposed method is based on hierarchical self-calibration and bundle adjustment. We get initial intrinsic parameters from images. Initial extrinsic parameters in projective space are estimated with the method of factorization and then upgraded to Euclidean space with orthogonality of rotation matrix and rank 3 of the absolute quadric as constraint. Last, all camera parameters are refined through bundle adjustment. Real experiments show that the proposed method is robust, and has the same precision level as the result using delicate artificial reference object, but the hardware cost is very low compared with the current calibration method used in 3D structured light scanning system. PMID:25202736

Magma rheology from 3D geometry of martian lava flows

NASA Astrophysics Data System (ADS)

Allemand, P.; Deschamps, A.; Lesaout, M.; Delacourt, C.; Quantin, C.; Clenet, H.

2012-04-01

Volcanism is an important geologic agent which has been recently active at the surface of Mars. The composition of individual lava flows is difficult to infer from spectroscopic data because of the absence of crystallized minerals and the possible cover of the flows by dust. The 3D geometry of lava flows provides an interesting alternative to infer the chemical composition of lavas and effusion rates. Indeed, chemical composition exerts a strong control on the viscosity and yield strength of the magma and global geometry of lava flow reflects its emplacement rate. Until recently, these studies where realized from 2D data. The third dimension, which is a key parameter, was deduced or supposed from local shadow measurements on MGS Themis IR images with an uncertainty of more than 500%. Recent CTX data (MRO mission) allow to compute Digital Elevation Model at a resolution of 1 or 2 pixels (5 to 10 m) with the help of Isis and the Ames Stereo Pipeline pipe line. The CTX images are first transformed in format readable by Isis. The external geometric parameters of the CTX camera are computed and added to the image header with Isis. During a correlation phase, the homologous pixels are searched on the pair of stereo images. Finally, the DEM is computed from the position of the homologous pixels and the geometrical parameters of the CTX camera. Twenty DEM have been computed from stereo images showing lava flows of various ages on the region of Cerberus, Elyseum, Daedalia and Amazonis planitia. The 3D parameters of the lava flows have been measured on the DEMs and tested against shadows measurement. These 3D parameters have been inverted to estimate the viscosity and the yield strength of the flow. The effusion rate has also been estimated. These parameters have been compared to those of similar lava flows of the East Pacific rise.

Thermal analysis of microlens formation on a sensitized gelatin layer

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

Muric, Branka; Pantelic, Dejan; Vasiljevic, Darko

2009-07-01

We analyze a mechanism of direct laser writing of microlenses. We find that thermal effects and photochemical reactions are responsible for microlens formation on a sensitized gelatin layer. An infrared camera was used to assess the temperature distribution during the microlens formation, while the diffraction pattern produced by the microlens itself was used to estimate optical properties. The study of thermal processes enabled us to establish the correlation between thermal and optical parameters.

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

Frederick, P. N.; Shields, N. L., Jr.; Kirkpatrick, M., III

1977-01-01

Visual system parameters and stereoptic television component geometries were evaluated for optimum viewing. The accuracy of operator range estimation using a Fresnell stereo television system with a three dimensional cursor was examined. An operator's ability to align three dimensional targets using vidicon tube and solid state television cameras as part of a Fresnell stereoptic system was evaluated. An operator's ability to discriminate between varied color samples viewed with a color television system was determined.

Spatiotemporal motion boundary detection and motion boundary velocity estimation for tracking moving objects with a moving camera: a level sets PDEs approach with concurrent camera motion compensation.

PubMed

Feghali, Rosario; Mitiche, Amar

2004-11-01

The purpose of this study is to investigate a method of tracking moving objects with a moving camera. This method estimates simultaneously the motion induced by camera movement. The problem is formulated as a Bayesian motion-based partitioning problem in the spatiotemporal domain of the image quence. An energy functional is derived from the Bayesian formulation. The Euler-Lagrange descent equations determine imultaneously an estimate of the image motion field induced by camera motion and an estimate of the spatiotemporal motion undary surface. The Euler-Lagrange equation corresponding to the surface is expressed as a level-set partial differential equation for topology independence and numerically stable implementation. The method can be initialized simply and can track multiple objects with nonsimultaneous motions. Velocities on motion boundaries can be estimated from geometrical properties of the motion boundary. Several examples of experimental verification are given using synthetic and real-image sequences.

The new camera calibration system at the US Geological Survey

USGS Publications Warehouse

Light, D.L.

1992-01-01

Modern computerized photogrammetric instruments are capable of utilizing both radial and decentering camera calibration parameters which can increase plotting accuracy over that of older analog instrumentation technology from previous decades. Also, recent design improvements in aerial cameras have minimized distortions and increased the resolving power of camera systems, which should improve the performance of the overall photogrammetric process. In concert with these improvements, the Geological Survey has adopted the rigorous mathematical model for camera calibration developed by Duane Brown. An explanation of the Geological Survey's calibration facility and the additional calibration parameters now being provided in the USGS calibration certificate are reviewed. -Author

Determining Sala mango qualities with the use of RGB images captured by a mobile phone camera

NASA Astrophysics Data System (ADS)

Yahaya, Ommi Kalsom Mardziah; Jafri, Mohd Zubir Mat; Aziz, Azlan Abdul; Omar, Ahmad Fairuz

2015-04-01

Sala mango (Mangifera indicia) is one of the Malaysia's most popular tropical fruits that are widely marketed within the country. The degrees of ripeness of mangoes have conventionally been evaluated manually on the basis of color parameters, but a simple non-destructive technique using the Samsung Galaxy Note 1 mobile phone camera is introduced to replace the destructive technique. In this research, color parameters in terms of RGB values acquired using the ENVI software system were linked to detect Sala mango quality parameters. The features of mango were extracted from the acquired images and then used to classify of fruit skin color, which relates to the stages of ripening. A multivariate analysis method, multiple linear regression, was employed with the purpose of using RGB color parameters to estimate the pH, soluble solids content (SSC), and firmness. The relationship between these qualities parameters of Sala mango and its mean pixel values in the RGB system is analyzed. Findings show that pH yields the highest accuracy with a correlation coefficient R = 0.913 and root mean square of error RMSE = 0.166 pH. Meanwhile, firmness has R = 0.875 and RMSE = 1.392 kgf, whereas soluble solid content has the lowest accuracy with R = 0.814 and RMSE = 1.218°Brix with the correlation between color parameters. Therefore, this non-invasive method can be used to determine the quality attributes of mangoes.

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.

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.

Vicarious Calibration of sUAS Microbolometer Temperature Imagery for Estimation of Radiometric Land Surface Temperature.

PubMed

Torres-Rua, Alfonso

2017-06-26

In recent years, the availability of lightweight microbolometer thermal cameras compatible with small unmanned aerial systems (sUAS) has allowed their use in diverse scientific and management activities that require sub-meter pixel resolution. Nevertheless, as with sensors already used in temperature remote sensing (e.g., Landsat satellites), a radiance atmospheric correction is necessary to estimate land surface temperature. This is because atmospheric conditions at any sUAS flight elevation will have an adverse impact on the image accuracy, derived calculations, and study replicability using the microbolometer technology. This study presents a vicarious calibration methodology (sUAS-specific, time-specific, flight-specific, and sensor-specific) for sUAS temperature imagery traceable back to NIST-standards and current atmospheric correction methods. For this methodology, a three-year data collection campaign with a sUAS called "AggieAir", developed at Utah State University, was performed for vineyards near Lodi, California, for flights conducted at different times (early morning, Landsat overpass, and mid-afternoon") and seasonal conditions. From the results of this study, it was found that, despite the spectral response of microbolometer cameras (7.0 to 14.0 μm), it was possible to account for the effects of atmospheric and sUAS operational conditions, regardless of time and weather, to acquire accurate surface temperature data. In addition, it was found that the main atmospheric correction parameters (transmissivity and atmospheric radiance) significantly varied over the course of a day. These parameters fluctuated the most in early morning and partially stabilized in Landsat overpass and in mid-afternoon times. In terms of accuracy, estimated atmospheric correction parameters presented adequate statistics (confidence bounds under ±0.1 for transmissivity and ±1.2 W/m²/sr/um for atmospheric radiance, with a range of RMSE below 1.0 W/m²/sr/um) for all sUAS flights. Differences in estimated temperatures between original thermal image and the vicarious calibration procedure reported here were estimated from -5 °C to 10 °C for early morning, and from 0 to 20 °C for Landsat overpass and mid-afternoon times.

Vicarious Calibration of sUAS Microbolometer Temperature Imagery for Estimation of Radiometric Land Surface Temperature

PubMed Central

2017-01-01

In recent years, the availability of lightweight microbolometer thermal cameras compatible with small unmanned aerial systems (sUAS) has allowed their use in diverse scientific and management activities that require sub-meter pixel resolution. Nevertheless, as with sensors already used in temperature remote sensing (e.g., Landsat satellites), a radiance atmospheric correction is necessary to estimate land surface temperature. This is because atmospheric conditions at any sUAS flight elevation will have an adverse impact on the image accuracy, derived calculations, and study replicability using the microbolometer technology. This study presents a vicarious calibration methodology (sUAS-specific, time-specific, flight-specific, and sensor-specific) for sUAS temperature imagery traceable back to NIST-standards and current atmospheric correction methods. For this methodology, a three-year data collection campaign with a sUAS called “AggieAir”, developed at Utah State University, was performed for vineyards near Lodi, California, for flights conducted at different times (early morning, Landsat overpass, and mid-afternoon”) and seasonal conditions. From the results of this study, it was found that, despite the spectral response of microbolometer cameras (7.0 to 14.0 μm), it was possible to account for the effects of atmospheric and sUAS operational conditions, regardless of time and weather, to acquire accurate surface temperature data. In addition, it was found that the main atmospheric correction parameters (transmissivity and atmospheric radiance) significantly varied over the course of a day. These parameters fluctuated the most in early morning and partially stabilized in Landsat overpass and in mid-afternoon times. In terms of accuracy, estimated atmospheric correction parameters presented adequate statistics (confidence bounds under ±0.1 for transmissivity and ±1.2 W/m2/sr/um for atmospheric radiance, with a range of RMSE below 1.0 W/m2/sr/um) for all sUAS flights. Differences in estimated temperatures between original thermal image and the vicarious calibration procedure reported here were estimated from −5 °C to 10 °C for early morning, and from 0 to 20 °C for Landsat overpass and mid-afternoon times. PMID:28672864

Theoretical performance model for single image depth from defocus.

PubMed

Trouvé-Peloux, Pauline; Champagnat, Frédéric; Le Besnerais, Guy; Idier, Jérôme

2014-12-01

In this paper we present a performance model for depth estimation using single image depth from defocus (SIDFD). Our model is based on an original expression of the Cramér-Rao bound (CRB) in this context. We show that this model is consistent with the expected behavior of SIDFD. We then study the influence on the performance of the optical parameters of a conventional camera such as the focal length, the aperture, and the position of the in-focus plane (IFP). We derive an approximate analytical expression of the CRB away from the IFP, and we propose an interpretation of the SIDFD performance in this domain. Finally, we illustrate the predictive capacity of our performance model on experimental data comparing several settings of a consumer camera.

A software package for evaluating the performance of a star sensor operation

NASA Astrophysics Data System (ADS)

Sarpotdar, Mayuresh; Mathew, Joice; Sreejith, A. G.; Nirmal, K.; Ambily, S.; Prakash, Ajin; Safonova, Margarita; Murthy, Jayant

2017-02-01

We have developed a low-cost off-the-shelf component star sensor ( StarSense) for use in minisatellites and CubeSats to determine the attitude of a satellite in orbit. StarSense is an imaging camera with a limiting magnitude of 6.5, which extracts information from star patterns it records in the images. The star sensor implements a centroiding algorithm to find centroids of the stars in the image, a Geometric Voting algorithm for star pattern identification, and a QUEST algorithm for attitude quaternion calculation. Here, we describe the software package to evaluate the performance of these algorithms as a star sensor single operating system. We simulate the ideal case where sky background and instrument errors are omitted, and a more realistic case where noise and camera parameters are added to the simulated images. We evaluate such performance parameters of the algorithms as attitude accuracy, calculation time, required memory, star catalog size, sky coverage, etc., and estimate the errors introduced by each algorithm. This software package is written for use in MATLAB. The testing is parametrized for different hardware parameters, such as the focal length of the imaging setup, the field of view (FOV) of the camera, angle measurement accuracy, distortion effects, etc., and therefore, can be applied to evaluate the performance of such algorithms in any star sensor. For its hardware implementation on our StarSense, we are currently porting the codes in form of functions written in C. This is done keeping in view its easy implementation on any star sensor electronics hardware.

Pedestrian Detection by Laser Scanning and Depth Imagery

NASA Astrophysics Data System (ADS)

Barsi, A.; Lovas, T.; Molnar, B.; Somogyi, A.; Igazvolgyi, Z.

2016-06-01

Pedestrian flow is much less regulated and controlled compared to vehicle traffic. Estimating flow parameters would support many safety, security or commercial applications. Current paper discusses a method that enables acquiring information on pedestrian movements without disturbing and changing their motion. Profile laser scanner and depth camera have been applied to capture the geometry of the moving people as time series. Procedures have been developed to derive complex flow parameters, such as count, volume, walking direction and velocity from laser scanned point clouds. Since no images are captured from the faces of pedestrians, no privacy issues raised. The paper includes accuracy analysis of the estimated parameters based on video footage as reference. Due to the dense point clouds, detailed geometry analysis has been conducted to obtain the height and shoulder width of pedestrians and to detect whether luggage has been carried or not. The derived parameters support safety (e.g. detecting critical pedestrian density in mass events), security (e.g. detecting prohibited baggage in endangered areas) and commercial applications (e.g. counting pedestrians at all entrances/exits of a shopping mall).

Detecting background changes in environments with dynamic foreground by separating probability distribution function mixtures using Pearson's method of moments

NASA Astrophysics Data System (ADS)

Jenkins, Colleen; Jordan, Jay; Carlson, Jeff

2007-02-01

This paper presents parameter estimation techniques useful for detecting background changes in a video sequence with extreme foreground activity. A specific application of interest is automated detection of the covert placement of threats (e.g., a briefcase bomb) inside crowded public facilities. We propose that a histogram of pixel intensity acquired from a fixed mounted camera over time for a series of images will be a mixture of two Gaussian functions: the foreground probability distribution function and background probability distribution function. We will use Pearson's Method of Moments to separate the two probability distribution functions. The background function can then be "remembered" and changes in the background can be detected. Subsequent comparisons of background estimates are used to detect changes. Changes are flagged to alert security forces to the presence and location of potential threats. Results are presented that indicate the significant potential for robust parameter estimation techniques as applied to video surveillance.

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.

TIFR Near Infrared Imaging Camera-II on the 3.6 m Devasthal Optical Telescope

NASA Astrophysics Data System (ADS)

Baug, T.; Ojha, D. K.; Ghosh, S. K.; Sharma, S.; Pandey, A. K.; Kumar, Brijesh; Ghosh, Arpan; Ninan, J. P.; Naik, M. B.; D’Costa, S. L. A.; Poojary, S. S.; Sandimani, P. R.; Shah, H.; Krishna Reddy, B.; Pandey, S. B.; Chand, H.

Tata Institute of Fundamental Research (TIFR) Near Infrared Imaging Camera-II (TIRCAM2) is a closed-cycle Helium cryo-cooled imaging camera equipped with a Raytheon 512×512 pixels InSb Aladdin III Quadrant focal plane array (FPA) having sensitivity to photons in the 1-5μm wavelength band. In this paper, we present the performance of the camera on the newly installed 3.6m Devasthal Optical Telescope (DOT) based on the calibration observations carried out during 2017 May 11-14 and 2017 October 7-31. After the preliminary characterization, the camera has been released to the Indian and Belgian astronomical community for science observations since 2017 May. The camera offers a field-of-view (FoV) of ˜86.5‧‧×86.5‧‧ on the DOT with a pixel scale of 0.169‧‧. The seeing at the telescope site in the near-infrared (NIR) bands is typically sub-arcsecond with the best seeing of ˜0.45‧‧ realized in the NIR K-band on 2017 October 16. The camera is found to be capable of deep observations in the J, H and K bands comparable to other 4m class telescopes available world-wide. Another highlight of this camera is the observational capability for sources up to Wide-field Infrared Survey Explorer (WISE) W1-band (3.4μm) magnitudes of 9.2 in the narrow L-band (nbL; λcen˜ 3.59μm). Hence, the camera could be a good complementary instrument to observe the bright nbL-band sources that are saturated in the Spitzer-Infrared Array Camera (IRAC) ([3.6] ≲ 7.92 mag) and the WISE W1-band ([3.4] ≲ 8.1 mag). Sources with strong polycyclic aromatic hydrocarbon (PAH) emission at 3.3μm are also detected. Details of the observations and estimated parameters are presented in this paper.

A novel dual-camera calibration method for 3D optical measurement

NASA Astrophysics Data System (ADS)

Gai, Shaoyan; Da, Feipeng; Dai, Xianqiang

2018-05-01

A novel dual-camera calibration method is presented. In the classic methods, the camera parameters are usually calculated and optimized by the reprojection error. However, for a system designed for 3D optical measurement, this error does not denote the result of 3D reconstruction. In the presented method, a planar calibration plate is used. In the beginning, images of calibration plate are snapped from several orientations in the measurement range. The initial parameters of the two cameras are obtained by the images. Then, the rotation and translation matrix that link the frames of two cameras are calculated by using method of Centroid Distance Increment Matrix. The degree of coupling between the parameters is reduced. Then, 3D coordinates of the calibration points are reconstructed by space intersection method. At last, the reconstruction error is calculated. It is minimized to optimize the calibration parameters. This error directly indicates the efficiency of 3D reconstruction, thus it is more suitable for assessing the quality of dual-camera calibration. In the experiments, it can be seen that the proposed method is convenient and accurate. There is no strict requirement on the calibration plate position in the calibration process. The accuracy is improved significantly by the proposed method.

Optical Method for Estimating the Chlorophyll Contents in Plant Leaves.

PubMed

Pérez-Patricio, Madaín; Camas-Anzueto, Jorge Luis; Sanchez-Alegría, Avisaí; Aguilar-González, Abiel; Gutiérrez-Miceli, Federico; Escobar-Gómez, Elías; Voisin, Yvon; Rios-Rojas, Carlos; Grajales-Coutiño, Ruben

2018-02-22

This work introduces a new vision-based approach for estimating chlorophyll contents in a plant leaf using reflectance and transmittance as base parameters. Images of the top and underside of the leaf are captured. To estimate the base parameters (reflectance/transmittance), a novel optical arrangement is proposed. The chlorophyll content is then estimated by using linear regression where the inputs are the reflectance and transmittance of the leaf. Performance of the proposed method for chlorophyll content estimation was compared with a spectrophotometer and a Soil Plant Analysis Development (SPAD) meter. Chlorophyll content estimation was realized for Lactuca sativa L., Azadirachta indica , Canavalia ensiforme , and Lycopersicon esculentum . Experimental results showed that-in terms of accuracy and processing speed-the proposed algorithm outperformed many of the previous vision-based approach methods that have used SPAD as a reference device. On the other hand, the accuracy reached is 91% for crops such as Azadirachta indica , where the chlorophyll value was obtained using the spectrophotometer. Additionally, it was possible to achieve an estimation of the chlorophyll content in the leaf every 200 ms with a low-cost camera and a simple optical arrangement. This non-destructive method increased accuracy in the chlorophyll content estimation by using an optical arrangement that yielded both the reflectance and transmittance information, while the required hardware is cheap.

High resolution Thomson scattering system for steady-state linear plasma sources

NASA Astrophysics Data System (ADS)

Lee, K. Y.; Lee, K. I.; Kim, J. H.; Lho, T.

2018-01-01

The high resolution Thomson scattering system with 63 points along a 25 mm line measures the radial electron temperature (Te) and its density (ne) in an argon plasma. By using a DC arc source with lanthanum hexaboride (LaB6) electrode, plasmas with electron temperature of over 5 eV and densities of 1.5 × 1019 m-3 have been measured. The system uses a frequency doubled (532 nm) Nd:YAG laser with 0.25 J/pulse at 20 Hz. The scattered light is collected and sent to a triple-grating spectrometer via optical-fibers, where images are recorded by an intensified charge coupled device (ICCD) camera. Although excellent in stray-light reduction, a disadvantage comes with its relatively low optical transmission and in sampling a tiny scattering volume. Thus requires accumulating multitude of images. In order to improve photon statistics, pixel binning in the ICCD camera as well as enlarging the intermediate slit-width inside the triple-grating spectrometer has been exploited. In addition, the ICCD camera capture images at 40 Hz while the laser is at 20 Hz. This operation mode allows us to alternate between background and scattering shot images. By image subtraction, influences from the plasma background are effectively taken out. Maximum likelihood estimation that uses a parameter sweep finds best fitting parameters Te and ne with the incoherent scattering spectrum.

High resolution Thomson scattering system for steady-state linear plasma sources.

PubMed

Lee, K Y; Lee, K I; Kim, J H; Lho, T

2018-01-01

The high resolution Thomson scattering system with 63 points along a 25 mm line measures the radial electron temperature (T e ) and its density (n e ) in an argon plasma. By using a DC arc source with lanthanum hexaboride (LaB 6 ) electrode, plasmas with electron temperature of over 5 eV and densities of 1.5 × 10 19 m -3 have been measured. The system uses a frequency doubled (532 nm) Nd:YAG laser with 0.25 J/pulse at 20 Hz. The scattered light is collected and sent to a triple-grating spectrometer via optical-fibers, where images are recorded by an intensified charge coupled device (ICCD) camera. Although excellent in stray-light reduction, a disadvantage comes with its relatively low optical transmission and in sampling a tiny scattering volume. Thus requires accumulating multitude of images. In order to improve photon statistics, pixel binning in the ICCD camera as well as enlarging the intermediate slit-width inside the triple-grating spectrometer has been exploited. In addition, the ICCD camera capture images at 40 Hz while the laser is at 20 Hz. This operation mode allows us to alternate between background and scattering shot images. By image subtraction, influences from the plasma background are effectively taken out. Maximum likelihood estimation that uses a parameter sweep finds best fitting parameters T e and n e with the incoherent scattering spectrum.

A method for direct measurement of the first-order mass moments of human body segments.

PubMed

Fujii, Yusaku; Shimada, Kazuhito; Maru, Koichi; Ozawa, Junichi; Lu, Rong-Sheng

2010-01-01

We propose a simple and direct method for measuring the first-order mass moment of a human body segment. With the proposed method, the first-order mass moment of the body segment can be directly measured by using only one precision scale and one digital camera. In the dummy mass experiment, the relative standard uncertainty of a single set of measurements of the first-order mass moment is estimated to be 1.7%. The measured value will be useful as a reference for evaluating the uncertainty of the body segment inertial parameters (BSPs) estimated using an indirect method.

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.

Precise determination of anthropometric dimensions by means of image processing methods for estimating human body segment parameter values.

PubMed

Baca, A

1996-04-01

A method has been developed for the precise determination of anthropometric dimensions from the video images of four different body configurations. High precision is achieved by incorporating techniques for finding the location of object boundaries with sub-pixel accuracy, the implementation of calibration algorithms, and by taking into account the varying distances of the body segments from the recording camera. The system allows automatic segment boundary identification from the video image, if the boundaries are marked on the subject by black ribbons. In connection with the mathematical finite-mass-element segment model of Hatze, body segment parameters (volumes, masses, the three principal moments of inertia, the three local coordinates of the segmental mass centers etc.) can be computed by using the anthropometric data determined videometrically as input data. Compared to other, recently published video-based systems for the estimation of the inertial properties of body segments, the present algorithms reduce errors originating from optical distortions, inaccurate edge-detection procedures, and user-specified upper and lower segment boundaries or threshold levels for the edge-detection. The video-based estimation of human body segment parameters is especially useful in situations where ease of application and rapid availability of comparatively precise parameter values are of importance.

An optimized knife-edge method for on-orbit MTF estimation of optical sensors using powell parameter fitting

NASA Astrophysics Data System (ADS)

Han, Lu; Gao, Kun; Gong, Chen; Zhu, Zhenyu; Guo, Yue

2017-08-01

On-orbit Modulation Transfer Function (MTF) is an important indicator to evaluate the performance of the optical remote sensors in a satellite. There are many methods to estimate MTF, such as pinhole method, slit method and so on. Among them, knife-edge method is quite efficient, easy-to-use and recommended in ISO12233 standard for the wholefrequency MTF curve acquisition. However, the accuracy of the algorithm is affected by Edge Spread Function (ESF) fitting accuracy significantly, which limits the range of application. So in this paper, an optimized knife-edge method using Powell algorithm is proposed to improve the ESF fitting precision. Fermi function model is the most popular ESF fitting model, yet it is vulnerable to the initial values of the parameters. Considering the characteristics of simple and fast convergence, Powell algorithm is applied to fit the accurate parameters adaptively with the insensitivity to the initial parameters. Numerical simulation results reveal the accuracy and robustness of the optimized algorithm under different SNR, edge direction and leaning angles conditions. Experimental results using images of the camera in ZY-3 satellite show that this method is more accurate than the standard knife-edge method of ISO12233 in MTF estimation.

Automated Mobile System for Accurate Outdoor Tree Crop Enumeration Using an Uncalibrated Camera.

PubMed

Nguyen, Thuy Tuong; Slaughter, David C; Hanson, Bradley D; Barber, Andrew; Freitas, Amy; Robles, Daniel; Whelan, Erin

2015-07-28

This paper demonstrates an automated computer vision system for outdoor tree crop enumeration in a seedling nursery. The complete system incorporates both hardware components (including an embedded microcontroller, an odometry encoder, and an uncalibrated digital color camera) and software algorithms (including microcontroller algorithms and the proposed algorithm for tree crop enumeration) required to obtain robust performance in a natural outdoor environment. The enumeration system uses a three-step image analysis process based upon: (1) an orthographic plant projection method integrating a perspective transform with automatic parameter estimation; (2) a plant counting method based on projection histograms; and (3) a double-counting avoidance method based on a homography transform. Experimental results demonstrate the ability to count large numbers of plants automatically with no human effort. Results show that, for tree seedlings having a height up to 40 cm and a within-row tree spacing of approximately 10 cm, the algorithms successfully estimated the number of plants with an average accuracy of 95.2% for trees within a single image and 98% for counting of the whole plant population in a large sequence of images.

Automated Mobile System for Accurate Outdoor Tree Crop Enumeration Using an Uncalibrated Camera

PubMed Central

Nguyen, Thuy Tuong; Slaughter, David C.; Hanson, Bradley D.; Barber, Andrew; Freitas, Amy; Robles, Daniel; Whelan, Erin

2015-01-01

This paper demonstrates an automated computer vision system for outdoor tree crop enumeration in a seedling nursery. The complete system incorporates both hardware components (including an embedded microcontroller, an odometry encoder, and an uncalibrated digital color camera) and software algorithms (including microcontroller algorithms and the proposed algorithm for tree crop enumeration) required to obtain robust performance in a natural outdoor environment. The enumeration system uses a three-step image analysis process based upon: (1) an orthographic plant projection method integrating a perspective transform with automatic parameter estimation; (2) a plant counting method based on projection histograms; and (3) a double-counting avoidance method based on a homography transform. Experimental results demonstrate the ability to count large numbers of plants automatically with no human effort. Results show that, for tree seedlings having a height up to 40 cm and a within-row tree spacing of approximately 10 cm, the algorithms successfully estimated the number of plants with an average accuracy of 95.2% for trees within a single image and 98% for counting of the whole plant population in a large sequence of images. PMID:26225982

Investigation of the influence of spatial degrees of freedom on thermal infrared measurement

NASA Astrophysics Data System (ADS)

Fleuret, Julien R.; Yousefi, Bardia; Lei, Lei; Djupkep Dizeu, Frank Billy; Zhang, Hai; Sfarra, Stefano; Ouellet, Denis; Maldague, Xavier P. V.

2017-05-01

Long Wavelength Infrared (LWIR) cameras can provide a representation of a part of the light spectrum that is sensitive to temperature. These cameras also named Thermal Infrared (TIR) cameras are powerful tools to detect features that cannot be seen by other imaging technologies. For instance they enable defect detection in material, fever and anxiety in mammals and many other features for numerous applications. However, the accuracy of thermal cameras can be affected by many parameters; the most critical involves the relative position of the camera with respect to the object of interest. Several models have been proposed in order to minimize the influence of some of the parameters but they are mostly related to specific applications. Because such models are based on some prior informations related to context, their applicability to other contexts cannot be easily assessed. The few models remaining are mostly associated with a specific device. In this paper the authors studied the influence of the camera position on the measurement accuracy. Modeling of the position of the camera from the object of interest depends on many parameters. In order to propose a study which is as accurate as possible, the position of the camera will be represented as a five dimensions model. The aim of this study is to investigate and attempt to introduce a model which is as independent from the device as possible.

Can camera traps monitor Komodo dragons a large ectothermic predator?

PubMed

Ariefiandy, Achmad; Purwandana, Deni; Seno, Aganto; Ciofi, Claudio; Jessop, Tim S

2013-01-01

Camera trapping has greatly enhanced population monitoring of often cryptic and low abundance apex carnivores. Effectiveness of passive infrared camera trapping, and ultimately population monitoring, relies on temperature mediated differences between the animal and its ambient environment to ensure good camera detection. In ectothermic predators such as large varanid lizards, this criterion is presumed less certain. Here we evaluated the effectiveness of camera trapping to potentially monitor the population status of the Komodo dragon (Varanus komodoensis), an apex predator, using site occupancy approaches. We compared site-specific estimates of site occupancy and detection derived using camera traps and cage traps at 181 trapping locations established across six sites on four islands within Komodo National Park, Eastern Indonesia. Detection and site occupancy at each site were estimated using eight competing models that considered site-specific variation in occupancy (ψ)and varied detection probabilities (p) according to detection method, site and survey number using a single season site occupancy modelling approach. The most parsimonious model [ψ (site), p (site survey); ω = 0.74] suggested that site occupancy estimates differed among sites. Detection probability varied as an interaction between site and survey number. Our results indicate that overall camera traps produced similar estimates of detection and site occupancy to cage traps, irrespective of being paired, or unpaired, with cage traps. Whilst one site showed some evidence detection was affected by trapping method detection was too low to produce an accurate occupancy estimate. Overall, as camera trapping is logistically more feasible it may provide, with further validation, an alternative method for evaluating long-term site occupancy patterns in Komodo dragons, and potentially other large reptiles, aiding conservation of this species.

Can Camera Traps Monitor Komodo Dragons a Large Ectothermic Predator?

PubMed Central

Ariefiandy, Achmad; Purwandana, Deni; Seno, Aganto; Ciofi, Claudio; Jessop, Tim S.

2013-01-01

Camera trapping has greatly enhanced population monitoring of often cryptic and low abundance apex carnivores. Effectiveness of passive infrared camera trapping, and ultimately population monitoring, relies on temperature mediated differences between the animal and its ambient environment to ensure good camera detection. In ectothermic predators such as large varanid lizards, this criterion is presumed less certain. Here we evaluated the effectiveness of camera trapping to potentially monitor the population status of the Komodo dragon (Varanus komodoensis), an apex predator, using site occupancy approaches. We compared site-specific estimates of site occupancy and detection derived using camera traps and cage traps at 181 trapping locations established across six sites on four islands within Komodo National Park, Eastern Indonesia. Detection and site occupancy at each site were estimated using eight competing models that considered site-specific variation in occupancy (ψ)and varied detection probabilities (p) according to detection method, site and survey number using a single season site occupancy modelling approach. The most parsimonious model [ψ (site), p (site*survey); ω = 0.74] suggested that site occupancy estimates differed among sites. Detection probability varied as an interaction between site and survey number. Our results indicate that overall camera traps produced similar estimates of detection and site occupancy to cage traps, irrespective of being paired, or unpaired, with cage traps. Whilst one site showed some evidence detection was affected by trapping method detection was too low to produce an accurate occupancy estimate. Overall, as camera trapping is logistically more feasible it may provide, with further validation, an alternative method for evaluating long-term site occupancy patterns in Komodo dragons, and potentially other large reptiles, aiding conservation of this species. PMID:23527027

Verification of the test stand for microbolometer camera in accredited laboratory

NASA Astrophysics Data System (ADS)

Krupiński, Michal; Bareła, Jaroslaw; Chmielewski, Krzysztof; Kastek, Mariusz

2017-10-01

Microbolometer belongs to the group of thermal detectors and consist of temperature sensitive resistor which is exposed to measured radiation flux. Bolometer array employs a pixel structure prepared in silicon technology. The detecting area is defined by a size of thin membrane, usually made of amorphous silicon (a-Si) or vanadium oxide (VOx). FPAs are made of a multitude of detector elements (for example 384 × 288 ), where each individual detector has different sensitivity and offset due to detector-to-detector spread in the FPA fabrication process, and additionally can change with sensor operating temperature, biasing voltage variation or temperature of the observed scene. The difference in sensitivity and offset among detectors (which is called non-uniformity) additionally with its high sensitivity, produces fixed pattern noise (FPN) on produced image. Fixed pattern noise degrades parameters of infrared cameras like sensitivity or NETD. Additionally it degrades image quality, radiometric accuracy and temperature resolution. In order to objectively compare the two infrared cameras ones must measure and compare their parameters on a laboratory test stand. One of the basic parameters for the evaluation of a designed camera is NETD. In order to examine the NETD, parameters such as sensitivity and pixels noise must be measured. To do so, ones should register the output signal from the camera in response to the radiation of black bodies at two different temperatures. The article presets an application and measuring stand for determining the parameters of microbolometers camera. Prepared measurements were compared with the result of the measurements in the Institute of Optoelectronics, MUT on a METS test stand by CI SYSTEM. This test stand consists of IR collimator, IR standard source, rotating wheel with test patterns, a computer with a video grabber card and specialized software. The parameters of thermals cameras were measure according to norms and method described in literature.

Depth estimation using a lightfield camera

NASA Astrophysics Data System (ADS)

Roper, Carissa

The latest innovation to camera design has come in the form of the lightfield, or plenoptic, camera that captures 4-D radiance data rather than just the 2-D scene image via microlens arrays. With the spatial and angular light ray data now recorded on the camera sensor, it is feasible to construct algorithms that can estimate depth of field in different portions of a given scene. There are limitations to the precision due to hardware structure and the sheer number of scene variations that can occur. In this thesis, the potential of digital image analysis and spatial filtering to extract depth information is tested on the commercially available plenoptic camera.

General theory of remote gaze estimation using the pupil center and corneal reflections.

PubMed

Guestrin, Elias Daniel; Eizenman, Moshe

2006-06-01

This paper presents a general theory for the remote estimation of the point-of-gaze (POG) from the coordinates of the centers of the pupil and corneal reflections. Corneal reflections are produced by light sources that illuminate the eye and the centers of the pupil and corneal reflections are estimated in video images from one or more cameras. The general theory covers the full range of possible system configurations. Using one camera and one light source, the POG can be estimated only if the head is completely stationary. Using one camera and multiple light sources, the POG can be estimated with free head movements, following the completion of a multiple-point calibration procedure. When multiple cameras and multiple light sources are used, the POG can be estimated following a simple one-point calibration procedure. Experimental and simulation results suggest that the main sources of gaze estimation errors are the discrepancy between the shape of real corneas and the spherical corneal shape assumed in the general theory, and the noise in the estimation of the centers of the pupil and corneal reflections. A detailed example of a system that uses the general theory to estimate the POG on a computer screen is presented.

Matching Images to Models: Camera Calibration for 3-D Surface Reconstruction

NASA Technical Reports Server (NTRS)

Morris, Robin D.; Smelyanskiy, Vadim N.; Cheeseman. Peter C.; Norvig, Peter (Technical Monitor)

2001-01-01

In a previous paper we described a system which recursively recovers a super-resolved three dimensional surface model from a set of images of the surface. In that paper we assumed that the camera calibration for each image was known. In this paper we solve two problems. Firstly, if an estimate of the surface is already known, the problem is to calibrate a new image relative to the existing surface model. Secondly, if no surface estimate is available, the relative camera calibration between the images in the set must be estimated. This will allow an initial surface model to be estimated. Results of both types of estimation are given.

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

NASA Technical Reports Server (NTRS)

Kim, Taemin; Husmann, Kyle; Moratto, Zachary; Nefian, Ara V.

2011-01-01

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

Towards Robust Self-Calibration for Handheld 3d Line Laser Scanning

NASA Astrophysics Data System (ADS)

Bleier, M.; Nüchter, A.

2017-11-01

This paper studies self-calibration of a structured light system, which reconstructs 3D information using video from a static consumer camera and a handheld cross line laser projector. Intersections between the individual laser curves and geometric constraints on the relative position of the laser planes are exploited to achieve dense 3D reconstruction. This is possible without any prior knowledge of the movement of the projector. However, inaccurrately extracted laser lines introduce noise in the detected intersection positions and therefore distort the reconstruction result. Furthermore, when scanning objects with specular reflections, such as glossy painted or metalic surfaces, the reflections are often extracted from the camera image as erroneous laser curves. In this paper we investiagte how robust estimates of the parameters of the laser planes can be obtained despite of noisy detections.

Stability analysis for a multi-camera photogrammetric system.

PubMed

Habib, Ayman; Detchev, Ivan; Kwak, Eunju

2014-08-18

Consumer-grade digital cameras suffer from geometrical instability that may cause problems when used in photogrammetric applications. This paper provides a comprehensive review of this issue of interior orientation parameter variation over time, it explains the common ways used for coping with the issue, and describes the existing methods for performing stability analysis for a single camera. The paper then points out the lack of coverage of stability analysis for multi-camera systems, suggests a modification of the collinearity model to be used for the calibration of an entire photogrammetric system, and proposes three methods for system stability analysis. The proposed methods explore the impact of the changes in interior orientation and relative orientation/mounting parameters on the reconstruction process. Rather than relying on ground truth in real datasets to check the system calibration stability, the proposed methods are simulation-based. Experiment results are shown, where a multi-camera photogrammetric system was calibrated three times, and stability analysis was performed on the system calibration parameters from the three sessions. The proposed simulation-based methods provided results that were compatible with a real-data based approach for evaluating the impact of changes in the system calibration parameters on the three-dimensional reconstruction.

Stability Analysis for a Multi-Camera Photogrammetric System

PubMed Central

Habib, Ayman; Detchev, Ivan; Kwak, Eunju

2014-01-01

Consumer-grade digital cameras suffer from geometrical instability that may cause problems when used in photogrammetric applications. This paper provides a comprehensive review of this issue of interior orientation parameter variation over time, it explains the common ways used for coping with the issue, and describes the existing methods for performing stability analysis for a single camera. The paper then points out the lack of coverage of stability analysis for multi-camera systems, suggests a modification of the collinearity model to be used for the calibration of an entire photogrammetric system, and proposes three methods for system stability analysis. The proposed methods explore the impact of the changes in interior orientation and relative orientation/mounting parameters on the reconstruction process. Rather than relying on ground truth in real datasets to check the system calibration stability, the proposed methods are simulation-based. Experiment results are shown, where a multi-camera photogrammetric system was calibrated three times, and stability analysis was performed on the system calibration parameters from the three sessions. The proposed simulation-based methods provided results that were compatible with a real-data based approach for evaluating the impact of changes in the system calibration parameters on the three-dimensional reconstruction. PMID:25196012

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

Vision Based SLAM in Dynamic Scenes

DTIC Science & Technology

2012-12-20

the correct relative poses between cameras at frame F. For this purpose, we detect and match SURF features between cameras in dilierent groups, and...all cameras in s uch a challenging case. For a compa rison, we disabled the ’ inte r-camera pose estimation’ and applied the ’ intra-camera pose esti

Face Value: Towards Robust Estimates of Snow Leopard Densities.

PubMed

Alexander, Justine S; Gopalaswamy, Arjun M; Shi, Kun; Riordan, Philip

2015-01-01

When densities of large carnivores fall below certain thresholds, dramatic ecological effects can follow, leading to oversimplified ecosystems. Understanding the population status of such species remains a major challenge as they occur in low densities and their ranges are wide. This paper describes the use of non-invasive data collection techniques combined with recent spatial capture-recapture methods to estimate the density of snow leopards Panthera uncia. It also investigates the influence of environmental and human activity indicators on their spatial distribution. A total of 60 camera traps were systematically set up during a three-month period over a 480 km2 study area in Qilianshan National Nature Reserve, Gansu Province, China. We recorded 76 separate snow leopard captures over 2,906 trap-days, representing an average capture success of 2.62 captures/100 trap-days. We identified a total number of 20 unique individuals from photographs and estimated snow leopard density at 3.31 (SE = 1.01) individuals per 100 km2. Results of our simulation exercise indicate that our estimates from the Spatial Capture Recapture models were not optimal to respect to bias and precision (RMSEs for density parameters less or equal to 0.87). Our results underline the critical challenge in achieving sufficient sample sizes of snow leopard captures and recaptures. Possible performance improvements are discussed, principally by optimising effective camera capture and photographic data quality.

Face Value: Towards Robust Estimates of Snow Leopard Densities

PubMed Central

2015-01-01

When densities of large carnivores fall below certain thresholds, dramatic ecological effects can follow, leading to oversimplified ecosystems. Understanding the population status of such species remains a major challenge as they occur in low densities and their ranges are wide. This paper describes the use of non-invasive data collection techniques combined with recent spatial capture-recapture methods to estimate the density of snow leopards Panthera uncia. It also investigates the influence of environmental and human activity indicators on their spatial distribution. A total of 60 camera traps were systematically set up during a three-month period over a 480 km2 study area in Qilianshan National Nature Reserve, Gansu Province, China. We recorded 76 separate snow leopard captures over 2,906 trap-days, representing an average capture success of 2.62 captures/100 trap-days. We identified a total number of 20 unique individuals from photographs and estimated snow leopard density at 3.31 (SE = 1.01) individuals per 100 km2. Results of our simulation exercise indicate that our estimates from the Spatial Capture Recapture models were not optimal to respect to bias and precision (RMSEs for density parameters less or equal to 0.87). Our results underline the critical challenge in achieving sufficient sample sizes of snow leopard captures and recaptures. Possible performance improvements are discussed, principally by optimising effective camera capture and photographic data quality. PMID:26322682

Accurate estimation of camera shot noise in the real-time

NASA Astrophysics Data System (ADS)

Cheremkhin, Pavel A.; Evtikhiev, Nikolay N.; Krasnov, Vitaly V.; Rodin, Vladislav G.; Starikov, Rostislav S.

2017-10-01

Nowadays digital cameras are essential parts of various technological processes and daily tasks. They are widely used in optics and photonics, astronomy, biology and other various fields of science and technology such as control systems and video-surveillance monitoring. One of the main information limitations of photo- and videocameras are noises of photosensor pixels. Camera's photosensor noise can be divided into random and pattern components. Temporal noise includes random noise component while spatial noise includes pattern noise component. Temporal noise can be divided into signal-dependent shot noise and signal-nondependent dark temporal noise. For measurement of camera noise characteristics, the most widely used methods are standards (for example, EMVA Standard 1288). It allows precise shot and dark temporal noise measurement but difficult in implementation and time-consuming. Earlier we proposed method for measurement of temporal noise of photo- and videocameras. It is based on the automatic segmentation of nonuniform targets (ASNT). Only two frames are sufficient for noise measurement with the modified method. In this paper, we registered frames and estimated shot and dark temporal noises of cameras consistently in the real-time. The modified ASNT method is used. Estimation was performed for the cameras: consumer photocamera Canon EOS 400D (CMOS, 10.1 MP, 12 bit ADC), scientific camera MegaPlus II ES11000 (CCD, 10.7 MP, 12 bit ADC), industrial camera PixeLink PL-B781F (CMOS, 6.6 MP, 10 bit ADC) and video-surveillance camera Watec LCL-902C (CCD, 0.47 MP, external 8 bit ADC). Experimental dependencies of temporal noise on signal value are in good agreement with fitted curves based on a Poisson distribution excluding areas near saturation. Time of registering and processing of frames used for temporal noise estimation was measured. Using standard computer, frames were registered and processed during a fraction of second to several seconds only. Also the accuracy of the obtained temporal noise values was estimated.

A surgical navigation system for non-contact diffuse optical tomography and intraoperative cone-beam CT

NASA Astrophysics Data System (ADS)

Daly, Michael J.; Muhanna, Nidal; Chan, Harley; Wilson, Brian C.; Irish, Jonathan C.; Jaffray, David A.

2014-02-01

A freehand, non-contact diffuse optical tomography (DOT) system has been developed for multimodal imaging with intraoperative cone-beam CT (CBCT) during minimally-invasive cancer surgery. The DOT system is configured for near-infrared fluorescence imaging with indocyanine green (ICG) using a collimated 780 nm laser diode and a nearinfrared CCD camera (PCO Pixelfly USB). Depending on the intended surgical application, the camera is coupled to either a rigid 10 mm diameter endoscope (Karl Storz) or a 25 mm focal length lens (Edmund Optics). A prototype flatpanel CBCT C-Arm (Siemens Healthcare) acquires low-dose 3D images with sub-mm spatial resolution. A 3D mesh is extracted from CBCT for finite-element DOT implementation in NIRFAST (Dartmouth College), with the capability for soft/hard imaging priors (e.g., segmented lymph nodes). A stereoscopic optical camera (NDI Polaris) provides real-time 6D localization of reflective spheres mounted to the laser and camera. Camera calibration combined with tracking data is used to estimate intrinsic (focal length, principal point, non-linear distortion) and extrinsic (translation, rotation) lens parameters. Source/detector boundary data is computed from the tracked laser/camera positions using radiometry models. Target registration errors (TRE) between real and projected boundary points are ~1-2 mm for typical acquisition geometries. Pre-clinical studies using tissue phantoms are presented to characterize 3D imaging performance. This translational research system is under investigation for clinical applications in head-and-neck surgery including oral cavity tumour resection, lymph node mapping, and free-flap perforator assessment.

Self calibrating monocular camera measurement of traffic parameters.

DOT National Transportation Integrated Search

2009-12-01

This proposed project will extend the work of previous projects that have developed algorithms and software : to measure traffic speed under adverse conditions using un-calibrated cameras. The present implementation : uses the WSDOT CCTV cameras moun...

Object Occlusion Detection Using Automatic Camera Calibration for a Wide-Area Video Surveillance System

PubMed Central

Jung, Jaehoon; Yoon, Inhye; Paik, Joonki

2016-01-01

This paper presents an object occlusion detection algorithm using object depth information that is estimated by automatic camera calibration. The object occlusion problem is a major factor to degrade the performance of object tracking and recognition. To detect an object occlusion, the proposed algorithm consists of three steps: (i) automatic camera calibration using both moving objects and a background structure; (ii) object depth estimation; and (iii) detection of occluded regions. The proposed algorithm estimates the depth of the object without extra sensors but with a generic red, green and blue (RGB) camera. As a result, the proposed algorithm can be applied to improve the performance of object tracking and object recognition algorithms for video surveillance systems. PMID:27347978

New optical package and algorithms for accurate estimation and interactive recording of the cloud cover information over land and sea

NASA Astrophysics Data System (ADS)

Krinitskiy, Mikhail; Sinitsyn, Alexey; Gulev, Sergey

2014-05-01

Cloud fraction is a critical parameter for the accurate estimation of short-wave and long-wave radiation - one of the most important surface fluxes over sea and land. Massive estimates of the total cloud cover as well as cloud amount for different layers of clouds are available from visual observations, satellite measurements and reanalyses. However, these data are subject of different uncertainties and need continuous validation against highly accurate in-situ measurements. Sky imaging with high resolution fish eye camera provides an excellent opportunity for collecting cloud cover data supplemented with additional characteristics hardly available from routine visual observations (e.g. structure of cloud cover under broken cloud conditions, parameters of distribution of cloud dimensions). We present operational automatic observational package which is based on fish eye camera taking sky images with high resolution (up to 1Hz) in time and a spatial resolution of 968x648px. This spatial resolution has been justified as an optimal by several sensitivity experiments. For the use of the package at research vessel when the horizontal positioning becomes critical, a special extension of the hardware and software to the package has been developed. These modules provide the explicit detection of the optimal moment for shooting. For the post processing of sky images we developed a software realizing the algorithm of the filtering of sunburn effect in case of small and moderate could cover and broken cloud conditions. The same algorithm accurately quantifies the cloud fraction by analyzing color mixture for each point and introducing the so-called "grayness rate index" for every pixel. The accuracy of the algorithm has been tested using the data collected during several campaigns in 2005-2011 in the North Atlantic Ocean. The collection of images included more than 3000 images for different cloud conditions supplied with observations of standard parameters. The system is fully autonomous and has a block for digital data collection at the hard disk. The system has been tested for a wide range of open ocean cloud conditions and we will demonstrate some pilot results of data processing and physical interpretation of fractional cloud cover estimation.

Evaluation of Trail-Cameras for Analyzing the Diet of Nesting Raptors Using the Northern Goshawk as a Model

PubMed Central

García-Salgado, Gonzalo; Rebollo, Salvador; Pérez-Camacho, Lorenzo; Martínez-Hesterkamp, Sara; Navarro, Alberto; Fernández-Pereira, José-Manuel

2015-01-01

Diet studies present numerous methodological challenges. We evaluated the usefulness of commercially available trail-cameras for analyzing the diet of Northern Goshawks (Accipiter gentilis) as a model for nesting raptors during the period 2007–2011. We compared diet estimates obtained by direct camera monitoring of 80 nests with four indirect analyses of prey remains collected from the nests and surroundings (pellets, bones, feather-and-hair remains, and feather-hair-and-bone remains combined). In addition, we evaluated the performance of the trail-cameras and whether camera monitoring affected Goshawk behavior. The sensitivity of each diet-analysis method depended on prey size and taxonomic group, with no method providing unbiased estimates for all prey sizes and types. The cameras registered the greatest number of prey items and were probably the least biased method for estimating diet composition. Nevertheless this direct method yielded the largest proportion of prey unidentified to species level, and it underestimated small prey. Our trail-camera system was able to operate without maintenance for longer periods than what has been reported in previous studies with other types of cameras. Initially Goshawks showed distrust toward the cameras but they usually became habituated to its presence within 1–2 days. The habituation period was shorter for breeding pairs that had previous experience with cameras. Using trail-cameras to monitor prey provisioning to nests is an effective tool for studying the diet of nesting raptors. However, the technique is limited by technical failures and difficulties in identifying certain prey types. Our study also shows that cameras can alter adult Goshawk behavior, an aspect that must be controlled to minimize potential negative impacts. PMID:25992956

Evaluation of trail-cameras for analyzing the diet of nesting raptors using the Northern Goshawk as a model.

PubMed

García-Salgado, Gonzalo; Rebollo, Salvador; Pérez-Camacho, Lorenzo; Martínez-Hesterkamp, Sara; Navarro, Alberto; Fernández-Pereira, José-Manuel

2015-01-01

Diet studies present numerous methodological challenges. We evaluated the usefulness of commercially available trail-cameras for analyzing the diet of Northern Goshawks (Accipiter gentilis) as a model for nesting raptors during the period 2007-2011. We compared diet estimates obtained by direct camera monitoring of 80 nests with four indirect analyses of prey remains collected from the nests and surroundings (pellets, bones, feather-and-hair remains, and feather-hair-and-bone remains combined). In addition, we evaluated the performance of the trail-cameras and whether camera monitoring affected Goshawk behavior. The sensitivity of each diet-analysis method depended on prey size and taxonomic group, with no method providing unbiased estimates for all prey sizes and types. The cameras registered the greatest number of prey items and were probably the least biased method for estimating diet composition. Nevertheless this direct method yielded the largest proportion of prey unidentified to species level, and it underestimated small prey. Our trail-camera system was able to operate without maintenance for longer periods than what has been reported in previous studies with other types of cameras. Initially Goshawks showed distrust toward the cameras but they usually became habituated to its presence within 1-2 days. The habituation period was shorter for breeding pairs that had previous experience with cameras. Using trail-cameras to monitor prey provisioning to nests is an effective tool for studying the diet of nesting raptors. However, the technique is limited by technical failures and difficulties in identifying certain prey types. Our study also shows that cameras can alter adult Goshawk behavior, an aspect that must be controlled to minimize potential negative impacts.

Achievable Rate Estimation of IEEE 802.11ad Visual Big-Data Uplink Access in Cloud-Enabled Surveillance Applications.

PubMed

Kim, Joongheon; Kim, Jong-Kook

2016-01-01

This paper addresses the computation procedures for estimating the impact of interference in 60 GHz IEEE 802.11ad uplink access in order to construct visual big-data database from randomly deployed surveillance camera sensing devices. The acquired large-scale massive visual information from surveillance camera devices will be used for organizing big-data database, i.e., this estimation is essential for constructing centralized cloud-enabled surveillance database. This performance estimation study captures interference impacts on the target cloud access points from multiple interference components generated by the 60 GHz wireless transmissions from nearby surveillance camera devices to their associated cloud access points. With this uplink interference scenario, the interference impacts on the main wireless transmission from a target surveillance camera device to its associated target cloud access point with a number of settings are measured and estimated under the consideration of 60 GHz radiation characteristics and antenna radiation pattern models.

Horizon Based Orientation Estimation for Planetary Surface Navigation

NASA Technical Reports Server (NTRS)

Bouyssounouse, X.; Nefian, A. V.; Deans, M.; Thomas, A.; Edwards, L.; Fong, T.

2016-01-01

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

Visualization of hemodynamics and light scattering in exposed brain of rat using multispectral image reconstruction based on Wiener estimation method

NASA Astrophysics Data System (ADS)

Nishidate, Izumi; Ishizuka, Tomohiro; Yoshida, Keiichiro; Kawauchi, Satoko; Sato, Shunichi; Sato, Manabu

2015-07-01

We investigate a method to estimate the spectral images of reduced scattering coefficients and the absorption coefficients of in vivo exposed brain tissues in the range from visible to near-infrared wavelength (500-760 nm) based on diffuse reflectance spectroscopy using a digital RGB camera. In the proposed method, the multi-spectral reflectance images of in vivo exposed brain are reconstructed from the digital red, green, blue images using the Wiener estimation algorithm. The Monte Carlo simulation-based multiple regression analysis for the absorbance spectra is then used to specify the absorption and scattering parameters of brain tissue. In this analysis, the concentration of oxygenated hemoglobin and that of deoxygenated hemoglobin are estimated as the absorption parameters whereas the scattering amplitude a and the scattering power b in the expression of μs'=aλ-b as the scattering parameters, respectively. The spectra of absorption and reduced scattering coefficients are reconstructed from the absorption and scattering parameters, and finally, the spectral images of absorption and reduced scattering coefficients are estimated. We performed simultaneous recordings of spectral diffuse reflectance images and of the electrophysiological signals for in vivo exposed rat brain during the cortical spreading depression evoked by the topical application of KCl. Changes in the total hemoglobin concentration and the tissue oxygen saturation imply the temporary change in cerebral blood flow during CSD. Change in the reduced scattering coefficient was observed before the profound increase in the total hemoglobin concentration, and its occurrence was synchronized with the negative dc shift of the local field potential.

Scent Lure Effect on Camera-Trap Based Leopard Density Estimates

PubMed Central

Braczkowski, Alexander Richard; Balme, Guy Andrew; Dickman, Amy; Fattebert, Julien; Johnson, Paul; Dickerson, Tristan; Macdonald, David Whyte; Hunter, Luke

2016-01-01

Density estimates for large carnivores derived from camera surveys often have wide confidence intervals due to low detection rates. Such estimates are of limited value to authorities, which require precise population estimates to inform conservation strategies. Using lures can potentially increase detection, improving the precision of estimates. However, by altering the spatio-temporal patterning of individuals across the camera array, lures may violate closure, a fundamental assumption of capture-recapture. Here, we test the effect of scent lures on the precision and veracity of density estimates derived from camera-trap surveys of a protected African leopard population. We undertook two surveys (a ‘control’ and ‘treatment’ survey) on Phinda Game Reserve, South Africa. Survey design remained consistent except a scent lure was applied at camera-trap stations during the treatment survey. Lures did not affect the maximum movement distances (p = 0.96) or temporal activity of female (p = 0.12) or male leopards (p = 0.79), and the assumption of geographic closure was met for both surveys (p >0.05). The numbers of photographic captures were also similar for control and treatment surveys (p = 0.90). Accordingly, density estimates were comparable between surveys (although estimates derived using non-spatial methods (7.28–9.28 leopards/100km2) were considerably higher than estimates from spatially-explicit methods (3.40–3.65 leopards/100km2). The precision of estimates from the control and treatment surveys, were also comparable and this applied to both non-spatial and spatial methods of estimation. Our findings suggest that at least in the context of leopard research in productive habitats, the use of lures is not warranted. PMID:27050816

3-dimensional telepresence system for a robotic environment

DOEpatents

Anderson, Matthew O.; McKay, Mark D.

2000-01-01

A telepresence system includes a camera pair remotely controlled by a control module affixed to an operator. The camera pair provides for three dimensional viewing and the control module, affixed to the operator, affords hands-free operation of the camera pair. In one embodiment, the control module is affixed to the head of the operator and an initial position is established. A triangulating device is provided to track the head movement of the operator relative to the initial position. A processor module receives input from the triangulating device to determine where the operator has moved relative to the initial position and moves the camera pair in response thereto. The movement of the camera pair is predetermined by a software map having a plurality of operation zones. Each zone therein corresponds to unique camera movement parameters such as speed of movement. Speed parameters include constant speed, or increasing or decreasing. Other parameters include pan, tilt, slide, raise or lowering of the cameras. Other user interface devices are provided to improve the three dimensional control capabilities of an operator in a local operating environment. Such other devices include a pair of visual display glasses, a microphone and a remote actuator. The pair of visual display glasses are provided to facilitate three dimensional viewing, hence depth perception. The microphone affords hands-free camera movement by utilizing voice commands. The actuator allows the operator to remotely control various robotic mechanisms in the remote operating environment.

The Atacama Cosmology Telescope: Two-season spectrum and parameters

NASA Astrophysics Data System (ADS)

Hlozek, Renée; Louis, Thibaut; Grace, Emily; Hasselfield, Matthew; Lungu, Marius; Maurin, Loic; Atacama Cosmology Telescope

2017-01-01

We present the temperature and polarization angular power spectra measured by the Atacama Cosmology Telescope polarimeter (ACTPol) over 548 deg^2 of sky on the celestial Equator, from nighttime data collected during 2013-14 using two kilo-detector arrays at 146 GHz. We use these spectra, and the spectra measured with the MBAC camera on ACT from 2008-10, in combination with Planck and WMAP satellite data to estimate cosmological parameters from the temperature, polarization, and temperature-polarization cross-correlations. We find the new ACTPol data to be consistent with the ΛCDM model. The ACTPol temperature-polarization cross-spectrum now provides stronger constraints on multiple parameters than the ACTPol temperature power spectrum, including the baryon density and the acoustic peak position angle, and the derived Hubble constant. Adding the new data to Planck temperature data tightens the limits on damping tail parameters, which we present here.

A line-source method for aligning on-board and other pinhole SPECT systems

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

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-12-15

Purpose: In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system—to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)—is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems.Methods: An alignment model consisting of multiple alignmentmore » parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot.Results: In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist.Conclusions: Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC.« less

A line-source method for aligning on-board and other pinhole SPECT systems

PubMed Central

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-01-01

Purpose: In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system—to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)—is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems. Methods: An alignment model consisting of multiple alignment parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot. Results: In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist. Conclusions: Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC. PMID:24320537

A line-source method for aligning on-board and other pinhole SPECT systems.

PubMed

Yan, Susu; Bowsher, James; Yin, Fang-Fang

2013-12-01

In order to achieve functional and molecular imaging as patients are in position for radiation therapy, a robotic multipinhole SPECT system is being developed. Alignment of the SPECT system-to the linear accelerator (LINAC) coordinate frame and to the coordinate frames of other on-board imaging systems such as cone-beam CT (CBCT)-is essential for target localization and image reconstruction. An alignment method that utilizes line sources and one pinhole projection is proposed and investigated to achieve this goal. Potentially, this method could also be applied to the calibration of the other pinhole SPECT systems. An alignment model consisting of multiple alignment parameters was developed which maps line sources in three-dimensional (3D) space to their two-dimensional (2D) projections on the SPECT detector. In a computer-simulation study, 3D coordinates of line-sources were defined in a reference room coordinate frame, such as the LINAC coordinate frame. Corresponding 2D line-source projections were generated by computer simulation that included SPECT blurring and noise effects. The Radon transform was utilized to detect angles (α) and offsets (ρ) of the line-source projections. Alignment parameters were then estimated by a nonlinear least squares method, based on the α and ρ values and the alignment model. Alignment performance was evaluated as a function of number of line sources, Radon transform accuracy, finite line-source width, intrinsic camera resolution, Poisson noise, and acquisition geometry. Experimental evaluations were performed using a physical line-source phantom and a pinhole-collimated gamma camera attached to a robot. In computer-simulation studies, when there was no error in determining angles (α) and offsets (ρ) of the measured projections, six alignment parameters (three translational and three rotational) were estimated perfectly using three line sources. When angles (α) and offsets (ρ) were provided by the Radon transform, estimation accuracy was reduced. The estimation error was associated with rounding errors of Radon transform, finite line-source width, Poisson noise, number of line sources, intrinsic camera resolution, and detector acquisition geometry. Statistically, the estimation accuracy was significantly improved by using four line sources rather than three and by thinner line-source projections (obtained by better intrinsic detector resolution). With five line sources, median errors were 0.2 mm for the detector translations, 0.7 mm for the detector radius of rotation, and less than 0.5° for detector rotation, tilt, and twist. In experimental evaluations, average errors relative to a different, independent registration technique were about 1.8 mm for detector translations, 1.1 mm for the detector radius of rotation (ROR), 0.5° and 0.4° for detector rotation and tilt, respectively, and 1.2° for detector twist. Alignment parameters can be estimated using one pinhole projection of line sources. Alignment errors are largely associated with limited accuracy of the Radon transform in determining angles (α) and offsets (ρ) of the line-source projections. This alignment method may be important for multipinhole SPECT, where relative pinhole alignment may vary during rotation. For pinhole and multipinhole SPECT imaging on-board radiation therapy machines, the method could provide alignment of SPECT coordinates with those of CBCT and the LINAC.

Fuzzy-Estimation Control for Improvement Microwave Connection for Iraq Electrical Grid

NASA Astrophysics Data System (ADS)

Hoomod, Haider K.; Radi, Mohammed

2018-05-01

The demand for broadband wireless services is increasing day by day (as internet or radio broadcast and TV etc.) for this reason and optimal exploiting for this bandwidth may be other reasons indeed be there is problem in the communication channels. it’s necessary that exploiting the good part form this bandwidth. In this paper, we propose to use estimation technique for estimate channel availability in that moment and next one to know the error in the bandwidth channel for controlling the possibility data transferring through the channel. The proposed estimation based on the combination of the least Minimum square (LMS), Standard Kalman filter, and Modified Kalman filter. The error estimation in channel use as control parameter in fuzzy rules to adjusted the rate and size sending data through the network channel, and rearrangement the priorities of the buffered data (workstation control parameters, Texts, phone call, images, and camera video) for the worst cases of error in channel. The propose system is designed to management data communications through the channels connect among the Iraqi electrical grid stations. The proposed results show that the modified Kalman filter have a best result in time and noise estimation (0.1109 for 5% noise estimation to 0.3211 for 90% noise estimation) and the packets loss rate is reduced with ratio from (35% to 385%).

Assessing the Reliability and the Accuracy of Attitude Extracted from Visual Odometry for LIDAR Data Georeferencing

NASA Astrophysics Data System (ADS)

Leroux, B.; Cali, J.; Verdun, J.; Morel, L.; He, H.

2017-08-01

Airborne LiDAR systems require the use of Direct Georeferencing (DG) in order to compute the coordinates of the surveyed point in the mapping frame. An UAV platform does not derogate to this need, but its payload has to be lighter than this installed onboard so the manufacturer needs to find an alternative to heavy sensors and navigation systems. For the georeferencing of these data, a possible solution could be to replace the Inertial Measurement Unit (IMU) by a camera and record the optical flow. The different frames would then be processed thanks to photogrammetry so as to extract the External Orientation Parameters (EOP) and, therefore, the path of the camera. The major advantages of this method called Visual Odometry (VO) is low cost, no drifts IMU-induced, option for the use of Ground Control Points (GCPs) such as on airborne photogrammetry surveys. In this paper we shall present a test bench designed to assess the reliability and accuracy of the attitude estimated from VO outputs. The test bench consists of a trolley which embeds a GNSS receiver, an IMU sensor and a camera. The LiDAR is replaced by a tacheometer in order to survey the control points already known. We have also developped a methodology applied to this test bench for the calibration of the external parameters and the computation of the surveyed point coordinates. Several tests have revealed a difference about 2-3 centimeters between the control point coordinates measured and those already known.

Improved calibration-based non-uniformity correction method for uncooled infrared camera

NASA Astrophysics Data System (ADS)

Liu, Chengwei; Sui, Xiubao

2017-08-01

With the latest improvements of microbolometer focal plane arrays (FPA), uncooled infrared (IR) cameras are becoming the most widely used devices in thermography, especially in handheld devices. However the influences derived from changing ambient condition and the non-uniform response of the sensors make it more difficult to correct the nonuniformity of uncooled infrared camera. In this paper, based on the infrared radiation characteristic in the TEC-less uncooled infrared camera, a novel model was proposed for calibration-based non-uniformity correction (NUC). In this model, we introduce the FPA temperature, together with the responses of microbolometer under different ambient temperature to calculate the correction parameters. Based on the proposed model, we can work out the correction parameters with the calibration measurements under controlled ambient condition and uniform blackbody. All correction parameters can be determined after the calibration process and then be used to correct the non-uniformity of the infrared camera in real time. This paper presents the detail of the compensation procedure and the performance of the proposed calibration-based non-uniformity correction method. And our method was evaluated on realistic IR images obtained by a 384x288 pixels uncooled long wave infrared (LWIR) camera operated under changed ambient condition. The results show that our method can exclude the influence caused by the changed ambient condition, and ensure that the infrared camera has a stable performance.

Traceable Calibration, Performance Metrics, and Uncertainty Estimates of Minirhizotron Digital Imagery for Fine-Root Measurements

PubMed Central

Roberti, Joshua A.; SanClements, Michael D.; Loescher, Henry W.; Ayres, Edward

2014-01-01

Even though fine-root turnover is a highly studied topic, it is often poorly understood as a result of uncertainties inherent in its sampling, e.g., quantifying spatial and temporal variability. While many methods exist to quantify fine-root turnover, use of minirhizotrons has increased over the last two decades, making sensor errors another source of uncertainty. Currently, no standardized methodology exists to test and compare minirhizotron camera capability, imagery, and performance. This paper presents a reproducible, laboratory-based method by which minirhizotron cameras can be tested and validated in a traceable manner. The performance of camera characteristics was identified and test criteria were developed: we quantified the precision of camera location for successive images, estimated the trueness and precision of each camera's ability to quantify root diameter and root color, and also assessed the influence of heat dissipation introduced by the minirhizotron cameras and electrical components. We report detailed and defensible metrology analyses that examine the performance of two commercially available minirhizotron cameras. These cameras performed differently with regard to the various test criteria and uncertainty analyses. We recommend a defensible metrology approach to quantify the performance of minirhizotron camera characteristics and determine sensor-related measurement uncertainties prior to field use. This approach is also extensible to other digital imagery technologies. In turn, these approaches facilitate a greater understanding of measurement uncertainties (signal-to-noise ratio) inherent in the camera performance and allow such uncertainties to be quantified and mitigated so that estimates of fine-root turnover can be more confidently quantified. PMID:25391023

Constrained optimization for position calibration of an NMR field camera.

PubMed

Chang, Paul; Nassirpour, Sahar; Eschelbach, Martin; Scheffler, Klaus; Henning, Anke

2018-07-01

Knowledge of the positions of field probes in an NMR field camera is necessary for monitoring the B 0 field. The typical method of estimating these positions is by switching the gradients with known strengths and calculating the positions using the phases of the FIDs. We investigated improving the accuracy of estimating the probe positions and analyzed the effect of inaccurate estimations on field monitoring. The field probe positions were estimated by 1) assuming ideal gradient fields, 2) using measured gradient fields (including nonlinearities), and 3) using measured gradient fields with relative position constraints. The fields measured with the NMR field camera were compared to fields acquired using a dual-echo gradient recalled echo B 0 mapping sequence. Comparisons were done for shim fields from second- to fourth-order shim terms. The position estimation was the most accurate when relative position constraints were used in conjunction with measured (nonlinear) gradient fields. The effect of more accurate position estimates was seen when compared to fields measured using a B 0 mapping sequence (up to 10%-15% more accurate for some shim fields). The models acquired from the field camera are sensitive to noise due to the low number of spatial sample points. Position estimation of field probes in an NMR camera can be improved using relative position constraints and nonlinear gradient fields. Magn Reson Med 80:380-390, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Effects of red light camera enforcement on fatal crashes in large U.S. cities.

PubMed

Hu, Wen; McCartt, Anne T; Teoh, Eric R

2011-08-01

To estimate the effects of red light camera enforcement on per capita fatal crash rates at intersections with signal lights. From the 99 large U.S. cities with more than 200,000 residents in 2008, 14 cities were identified with red light camera enforcement programs for all of 2004-2008 but not at any time during 1992-1996, and 48 cities were identified without camera programs during either period. Analyses compared the citywide per capita rate of fatal red light running crashes and the citywide per capita rate of all fatal crashes at signalized intersections during the two study periods, and rate changes then were compared for cities with and without cameras programs. Poisson regression was used to model crash rates as a function of red light camera enforcement, land area, and population density. The average annual rate of fatal red light running crashes declined for both study groups, but the decline was larger for cities with red light camera enforcement programs than for cities without camera programs (35% vs. 14%). The average annual rate of all fatal crashes at signalized intersections decreased by 14% for cities with camera programs and increased slightly (2%) for cities without cameras. After controlling for population density and land area, the rate of fatal red light running crashes during 2004-2008 for cities with camera programs was an estimated 24% lower than what would have been expected without cameras. The rate of all fatal crashes at signalized intersections during 2004-2008 for cities with camera programs was an estimated 17% lower than what would have been expected without cameras. Red light camera enforcement programs were associated with a statistically significant reduction in the citywide rate of fatal red light running crashes and a smaller but still significant reduction in the rate of all fatal crashes at signalized intersections. The study adds to the large body of evidence that red light camera enforcement can prevent the most serious crashes. Communities seeking to reduce crashes at intersections should consider this evidence. Copyright © 2011 Elsevier Ltd. All rights reserved.

Enhanced RGB-D Mapping Method for Detailed 3D Indoor and Outdoor Modeling

PubMed Central

Tang, Shengjun; Zhu, Qing; Chen, Wu; Darwish, Walid; Wu, Bo; Hu, Han; Chen, Min

2016-01-01

RGB-D sensors (sensors with RGB camera and Depth camera) are novel sensing systems that capture RGB images along with pixel-wise depth information. Although they are widely used in various applications, RGB-D sensors have significant drawbacks including limited measurement ranges (e.g., within 3 m) and errors in depth measurement increase with distance from the sensor with respect to 3D dense mapping. In this paper, we present a novel approach to geometrically integrate the depth scene and RGB scene to enlarge the measurement distance of RGB-D sensors and enrich the details of model generated from depth images. First, precise calibration for RGB-D Sensors is introduced. In addition to the calibration of internal and external parameters for both, IR camera and RGB camera, the relative pose between RGB camera and IR camera is also calibrated. Second, to ensure poses accuracy of RGB images, a refined false features matches rejection method is introduced by combining the depth information and initial camera poses between frames of the RGB-D sensor. Then, a global optimization model is used to improve the accuracy of the camera pose, decreasing the inconsistencies between the depth frames in advance. In order to eliminate the geometric inconsistencies between RGB scene and depth scene, the scale ambiguity problem encountered during the pose estimation with RGB image sequences can be resolved by integrating the depth and visual information and a robust rigid-transformation recovery method is developed to register RGB scene to depth scene. The benefit of the proposed joint optimization method is firstly evaluated with the publicly available benchmark datasets collected with Kinect. Then, the proposed method is examined by tests with two sets of datasets collected in both outside and inside environments. The experimental results demonstrate the feasibility and robustness of the proposed method. PMID:27690028

Enhanced RGB-D Mapping Method for Detailed 3D Indoor and Outdoor Modeling.

PubMed

Tang, Shengjun; Zhu, Qing; Chen, Wu; Darwish, Walid; Wu, Bo; Hu, Han; Chen, Min

2016-09-27

RGB-D sensors (sensors with RGB camera and Depth camera) are novel sensing systems that capture RGB images along with pixel-wise depth information. Although they are widely used in various applications, RGB-D sensors have significant drawbacks including limited measurement ranges (e.g., within 3 m) and errors in depth measurement increase with distance from the sensor with respect to 3D dense mapping. In this paper, we present a novel approach to geometrically integrate the depth scene and RGB scene to enlarge the measurement distance of RGB-D sensors and enrich the details of model generated from depth images. First, precise calibration for RGB-D Sensors is introduced. In addition to the calibration of internal and external parameters for both, IR camera and RGB camera, the relative pose between RGB camera and IR camera is also calibrated. Second, to ensure poses accuracy of RGB images, a refined false features matches rejection method is introduced by combining the depth information and initial camera poses between frames of the RGB-D sensor. Then, a global optimization model is used to improve the accuracy of the camera pose, decreasing the inconsistencies between the depth frames in advance. In order to eliminate the geometric inconsistencies between RGB scene and depth scene, the scale ambiguity problem encountered during the pose estimation with RGB image sequences can be resolved by integrating the depth and visual information and a robust rigid-transformation recovery method is developed to register RGB scene to depth scene. The benefit of the proposed joint optimization method is firstly evaluated with the publicly available benchmark datasets collected with Kinect. Then, the proposed method is examined by tests with two sets of datasets collected in both outside and inside environments. The experimental results demonstrate the feasibility and robustness of the proposed method.

Measurement methods and accuracy analysis of Chang'E-5 Panoramic Camera installation parameters

NASA Astrophysics Data System (ADS)

Yan, Wei; Ren, Xin; Liu, Jianjun; Tan, Xu; Wang, Wenrui; Chen, Wangli; Zhang, Xiaoxia; Li, Chunlai

2016-04-01

Chang'E-5 (CE-5) is a lunar probe for the third phase of China Lunar Exploration Project (CLEP), whose main scientific objectives are to implement lunar surface sampling and to return the samples back to the Earth. To achieve these goals, investigation of lunar surface topography and geological structure within sampling area seems to be extremely important. The Panoramic Camera (PCAM) is one of the payloads mounted on CE-5 lander. It consists of two optical systems which installed on a camera rotating platform. Optical images of sampling area can be obtained by PCAM in the form of a two-dimensional image and a stereo images pair can be formed by left and right PCAM images. Then lunar terrain can be reconstructed based on photogrammetry. Installation parameters of PCAM with respect to CE-5 lander are critical for the calculation of exterior orientation elements (EO) of PCAM images, which is used for lunar terrain reconstruction. In this paper, types of PCAM installation parameters and coordinate systems involved are defined. Measurement methods combining camera images and optical coordinate observations are studied for this work. Then research contents such as observation program and specific solution methods of installation parameters are introduced. Parametric solution accuracy is analyzed according to observations obtained by PCAM scientifically validated experiment, which is used to test the authenticity of PCAM detection process, ground data processing methods, product quality and so on. Analysis results show that the accuracy of the installation parameters affects the positional accuracy of corresponding image points of PCAM stereo images within 1 pixel. So the measurement methods and parameter accuracy studied in this paper meet the needs of engineering and scientific applications. Keywords: Chang'E-5 Mission; Panoramic Camera; Installation Parameters; Total Station; Coordinate Conversion

Efficient and robust pupil size and blink estimation from near-field video sequences for human-machine interaction.

PubMed

Chen, Siyuan; Epps, Julien

2014-12-01

Monitoring pupil and blink dynamics has applications in cognitive load measurement during human-machine interaction. However, accurate, efficient, and robust pupil size and blink estimation pose significant challenges to the efficacy of real-time applications due to the variability of eye images, hence to date, require manual intervention for fine tuning of parameters. In this paper, a novel self-tuning threshold method, which is applicable to any infrared-illuminated eye images without a tuning parameter, is proposed for segmenting the pupil from the background images recorded by a low cost webcam placed near the eye. A convex hull and a dual-ellipse fitting method are also proposed to select pupil boundary points and to detect the eyelid occlusion state. Experimental results on a realistic video dataset show that the measurement accuracy using the proposed methods is higher than that of widely used manually tuned parameter methods or fixed parameter methods. Importantly, it demonstrates convenience and robustness for an accurate and fast estimate of eye activity in the presence of variations due to different users, task types, load, and environments. Cognitive load measurement in human-machine interaction can benefit from this computationally efficient implementation without requiring a threshold calibration beforehand. Thus, one can envisage a mini IR camera embedded in a lightweight glasses frame, like Google Glass, for convenient applications of real-time adaptive aiding and task management in the future.

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.

Flat-panel detector, CCD cameras, and electron-beam-tube-based video for use in portal imaging

NASA Astrophysics Data System (ADS)

Roehrig, Hans; Tang, Chuankun; Cheng, Chee-Way; Dallas, William J.

1998-07-01

This paper provides a comparison of some imaging parameters of four portal imaging systems at 6 MV: a flat panel detector, two CCD cameras and an electron beam tube based video camera. Measurements were made of signal and noise and consequently of signal-to-noise per pixel as a function of the exposure. All systems have a linear response with respect to exposure, and with the exception of the electron beam tube based video camera, the noise is proportional to the square-root of the exposure, indicating photon-noise limitation. The flat-panel detector has a signal-to-noise ratio, which is higher than that observed with both CCD-Cameras or with the electron beam tube based video camera. This is expected because most portal imaging systems using optical coupling with a lens exhibit severe quantum-sinks. The measurements of signal-and noise were complemented by images of a Las Vegas-type aluminum contrast detail phantom, located at the ISO-Center. These images were generated at an exposure of 1 MU. The flat-panel detector permits detection of Aluminum holes of 1.2 mm diameter and 1.6 mm depth, indicating the best signal-to-noise ratio. The CCD-cameras rank second and third in signal-to- noise ratio, permitting detection of Aluminum-holes of 1.2 mm diameter and 2.2 mm depth (CCD_1) and of 1.2 mm diameter and 3.2 mm depth (CCD_2) respectively, while the electron beam tube based video camera permits detection of only a hole of 1.2 mm diameter and 4.6 mm depth. Rank Order Filtering was applied to the raw images from the CCD-based systems in order to remove the direct hits. These are camera responses to scattered x-ray photons which interact directly with the CCD of the CCD-Camera and generate 'Salt and Pepper type noise,' which interferes severely with attempts to determine accurate estimates of the image noise. The paper also presents data on the metal-phosphor's photon gain (the number of light-photons per interacting x-ray photon).

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.

In-Situ Cameras for Radiometric Correction of Remotely Sensed Data

NASA Astrophysics Data System (ADS)

Kautz, Jess S.

The atmosphere distorts the spectrum of remotely sensed data, negatively affecting all forms of investigating Earth's surface. To gather reliable data, it is vital that atmospheric corrections are accurate. The current state of the field of atmospheric correction does not account well for the benefits and costs of different correction algorithms. Ground spectral data are required to evaluate these algorithms better. This dissertation explores using cameras as radiometers as a means of gathering ground spectral data. I introduce techniques to implement a camera systems for atmospheric correction using off the shelf parts. To aid the design of future camera systems for radiometric correction, methods for estimating the system error prior to construction, calibration and testing of the resulting camera system are explored. Simulations are used to investigate the relationship between the reflectance accuracy of the camera system and the quality of atmospheric correction. In the design phase, read noise and filter choice are found to be the strongest sources of system error. I explain the calibration methods for the camera system, showing the problems of pixel to angle calibration, and adapting the web camera for scientific work. The camera system is tested in the field to estimate its ability to recover directional reflectance from BRF data. I estimate the error in the system due to the experimental set up, then explore how the system error changes with different cameras, environmental set-ups and inversions. With these experiments, I learn about the importance of the dynamic range of the camera, and the input ranges used for the PROSAIL inversion. Evidence that the camera can perform within the specification set for ELM correction in this dissertation is evaluated. The analysis is concluded by simulating an ELM correction of a scene using various numbers of calibration targets, and levels of system error, to find the number of cameras needed for a full-scale implementation.

Procedure Enabling Simulation and In-Depth Analysis of Optical Effects in Camera-Based Time-Of Sensors

NASA Astrophysics Data System (ADS)

Baumgart, M.; Druml, N.; Consani, M.

2018-05-01

This paper presents a simulation approach for Time-of-Flight cameras to estimate sensor performance and accuracy, as well as to help understanding experimentally discovered effects. The main scope is the detailed simulation of the optical signals. We use a raytracing-based approach and use the optical path length as the master parameter for depth calculations. The procedure is described in detail with references to our implementation in Zemax OpticStudio and Python. Our simulation approach supports multiple and extended light sources and allows accounting for all effects within the geometrical optics model. Especially multi-object reflection/scattering ray-paths, translucent objects, and aberration effects (e.g. distortion caused by the ToF lens) are supported. The optical path length approach also enables the implementation of different ToF senor types and transient imaging evaluations. The main features are demonstrated on a simple 3D test scene.

Location precision analysis of stereo thermal anti-sniper detection system

NASA Astrophysics Data System (ADS)

He, Yuqing; Lu, Ya; Zhang, Xiaoyan; Jin, Weiqi

2012-06-01

Anti-sniper detection devices are the urgent requirement in modern warfare. The precision of the anti-sniper detection system is especially important. This paper discusses the location precision analysis of the anti-sniper detection system based on the dual-thermal imaging system. It mainly discusses the following two aspects which produce the error: the digital quantitative effects of the camera; effect of estimating the coordinate of bullet trajectory according to the infrared images in the process of image matching. The formula of the error analysis is deduced according to the method of stereovision model and digital quantitative effects of the camera. From this, we can get the relationship of the detecting accuracy corresponding to the system's parameters. The analysis in this paper provides the theory basis for the error compensation algorithms which are put forward to improve the accuracy of 3D reconstruction of the bullet trajectory in the anti-sniper detection devices.

The on-orbit calibration of geometric parameters of the Tian-Hui 1 (TH-1) satellite

NASA Astrophysics Data System (ADS)

Wang, Jianrong; Wang, Renxiang; Hu, Xin; Su, Zhongbo

2017-02-01

The on-orbit calibration of geometric parameters is a key step in improving the location accuracy of satellite images without using Ground Control Points (GCPs). Most methods of on-orbit calibration are based on the self-calibration using additional parameters. When using additional parameters, different number of additional parameters may lead to different results. The triangulation bundle adjustment is another way to calibrate the geometric parameters of camera, which can describe the changes in each geometric parameter. When triangulation bundle adjustment method is applied to calibrate geometric parameters, a prerequisite is that the strip model can avoid systematic deformation caused by the rate of attitude changes. Concerning the stereo camera, the influence of the intersection angle should be considered during calibration. The Equivalent Frame Photo (EFP) bundle adjustment based on the Line-Matrix CCD (LMCCD) image can solve the systematic distortion of the strip model, and obtain high accuracy location without using GCPs. In this paper, the triangulation bundle adjustment is used to calibrate the geometric parameters of TH-1 satellite cameras based on LMCCD image. During the bundle adjustment, the three-line array cameras are reconstructed by adopting the principle of inverse triangulation. Finally, the geometric accuracy is validated before and after on-orbit calibration using 5 testing fields. After on-orbit calibration, the 3D geometric accuracy is improved to 11.8 m from 170 m. The results show that the location accuracy of TH-1 without using GCPs is significantly improved using the on-orbit calibration of the geometric parameters.

Analysis of the variation of range parameters of thermal cameras

NASA Astrophysics Data System (ADS)

Bareła, Jarosław; Kastek, Mariusz; Firmanty, Krzysztof; Krupiński, Michał

2016-10-01

Measured range characteristics may vary considerably (up to several dozen percent) between different samples of the same camera type. The question is whether the manufacturing process somehow lacks repeatability or the commonly used measurement procedures themselves need improvement. The presented paper attempts to deal with the aforementioned question. The measurement method has been thoroughly analyzed as well as the measurement test bed. Camera components (such as detector and optics) have also been analyzed and their key parameters have been measured, including noise figures of the entire system. Laboratory measurements are the most precise method used to determine range parameters of a thermal camera. However, in order to obtain reliable results several important conditions have to be fulfilled. One must have the test equipment capable of measurement accuracy (uncertainty) significantly better than the magnitudes of measured quantities. The measurements must be performed in a controlled environment thus excluding the influence of varying environmental conditions. The personnel must be well-trained, experienced in testing the thermal imaging devices and familiar with the applied measurement procedures. The measurement data recorded for several dozen of cooled thermal cameras (from one of leading camera manufacturers) have been the basis of the presented analysis. The measurements were conducted in the accredited research laboratory of Institute of Optoelectronics (Military University of Technology).

Adaptive on-line calibration for around-view monitoring system using between-camera homography estimation

NASA Astrophysics Data System (ADS)

Lim, Sungsoo; Lee, Seohyung; Kim, Jun-geon; Lee, Daeho

2018-01-01

The around-view monitoring (AVM) system is one of the major applications of advanced driver assistance systems and intelligent transportation systems. We propose an on-line calibration method, which can compensate misalignments for AVM systems. Most AVM systems use fisheye undistortion, inverse perspective transformation, and geometrical registration methods. To perform these procedures, the parameters for each process must be known; the procedure by which the parameters are estimated is referred to as the initial calibration. However, when only using the initial calibration data, we cannot compensate misalignments, caused by changing equilibria of cars. Moreover, even small changes such as tire pressure levels, passenger weight, or road conditions can affect a car's equilibrium. Therefore, to compensate for this misalignment, additional techniques are necessary, specifically an on-line calibration method. On-line calibration can recalculate homographies, which can correct any degree of misalignment using the unique features of ordinary parking lanes. To extract features from the parking lanes, this method uses corner detection and a pattern matching algorithm. From the extracted features, homographies are estimated using random sample consensus and parameter estimation. Finally, the misaligned epipolar geographies are compensated via the estimated homographies. Thus, the proposed method can render image planes parallel to the ground. This method does not require any designated patterns and can be used whenever cars are placed in a parking lot. The experimental results show the robustness and efficiency of the method.

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.

Utilization of a Terrestrial Laser Scanner for the Calibration of Mobile Mapping Systems

PubMed Central

Hong, Seunghwan; Park, Ilsuk; Lee, Jisang; Lim, Kwangyong; Choi, Yoonjo; Sohn, Hong-Gyoo

2017-01-01

This paper proposes a practical calibration solution for estimating the boresight and lever-arm parameters of the sensors mounted on a Mobile Mapping System (MMS). On our MMS devised for conducting the calibration experiment, three network video cameras, one mobile laser scanner, and one Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) were mounted. The geometric relationships between three sensors were solved by the proposed calibration, considering the GNSS/INS as one unit sensor. Our solution basically uses the point cloud generated by a 3-dimensional (3D) terrestrial laser scanner rather than using conventionally obtained 3D ground control features. With the terrestrial laser scanner, accurate and precise reference data could be produced and the plane features corresponding with the sparse mobile laser scanning data could be determined with high precision. Furthermore, corresponding point features could be extracted from the dense terrestrial laser scanning data and the images captured by the video cameras. The parameters of the boresight and the lever-arm were calculated based on the least squares approach and the precision of the boresight and lever-arm could be achieved by 0.1 degrees and 10 mm, respectively. PMID:28264457

Automatic registration of panoramic image sequence and mobile laser scanning data using semantic features

NASA Astrophysics Data System (ADS)

Li, Jianping; Yang, Bisheng; Chen, Chi; Huang, Ronggang; Dong, Zhen; Xiao, Wen

2018-02-01

Inaccurate exterior orientation parameters (EoPs) between sensors obtained by pre-calibration leads to failure of registration between panoramic image sequence and mobile laser scanning data. To address this challenge, this paper proposes an automatic registration method based on semantic features extracted from panoramic images and point clouds. Firstly, accurate rotation parameters between the panoramic camera and the laser scanner are estimated using GPS and IMU aided structure from motion (SfM). The initial EoPs of panoramic images are obtained at the same time. Secondly, vehicles in panoramic images are extracted by the Faster-RCNN as candidate primitives to be matched with potential corresponding primitives in point clouds according to the initial EoPs. Finally, translation between the panoramic camera and the laser scanner is refined by maximizing the overlapping area of corresponding primitive pairs based on the Particle Swarm Optimization (PSO), resulting in a finer registration between panoramic image sequences and point clouds. Two challenging urban scenes were experimented to assess the proposed method, and the final registration errors of these two scenes were both less than three pixels, which demonstrates a high level of automation, robustness and accuracy.

Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data.

PubMed

Zhang, Zhuang; Zhao, Rujin; Liu, Enhai; Yan, Kun; Ma, Yuebo

2018-06-15

This article presents a new sensor fusion method for visual simultaneous localization and mapping (SLAM) through integration of a monocular camera and a 1D-laser range finder. Such as a fusion method provides the scale estimation and drift correction and it is not limited by volume, e.g., the stereo camera is constrained by the baseline and overcomes the limited depth range problem associated with SLAM for RGBD cameras. We first present the analytical feasibility for estimating the absolute scale through the fusion of 1D distance information and image information. Next, the analytical derivation of the laser-vision fusion is described in detail based on the local dense reconstruction of the image sequences. We also correct the scale drift of the monocular SLAM using the laser distance information which is independent of the drift error. Finally, application of this approach to both indoor and outdoor scenes is verified by the Technical University of Munich dataset of RGBD and self-collected data. We compare the effects of the scale estimation and drift correction of the proposed method with the SLAM for a monocular camera and a RGBD camera.

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

NASA Technical Reports Server (NTRS)

Smith, Phillip N.; Sridhar, Banavar; Suorsa, Raymond E.

1993-01-01

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Image Capture with Synchronized Multiple-Cameras for Extraction of Accurate Geometries

NASA Astrophysics Data System (ADS)

Koehl, M.; Delacourt, T.; Boutry, C.

2016-06-01

This paper presents a project of recording and modelling tunnels, traffic circles and roads from multiple sensors. The aim is the representation and the accurate 3D modelling of a selection of road infrastructures as dense point clouds in order to extract profiles and metrics from it. Indeed, these models will be used for the sizing of infrastructures in order to simulate exceptional convoy truck routes. The objective is to extract directly from the point clouds the heights, widths and lengths of bridges and tunnels, the diameter of gyrating and to highlight potential obstacles for a convoy. Light, mobile and fast acquisition approaches based on images and videos from a set of synchronized sensors have been tested in order to obtain useable point clouds. The presented solution is based on a combination of multiple low-cost cameras designed on an on-boarded device allowing dynamic captures. The experimental device containing GoPro Hero4 cameras has been set up and used for tests in static or mobile acquisitions. That way, various configurations have been tested by using multiple synchronized cameras. These configurations are discussed in order to highlight the best operational configuration according to the shape of the acquired objects. As the precise calibration of each sensor and its optics are major factors in the process of creation of accurate dense point clouds, and in order to reach the best quality available from such cameras, the estimation of the internal parameters of fisheye lenses of the cameras has been processed. Reference measures were also realized by using a 3D TLS (Faro Focus 3D) to allow the accuracy assessment.

Portal imaging with flat-panel detector and CCD camera

NASA Astrophysics Data System (ADS)

Roehrig, Hans; Tang, Chuankun; Cheng, Chee-Wai; Dallas, William J.

1997-07-01

This paper provides a comparison of imaging parameters of two portal imaging systems at 6 MV: a flat panel detector and a CCD-camera based portal imaging system. Measurements were made of the signal and noise and consequently of signal-to-noise per pixel as a function of the exposure. Both systems have a linear response with respect to exposure, and the noise is proportional to the square-root of the exposure, indicating photon-noise limitation. The flat-panel detector has a signal- to-noise ratio, which is higher than that observed wit the CCD-camera based portal imaging system. This is expected because most portal imaging systems using optical coupling with a lens exhibit severe quantum-sinks. The paper also presents data on the screen's photon gain (the number of light-photons per interacting x-ray photon), as well as on the magnitude of the Swank-noise, (which describes fluctuation in the screen's photon gain). Images of a Las Vegas-type aluminum contrast detail phantom, located at the ISO-Center, were generated at an exposure of 1 MU. The CCD-camera based system permits detection of aluminum-holes of 0.01194 cm diameter and 0.228 mm depth while the flat-panel detector permits detection of aluminum holes of 0.01194 cm diameter and 0.1626 mm depth, indicating a better signal-to-noise ratio. Rank order filtering was applied to the raw images from the CCD-based system in order to remove the direct hits. These are camera responses to scattered x-ray photons which interact directly with the CCD of the CCD-camera and generate 'salt and pepper type noise,' which interferes severely with attempts to determine accurate estimates of the image noise.

On HMI's Mod-L Sequence: Test and Evaluation

NASA Astrophysics Data System (ADS)

Liu, Yang; Baldner, Charles; Bogart, R. S.; Bush, R.; Couvidat, S.; Duvall, Thomas L.; Hoeksema, Jon Todd; Norton, Aimee Ann; Scherrer, Philip H.; Schou, Jesper

2016-05-01

HMI Mod-L sequence can produce full Stokes parameters at a cadence of 90 seconds by combining filtergrams from both cameras, the front camera and the side camera. Within the 90-second, the front camera takes two sets of Left and Right Circular Polarizations (LCP and RCP) at 6 wavelengths; the side camera takes one set of Linear Polarizations (I+/-Q and I+/-U) at 6 wavelengths. By combining two cameras, one can obtain full Stokes parameters of [I,Q,U,V] at 6 wavelengths in 90 seconds. In norminal Mod-C sequence that HMI currently uses, the front camera takes LCP and RCP at a cadence of 45 seconds, while the side camera takes observation of the full Stokes at a cadence of 135 seconds. Mod-L should be better than Mod-C for providing vector magnetic field data because (1) Mod-L increases cadence of full Stokes observation, which leads to higher temporal resolution of vector magnetic field measurement; (2) decreases noise in vector magnetic field data because it uses more filtergrams to produce [I,Q,U,V]. There are two potential issues in Mod-L that need to be addressed: (1) scaling intensity of the two cameras’ filtergrams; and (2) if current polarization calibration model, which is built for each camera separately, works for the combined data from both cameras. This presentation will address these questions, and further place a discussion here.

Photometric Lunar Surface Reconstruction

NASA Technical Reports Server (NTRS)

Nefian, Ara V.; Alexandrov, Oleg; Morattlo, Zachary; Kim, Taemin; Beyer, Ross A.

2013-01-01

Accurate photometric reconstruction of the Lunar surface is important in the context of upcoming NASA robotic missions to the Moon and in giving a more accurate understanding of the Lunar soil composition. This paper describes a novel approach for joint estimation of Lunar albedo, camera exposure time, and photometric parameters that utilizes an accurate Lunar-Lambertian reflectance model and previously derived Lunar topography of the area visualized during the Apollo missions. The method introduced here is used in creating the largest Lunar albedo map (16% of the Lunar surface) at the resolution of 10 meters/pixel.

Megapixel mythology and photospace: estimating photospace for camera phones from large image sets

NASA Astrophysics Data System (ADS)

Hultgren, Bror O.; Hertel, Dirk W.

2008-01-01

It is a myth that more pixels alone result in better images. The marketing of camera phones in particular has focused on their pixel numbers. However, their performance varies considerably according to the conditions of image capture. Camera phones are often used in low-light situations where the lack of a flash and limited exposure time will produce underexposed, noisy and blurred images. Camera utilization can be quantitatively described by photospace distributions, a statistical description of the frequency of pictures taken at varying light levels and camera-subject distances. If the photospace distribution is known, the user-experienced distribution of quality can be determined either directly by direct measurement of subjective quality, or by photospace-weighting of objective attributes. The population of a photospace distribution requires examining large numbers of images taken under typical camera phone usage conditions. ImagePhi was developed as a user-friendly software tool to interactively estimate the primary photospace variables, subject illumination and subject distance, from individual images. Additionally, subjective evaluations of image quality and failure modes for low quality images can be entered into ImagePhi. ImagePhi has been applied to sets of images taken by typical users with a selection of popular camera phones varying in resolution. The estimated photospace distribution of camera phone usage has been correlated with the distributions of failure modes. The subjective and objective data show that photospace conditions have a much bigger impact on image quality of a camera phone than the pixel count of its imager. The 'megapixel myth' is thus seen to be less a myth than an ill framed conditional assertion, whose conditions are to a large extent specified by the camera's operational state in photospace.

Image-Guided Intraoperative Cortical Deformation Recovery Using Game Theory: Application to Neocortical Epilepsy Surgery

PubMed Central

DeLorenzo, Christine; Papademetris, Xenophon; Staib, Lawrence H.; Vives, Kenneth P.; Spencer, Dennis D.; Duncan, James S.

2010-01-01

During neurosurgery, nonrigid brain deformation prevents preoperatively-acquired images from accurately depicting the intraoperative brain. Stereo vision systems can be used to track intraoperative cortical surface deformation and update preoperative brain images in conjunction with a biomechanical model. However, these stereo systems are often plagued with calibration error, which can corrupt the deformation estimation. In order to decouple the effects of camera calibration from the surface deformation estimation, a framework that can solve for disparate and often competing variables is needed. Game theory, which was developed to handle decision making in this type of competitive environment, has been applied to various fields from economics to biology. In this paper, game theory is applied to cortical surface tracking during neocortical epilepsy surgery and used to infer information about the physical processes of brain surface deformation and image acquisition. The method is successfully applied to eight in vivo cases, resulting in an 81% decrease in mean surface displacement error. This includes a case in which some of the initial camera calibration parameters had errors of 70%. Additionally, the advantages of using a game theoretic approach in neocortical epilepsy surgery are clearly demonstrated in its robustness to initial conditions. PMID:20129844

Visible hyperspectral imaging evaluating the cutaneous response to ultraviolet radiation

NASA Astrophysics Data System (ADS)

Ilias, Michail A.; Häggblad, Erik; Anderson, Chris; Salerud, E. Göran

2007-02-01

In vivo diagnostics of skin diseases as well as understanding of the skin biology constitute a field demanding characterization of physiological and anatomical parameters. Biomedical optics has been successfully used, to qualitatively and quantitatively estimate the microcirculatory conditions of superficial skin. Capillaroscopy, laser Doppler techniques and spectroscopy, all elucidate different aspects of microcirculation, e.g. capillary anatomy and distribution, tissue perfusion and hemoglobin oxygenation. We demonstrate the use of a diffuse reflectance hyperspectral imaging system for spatial and temporal characterization of tissue oxygenation, important to skin viability. The system comprises: light source, liquid crystal tunable filter, camera objective, CCD camera, and the decomposition of the spectral signature into relative amounts of oxy- and deoxygenized hemoglobin as well as melanin in every pixel resulting in tissue chromophore images. To validate the system, we used a phototesting model, creating a graded inflammatory response of a known geometry, in order to evaluate the ability to register spatially resolved reflectance spectra. The obtained results demonstrate the possibility to describe the UV inflammatory response by calculating the change in tissue oxygen level, intimately connected to a tissue's metabolism. Preliminary results on the estimation of melanin content are also presented.

Estimating the coordinates of pillars and posts in the parking lots for intelligent parking assist system

NASA Astrophysics Data System (ADS)

Choi, Jae Hyung; Kuk, Jung Gap; Kim, Young Il; Cho, Nam Ik

2012-01-01

This paper proposes an algorithm for the detection of pillars or posts in the video captured by a single camera implemented on the fore side of a room mirror in a car. The main purpose of this algorithm is to complement the weakness of current ultrasonic parking assist system, which does not well find the exact position of pillars or does not recognize narrow posts. The proposed algorithm is consisted of three steps: straight line detection, line tracking, and the estimation of 3D position of pillars. In the first step, the strong lines are found by the Hough transform. Second step is the combination of detection and tracking, and the third is the calculation of 3D position of the line by the analysis of trajectory of relative positions and the parameters of camera. Experiments on synthetic and real images show that the proposed method successfully locates and tracks the position of pillars, which helps the ultrasonic system to correctly locate the edges of pillars. It is believed that the proposed algorithm can also be employed as a basic element for vision based autonomous driving system.

Note: Simple hysteresis parameter inspector for camera module with liquid lens

NASA Astrophysics Data System (ADS)

Chen, Po-Jui; Liao, Tai-Shan; Hwang, Chi-Hung

2010-05-01

A method to inspect hysteresis parameter is presented in this article. The hysteresis of whole camera module with liquid lens can be measured rather than a single lens merely. Because the variation in focal length influences image quality, we propose utilizing the sharpness of images which is captured from camera module for hysteresis evaluation. Experiments reveal that the profile of sharpness hysteresis corresponds to the characteristic of contact angle of liquid lens. Therefore, it can infer that the hysteresis of camera module is induced by the contact angle of liquid lens. An inspection process takes only 20 s to complete. Thus comparing with other instruments, this inspection method is more suitable to integrate into the mass production lines for online quality assurance.

A new star tracker concept for satellite attitude determination based on a multi-purpose panoramic camera

NASA Astrophysics Data System (ADS)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele; Pernechele, Claudio; Dionisio, Cesare

2017-11-01

This paper presents an innovative algorithm developed for attitude determination of a space platform. The algorithm exploits images taken from a multi-purpose panoramic camera equipped with hyper-hemispheric lens and used as star tracker. The sensor architecture is also original since state-of-the-art star trackers accurately image as many stars as possible within a narrow- or medium-size field-of-view, while the considered sensor observes an extremely large portion of the celestial sphere but its observation capabilities are limited by the features of the optical system. The proposed original approach combines algorithmic concepts, like template matching and point cloud registration, inherited from the computer vision and robotic research fields, to carry out star identification. The final aim is to provide a robust and reliable initial attitude solution (lost-in-space mode), with a satisfactory accuracy level in view of the multi-purpose functionality of the sensor and considering its limitations in terms of resolution and sensitivity. Performance evaluation is carried out within a simulation environment in which the panoramic camera operation is realistically reproduced, including perturbations in the imaged star pattern. Results show that the presented algorithm is able to estimate attitude with accuracy better than 1° with a success rate around 98% evaluated by densely covering the entire space of the parameters representing the camera pointing in the inertial space.

The first demonstration of the concept of "narrow-FOV Si/CdTe semiconductor Compton camera"

NASA Astrophysics Data System (ADS)

Ichinohe, Yuto; Uchida, Yuusuke; Watanabe, Shin; Edahiro, Ikumi; Hayashi, Katsuhiro; Kawano, Takafumi; Ohno, Masanori; Ohta, Masayuki; Takeda, Shin`ichiro; Fukazawa, Yasushi; Katsuragawa, Miho; Nakazawa, Kazuhiro; Odaka, Hirokazu; Tajima, Hiroyasu; Takahashi, Hiromitsu; Takahashi, Tadayuki; Yuasa, Takayuki

2016-01-01

The Soft Gamma-ray Detector (SGD), to be deployed on board the ASTRO-H satellite, has been developed to provide the highest sensitivity observations of celestial sources in the energy band of 60-600 keV by employing a detector concept which uses a Compton camera whose field-of-view is restricted by a BGO shield to a few degree (narrow-FOV Compton camera). In this concept, the background from outside the FOV can be heavily suppressed by constraining the incident direction of the gamma ray reconstructed by the Compton camera to be consistent with the narrow FOV. We, for the first time, demonstrate the validity of the concept using background data taken during the thermal vacuum test and the low-temperature environment test of the flight model of SGD on ground. We show that the measured background level is suppressed to less than 10% by combining the event rejection using the anti-coincidence trigger of the active BGO shield and by using Compton event reconstruction techniques. More than 75% of the signals from the field-of-view are retained against the background rejection, which clearly demonstrates the improvement of signal-to-noise ratio. The estimated effective area of 22.8 cm2 meets the mission requirement even though not all of the operational parameters of the instrument have been fully optimized yet.

A study on a robot chasing a human using Kinect while identifying walking parameters using the back view

NASA Astrophysics Data System (ADS)

Konno, S.; Mita, A.

2014-03-01

Recently, the demand of the building spaces to respond to increase of single aged households and the diversification of life style is increasing. Smart house is one of them, but it is difficult for them to be changed and renovated. Therefore, we suggest Biofied builing. In biofied building, we use a mobile robot to get concious and unconcious information about residents and try to make it more secure and comfort builing spaces by realizing the intraction between residents and builing spaces. Walking parameters are one of the most important unconscious information about residents. They are an indicator of autonomy of elderly, and changes of stride length and walking speed may be pridictive of a future fall and a cognitive impairment. By observing their walking and informing residents their walking state, they can forestall such dangers and it helps them to live more securely and autonomously. Many methods to estimate walking parameters have been studied. The famous ones are to use accelerometers and a motion capture camera. Walking parameters estimated by them are high precise but the sensors are attached to a human body in these method and it can make human's walk different from the original walk. Furthermore, some elderly feel it to invade them. In this work, Kinect which can get information about human untouchably was used on the mobile robot. A stride time, stride length, and walking speed were estimated from the back view of human by following him or her. Evaluation was done for 10m, 5m, 4m, and 3m in whole walking. As a result, the proposal system can estimate walking parameters of the walk more than 3m.

Estimation of spectral distribution of sky radiance using a commercial digital camera.

PubMed

Saito, Masanori; Iwabuchi, Hironobu; Murata, Isao

2016-01-10

Methods for estimating spectral distribution of sky radiance from images captured by a digital camera and for accurately estimating spectral responses of the camera are proposed. Spectral distribution of sky radiance is represented as a polynomial of the wavelength, with coefficients obtained from digital RGB counts by linear transformation. The spectral distribution of radiance as measured is consistent with that obtained by spectrometer and radiative transfer simulation for wavelengths of 430-680 nm, with standard deviation below 1%. Preliminary applications suggest this method is useful for detecting clouds and studying the relation between irradiance at the ground and cloud distribution.

Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots.

PubMed

Chen, Jian; Jia, Bingxi; Zhang, Kaixiang

2017-11-01

In this paper, a trifocal tensor-based approach is proposed for the visual trajectory tracking task of a nonholonomic mobile robot equipped with a roughly installed monocular camera. The desired trajectory is expressed by a set of prerecorded images, and the robot is regulated to track the desired trajectory using visual feedback. Trifocal tensor is exploited to obtain the orientation and scaled position information used in the control system, and it works for general scenes owing to the generality of trifocal tensor. In the previous works, the start, current, and final images are required to share enough visual information to estimate the trifocal tensor. However, this requirement can be easily violated for perspective cameras with limited field of view. In this paper, key frame strategy is proposed to loosen this requirement, extending the workspace of the visual servo system. Considering the unknown depth and extrinsic parameters (installing position of the camera), an adaptive controller is developed based on Lyapunov methods. The proposed control strategy works for almost all practical circumstances, including both trajectory tracking and pose regulation tasks. Simulations are made based on the virtual experimentation platform (V-REP) to evaluate the effectiveness of the proposed approach.

Atmospheric Parameters and Luminosities of Nearby M Dwarfs - Estimating Habitable Exoplanet Detectability with the E-ELT

NASA Astrophysics Data System (ADS)

Porto de Mello, Gustavo F.; Giribaldi, Riano E.; Lorenzo-Oliveira, Diego; Paes Leme, Nathália M.

2017-10-01

We derive T eff and [Fe/H] for a sample of 72 nearby M-dwarfs with Hipparcos parallaxes and δ < +30. Spectra, acquired at the Observatório do Pico dos Dias, Brazil, have R = 10,000 and S/N >~ 100 for nearly all targets in the λλ8380-8880 range. Atmospheric parameters were derived from VJHK colors and a system of spectral line indices calibrated against sample stars with interferometric T eff and [Fe/H] from detailed analysis of FGK binary companions. A PCA method of calibration yields internal errors within 70 K and 0.1 dex for T eff and [Fe/H]. For 18 stars we present the first T eff or [Fe/H] derivation in the literature. We compute the star's luminosities, calculate the position of their habitable zones and estimate that, were all of they to harbour rocky planets inside their HZ, 15-20 of these would be detectable by the E-ELT Planetary Camera and Spectrograph.

Concentration solar power optimization system and method of using the same

DOEpatents

Andraka, Charles E

2014-03-18

A system and method for optimizing at least one mirror of at least one CSP system is provided. The system has a screen for displaying light patterns for reflection by the mirror, a camera for receiving a reflection of the light patterns from the mirror, and a solar characterization tool. The solar characterization tool has a characterizing unit for determining at least one mirror parameter of the mirror based on an initial position of the camera and the screen, and a refinement unit for refining the determined parameter(s) based on an adjusted position of the camera and screen whereby the mirror is characterized. The system may also be provided with a solar alignment tool for comparing at least one mirror parameter of the mirror to a design geometry whereby an alignment error is defined, and at least one alignment unit for adjusting the mirror to reduce the alignment error.

Comparison of standing volume estimates using optical dendrometers

Treesearch

Neil A. Clark; Stanley J. Zarnoch; Alexander Clark; Gregory A. Reams

2001-01-01

This study compared height and diameter measurements and volume estimates on 20 hardwood and 20 softwood stems using traditional optical dendrometers, an experimental camera instrument, and mechanical calipers. Multiple comparison tests showed significant differences among the means for lower stem diameters when the camera was used. There were no significant...

Comparison of Standing Volume Estimates Using Optical Dendrometers

Treesearch

Neil A. Clark; Stanley J. Zarnoch; Alexander Clark; Gregory A. Reams

2001-01-01

This study compared height and diameter measurements and volume estimates on 20 hardwood and 20 softwood stems using traditional optical dendrometers, an experimental camera instrument, and mechanical calipers. Multiple comparison tests showed significant differences among the means for lower stem diameters when the camera was used. There were no significant...

Single-Camera-Based Method for Step Length Symmetry Measurement in Unconstrained Elderly Home Monitoring.

PubMed

Cai, Xi; Han, Guang; Song, Xin; Wang, Jinkuan

2017-11-01

single-camera-based gait monitoring is unobtrusive, inexpensive, and easy-to-use to monitor daily gait of seniors in their homes. However, most studies require subjects to walk perpendicularly to camera's optical axis or along some specified routes, which limits its application in elderly home monitoring. To build unconstrained monitoring environments, we propose a method to measure step length symmetry ratio (a useful gait parameter representing gait symmetry without significant relationship with age) from unconstrained straight walking using a single camera, without strict restrictions on walking directions or routes. according to projective geometry theory, we first develop a calculation formula of step length ratio for the case of unconstrained straight-line walking. Then, to adapt to general cases, we propose to modify noncollinear footprints, and accordingly provide general procedure for step length ratio extraction from unconstrained straight walking. Our method achieves a mean absolute percentage error (MAPE) of 1.9547% for 15 subjects' normal and abnormal side-view gaits, and also obtains satisfactory MAPEs for non-side-view gaits (2.4026% for 45°-view gaits and 3.9721% for 30°-view gaits). The performance is much better than a well-established monocular gait measurement system suitable only for side-view gaits with a MAPE of 3.5538%. Independently of walking directions, our method can accurately estimate step length ratios from unconstrained straight walking. This demonstrates our method is applicable for elders' daily gait monitoring to provide valuable information for elderly health care, such as abnormal gait recognition, fall risk assessment, etc. single-camera-based gait monitoring is unobtrusive, inexpensive, and easy-to-use to monitor daily gait of seniors in their homes. However, most studies require subjects to walk perpendicularly to camera's optical axis or along some specified routes, which limits its application in elderly home monitoring. To build unconstrained monitoring environments, we propose a method to measure step length symmetry ratio (a useful gait parameter representing gait symmetry without significant relationship with age) from unconstrained straight walking using a single camera, without strict restrictions on walking directions or routes. according to projective geometry theory, we first develop a calculation formula of step length ratio for the case of unconstrained straight-line walking. Then, to adapt to general cases, we propose to modify noncollinear footprints, and accordingly provide general procedure for step length ratio extraction from unconstrained straight walking. Our method achieves a mean absolute percentage error (MAPE) of 1.9547% for 15 subjects' normal and abnormal side-view gaits, and also obtains satisfactory MAPEs for non-side-view gaits (2.4026% for 45°-view gaits and 3.9721% for 30°-view gaits). The performance is much better than a well-established monocular gait measurement system suitable only for side-view gaits with a MAPE of 3.5538%. Independently of walking directions, our method can accurately estimate step length ratios from unconstrained straight walking. This demonstrates our method is applicable for elders' daily gait monitoring to provide valuable information for elderly health care, such as abnormal gait recognition, fall risk assessment, etc.

Streak camera receiver definition study

NASA Technical Reports Server (NTRS)

Johnson, C. B.; Hunkler, L. T., Sr.; Letzring, S. A.; Jaanimagi, P.

1990-01-01

Detailed streak camera definition studies were made as a first step toward full flight qualification of a dual channel picosecond resolution streak camera receiver for the Geoscience Laser Altimeter and Ranging System (GLRS). The streak camera receiver requirements are discussed as they pertain specifically to the GLRS system, and estimates of the characteristics of the streak camera are given, based upon existing and near-term technological capabilities. Important problem areas are highlighted, and possible corresponding solutions are discussed.

Predicting Moves-on-Stills for Comic Art Using Viewer Gaze Data.

PubMed

Jain, Eakta; Sheikh, Yaser; Hodgins, Jessica

2016-01-01

Comic art consists of a sequence of panels of different shapes and sizes that visually communicate the narrative to the reader. The move-on-stills technique allows such still images to be retargeted for digital displays via camera moves. Today, moves-on-stills can be created by software applications given user-provided parameters for each desired camera move. The proposed algorithm uses viewer gaze as input to computationally predict camera move parameters. The authors demonstrate their algorithm on various comic book panels and evaluate its performance by comparing their results with a professional DVD.

Passive auto-focus for digital still cameras and camera phones: Filter-switching and low-light techniques

NASA Astrophysics Data System (ADS)

Gamadia, Mark Noel

In order to gain valuable market share in the growing consumer digital still camera and camera phone market, camera manufacturers have to continually add and improve existing features to their latest product offerings. Auto-focus (AF) is one such feature, whose aim is to enable consumers to quickly take sharply focused pictures with little or no manual intervention in adjusting the camera's focus lens. While AF has been a standard feature in digital still and cell-phone cameras, consumers often complain about their cameras' slow AF performance, which may lead to missed photographic opportunities, rendering valuable moments and events with undesired out-of-focus pictures. This dissertation addresses this critical issue to advance the state-of-the-art in the digital band-pass filter, passive AF method. This method is widely used to realize AF in the camera industry, where a focus actuator is adjusted via a search algorithm to locate the in-focus position by maximizing a sharpness measure extracted from a particular frequency band of the incoming image of the scene. There are no known systematic methods for automatically deriving the parameters such as the digital pass-bands or the search step-size increments used in existing passive AF schemes. Conventional methods require time consuming experimentation and tuning in order to arrive at a set of parameters which balance AF performance in terms of speed and accuracy ultimately causing a delay in product time-to-market. This dissertation presents a new framework for determining an optimal set of passive AF parameters, named Filter- Switching AF, providing an automatic approach to achieve superior AF performance, both in good and low lighting conditions based on the following performance measures (metrics): speed (total number of iterations), accuracy (offset from truth), power consumption (total distance moved), and user experience (in-focus position overrun). Performance results using three different prototype cameras are presented to further illustrate the real-world AF performance gains achieved by the developed approach. The major contribution of this dissertation is that the developed auto focusing approach can be successfully used by camera manufacturers in the development of the AF feature in future generations of digital still cameras and camera phones.

A Simple Approach to Collecting Useful Wildlife Data Using Remote Camera-Traps in Undergraduate Biology Courses

ERIC Educational Resources Information Center

Christensen, David R.

2016-01-01

Remote camera-traps are commonly used to estimate the abundance, diversity, behavior and habitat use of wildlife in an inexpensive and nonintrusive manner. Because of the increasing use of remote-cameras in wildlife studies, students interested in wildlife biology should be exposed to the use of remote-cameras early in their academic careers.…

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

Single-snapshot 2D color measurement by plenoptic imaging system

NASA Astrophysics Data System (ADS)

Masuda, Kensuke; Yamanaka, Yuji; Maruyama, Go; Nagai, Sho; Hirai, Hideaki; Meng, Lingfei; Tosic, Ivana

2014-03-01

Plenoptic cameras enable capture of directional light ray information, thus allowing applications such as digital refocusing, depth estimation, or multiband imaging. One of the most common plenoptic camera architectures contains a microlens array at the conventional image plane and a sensor at the back focal plane of the microlens array. We leverage the multiband imaging (MBI) function of this camera and develop a single-snapshot, single-sensor high color fidelity camera. Our camera is based on a plenoptic system with XYZ filters inserted in the pupil plane of the main lens. To achieve high color measurement precision of this system, we perform an end-to-end optimization of the system model that includes light source information, object information, optical system information, plenoptic image processing and color estimation processing. Optimized system characteristics are exploited to build an XYZ plenoptic colorimetric camera prototype that achieves high color measurement precision. We describe an application of our colorimetric camera to color shading evaluation of display and show that it achieves color accuracy of ΔE<0.01.

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

NASA Astrophysics Data System (ADS)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

Calibration of asynchronous smart phone cameras from moving objects

NASA Astrophysics Data System (ADS)

Hagen, Oksana; Istenič, Klemen; Bharti, Vibhav; Dhali, Maruf Ahmed; Barmaimon, Daniel; Houssineau, Jérémie; Clark, Daniel

2015-04-01

Calibrating multiple cameras is a fundamental prerequisite for many Computer Vision applications. Typically this involves using a pair of identical synchronized industrial or high-end consumer cameras. This paper considers an application on a pair of low-cost portable cameras with different parameters that are found in smart phones. This paper addresses the issues of acquisition, detection of moving objects, dynamic camera registration and tracking of arbitrary number of targets. The acquisition of data is performed using two standard smart phone cameras and later processed using detections of moving objects in the scene. The registration of cameras onto the same world reference frame is performed using a recently developed method for camera calibration using a disparity space parameterisation and the single-cluster PHD filter.

Automatic calibration method for plenoptic camera

NASA Astrophysics Data System (ADS)

Luan, Yinsen; He, Xing; Xu, Bing; Yang, Ping; Tang, Guomao

2016-04-01

An automatic calibration method is proposed for a microlens-based plenoptic camera. First, all microlens images on the white image are searched and recognized automatically based on digital morphology. Then, the center points of microlens images are rearranged according to their relative position relationships. Consequently, the microlens images are located, i.e., the plenoptic camera is calibrated without the prior knowledge of camera parameters. Furthermore, this method is appropriate for all types of microlens-based plenoptic cameras, even the multifocus plenoptic camera, the plenoptic camera with arbitrarily arranged microlenses, or the plenoptic camera with different sizes of microlenses. Finally, we verify our method by the raw data of Lytro. The experiments show that our method has higher intelligence than the methods published before.

Of Detection Limits and Effective Mitigation: The Use of Infrared Cameras for Methane Leak Detection

NASA Astrophysics Data System (ADS)

Ravikumar, A. P.; Wang, J.; McGuire, M.; Bell, C.; Brandt, A. R.

2017-12-01

Mitigating methane emissions, a short-lived and potent greenhouse gas, is critical to limiting global temperature rise to two degree Celsius as outlined in the Paris Agreement. A major source of anthropogenic methane emissions in the United States is the oil and gas sector. To this effect, state and federal governments have recommended the use of optical gas imaging systems in periodic leak detection and repair (LDAR) surveys to detect for fugitive emissions or leaks. The most commonly used optical gas imaging systems (OGI) are infrared cameras. In this work, we systematically evaluate the limits of infrared (IR) camera based OGI system for use in methane leak detection programs. We analyze the effect of various parameters that influence the minimum detectable leak rates of infrared cameras. Blind leak detection tests were carried out at the Department of Energy's MONITOR natural gas test-facility in Fort Collins, CO. Leak sources included natural gas wellheads, separators, and tanks. With an EPA mandated 60 g/hr leak detection threshold for IR cameras, we test leak rates ranging from 4 g/hr to over 350 g/hr at imaging distances between 5 ft and 70 ft from the leak source. We perform these experiments over the course of a week, encompassing a wide range of wind and weather conditions. Using repeated measurements at a given leak rate and imaging distance, we generate detection probability curves as a function of leak-size for various imaging distances, and measurement conditions. In addition, we estimate the median detection threshold - leak-size at which the probability of detection is 50% - under various scenarios to reduce uncertainty in mitigation effectiveness. Preliminary analysis shows that the median detection threshold varies from 3 g/hr at an imaging distance of 5 ft to over 150 g/hr at 50 ft (ambient temperature: 80 F, winds < 4 m/s). Results from this study can be directly used to improve OGI based LDAR protocols and reduce uncertainty in estimated mitigation effectiveness. Furthermore, detection limits determined in this study can be used as standards to compare new detection technologies.

Thrombus segmentation by texture dynamics from microscopic image sequences

NASA Astrophysics Data System (ADS)

Brieu, Nicolas; Serbanovic-Canic, Jovana; Cvejic, Ana; Stemple, Derek; Ouwehand, Willem; Navab, Nassir; Groher, Martin

2010-03-01

The genetic factors of thrombosis are commonly explored by microscopically imaging the coagulation of blood cells induced by injuring a vessel of mice or of zebrafish mutants. The latter species is particularly interesting since skin transparency permits to non-invasively acquire microscopic images of the scene with a CCD camera and to estimate the parameters characterizing the thrombus development. These parameters are currently determined by manual outlining, which is both error prone and extremely time consuming. Even though a technique for automatic thrombus extraction would be highly valuable for gene analysts, little work can be found, which is mainly due to very low image contrast and spurious structures. In this work, we propose to semi-automatically segment the thrombus over time from microscopic image sequences of wild-type zebrafish larvae. To compensate the lack of valuable spatial information, our main idea consists of exploiting the temporal information by modeling the variations of the pixel intensities over successive temporal windows with a linear Markov-based dynamic texture formalization. We then derive an image from the estimated model parameters, which represents the probability of a pixel to belong to the thrombus. We employ this probability image to accurately estimate the thrombus position via an active contour segmentation incorporating also prior and spatial information of the underlying intensity images. The performance of our approach is tested on three microscopic image sequences. We show that the thrombus is accurately tracked over time in each sequence if the respective parameters controlling prior influence and contour stiffness are correctly chosen.

Measuring Positions of Objects using Two or More Cameras

NASA Technical Reports Server (NTRS)

Klinko, Steve; Lane, John; Nelson, Christopher

2008-01-01

An improved method of computing positions of objects from digitized images acquired by two or more cameras (see figure) has been developed for use in tracking debris shed by a spacecraft during and shortly after launch. The method is also readily adaptable to such applications as (1) tracking moving and possibly interacting objects in other settings in order to determine causes of accidents and (2) measuring positions of stationary objects, as in surveying. Images acquired by cameras fixed to the ground and/or cameras mounted on tracking telescopes can be used in this method. In this method, processing of image data starts with creation of detailed computer- aided design (CAD) models of the objects to be tracked. By rotating, translating, resizing, and overlaying the models with digitized camera images, parameters that characterize the position and orientation of the camera can be determined. The final position error depends on how well the centroids of the objects in the images are measured; how accurately the centroids are interpolated for synchronization of cameras; and how effectively matches are made to determine rotation, scaling, and translation parameters. The method involves use of the perspective camera model (also denoted the point camera model), which is one of several mathematical models developed over the years to represent the relationships between external coordinates of objects and the coordinates of the objects as they appear on the image plane in a camera. The method also involves extensive use of the affine camera model, in which the distance from the camera to an object (or to a small feature on an object) is assumed to be much greater than the size of the object (or feature), resulting in a truly two-dimensional image. The affine camera model does not require advance knowledge of the positions and orientations of the cameras. This is because ultimately, positions and orientations of the cameras and of all objects are computed in a coordinate system attached to one object as defined in its CAD model.

Astrophotography Basics: Meteors, Comets, Eclipses, Aurorae, Star Trails. Revised.

ERIC Educational Resources Information Center

Eastman Kodak Co., Rochester, NY.

This pamphlet gives an introduction to the principles of astronomical picture-taking. Chapters included are: (1) "Getting Started" (describing stationary cameras, sky charts and mapping, guided cameras, telescopes, brightness of astronomical subjects, estimating exposure, film selection, camera filters, film processing, and exposure for…

Gate simulation of Compton Ar-Xe gamma-camera for radionuclide imaging in nuclear medicine

NASA Astrophysics Data System (ADS)

Dubov, L. Yu; Belyaev, V. N.; Berdnikova, A. K.; Bolozdynia, A. I.; Akmalova, Yu A.; Shtotsky, Yu V.

2017-01-01

Computer simulations of cylindrical Compton Ar-Xe gamma camera are described in the current report. Detection efficiency of cylindrical Ar-Xe Compton camera with internal diameter of 40 cm is estimated as1-3%that is 10-100 times higher than collimated Anger’s camera. It is shown that cylindrical Compton camera can image Tc-99m radiotracer distribution with uniform spatial resolution of 20 mm through the whole field of view.

Integrating unmanned aerial systems and LSPIV for rapid, cost-effective stream gauging

NASA Astrophysics Data System (ADS)

Lewis, Quinn W.; Lindroth, Evan M.; Rhoads, Bruce L.

2018-05-01

Quantifying flow in rivers is fundamental to assessments of water supply, water quality, ecological conditions, hydrological responses to storm events, and geomorphological processes. Image-based surface velocity measurements have shown promise in extending the range of discharge conditions that can be measured in the field. The use of Unmanned Aerial Systems (UAS) in image-based measurements of surface velocities has the potential to expand applications of this method. Thus far, few investigations have assessed this potential by evaluating the accuracy and repeatability of discharge measurements using surface velocities obtained from UAS. This study uses large-scale particle image velocimetry (LSPIV) derived from videos captured by cameras on a UAS and a fixed tripod to obtain discharge measurements at ten different stream locations in Illinois, USA. Discharge values are compared to reference values measured by an acoustic Doppler current profiler, a propeller meter, and established stream gauges. The results demonstrate the effects of UAS flight height, camera steadiness and leveling accuracy, video sampling frequency, and LSPIV interrogation area size on surface velocities, and show that the mean difference between fixed and UAS cameras is less than 10%. Differences between LSPIV-derived and reference discharge values are generally less than 20%, not systematically low or high, and not related to site parameters like channel width or depth, indicating that results are relatively insensitive to camera setup and image processing parameters typically required of LSPIV. The results also show that standard velocity indices (between 0.85 and 0.9) recommended for converting surface velocities to depth-averaged velocities yield reasonable discharge estimates, but are best calibrated at specific sites. The study recommends a basic methodology for LSPIV discharge measurements using UAS that is rapid, cost-efficient, and does not require major preparatory work at a measurement location, pre- and post-processing of imagery, or extensive background in image analysis and PIV.

Camera trapping estimates of density and survival of fishers (Martes pennanti)

Treesearch

Mark J. Jordan; Reginald H. Barrett; Kathryn L. Purcell

2011-01-01

Developing efficient monitoring strategies for species of conservation concern is critical to ensuring their persistence. We have developed a method using camera traps to estimate density and survival in mesocarnivores and tested it on a population of fishers Martes pennanti in an area of approximately 300 km2 of the southern...

The Atacama Cosmology Telescope: Two-Season ACTPol Spectra and Parameters

NASA Technical Reports Server (NTRS)

Louis, Thibaut; Grace, Emily; Hasselfield, Matthew; Lungu, Marius; Maurin, Loic; Addison, Graeme E.; Adem Peter A. R.; Aiola, Simone; Allison, Rupert; Amiri, Mandana;

The Atacama Cosmology Telescope: two-season ACTPol spectra and parameters

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

Louis, Thibaut; Grace, Emily; Aiola, Simone

We present the temperature and polarization angular power spectra measured by the Atacama Cosmology Telescope Polarimeter (ACTPol). We analyze night-time data collected during 2013–14 using two detector arrays at 149 GHz, from 548 deg{sup 2} of sky on the celestial equator. We use these spectra, and the spectra measured with the MBAC camera on ACT from 2008–10, in combination with planck and wmap data to estimate cosmological parameters from the temperature, polarization, and temperature-polarization cross-correlations. We find the new ACTPol data to be consistent with the ΛCDM model. The ACTPol temperature-polarization cross-spectrum now provides stronger constraints on multiple parameters thanmore » the ACTPol temperature spectrum, including the baryon density, the acoustic peak angular scale, and the derived Hubble constant. The new ACTPol data provide information on damping tail parameters. The joint uncertainty on the number of neutrino species and the primordial helium fraction is reduced by 20% when adding ACTPol to Planck temperature data alone.« less

The Atacama Cosmology Telescope: two-season ACTPol spectra and parameters

NASA Astrophysics Data System (ADS)

Louis, Thibaut; Grace, Emily; Hasselfield, Matthew; Lungu, Marius; Maurin, Loïc; Addison, Graeme E.; Ade, Peter A. R.; Aiola, Simone; Allison, Rupert; Amiri, Mandana; Angile, Elio; Battaglia, Nicholas; Beall, James A.; de Bernardis, Francesco; Bond, J. Richard; Britton, Joe; Calabrese, Erminia; Cho, Hsiao-mei; Choi, Steve K.; Coughlin, Kevin; Crichton, Devin; Crowley, Kevin; Datta, Rahul; Devlin, Mark J.; Dicker, Simon R.; Dunkley, Joanna; Dünner, Rolando; Ferraro, Simone; Fox, Anna E.; Gallardo, Patricio; Gralla, Megan; Halpern, Mark; Henderson, Shawn; Hill, J. Colin; Hilton, Gene C.; Hilton, Matt; Hincks, Adam D.; Hlozek, Renée; Ho, S. P. Patty; Huang, Zhiqi; Hubmayr, Johannes; Huffenberger, Kevin M.; Hughes, John P.; Infante, Leopoldo; Irwin, Kent; Muya Kasanda, Simon; Klein, Jeff; Koopman, Brian; Kosowsky, Arthur; Li, Dale; Madhavacheril, Mathew; Marriage, Tobias A.; McMahon, Jeff; Menanteau, Felipe; Moodley, Kavilan; Munson, Charles; Naess, Sigurd; Nati, Federico; Newburgh, Laura; Nibarger, John; Niemack, Michael D.; Nolta, Michael R.; Nuñez, Carolina; Page, Lyman A.; Pappas, Christine; Partridge, Bruce; Rojas, Felipe; Schaan, Emmanuel; Schmitt, Benjamin L.; Sehgal, Neelima; Sherwin, Blake D.; Sievers, Jon; Simon, Sara; Spergel, David N.; Staggs, Suzanne T.; Switzer, Eric R.; Thornton, Robert; Trac, Hy; Treu, Jesse; Tucker, Carole; Van Engelen, Alexander; Ward, Jonathan T.; Wollack, Edward J.

2017-06-01

We present the temperature and polarization angular power spectra measured by the Atacama Cosmology Telescope Polarimeter (ACTPol). We analyze night-time data collected during 2013-14 using two detector arrays at 149 GHz, from 548 deg2 of sky on the celestial equator. We use these spectra, and the spectra measured with the MBAC camera on ACT from 2008-10, in combination with planck and wmap data to estimate cosmological parameters from the temperature, polarization, and temperature-polarization cross-correlations. We find the new ACTPol data to be consistent with the ΛCDM model. The ACTPol temperature-polarization cross-spectrum now provides stronger constraints on multiple parameters than the ACTPol temperature spectrum, including the baryon density, the acoustic peak angular scale, and the derived Hubble constant. The new ACTPol data provide information on damping tail parameters. The joint uncertainty on the number of neutrino species and the primordial helium fraction is reduced by 20% when adding ACTPol to Planck temperature data alone.

Human Age Estimation Method Robust to Camera Sensor and/or Face Movement

PubMed Central

Nguyen, Dat Tien; Cho, So Ra; Pham, Tuyen Danh; Park, Kang Ryoung

2015-01-01

Human age can be employed in many useful real-life applications, such as customer service systems, automatic vending machines, entertainment, etc. In order to obtain age information, image-based age estimation systems have been developed using information from the human face. However, limitations exist for current age estimation systems because of the various factors of camera motion and optical blurring, facial expressions, gender, etc. Motion blurring can usually be presented on face images by the movement of the camera sensor and/or the movement of the face during image acquisition. Therefore, the facial feature in captured images can be transformed according to the amount of motion, which causes performance degradation of age estimation systems. In this paper, the problem caused by motion blurring is addressed and its solution is proposed in order to make age estimation systems robust to the effects of motion blurring. Experiment results show that our method is more efficient for enhancing age estimation performance compared with systems that do not employ our method. PMID:26334282

Advances in x-ray framing cameras at the National Ignition Facility to improve quantitative precision in x-ray imaging

DOE PAGES

Benedetti, L. R.; Holder, J. P.; Perkins, M.; ...

2016-02-26

We describe an experimental method to measure the gate profile of an x-ray framing camera and to determine several important functional parameters: relative gain (between strips), relative gain droop (within each strip), gate propagation velocity, gate width, and actual inter-strip timing. Several of these parameters cannot be measured accurately by any other technique. This method is then used to document cross talk-induced gain variations and artifacts created by radiation that arrives before the framing camera is actively amplifying x-rays. Electromagnetic cross talk can cause relative gains to vary significantly as inter-strip timing is varied. This imposes a stringent requirement formore » gain calibration. If radiation arrives before a framing camera is triggered, it can cause an artifact that manifests as a high-intensity, spatially varying background signal. Furthermore, we have developed a device that can be added to the framing camera head to prevent these artifacts.« less

Advances in x-ray framing cameras at the National Ignition Facility to improve quantitative precision in x-ray imaging.

PubMed

Benedetti, L R; Holder, J P; Perkins, M; Brown, C G; Anderson, C S; Allen, F V; Petre, R B; Hargrove, D; Glenn, S M; Simanovskaia, N; Bradley, D K; Bell, P

2016-02-01

We describe an experimental method to measure the gate profile of an x-ray framing camera and to determine several important functional parameters: relative gain (between strips), relative gain droop (within each strip), gate propagation velocity, gate width, and actual inter-strip timing. Several of these parameters cannot be measured accurately by any other technique. This method is then used to document cross talk-induced gain variations and artifacts created by radiation that arrives before the framing camera is actively amplifying x-rays. Electromagnetic cross talk can cause relative gains to vary significantly as inter-strip timing is varied. This imposes a stringent requirement for gain calibration. If radiation arrives before a framing camera is triggered, it can cause an artifact that manifests as a high-intensity, spatially varying background signal. We have developed a device that can be added to the framing camera head to prevent these artifacts.

Comparison of three-dimensional optical coherence tomography and combining a rotating Scheimpflug camera with a Placido topography system for forme fruste keratoconus diagnosis.

PubMed

Fukuda, Shinichi; Beheregaray, Simone; Hoshi, Sujin; Yamanari, Masahiro; Lim, Yiheng; Hiraoka, Takahiro; Yasuno, Yoshiaki; Oshika, Tetsuro

2013-12-01

To evaluate the ability of parameters measured by three-dimensional (3D) corneal and anterior segment optical coherence tomography (CAS-OCT) and a rotating Scheimpflug camera combined with a Placido topography system (Scheimpflug camera with topography) to discriminate between normal eyes and forme fruste keratoconus. Forty-eight eyes of 48 patients with keratoconus, 25 eyes of 25 patients with forme fruste keratoconus and 128 eyes of 128 normal subjects were evaluated. Anterior and posterior keratometric parameters (steep K, flat K, average K), elevation, topographic parameters, regular and irregular astigmatism (spherical, asymmetry, regular and higher-order astigmatism) and five pachymetric parameters (minimum, minimum-median, inferior-superior, inferotemporal-superonasal, vertical thinnest location of the cornea) were measured using 3D CAS-OCT and a Scheimpflug camera with topography. The area under the receiver operating curve (AUROC) was calculated to assess the discrimination ability. Compatibility and repeatability of both devices were evaluated. Posterior surface elevation showed higher AUROC values in discrimination analysis of forme fruste keratoconus using both devices. Both instruments showed significant linear correlations (p<0.05, Pearson's correlation coefficient) and good repeatability (ICCs: 0.885-0.999) for normal and forme fruste keratoconus. Posterior elevation was the best discrimination parameter for forme fruste keratoconus. Both instruments presented good correlation and repeatability for this condition.

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.

Testing the consistency of wildlife data types before combining them: the case of camera traps and telemetry.

PubMed

Popescu, Viorel D; Valpine, Perry; Sweitzer, Rick A

2014-04-01

Wildlife data gathered by different monitoring techniques are often combined to estimate animal density. However, methods to check whether different types of data provide consistent information (i.e., can information from one data type be used to predict responses in the other?) before combining them are lacking. We used generalized linear models and generalized linear mixed-effects models to relate camera trap probabilities for marked animals to independent space use from telemetry relocations using 2 years of data for fishers (Pekania pennanti) as a case study. We evaluated (1) camera trap efficacy by estimating how camera detection probabilities are related to nearby telemetry relocations and (2) whether home range utilization density estimated from telemetry data adequately predicts camera detection probabilities, which would indicate consistency of the two data types. The number of telemetry relocations within 250 and 500 m from camera traps predicted detection probability well. For the same number of relocations, females were more likely to be detected during the first year. During the second year, all fishers were more likely to be detected during the fall/winter season. Models predicting camera detection probability and photo counts solely from telemetry utilization density had the best or nearly best Akaike Information Criterion (AIC), suggesting that telemetry and camera traps provide consistent information on space use. Given the same utilization density, males were more likely to be photo-captured due to larger home ranges and higher movement rates. Although methods that combine data types (spatially explicit capture-recapture) make simple assumptions about home range shapes, it is reasonable to conclude that in our case, camera trap data do reflect space use in a manner consistent with telemetry data. However, differences between the 2 years of data suggest that camera efficacy is not fully consistent across ecological conditions and make the case for integrating other sources of space-use data.

Camera-trap study of ocelot and other secretive mammals in the northern Pantanal

USGS Publications Warehouse

Trolle, M.; Kery, M.

2005-01-01

Reliable information on abundance of the ocelot (Leopardus pardalis) is scarce. We conducted the first camera-trap study in the northern part of the Pantanal wetlands of Brazil, one of the wildlife hotspots of South America. Using capture-recapture analysis, we estimated a density of 0.112 independent individuals per km2 (SE 0.069). We list other mammals recorded with camera traps and show that camera-trap placement on roads or on trails has striking effects on camera-trapping rates.

A versatile photogrammetric camera automatic calibration suite for multispectral fusion and optical helmet tracking

NASA Astrophysics Data System (ADS)

de Villiers, Jason; Jermy, Robert; Nicolls, Fred

2014-06-01

This paper presents a system to determine the photogrammetric parameters of a camera. The lens distortion, focal length and camera six degree of freedom (DOF) position are calculated. The system caters for cameras of different sensitivity spectra and fields of view without any mechanical modifications. The distortion characterization, a variant of Brown's classic plumb line method, allows many radial and tangential distortion coefficients and finds the optimal principal point. Typical values are 5 radial and 3 tangential coefficients. These parameters are determined stably and demonstrably produce superior results to low order models despite popular and prevalent misconceptions to the contrary. The system produces coefficients to model both the distorted to undistorted pixel coordinate transformation (e.g. for target designation) and the inverse transformation (e.g. for image stitching and fusion) allowing deterministic rates far exceeding real time. The focal length is determined to minimise the error in absolute photogrammetric positional measurement for both multi camera systems or monocular (e.g. helmet tracker) systems. The system determines the 6 DOF position of the camera in a chosen coordinate system. It can also determine the 6 DOF offset of the camera relative to its mechanical mount. This allows faulty cameras to be replaced without requiring a recalibration of the entire system (such as an aircraft cockpit). Results from two simple applications of the calibration results are presented: stitching and fusion of the images from a dual-band visual/ LWIR camera array, and a simple laboratory optical helmet tracker.

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.

Camera trap placement and the potential for bias due to trails and other features

PubMed Central

Forrester, Tavis D.

2017-01-01

Camera trapping has become an increasingly widespread tool for wildlife ecologists, with large numbers of studies relying on photo capture rates or presence/absence information. It is increasingly clear that camera placement can directly impact this kind of data, yet these biases are poorly understood. We used a paired camera design to investigate the effect of small-scale habitat features on species richness estimates, and capture rate and detection probability of several mammal species in the Shenandoah Valley of Virginia, USA. Cameras were deployed at either log features or on game trails with a paired camera at a nearby random location. Overall capture rates were significantly higher at trail and log cameras compared to their paired random cameras, and some species showed capture rates as much as 9.7 times greater at feature-based cameras. We recorded more species at both log (17) and trail features (15) than at their paired control cameras (13 and 12 species, respectively), yet richness estimates were indistinguishable after 659 and 385 camera nights of survey effort, respectively. We detected significant increases (ranging from 11–33%) in detection probability for five species resulting from the presence of game trails. For six species detection probability was also influenced by the presence of a log feature. This bias was most pronounced for the three rodents investigated, where in all cases detection probability was substantially higher (24.9–38.2%) at log cameras. Our results indicate that small-scale factors, including the presence of game trails and other features, can have significant impacts on species detection when camera traps are employed. Significant biases may result if the presence and quality of these features are not documented and either incorporated into analytical procedures, or controlled for in study design. PMID:29045478

Camera trap placement and the potential for bias due to trails and other features.

PubMed

Kolowski, Joseph M; Forrester, Tavis D

2017-01-01

Camera trapping has become an increasingly widespread tool for wildlife ecologists, with large numbers of studies relying on photo capture rates or presence/absence information. It is increasingly clear that camera placement can directly impact this kind of data, yet these biases are poorly understood. We used a paired camera design to investigate the effect of small-scale habitat features on species richness estimates, and capture rate and detection probability of several mammal species in the Shenandoah Valley of Virginia, USA. Cameras were deployed at either log features or on game trails with a paired camera at a nearby random location. Overall capture rates were significantly higher at trail and log cameras compared to their paired random cameras, and some species showed capture rates as much as 9.7 times greater at feature-based cameras. We recorded more species at both log (17) and trail features (15) than at their paired control cameras (13 and 12 species, respectively), yet richness estimates were indistinguishable after 659 and 385 camera nights of survey effort, respectively. We detected significant increases (ranging from 11-33%) in detection probability for five species resulting from the presence of game trails. For six species detection probability was also influenced by the presence of a log feature. This bias was most pronounced for the three rodents investigated, where in all cases detection probability was substantially higher (24.9-38.2%) at log cameras. Our results indicate that small-scale factors, including the presence of game trails and other features, can have significant impacts on species detection when camera traps are employed. Significant biases may result if the presence and quality of these features are not documented and either incorporated into analytical procedures, or controlled for in study design.

Three-dimensional cinematography with control object of unknown shape.

PubMed

Dapena, J; Harman, E A; Miller, J A

1982-01-01

A technique for reconstruction of three-dimensional (3D) motion which involves a simple filming procedure but allows the deduction of coordinates in large object volumes was developed. Internal camera parameters are calculated from measurements of the film images of two calibrated crosses while external camera parameters are calculated from the film images of points in a control object of unknown shape but at least one known length. The control object, which includes the volume in which the activity is to take place, is formed by a series of poles placed at unknown locations, each carrying two targets. From the internal and external camera parameters, and from locations of the images of point in the films of the two cameras, 3D coordinates of the point can be calculated. Root mean square errors of the three coordinates of points in a large object volume (5m x 5m x 1.5m) were 15 mm, 13 mm, 13 mm and 6 mm, and relative errors in lengths averaged 0.5%, 0.7% and 0.5%, respectively.

Panorama parking assistant system with improved particle swarm optimization method

NASA Astrophysics Data System (ADS)

Cheng, Ruzhong; Zhao, Yong; Li, Zhichao; Jiang, Weigang; Wang, Xin'an; Xu, Yong

2013-10-01

A panorama parking assistant system (PPAS) for the automotive aftermarket together with a practical improved particle swarm optimization method (IPSO) are proposed in this paper. In the PPAS system, four fisheye cameras are installed in the vehicle with different views, and four channels of video frames captured by the cameras are processed as a 360-deg top-view image around the vehicle. Besides the embedded design of PPAS, the key problem for image distortion correction and mosaicking is the efficiency of parameter optimization in the process of camera calibration. In order to address this problem, an IPSO method is proposed. Compared with other parameter optimization methods, the proposed method allows a certain range of dynamic change for the intrinsic and extrinsic parameters, and can exploit only one reference image to complete all of the optimization; therefore, the efficiency of the whole camera calibration is increased. The PPAS is commercially available, and the IPSO method is a highly practical way to increase the efficiency of the installation and the calibration of PPAS in automobile 4S shops.

Transient Infrared Measurement of Laser Absorption Properties of Porous Materials

NASA Astrophysics Data System (ADS)

Marynowicz, Andrzej

2016-06-01

The infrared thermography measurements of porous building materials have become more frequent in recent years. Many accompanying techniques for the thermal field generation have been developed, including one based on laser radiation. This work presents a simple optimization technique for estimation of the laser beam absorption for selected porous building materials, namely clinker brick and cement mortar. The transient temperature measurements were performed with the use of infrared camera during laser-induced heating-up of the samples' surfaces. As the results, the absorbed fractions of the incident laser beam together with its shape parameter are reported.

A fast non-contact imaging photoplethysmography method using a tissue-like model

NASA Astrophysics Data System (ADS)

McDuff, Daniel J.; Blackford, Ethan B.; Estepp, Justin R.; Nishidate, Izumi

2018-02-01

Imaging photoplethysmography (iPPG) allows non-contact, concomitant measurement and visualization of peripheral blood flow using just an RGB camera. Most iPPG methods require a window of temporal data and complex computation, this makes real-time measurement and spatial visualization impossible. We present a fast,"window-less", non-contact imaging photoplethysmography method, based on a tissue-like model of the skin, that allows accurate measurement of heart rate and heart rate variability parameters. The error in heart rate estimates is equivalent to state-of-the-art techniques and computation is much faster.

3D ocular ultrasound using gaze tracking on the contralateral eye: a feasibility study.

PubMed

Afsham, Narges; Najafi, Mohammad; Abolmaesumi, Purang; Rohling, Robert

2011-01-01

A gaze-deviated examination of the eye with a 2D ultrasound transducer is a common and informative ophthalmic test; however, the complex task of the pose estimation of the ultrasound images relative to the eye affects 3D interpretation. To tackle this challenge, a novel system for 3D image reconstruction based on gaze tracking of the contralateral eye has been proposed. The gaze fixates on several target points and, for each fixation, the pose of the examined eye is inferred from the gaze tracking. A single camera system has been developed for pose estimation combined with subject-specific parameter identification. The ultrasound images are then transformed to the coordinate system of the examined eye to create a 3D volume. Accuracy of the proposed gaze tracking system and the pose estimation of the eye have been validated in a set of experiments. Overall system error, including pose estimation and calibration, are 3.12 mm and 4.68 degrees.

An optimal algorithm for reconstructing images from binary measurements

NASA Astrophysics Data System (ADS)

Yang, Feng; Lu, Yue M.; Sbaiz, Luciano; Vetterli, Martin

2010-01-01

We have studied a camera with a very large number of binary pixels referred to as the gigavision camera [1] or the gigapixel digital film camera [2, 3]. Potential advantages of this new camera design include improved dynamic range, thanks to its logarithmic sensor response curve, and reduced exposure time in low light conditions, due to its highly sensitive photon detection mechanism. We use maximum likelihood estimator (MLE) to reconstruct a high quality conventional image from the binary sensor measurements of the gigavision camera. We prove that when the threshold T is "1", the negative loglikelihood function is a convex function. Therefore, optimal solution can be achieved using convex optimization. Base on filter bank techniques, fast algorithms are given for computing the gradient and the multiplication of a vector and Hessian matrix of the negative log-likelihood function. We show that with a minor change, our algorithm also works for estimating conventional images from multiple binary images. Numerical experiments with synthetic 1-D signals and images verify the effectiveness and quality of the proposed algorithm. Experimental results also show that estimation performance can be improved by increasing the oversampling factor or the number of binary images.

Light field geometry of a Standard Plenoptic Camera.

PubMed

Hahne, Christopher; Aggoun, Amar; Haxha, Shyqyri; Velisavljevic, Vladan; Fernández, Juan Carlos Jácome

2014-11-03

The Standard Plenoptic Camera (SPC) is an innovation in photography, allowing for acquiring two-dimensional images focused at different depths, from a single exposure. Contrary to conventional cameras, the SPC consists of a micro lens array and a main lens projecting virtual lenses into object space. For the first time, the present research provides an approach to estimate the distance and depth of refocused images extracted from captures obtained by an SPC. Furthermore, estimates for the position and baseline of virtual lenses which correspond to an equivalent camera array are derived. On the basis of paraxial approximation, a ray tracing model employing linear equations has been developed and implemented using Matlab. The optics simulation tool Zemax is utilized for validation purposes. By designing a realistic SPC, experiments demonstrate that a predicted image refocusing distance at 3.5 m deviates by less than 11% from the simulation in Zemax, whereas baseline estimations indicate no significant difference. Applying the proposed methodology will enable an alternative to the traditional depth map acquisition by disparity analysis.

Sensor fusion of cameras and a laser for city-scale 3D reconstruction.

PubMed

Bok, Yunsu; Choi, Dong-Geol; Kweon, In So

2014-11-04

This paper presents a sensor fusion system of cameras and a 2D laser sensorfor large-scale 3D reconstruction. The proposed system is designed to capture data on afast-moving ground vehicle. The system consists of six cameras and one 2D laser sensor,and they are synchronized by a hardware trigger. Reconstruction of 3D structures is doneby estimating frame-by-frame motion and accumulating vertical laser scans, as in previousworks. However, our approach does not assume near 2D motion, but estimates free motion(including absolute scale) in 3D space using both laser data and image features. In orderto avoid the degeneration associated with typical three-point algorithms, we present a newalgorithm that selects 3D points from two frames captured by multiple cameras. The problemof error accumulation is solved by loop closing, not by GPS. The experimental resultsshow that the estimated path is successfully overlaid on the satellite images, such that thereconstruction result is very accurate.

Constraining the Optical Emission from the Double Pulsar System J0737-3039

NASA Astrophysics Data System (ADS)

Ferraro, F. R.; Mignani, R. P.; Pallanca, C.; Dalessandro, E.; Lanzoni, B.; Pellizzoni, A.; Possenti, A.; Burgay, M.; Camilo, F.; D'Amico, N.; Lyne, A. G.; Kramer, M.; Manchester, R. N.

2012-04-01

We present the first optical observations of the unique system J0737-3039 (composed of two pulsars, hereafter PSR-A and PSR-B). Ultra-deep optical observations, performed with the High Resolution Camera of the Advanced Camera for Surveys on board the Hubble Space Telescope, could not detect any optical emission from the system down to m F435W = 27.0 and m F606W = 28.3. The estimated optical flux limits are used to constrain the three-component (two thermal and one non-thermal) model recently proposed to reproduce the XMM-Newton X-ray spectrum. They suggest the presence of a break at low energies in the non-thermal power-law component of PSR-A and are compatible with the expected blackbody emission from the PSR-B surface. The corresponding efficiency of the optical emission from PSR-A's magnetosphere would be comparable to that of other Myr-old pulsars, thus suggesting that this parameter may not dramatically evolve over a timescale of a few Myr.

Assimilating Eulerian and Lagrangian data in traffic-flow models

NASA Astrophysics Data System (ADS)

Xia, Chao; Cochrane, Courtney; DeGuire, Joseph; Fan, Gaoyang; Holmes, Emma; McGuirl, Melissa; Murphy, Patrick; Palmer, Jenna; Carter, Paul; Slivinski, Laura; Sandstede, Björn

2017-05-01

Data assimilation of traffic flow remains a challenging problem. One difficulty is that data come from different sources ranging from stationary sensors and camera data to GPS and cell phone data from moving cars. Sensors and cameras give information about traffic density, while GPS data provide information about the positions and velocities of individual cars. Previous methods for assimilating Lagrangian data collected from individual cars relied on specific properties of the underlying computational model or its reformulation in Lagrangian coordinates. These approaches make it hard to assimilate both Eulerian density and Lagrangian positional data simultaneously. In this paper, we propose an alternative approach that allows us to assimilate both Eulerian and Lagrangian data. We show that the proposed algorithm is accurate and works well in different traffic scenarios and regardless of whether ensemble Kalman or particle filters are used. We also show that the algorithm is capable of estimating parameters and assimilating real traffic observations and synthetic observations obtained from microscopic models.

Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

NASA Astrophysics Data System (ADS)

Gong, Yuanzheng; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

2015-03-01

The challenge is to accurately guide the surgical tool within the three-dimensional (3D) surgical field for roboticallyassisted operations such as tumor margin removal from a debulked brain tumor cavity. The proposed technique is 3D image-guided surgical navigation based on matching intraoperative video frames to a 3D virtual model of the surgical field. A small laser-scanning endoscopic camera was attached to a mock minimally-invasive surgical tool that was manipulated toward a region of interest (residual tumor) within a phantom of a debulked brain tumor. Video frames from the endoscope provided features that were matched to the 3D virtual model, which were reconstructed earlier by raster scanning over the surgical field. Camera pose (position and orientation) is recovered by implementing a constrained bundle adjustment algorithm. Navigational error during the approach to fluorescence target (residual tumor) is determined by comparing the calculated camera pose to the measured camera pose using a micro-positioning stage. From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++. Error analysis produced 3-mm distance error and 2.5 degree of orientation error on average. The sources of these errors come from 1) inaccuracy of the 3D virtual model, generated on a calibrated RAVEN robotic platform with stereo tracking; 2) inaccuracy of endoscope intrinsic parameters, such as focal length; and 3) any endoscopic image distortion from scanning irregularities. This work demonstrates feasibility of micro-camera 3D guidance of a robotic surgical tool.

Density estimation in a wolverine population using spatial capture-recapture models

USGS Publications Warehouse

Royle, J. Andrew; Magoun, Audrey J.; Gardner, Beth; Valkenbury, Patrick; Lowell, Richard E.; McKelvey, Kevin

2011-01-01

Classical closed-population capture-recapture models do not accommodate the spatial information inherent in encounter history data obtained from camera-trapping studies. As a result, individual heterogeneity in encounter probability is induced, and it is not possible to estimate density objectively because trap arrays do not have a well-defined sample area. We applied newly-developed, capture-recapture models that accommodate the spatial attribute inherent in capture-recapture data to a population of wolverines (Gulo gulo) in Southeast Alaska in 2008. We used camera-trapping data collected from 37 cameras in a 2,140-km2 area of forested and open habitats largely enclosed by ocean and glacial icefields. We detected 21 unique individuals 115 times. Wolverines exhibited a strong positive trap response, with an increased tendency to revisit previously visited traps. Under the trap-response model, we estimated wolverine density at 9.7 individuals/1,000-km2(95% Bayesian CI: 5.9-15.0). Our model provides a formal statistical framework for estimating density from wolverine camera-trapping studies that accounts for a behavioral response due to baited traps. Further, our model-based estimator does not have strict requirements about the spatial configuration of traps or length of trapping sessions, providing considerable operational flexibility in the development of field studies.

Low Cost and Efficient 3d Indoor Mapping Using Multiple Consumer Rgb-D Cameras

NASA Astrophysics Data System (ADS)

Chen, C.; Yang, B. S.; Song, S.

2016-06-01

Driven by the miniaturization, lightweight of positioning and remote sensing sensors as well as the urgent needs for fusing indoor and outdoor maps for next generation navigation, 3D indoor mapping from mobile scanning is a hot research and application topic. The point clouds with auxiliary data such as colour, infrared images derived from 3D indoor mobile mapping suite can be used in a variety of novel applications, including indoor scene visualization, automated floorplan generation, gaming, reverse engineering, navigation, simulation and etc. State-of-the-art 3D indoor mapping systems equipped with multiple laser scanners product accurate point clouds of building interiors containing billions of points. However, these laser scanner based systems are mostly expensive and not portable. Low cost consumer RGB-D Cameras provides an alternative way to solve the core challenge of indoor mapping that is capturing detailed underlying geometry of the building interiors. Nevertheless, RGB-D Cameras have a very limited field of view resulting in low efficiency in the data collecting stage and incomplete dataset that missing major building structures (e.g. ceilings, walls). Endeavour to collect a complete scene without data blanks using single RGB-D Camera is not technic sound because of the large amount of human labour and position parameters need to be solved. To find an efficient and low cost way to solve the 3D indoor mapping, in this paper, we present an indoor mapping suite prototype that is built upon a novel calibration method which calibrates internal parameters and external parameters of multiple RGB-D Cameras. Three Kinect sensors are mounted on a rig with different view direction to form a large field of view. The calibration procedure is three folds: 1, the internal parameters of the colour and infrared camera inside each Kinect are calibrated using a chess board pattern, respectively; 2, the external parameters between the colour and infrared camera inside each Kinect are calibrated using a chess board pattern; 3, the external parameters between every Kinect are firstly calculated using a pre-set calibration field and further refined by an iterative closet point algorithm. Experiments are carried out to validate the proposed method upon RGB-D datasets collected by the indoor mapping suite prototype. The effectiveness and accuracy of the proposed method is evaluated by comparing the point clouds derived from the prototype with ground truth data collected by commercial terrestrial laser scanner at ultra-high density. The overall analysis of the results shows that the proposed method achieves seamless integration of multiple point clouds form different RGB-D cameras collected at 30 frame per second.

The influence of the in situ camera calibration for direct georeferencing of aerial imagery

NASA Astrophysics Data System (ADS)

Mitishita, E.; Barrios, R.; Centeno, J.

2014-11-01

The direct determination of exterior orientation parameters (EOPs) of aerial images via GNSS/INS technologies is an essential prerequisite in photogrammetric mapping nowadays. Although direct sensor orientation technologies provide a high degree of automation in the process due to the GNSS/INS technologies, the accuracies of the obtained results depend on the quality of a group of parameters that models accurately the conditions of the system at the moment the job is performed. One sub-group of parameters (lever arm offsets and boresight misalignments) models the position and orientation of the sensors with respect to the IMU body frame due to the impossibility of having all sensors on the same position and orientation in the airborne platform. Another sub-group of parameters models the internal characteristics of the sensor (IOP). A system calibration procedure has been recommended by worldwide studies to obtain accurate parameters (mounting and sensor characteristics) for applications of the direct sensor orientation. Commonly, mounting and sensor characteristics are not stable; they can vary in different flight conditions. The system calibration requires a geometric arrangement of the flight and/or control points to decouple correlated parameters, which are not available in the conventional photogrammetric flight. Considering this difficulty, this study investigates the feasibility of the in situ camera calibration to improve the accuracy of the direct georeferencing of aerial images. The camera calibration uses a minimum image block, extracted from the conventional photogrammetric flight, and control point arrangement. A digital Vexcel UltraCam XP camera connected to POS AV TM system was used to get two photogrammetric image blocks. The blocks have different flight directions and opposite flight line. In situ calibration procedures to compute different sets of IOPs are performed and their results are analyzed and used in photogrammetric experiments. The IOPs from the in situ camera calibration improve significantly the accuracies of the direct georeferencing. The obtained results from the experiments are shown and discussed.

The Hidden Fortress: structure and substructure of the complex strong lensing cluster SDSS J1029+2623

NASA Astrophysics Data System (ADS)

Oguri, Masamune; Schrabback, Tim; Jullo, Eric; Ota, Naomi; Kochanek, Christopher S.; Dai, Xinyu; Ofek, Eran O.; Richards, Gordon T.; Blandford, Roger D.; Falco, Emilio E.; Fohlmeister, Janine

2013-02-01

We present Hubble Space Telescope (HST) Advanced Camera for Surveys (ACS) and Wide Field Camera 3 (WFC3) observations of SDSS J1029+2623, a three-image quasar lens system produced by a foreground cluster at z = 0.584. Our strong lensing analysis reveals six additional multiply imaged galaxies in addition to the multiply imaged quasar. We confirm the complex nature of the mass distribution of the lensing cluster, with a bimodal dark matter distribution which deviates from the Chandra X-ray surface brightness distribution. The Einstein radius of the lensing cluster is estimated to be θE = 15.2 ± 0.5 arcsec for the quasar redshift of z = 2.197. We derive a radial mass distribution from the combination of strong lensing, HST/ACS weak lensing and Subaru/Suprime-cam weak lensing analysis results, finding a best-fitting virial mass of Mvir = 1.55+ 0.40- 0.35 × 1014 h- 1 M⊙ and a concentration parameter of cvir = 25.7+ 14.1- 7.5. The lensing mass estimate at the outer radius is smaller than the X-ray mass estimate by a factor of ˜2. We ascribe this large mass discrepancy to shock heating of the intracluster gas during a merger, which is also suggested by the complex mass and gas distributions and the high value of the concentration parameter. In the HST image, we also identify a probable galaxy, GX, in the vicinity of the faintest quasar image C. In strong lens models, the inclusion of GX explains the anomalous flux ratios between the quasar images. The morphology of the highly elongated quasar host galaxy is also well reproduced. The best-fitting model suggests large total magnifications of 30 for the quasar and 35 for the quasar host galaxy, and has an AB time delay consistent with the measured value.

A positional estimation technique for an autonomous land vehicle in an unstructured environment

NASA Technical Reports Server (NTRS)

Talluri, Raj; Aggarwal, J. K.

1990-01-01

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Iterative Refinement of Transmission Map for Stereo Image Defogging Using a Dual Camera Sensor.

PubMed

Kim, Heegwang; Park, Jinho; Park, Hasil; Paik, Joonki

2017-12-09

Recently, the stereo imaging-based image enhancement approach has attracted increasing attention in the field of video analysis. This paper presents a dual camera-based stereo image defogging algorithm. Optical flow is first estimated from the stereo foggy image pair, and the initial disparity map is generated from the estimated optical flow. Next, an initial transmission map is generated using the initial disparity map. Atmospheric light is then estimated using the color line theory. The defogged result is finally reconstructed using the estimated transmission map and atmospheric light. The proposed method can refine the transmission map iteratively. Experimental results show that the proposed method can successfully remove fog without color distortion. The proposed method can be used as a pre-processing step for an outdoor video analysis system and a high-end smartphone with a dual camera system.

Real-time stop sign detection and distance estimation using a single camera

NASA Astrophysics Data System (ADS)

Wang, Wenpeng; Su, Yuxuan; Cheng, Ming

2018-04-01

In modern world, the drastic development of driver assistance system has made driving a lot easier than before. In order to increase the safety onboard, a method was proposed to detect STOP sign and estimate distance using a single camera. In STOP sign detection, LBP-cascade classifier was applied to identify the sign in the image, and the principle of pinhole imaging was based for distance estimation. Road test was conducted using a detection system built with a CMOS camera and software developed by Python language with OpenCV library. Results shows that that the proposed system reach a detection accuracy of maximum of 97.6% at 10m, a minimum of 95.00% at 20m, and 5% max error in distance estimation. The results indicate that the system is effective and has the potential to be used in both autonomous driving and advanced driver assistance driving systems.

Iterative Refinement of Transmission Map for Stereo Image Defogging Using a Dual Camera Sensor

PubMed Central

Park, Jinho; Park, Hasil

2017-01-01

Recently, the stereo imaging-based image enhancement approach has attracted increasing attention in the field of video analysis. This paper presents a dual camera-based stereo image defogging algorithm. Optical flow is first estimated from the stereo foggy image pair, and the initial disparity map is generated from the estimated optical flow. Next, an initial transmission map is generated using the initial disparity map. Atmospheric light is then estimated using the color line theory. The defogged result is finally reconstructed using the estimated transmission map and atmospheric light. The proposed method can refine the transmission map iteratively. Experimental results show that the proposed method can successfully remove fog without color distortion. The proposed method can be used as a pre-processing step for an outdoor video analysis system and a high-end smartphone with a dual camera system. PMID:29232826

Crop classification and LAI estimation using original and resolution-reduced images from consumer-grade cameras

USDA-ARS?s Scientific Manuscript database

Consumer-grade cameras are being increasingly used for remote sensing applications in recent years. However, the performance of this type of cameras has not been systematically tested and well documented in the literature. The objective of this research was to evaluate the performance of original an...

Behavior of Compact Toroid Injected into C-2U Confinement Vessel

NASA Astrophysics Data System (ADS)

Matsumoto, Tadafumi; Roche, T.; Allrey, I.; Sekiguchi, J.; Asai, T.; Conroy, M.; Gota, H.; Granstedt, E.; Hooper, C.; Kinley, J.; Valentine, T.; Waggoner, W.; Binderbauer, M.; Tajima, T.; the TAE Team

2016-10-01

The compact toroid (CT) injector system has been developed for particle refueling on the C-2U device. A CT is formed by a magnetized coaxial plasma gun (MCPG) and the typical ejected CT/plasmoid parameters are as follows: average velocity 100 km/s, average electron density 1.9 ×1015 cm-3, electron temperature 30-40 eV, mass 12 μg . To refuel particles into FC plasma the CT must penetrate the transverse magnetic field that surrounds the FRC. The kinetic energy density of the CT should be higher than magnetic energy density of the axial magnetic field, i.e., ρv2 / 2 >=B2 / 2μ0 , where ρ, v, and B are mass density, velocity, and surrounded magnetic field, respectively. Also, the penetrated CT's trajectory is deflected by the transverse magnetic field (Bz 1 kG). Thus, we have to estimate CT's energy and track the CT trajectory inside the magnetic field, for which we adopted a fast-framing camera on C-2U: framing rate is up to 1.25 MHz for 120 frames. By employing the camera we clearly captured the CT/plasmoid trajectory. Comparisons between the fast-framing camera and some other diagnostics as well as CT injection results on C-2U will be presented.

Particle and heat flux estimates in Proto-MPEX in Helicon Mode with IR imaging

NASA Astrophysics Data System (ADS)

Showers, M. A.; Biewer, T. M.; Caughman, J. B. O.; Donovan, D. C.; Goulding, R. H.; Rapp, J.

2016-10-01

The Prototype Material Plasma Exposure eXperiment (Proto-MPEX) at Oak Ridge National Laboratory (ORNL) is a linear plasma device developing the plasma source concept for the Material Plasma Exposure eXperiment (MPEX), which will address plasma material interaction (PMI) science for future fusion reactors. To better understand how and where energy is being lost from the Proto-MPEX plasma during ``helicon mode'' operations, particle and heat fluxes are quantified at multiple locations along the machine length. Relevant diagnostics include infrared (IR) cameras, four double Langmuir probes (LPs), and in-vessel thermocouples (TCs). The IR cameras provide temperature measurements of Proto-MPEX's plasma-facing dump and target plates, located on either end of the machine. The change in surface temperature is measured over the duration of the plasma shot to determine the heat flux hitting the plates. The IR cameras additionally provide 2-D thermal load distribution images of these plates, highlighting Proto-MPEX plasma behaviors, such as hot spots. The LPs and TCs provide additional plasma measurements required to determine particle and heat fluxes. Quantifying axial variations in fluxes will help identify machine operating parameters that will improve Proto-MPEX's performance, increasing its PMI research capabilities. This work was supported by the U.S. D.O.E. contract DE-AC05-00OR22725.

An Innovative Procedure for Calibration of Strapdown Electro-Optical Sensors Onboard Unmanned Air Vehicles

PubMed Central

Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio; Rispoli, Attilio

2010-01-01

This paper presents an innovative method for estimating the attitude of airborne electro-optical cameras with respect to the onboard autonomous navigation unit. The procedure is based on the use of attitude measurements under static conditions taken by an inertial unit and carrier-phase differential Global Positioning System to obtain accurate camera position estimates in the aircraft body reference frame, while image analysis allows line-of-sight unit vectors in the camera based reference frame to be computed. The method has been applied to the alignment of the visible and infrared cameras installed onboard the experimental aircraft of the Italian Aerospace Research Center and adopted for in-flight obstacle detection and collision avoidance. Results show an angular uncertainty on the order of 0.1° (rms). PMID:22315559

Estimating the Infrared Radiation Wavelength Emitted by a Remote Control Device Using a Digital Camera

ERIC Educational Resources Information Center

Catelli, Francisco; Giovannini, Odilon; Bolzan, Vicente Dall Agnol

2011-01-01

The interference fringes produced by a diffraction grating illuminated with radiation from a TV remote control and a red laser beam are, simultaneously, captured by a digital camera. Based on an image with two interference patterns, an estimate of the infrared radiation wavelength emitted by a TV remote control is made. (Contains 4 figures.)

Research on three-dimensional reconstruction method based on binocular vision

NASA Astrophysics Data System (ADS)

Li, Jinlin; Wang, Zhihui; Wang, Minjun

2018-03-01

As the hot and difficult issue in computer vision, binocular stereo vision is an important form of computer vision,which has a broad application prospects in many computer vision fields,such as aerial mapping,vision navigation,motion analysis and industrial inspection etc.In this paper, a research is done into binocular stereo camera calibration, image feature extraction and stereo matching. In the binocular stereo camera calibration module, the internal parameters of a single camera are obtained by using the checkerboard lattice of zhang zhengyou the field of image feature extraction and stereo matching, adopted the SURF operator in the local feature operator and the SGBM algorithm in the global matching algorithm are used respectively, and the performance are compared. After completed the feature points matching, we can build the corresponding between matching points and the 3D object points using the camera parameters which are calibrated, which means the 3D information.

Thermal infrared data of active lava surfaces using a newly-developed camera system

NASA Astrophysics Data System (ADS)

Thompson, J. O.; Ramsey, M. S.

2017-12-01

Our ability to acquire accurate data during lava flow emplacement greatly improves models designed to predict their dynamics and down-flow hazard potential. For example, better constraint on the physical property of emissivity as a lava cools improves the accuracy of the derived temperature, a critical parameter for flow models that estimate at-vent eruption rate, flow length, and distribution. Thermal infrared (TIR) data are increasingly used as a tool to determine eruption styles and cooling regimes by measuring temperatures at high temporal resolutions. Factors that control the accurate measurement of surface temperatures include both material properties (e.g., emissivity and surface texture) as well as external factors (e.g., camera geometry and the intervening atmosphere). We present a newly-developed, field-portable miniature multispectral thermal infrared camera (MMT-Cam) to measure both temperature and emissivity of basaltic lava surfaces at up to 7 Hz. The MMT-Cam acquires emitted radiance in six wavelength channels in addition to the broadband temperature. The instrument was laboratory calibrated for systematic errors and fully field tested at the Overlook Crater lava lake (Kilauea, HI) in January 2017. The data show that the major emissivity absorption feature (around 8.5 to 9.0 µm) transitions to higher wavelengths and the depth of the feature decreases as a lava surface cools, forming a progressively thicker crust. This transition occurs over a temperature range of 758 to 518 K. Constraining the relationship between this spectral change and temperature derived from this data will provide more accurate temperatures and therefore, more accurate modeling results. This is the first time that emissivity and its link to temperature has been measured in situ on active lava surfaces, which will improve input parameters of flow propagation models and possibly improve flow forecasting.

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.

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.

A Method to Solve Interior and Exterior Camera Calibration Parameters for Image Resection

NASA Technical Reports Server (NTRS)

Samtaney, Ravi

1999-01-01

An iterative method is presented to solve the internal and external camera calibration parameters, given model target points and their images from one or more camera locations. The direct linear transform formulation was used to obtain a guess for the iterative method, and herein lies one of the strengths of the present method. In all test cases, the method converged to the correct solution. In general, an overdetermined system of nonlinear equations is solved in the least-squares sense. The iterative method presented is based on Newton-Raphson for solving systems of nonlinear algebraic equations. The Jacobian is analytically derived and the pseudo-inverse of the Jacobian is obtained by singular value decomposition.

Game of thrown bombs in 3D: using high speed cameras and photogrammetry techniques to reconstruct bomb trajectories at Stromboli (Italy)

NASA Astrophysics Data System (ADS)

Gaudin, D.; Taddeucci, J.; Scarlato, P.; Del Bello, E.; Houghton, B. F.; Orr, T. R.; Andronico, D.; Kueppers, U.

2015-12-01

Large juvenile bombs and lithic clasts, produced and ejected during explosive volcanic eruptions, follow ballistic trajectories. Of particular interest are: 1) the determination of ejection velocity and launch angle, which give insights into shallow conduit conditions and geometry; 2) particle trajectories, with an eye on trajectory evolution caused by collisions between bombs, as well as the interaction between bombs and ash/gas plumes; and 3) the computation of the final emplacement of bomb-sized clasts, which is important for hazard assessment and risk management. Ground-based imagery from a single camera only allows the reconstruction of bomb trajectories in a plan perpendicular to the line of sight, which may lead to underestimation of bomb velocities and does not allow the directionality of the ejections to be studied. To overcome this limitation, we adapted photogrammetry techniques to reconstruct 3D bomb trajectories from two or three synchronized high-speed video cameras. In particular, we modified existing algorithms to consider the errors that may arise from the very high velocity of the particles and the impossibility of measuring tie points close to the scene. Our method was tested during two field campaigns at Stromboli. In 2014, two high-speed cameras with a 500 Hz frame rate and a ~2 cm resolution were set up ~350m from the crater, 10° apart and synchronized. The experiment was repeated with similar parameters in 2015, but using three high-speed cameras in order to significantly reduce uncertainties and allow their estimation. Trajectory analyses for tens of bombs at various times allowed for the identification of shifts in the mean directivity and dispersal angle of the jets during the explosions. These time evolutions are also visible on the permanent video-camera monitoring system, demonstrating the applicability of our method to all kinds of explosive volcanoes.

SailSpy: a vision system for yacht sail shape measurement

NASA Astrophysics Data System (ADS)

Olsson, Olof J.; Power, P. Wayne; Bowman, Chris C.; Palmer, G. Terry; Clist, Roger S.

1992-11-01

SailSpy is a real-time vision system which we have developed for automatically measuring sail shapes and masthead rotation on racing yachts. Versions have been used by the New Zealand team in two America's Cup challenges in 1988 and 1992. SailSpy uses four miniature video cameras mounted at the top of the mast to provide views of the headsail and mainsail on either tack. The cameras are connected to the SailSpy computer below deck using lightweight cables mounted inside the mast. Images received from the cameras are automatically analyzed by the SailSpy computer, and sail shape and mast rotation parameters are calculated. The sail shape parameters are calculated by recognizing sail markers (ellipses) that have been attached to the sails, and the mast rotation parameters by recognizing deck markers painted on the deck. This paper describes the SailSpy system and some of the vision algorithms used.

The plant virus microscope image registration method based on mismatches removing.

PubMed

Wei, Lifang; Zhou, Shucheng; Dong, Heng; Mao, Qianzhuo; Lin, Jiaxiang; Chen, Riqing

2016-01-01

The electron microscopy is one of the major means to observe the virus. The view of virus microscope images is limited by making specimen and the size of the camera's view field. To solve this problem, the virus sample is produced into multi-slice for information fusion and image registration techniques are applied to obtain large field and whole sections. Image registration techniques have been developed in the past decades for increasing the camera's field of view. Nevertheless, these approaches typically work in batch mode and rely on motorized microscopes. Alternatively, the methods are conceived just to provide visually pleasant registration for high overlap ratio image sequence. This work presents a method for virus microscope image registration acquired with detailed visual information and subpixel accuracy, even when overlap ratio of image sequence is 10% or less. The method proposed focus on the correspondence set and interimage transformation. A mismatch removal strategy is proposed by the spatial consistency and the components of keypoint to enrich the correspondence set. And the translation model parameter as well as tonal inhomogeneities is corrected by the hierarchical estimation and model select. In the experiments performed, we tested different registration approaches and virus images, confirming that the translation model is not always stationary, despite the fact that the images of the sample come from the same sequence. The mismatch removal strategy makes building registration of virus microscope images at subpixel accuracy easier and optional parameters for building registration according to the hierarchical estimation and model select strategies make the proposed method high precision and reliable for low overlap ratio image sequence. Copyright © 2015 Elsevier Ltd. All rights reserved.

Video auto stitching in multicamera surveillance system

NASA Astrophysics Data System (ADS)

He, Bin; Zhao, Gang; Liu, Qifang; Li, Yangyang

2012-01-01

This paper concerns the problem of video stitching automatically in a multi-camera surveillance system. Previous approaches have used multiple calibrated cameras for video mosaic in large scale monitoring application. In this work, we formulate video stitching as a multi-image registration and blending problem, and not all cameras are needed to be calibrated except a few selected master cameras. SURF is used to find matched pairs of image key points from different cameras, and then camera pose is estimated and refined. Homography matrix is employed to calculate overlapping pixels and finally implement boundary resample algorithm to blend images. The result of simulation demonstrates the efficiency of our method.

Video auto stitching in multicamera surveillance system

NASA Astrophysics Data System (ADS)

He, Bin; Zhao, Gang; Liu, Qifang; Li, Yangyang

2011-12-01

This paper concerns the problem of video stitching automatically in a multi-camera surveillance system. Previous approaches have used multiple calibrated cameras for video mosaic in large scale monitoring application. In this work, we formulate video stitching as a multi-image registration and blending problem, and not all cameras are needed to be calibrated except a few selected master cameras. SURF is used to find matched pairs of image key points from different cameras, and then camera pose is estimated and refined. Homography matrix is employed to calculate overlapping pixels and finally implement boundary resample algorithm to blend images. The result of simulation demonstrates the efficiency of our method.

On-Tree Mango Fruit Size Estimation Using RGB-D Images

PubMed Central

Wang, Zhenglin; Verma, Brijesh

2017-01-01

In-field mango fruit sizing is useful for estimation of fruit maturation and size distribution, informing the decision to harvest, harvest resourcing (e.g., tray insert sizes), and marketing. In-field machine vision imaging has been used for fruit count, but assessment of fruit size from images also requires estimation of camera-to-fruit distance. Low cost examples of three technologies for assessment of camera to fruit distance were assessed: a RGB-D (depth) camera, a stereo vision camera and a Time of Flight (ToF) laser rangefinder. The RGB-D camera was recommended on cost and performance, although it functioned poorly in direct sunlight. The RGB-D camera was calibrated, and depth information matched to the RGB image. To detect fruit, a cascade detection with histogram of oriented gradients (HOG) feature was used, then Otsu’s method, followed by color thresholding was applied in the CIE L*a*b* color space to remove background objects (leaves, branches etc.). A one-dimensional (1D) filter was developed to remove the fruit pedicles, and an ellipse fitting method employed to identify well-separated fruit. Finally, fruit lineal dimensions were calculated using the RGB-D depth information, fruit image size and the thin lens formula. A Root Mean Square Error (RMSE) = 4.9 and 4.3 mm was achieved for estimated fruit length and width, respectively, relative to manual measurement, for which repeated human measures were characterized by a standard deviation of 1.2 mm. In conclusion, the RGB-D method for rapid in-field mango fruit size estimation is practical in terms of cost and ease of use, but cannot be used in direct intense sunshine. We believe this work represents the first practical implementation of machine vision fruit sizing in field, with practicality gauged in terms of cost and simplicity of operation. PMID:29182534

Comparison of estimates of left ventricular ejection fraction obtained from gated blood pool imaging, different software packages and cameras.

PubMed

Steyn, Rachelle; Boniaszczuk, John; Geldenhuys, Theodore

2014-01-01

To determine how two software packages, supplied by Siemens and Hermes, for processing gated blood pool (GBP) studies should be used in our department and whether the use of different cameras for the acquisition of raw data influences the results. The study had two components. For the first component, 200 studies were acquired on a General Electric (GE) camera and processed three times by three operators using the Siemens and Hermes software packages. For the second part, 200 studies were acquired on two different cameras (GE and Siemens). The matched pairs of raw data were processed by one operator using the Siemens and Hermes software packages. The Siemens method consistently gave estimates that were 4.3% higher than the Hermes method (p < 0.001). The differences were not associated with any particular level of left ventricular ejection fraction (LVEF). There was no difference in the estimates of LVEF obtained by the three operators (p = 0.1794). The reproducibility of estimates was good. In 95% of patients, using the Siemens method, the SD of the three estimates of LVEF by operator 1 was ≤ 1.7, operator 2 was ≤ 2.1 and operator 3 was ≤ 1.3. The corresponding values for the Hermes method were ≤ 2.5, ≤ 2.0 and ≤ 2.1. There was no difference in the results of matched pairs of data acquired on different cameras (p = 0.4933) CONCLUSION: Software packages for processing GBP studies are not interchangeable. The report should include the name and version of the software package used. Wherever possible, the same package should be used for serial studies. If this is not possible, the report should include the limits of agreement of the different packages. Data acquisition on different cameras did not influence the results.

Development of a low-energy x-ray camera for the imaging of secondary electron bremsstrahlung x-ray emitted during proton irradiation for range estimation.

PubMed

Ando, Koki; Yamaguchi, Mitsutaka; Yamamoto, Seiichi; Toshito, Toshiyuki; Kawachi, Naoki

2017-06-21

Imaging of secondary electron bremsstrahlung x-ray emitted during proton irradiation is a possible method for measurement of the proton beam distribution in phantom. However, it is not clear that the method is used for range estimation of protons. For this purpose, we developed a low-energy x-ray camera and conducted imaging of the bremsstrahlung x-ray produced during irradiation of proton beams. We used a 20 mm  ×  20 mm  ×  1 mm finely grooved GAGG scintillator that was optically coupled to a one-inch square high quantum efficiency (HQE)-type position-sensitive photomultiplier tube to form an imaging detector. The imaging detector was encased in a 2 cm-thick tungsten container, and a pinhole collimator was attached to its camera head. After performance of the camera was evaluated, secondary electron bremsstrahlung x-ray imaging was conducted during irradiation of the proton beams for three different proton energies, and the results were compared with Monte Carlo simulation as well as calculated value. The system spatial resolution and sensitivity of the developed x-ray camera with 1.5 mm-diameter pinhole collimator were estimated to be 32 mm FWHM and 5.2  ×  10 -7 for ~35 keV x-ray photons at 100 cm from the collimator surface, respectively. We could image the proton beam tracks by measuring the secondary electron bremsstrahlung x-ray during irradiation of the proton beams, and the ranges for different proton energies could be estimated from the images. The measured ranges from the images were well matched with the Monte Carlo simulation, and slightly smaller than the calculated values. We confirmed that the imaging of the secondary electron bremsstrahlung x-ray emitted during proton irradiation with the developed x-ray camera has the potential to be a new tool for proton range estimations.

An Automatic Procedure for Combining Digital Images and Laser Scanner Data

NASA Astrophysics Data System (ADS)

Moussa, W.; Abdel-Wahab, M.; Fritsch, D.

2012-07-01

Besides improving both the geometry and the visual quality of the model, the integration of close-range photogrammetry and terrestrial laser scanning techniques directs at filling gaps in laser scanner point clouds to avoid modeling errors, reconstructing more details in higher resolution and recovering simple structures with less geometric details. Thus, within this paper a flexible approach for the automatic combination of digital images and laser scanner data is presented. Our approach comprises two methods for data fusion. The first method starts by a marker-free registration of digital images based on a point-based environment model (PEM) of a scene which stores the 3D laser scanner point clouds associated with intensity and RGB values. The PEM allows the extraction of accurate control information for the direct computation of absolute camera orientations with redundant information by means of accurate space resection methods. In order to use the computed relations between the digital images and the laser scanner data, an extended Helmert (seven-parameter) transformation is introduced and its parameters are estimated. Precedent to that, in the second method, the local relative orientation parameters of the camera images are calculated by means of an optimized Structure and Motion (SaM) reconstruction method. Then, using the determined transformation parameters results in having absolute oriented images in relation to the laser scanner data. With the resulting absolute orientations we have employed robust dense image reconstruction algorithms to create oriented dense image point clouds, which are automatically combined with the laser scanner data to form a complete detailed representation of a scene. Examples of different data sets are shown and experimental results demonstrate the effectiveness of the presented procedures.

Area Estimation of Deep-Sea Surfaces from Oblique Still Images

PubMed Central

Souto, Miguel; Afonso, Andreia; Calado, António; Madureira, Pedro; Campos, Aldino

2015-01-01

Estimating the area of seabed surfaces from pictures or videos is an important problem in seafloor surveys. This task is complex to achieve with moving platforms such as submersibles, towed or remotely operated vehicles (ROV), where the recording camera is typically not static and provides an oblique view of the seafloor. A new method for obtaining seabed surface area estimates is presented here, using the classical set up of two laser devices fixed to the ROV frame projecting two parallel lines over the seabed. By combining lengths measured directly from the image containing the laser lines, the area of seabed surfaces is estimated, as well as the camera’s distance to the seabed, pan and tilt angles. The only parameters required are the distance between the parallel laser lines and the camera’s horizontal and vertical angles of view. The method was validated with a controlled in situ experiment using a deep-sea ROV, yielding an area estimate error of 1.5%. Further applications and generalizations of the method are discussed, with emphasis on deep-sea applications. PMID:26177287

Accuracy Analysis for Automatic Orientation of a Tumbling Oblique Viewing Sensor System

NASA Astrophysics Data System (ADS)

Stebner, K.; Wieden, A.

2014-03-01

Dynamic camera systems with moving parts are difficult to handle in photogrammetric workflow, because it is not ensured that the dynamics are constant over the recording period. Minimum changes of the camera's orientation greatly influence the projection of oblique images. In this publication these effects - originating from the kinematic chain of a dynamic camera system - are analysed and validated. A member of the Modular Airborne Camera System family - MACS-TumbleCam - consisting of a vertical viewing and a tumbling oblique camera was used for this investigation. Focus is on dynamic geometric modeling and the stability of the kinematic chain. To validate the experimental findings, the determined parameters are applied to the exterior orientation of an actual aerial image acquisition campaign using MACS-TumbleCam. The quality of the parameters is sufficient for direct georeferencing of oblique image data from the orientation information of a synchronously captured vertical image dataset. Relative accuracy for the oblique data set ranges from 1.5 pixels when using all images of the image block to 0.3 pixels when using only adjacent images.

Practical image registration concerns overcome by the weighted and filtered mutual information metric

NASA Astrophysics Data System (ADS)

Keane, Tommy P.; Saber, Eli; Rhody, Harvey; Savakis, Andreas; Raj, Jeffrey

2012-04-01

Contemporary research in automated panorama creation utilizes camera calibration or extensive knowledge of camera locations and relations to each other to achieve successful results. Research in image registration attempts to restrict these same camera parameters or apply complex point-matching schemes to overcome the complications found in real-world scenarios. This paper presents a novel automated panorama creation algorithm by developing an affine transformation search based on maximized mutual information (MMI) for region-based registration. Standard MMI techniques have been limited to applications with airborne/satellite imagery or medical images. We show that a novel MMI algorithm can approximate an accurate registration between views of realistic scenes of varying depth distortion. The proposed algorithm has been developed using stationary, color, surveillance video data for a scenario with no a priori camera-to-camera parameters. This algorithm is robust for strict- and nearly-affine-related scenes, while providing a useful approximation for the overlap regions in scenes related by a projective homography or a more complex transformation, allowing for a set of efficient and accurate initial conditions for pixel-based registration.

Feasibility study of using the RoboEarth cloud engine for rapid mapping and tracking with small unmanned aerial systems

NASA Astrophysics Data System (ADS)

Li-Chee-Ming, J.; Armenakis, C.

2014-11-01

This paper presents the ongoing development of a small unmanned aerial mapping system (sUAMS) that in the future will track its trajectory and perform 3D mapping in near-real time. As both mapping and tracking algorithms require powerful computational capabilities and large data storage facilities, we propose to use the RoboEarth Cloud Engine (RCE) to offload heavy computation and store data to secure computing environments in the cloud. While the RCE's capabilities have been demonstrated with terrestrial robots in indoor environments, this paper explores the feasibility of using the RCE in mapping and tracking applications in outdoor environments by small UAMS. The experiments presented in this work assess the data processing strategies and evaluate the attainable tracking and mapping accuracies using the data obtained by the sUAMS. Testing was performed with an Aeryon Scout quadcopter. It flew over York University, up to approximately 40 metres above the ground. The quadcopter was equipped with a single-frequency GPS receiver providing positioning to about 3 meter accuracies, an AHRS (Attitude and Heading Reference System) estimating the attitude to about 3 degrees, and an FPV (First Person Viewing) camera. Video images captured from the onboard camera were processed using VisualSFM and SURE, which are being reformed as an Application-as-a-Service via the RCE. The 3D virtual building model of York University was used as a known environment to georeference the point cloud generated from the sUAMS' sensor data. The estimated position and orientation parameters of the video camera show increases in accuracy when compared to the sUAMS' autopilot solution, derived from the onboard GPS and AHRS. The paper presents the proposed approach and the results, along with their accuracies.

3D kinematic measurement of human movement using low cost fish-eye cameras

NASA Astrophysics Data System (ADS)

Islam, Atiqul; Asikuzzaman, Md.; Garratt, Matthew A.; Pickering, Mark R.

2017-02-01

3D motion capture is difficult when the capturing is performed in an outdoor environment without controlled surroundings. In this paper, we propose a new approach of using two ordinary cameras arranged in a special stereoscopic configuration and passive markers on a subject's body to reconstruct the motion of the subject. Firstly for each frame of the video, an adaptive thresholding algorithm is applied for extracting the markers on the subject's body. Once the markers are extracted, an algorithm for matching corresponding markers in each frame is applied. Zhang's planar calibration method is used to calibrate the two cameras. As the cameras use the fisheye lens, they cannot be well estimated using a pinhole camera model which makes it difficult to estimate the depth information. In this work, to restore the 3D coordinates we use a unique calibration method for fisheye lenses. The accuracy of the 3D coordinate reconstruction is evaluated by comparing with results from a commercially available Vicon motion capture system.

Stereo pair design for cameras with a fovea

NASA Technical Reports Server (NTRS)

Chettri, Samir R.; Keefe, Michael; Zimmerman, John R.

1992-01-01

We describe the methodology for the design and selection of a stereo pair when the cameras have a greater concentration of sensing elements in the center of the image plane (fovea). Binocular vision is important for the purpose of depth estimation, which in turn is important in a variety of applications such as gaging and autonomous vehicle guidance. We assume that one camera has square pixels of size dv and the other has pixels of size rdv, where r is between 0 and 1. We then derive results for the average error, the maximum error, and the error distribution in the depth determination of a point. These results can be shown to be a general form of the results for the case when the cameras have equal sized pixels. We discuss the behavior of the depth estimation error as we vary r and the tradeoffs between the extra processing time and increased accuracy. Knowing these results makes it possible to study the case when we have a pair of cameras with a fovea.

CIDER: Enabling Robustness-Power Tradeoffs on a Computational Eyeglass

PubMed Central

Mayberry, Addison; Tun, Yamin; Hu, Pan; Smith-Freedman, Duncan; Ganesan, Deepak; Marlin, Benjamin; Salthouse, Christopher

2016-01-01

The human eye offers a fascinating window into an individual’s health, cognitive attention, and decision making, but we lack the ability to continually measure these parameters in the natural environment. The challenges lie in: a) handling the complexity of continuous high-rate sensing from a camera and processing the image stream to estimate eye parameters, and b) dealing with the wide variability in illumination conditions in the natural environment. This paper explores the power–robustness tradeoffs inherent in the design of a wearable eye tracker, and proposes a novel staged architecture that enables graceful adaptation across the spectrum of real-world illumination. We propose CIDER, a system that operates in a highly optimized low-power mode under indoor settings by using a fast Search-Refine controller to track the eye, but detects when the environment switches to more challenging outdoor sunlight and switches models to operate robustly under this condition. Our design is holistic and tackles a) power consumption in digitizing pixels, estimating pupillary parameters, and illuminating the eye via near-infrared, b) error in estimating pupil center and pupil dilation, and c) model training procedures that involve zero effort from a user. We demonstrate that CIDER can estimate pupil center with error less than two pixels (0.6°), and pupil diameter with error of one pixel (0.22mm). Our end-to-end results show that we can operate at power levels of roughly 7mW at a 4Hz eye tracking rate, or roughly 32mW at rates upwards of 250Hz. PMID:27042165

Practical target location and accuracy indicator in digital close range photogrammetry using consumer grade cameras

NASA Astrophysics Data System (ADS)

Moriya, Gentaro; Chikatsu, Hirofumi

2011-07-01

Recently, pixel numbers and functions of consumer grade digital camera are amazingly increasing by modern semiconductor and digital technology, and there are many low-priced consumer grade digital cameras which have more than 10 mega pixels on the market in Japan. In these circumstances, digital photogrammetry using consumer grade cameras is enormously expected in various application fields. There is a large body of literature on calibration of consumer grade digital cameras and circular target location. Target location with subpixel accuracy had been investigated as a star tracker issue, and many target location algorithms have been carried out. It is widely accepted that the least squares models with ellipse fitting is the most accurate algorithm. However, there are still problems for efficient digital close range photogrammetry. These problems are reconfirmation of the target location algorithms with subpixel accuracy for consumer grade digital cameras, relationship between number of edge points along target boundary and accuracy, and an indicator for estimating the accuracy of normal digital close range photogrammetry using consumer grade cameras. With this motive, an empirical testing of several algorithms for target location with subpixel accuracy and an indicator for estimating the accuracy are investigated in this paper using real data which were acquired indoors using 7 consumer grade digital cameras which have 7.2 mega pixels to 14.7 mega pixels.

Pilot study of the impact that bilateral sacroiliac joint manipulation using a drop table technique has on gait parameters in asymptomatic individuals with a leg length inequality.

PubMed

Ward, John; Sorrels, Ken; Coats, Jesse; Pourmoghaddam, Amir; Deleon, Carlos; Daigneault, Paige

2014-03-01

The purpose of this study was to pilot test our study procedures and estimate parameters for sample size calculations for a randomized controlled trial to determine if bilateral sacroiliac (SI) joint manipulation affects specific gait parameters in asymptomatic individuals with a leg length inequality (LLI). Twenty-one asymptomatic chiropractic students engaged in a baseline 90-second walking kinematic analysis using infrared Vicon® cameras. Following this, participants underwent a functional LLI test. Upon examination participants were classified as: left short leg, right short leg, or no short leg. Half of the participants in each short leg group were then randomized to receive bilateral corrective SI joint chiropractic manipulative therapy (CMT). All participants then underwent another 90-second gait analysis. Pre- versus post-intervention gait data were then analyzed within treatment groups by an individual who was blinded to participant group status. For the primary analysis, all p-values were corrected for multiple comparisons using the Bonferroni method. Within groups, no differences in measured gait parameters were statistically significant after correcting for multiple comparisons. The protocol of this study was acceptable to all subjects who were invited to participate. No participants refused randomization. Based on the data collected, we estimated that a larger main study would require 34 participants in each comparison group to detect a moderate effect size.

Recognizable-image selection for fingerprint recognition with a mobile-device camera.

PubMed

Lee, Dongjae; Choi, Kyoungtaek; Choi, Heeseung; Kim, Jaihie

2008-02-01

This paper proposes a recognizable-image selection algorithm for fingerprint-verification systems that use a camera embedded in a mobile device. A recognizable image is defined as the fingerprint image which includes the characteristics that are sufficiently discriminating an individual from other people. While general camera systems obtain focused images by using various gradient measures to estimate high-frequency components, mobile cameras cannot acquire recognizable images in the same way because the obtained images may not be adequate for fingerprint recognition, even if they are properly focused. A recognizable image has to meet the following two conditions: First, valid region in the recognizable image should be large enough compared with other nonrecognizable images. Here, a valid region is a well-focused part, and ridges in the region are clearly distinguishable from valleys. In order to select valid regions, this paper proposes a new focus-measurement algorithm using the secondary partial derivatives and a quality estimation utilizing the coherence and symmetry of gradient distribution. Second, rolling and pitching degrees of a finger measured from the camera plane should be within some limit for a recognizable image. The position of a core point and the contour of a finger are used to estimate the degrees of rolling and pitching. Experimental results show that our proposed method selects valid regions and estimates the degrees of rolling and pitching properly. In addition, fingerprint-verification performance is improved by detecting the recognizable images.

Multi-focused microlens array optimization and light field imaging study based on Monte Carlo method.

PubMed

Li, Tian-Jiao; Li, Sai; Yuan, Yuan; Liu, Yu-Dong; Xu, Chuan-Long; Shuai, Yong; Tan, He-Ping

2017-04-03

Plenoptic cameras are used for capturing flames in studies of high-temperature phenomena. However, simulations of plenoptic camera models can be used prior to the experiment improve experimental efficiency and reduce cost. In this work, microlens arrays, which are based on the established light field camera model, are optimized into a hexagonal structure with three types of microlenses. With this improved plenoptic camera model, light field imaging of static objects and flame are simulated using the calibrated parameters of the Raytrix camera (R29). The optimized models improve the image resolution, imaging screen utilization, and shooting range of depth of field.

Camera calibration method of binocular stereo vision based on OpenCV

NASA Astrophysics Data System (ADS)

Zhong, Wanzhen; Dong, Xiaona

2015-10-01

Camera calibration, an important part of the binocular stereo vision research, is the essential foundation of 3D reconstruction of the spatial object. In this paper, the camera calibration method based on OpenCV (open source computer vision library) is submitted to make the process better as a result of obtaining higher precision and efficiency. First, the camera model in OpenCV and an algorithm of camera calibration are presented, especially considering the influence of camera lens radial distortion and decentering distortion. Then, camera calibration procedure is designed to compute those parameters of camera and calculate calibration errors. High-accurate profile extraction algorithm and a checkboard with 48 corners have also been used in this part. Finally, results of calibration program are presented, demonstrating the high efficiency and accuracy of the proposed approach. The results can reach the requirement of robot binocular stereo vision.

Calibration of the Nikon 200 for Close Range Photogrammetry

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

Sheriff, Lassana; /City Coll., N.Y. /SLAC

2010-08-25

The overall objective of this project is to study the stability and reproducibility of the calibration parameters of the Nikon D200 camera with a Nikkor 20 mm lens for close-range photogrammetric surveys. The well known 'central perspective projection' model is used to determine the camera parameters for interior orientation. The Brown model extends it with the introduction of radial distortion and other less critical variables. The calibration process requires a dense network of targets to be photographed at different angles. For faster processing, reflective coded targets are chosen. Two scenarios have been used to check the reproducibility of the parameters.more » The first one is using a flat 2D wall with 141 coded targets and 12 custom targets that were previously measured with a laser tracker. The second one is a 3D Unistrut structure with a combination of coded targets and 3D reflective spheres. The study has shown that this setup is only stable during a short period of time. In conclusion, this camera is acceptable when calibrated before each use. Future work should include actual field tests and possible mechanical improvements, such as securing the lens to the camera body.« less

Conceptual design of a neutron camera for MAST Upgrade

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

Weiszflog, M., E-mail: matthias.weiszflog@physics.uu.se; Sangaroon, S.; Cecconello, M.

2014-11-15

This paper presents two different conceptual designs of neutron cameras for Mega Ampere Spherical Tokamak (MAST) Upgrade. The first one consists of two horizontal cameras, one equatorial and one vertically down-shifted by 65 cm. The second design, viewing the plasma in a poloidal section, also consists of two cameras, one radial and the other one with a diagonal view. Design parameters for the different cameras were selected on the basis of neutron transport calculations and on a set of target measurement requirements taking into account the predicted neutron emissivities in the different MAST Upgrade operating scenarios. Based on a comparisonmore » of the cameras’ profile resolving power, the horizontal cameras are suggested as the best option.« less

Correlation between atmospheric electric fields and cloud cover using a field mill and cloud observation data

NASA Astrophysics Data System (ADS)

Nakamori, Kota; Suzuki, Yasuki; Ohya, Hiroyo; Takano, Toshiaki; Kawamura, Yohei; Nakata, Hiroyuki; Yamashita, Kozo

2017-04-01

It is known that lightning and precipitations of rain droplets generated from thunderclouds are a generator of global atmospheric electric circuit. In the fair weather, the atmospheric electric fields (AEF) are downward (positive), while they are upward (negative) during lightning and precipitations. However, the correlations between the AEF, and the cloud parameters such as cloud cover, weather phenomenon, have been not revealed quantitatively yet. In this study, we investigate the correlations between the AEF and the cloud parameters, weather phenomenon using a field mill, the 95 GHz-FALCON (FMCW Radar for Cloud Observations)-I and all-sky camera observations. In this study, we installed a Boltek field mill on the roof of our building in Chiba University, Japan, (Geographic coordinate: 35.63 degree N, 140.10 degree E, the sea level: 55 m) on the first June, 2016. The sampling time of the AEF is 0.5 s. On the other hand, the FALCON-I has observed the cloud parameters far from about 76 m of the field mill throughout 24 hours every day. The vertical cloud profiles and the Doppler velocity of cloud particles can be derived by the FALCON-I with high distance resolutions (48.8 m) (Takano et al., 2010). In addition, the images of the clouds and precipitations are recorded with 30-s sampling by an all-sky camera using a CCD camera on the same roof during 05:00-22:00 LT every day. The distance between the field mill and the all-sky camera is 3.75 m. During 08:30 UT - 10:30 UT, on 4 July, 2016, we found the variation of the AEF due to the approach of thundercloud. The variation consisted of two patterns. One was slow variation due to the movement of thunderclouds, and the other was rapid variation associated with lightning discharges. As for the movement of thunderclouds, the AEF increased when the anvil was located over the field mill, which was opposite direction of the previous studies. This change might be due to the positive charges in the upper anvil more than 14 km altitude. As for the rapid variations of the AEF, 12 peaks of the AEF coincided with the occurrence of the lightning within 37 km. Moreover, we developed the automatic procedure to estimate the cloud cover from cloud optical images using the RGB color values. We estimated the correlation between the cloud cover and the AEF during June - November, 2016. The AEF decreased with increasing the cloud cover. This trend may be caused by the dielectric polarization due to the insert of the dielectric clouds into the global condenser. The standard deviation of AEF was small when the cloud cover increased. In this session, we will show the variations in the AEF during usual precipitations and snowing.

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.

A detailed comparison of single-camera light-field PIV and tomographic PIV

NASA Astrophysics Data System (ADS)

Shi, Shengxian; Ding, Junfei; Atkinson, Callum; Soria, Julio; New, T. H.

2018-03-01

This paper conducts a comprehensive study between the single-camera light-field particle image velocimetry (LF-PIV) and the multi-camera tomographic particle image velocimetry (Tomo-PIV). Simulation studies were first performed using synthetic light-field and tomographic particle images, which extensively examine the difference between these two techniques by varying key parameters such as pixel to microlens ratio (PMR), light-field camera Tomo-camera pixel ratio (LTPR), particle seeding density and tomographic camera number. Simulation results indicate that the single LF-PIV can achieve accuracy consistent with that of multi-camera Tomo-PIV, but requires the use of overall greater number of pixels. Experimental studies were then conducted by simultaneously measuring low-speed jet flow with single-camera LF-PIV and four-camera Tomo-PIV systems. Experiments confirm that given a sufficiently high pixel resolution, a single-camera LF-PIV system can indeed deliver volumetric velocity field measurements for an equivalent field of view with a spatial resolution commensurate with those of multi-camera Tomo-PIV system, enabling accurate 3D measurements in applications where optical access is limited.

CMOS Camera Array With Onboard Memory

NASA Technical Reports Server (NTRS)

Gat, Nahum

2009-01-01

A compact CMOS (complementary metal oxide semiconductor) camera system has been developed with high resolution (1.3 Megapixels), a USB (universal serial bus) 2.0 interface, and an onboard memory. Exposure times, and other operating parameters, are sent from a control PC via the USB port. Data from the camera can be received via the USB port and the interface allows for simple control and data capture through a laptop computer.

Earth's gravity field to the eighteenth degree and geocentric coordinates for 104 stations from satellite and terrestrial data

NASA Technical Reports Server (NTRS)

Gaposchkin, E. M.

1973-01-01

Geodetic parameters describing the earth's gravity field and the positions of satellite-tracking stations in a geocentric reference frame were computed. These parameters were estimated by means of a combination of five different types of data: routine and simultaneous satellite observations, observations of deep-space probes, measurements of terrestrial gravity, and surface-triangulation data. The combination gives better parameters than does any subset of data types. The dynamic solution used precision-reduced Baker-Nunn observations and laser range data of 25 satellites. Data from the 49-station National Oceanic and Atmospheric Administration BC-4 network, the 19-station Smithsonian Astrophysical Observatory Baker-Nunn network, and independent camera stations were employed in the geometrical solution. Data from the tracking of deep-space probes were converted to relative longitudes and distances to the earth's axis of rotation of the tracking stations. Surface-gravity data in the form of 550-km squares were derived from 19,328 1 deg X 1 deg mean gravity anomalies.

High-immersion three-dimensional display of the numerical computer model

NASA Astrophysics Data System (ADS)

Xing, Shujun; Yu, Xunbo; Zhao, Tianqi; Cai, Yuanfa; Chen, Duo; Chen, Zhidong; Sang, Xinzhu

2013-08-01

High-immersion three-dimensional (3D) displays making them valuable tools for many applications, such as designing and constructing desired building houses, industrial architecture design, aeronautics, scientific research, entertainment, media advertisement, military areas and so on. However, most technologies provide 3D display in the front of screens which are in parallel with the walls, and the sense of immersion is decreased. To get the right multi-view stereo ground image, cameras' photosensitive surface should be parallax to the public focus plane and the cameras' optical axes should be offset to the center of public focus plane both atvertical direction and horizontal direction. It is very common to use virtual cameras, which is an ideal pinhole camera to display 3D model in computer system. We can use virtual cameras to simulate the shooting method of multi-view ground based stereo image. Here, two virtual shooting methods for ground based high-immersion 3D display are presented. The position of virtual camera is determined by the people's eye position in the real world. When the observer stand in the circumcircle of 3D ground display, offset perspective projection virtual cameras is used. If the observer stands out the circumcircle of 3D ground display, offset perspective projection virtual cameras and the orthogonal projection virtual cameras are adopted. In this paper, we mainly discussed the parameter setting of virtual cameras. The Near Clip Plane parameter setting is the main point in the first method, while the rotation angle of virtual cameras is the main point in the second method. In order to validate the results, we use the D3D and OpenGL to render scenes of different viewpoints and generate a stereoscopic image. A realistic visualization system for 3D models is constructed and demonstrated for viewing horizontally, which provides high-immersion 3D visualization. The displayed 3D scenes are compared with the real objects in the real world.

Shutterless non-uniformity correction for the long-term stability of an uncooled long-wave infrared camera

NASA Astrophysics Data System (ADS)

Liu, Chengwei; Sui, Xiubao; Gu, Guohua; Chen, Qian

2018-02-01

For the uncooled long-wave infrared (LWIR) camera, the infrared (IR) irradiation the focal plane array (FPA) receives is a crucial factor that affects the image quality. Ambient temperature fluctuation as well as system power consumption can result in changes of FPA temperature and radiation characteristics inside the IR camera; these will further degrade the imaging performance. In this paper, we present a novel shutterless non-uniformity correction method to compensate for non-uniformity derived from the variation of ambient temperature. Our method combines a calibration-based method and the properties of a scene-based method to obtain correction parameters at different ambient temperature conditions, so that the IR camera performance can be less influenced by ambient temperature fluctuation or system power consumption. The calibration process is carried out in a temperature chamber with slowly changing ambient temperature and a black body as uniform radiation source. Enough uniform images are captured and the gain coefficients are calculated during this period. Then in practical application, the offset parameters are calculated via the least squares method based on the gain coefficients, the captured uniform images and the actual scene. Thus we can get a corrected output through the gain coefficients and offset parameters. The performance of our proposed method is evaluated on realistic IR images and compared with two existing methods. The images we used in experiments are obtained by a 384× 288 pixels uncooled LWIR camera. Results show that our proposed method can adaptively update correction parameters as the actual target scene changes and is more stable to temperature fluctuation than the other two methods.

Estimation of Antenna Pose in the Earth Frame Using Camera and IMU Data from Mobile Phones

PubMed Central

Wang, Zhen; Jin, Bingwen; Geng, Weidong

2017-01-01

The poses of base station antennas play an important role in cellular network optimization. Existing methods of pose estimation are based on physical measurements performed either by tower climbers or using additional sensors attached to antennas. In this paper, we present a novel non-contact method of antenna pose measurement based on multi-view images of the antenna and inertial measurement unit (IMU) data captured by a mobile phone. Given a known 3D model of the antenna, we first estimate the antenna pose relative to the phone camera from the multi-view images and then employ the corresponding IMU data to transform the pose from the camera coordinate frame into the Earth coordinate frame. To enhance the resulting accuracy, we improve existing camera-IMU calibration models by introducing additional degrees of freedom between the IMU sensors and defining a new error metric based on both the downtilt and azimuth angles, instead of a unified rotational error metric, to refine the calibration. In comparison with existing camera-IMU calibration methods, our method achieves an improvement in azimuth accuracy of approximately 1.0 degree on average while maintaining the same level of downtilt accuracy. For the pose estimation in the camera coordinate frame, we propose an automatic method of initializing the optimization solver and generating bounding constraints on the resulting pose to achieve better accuracy. With this initialization, state-of-the-art visual pose estimation methods yield satisfactory results in more than 75% of cases when plugged into our pipeline, and our solution, which takes advantage of the constraints, achieves even lower estimation errors on the downtilt and azimuth angles, both on average (0.13 and 0.3 degrees lower, respectively) and in the worst case (0.15 and 7.3 degrees lower, respectively), according to an evaluation conducted on a dataset consisting of 65 groups of data. We show that both of our enhancements contribute to the performance improvement offered by the proposed estimation pipeline, which achieves downtilt and azimuth accuracies of respectively 0.47 and 5.6 degrees on average and 1.38 and 12.0 degrees in the worst case, thereby satisfying the accuracy requirements for network optimization in the telecommunication industry. PMID:28397765

3D Reconstruction and Approximation of Vegetation Geometry for Modeling of Within-canopy Flows

NASA Astrophysics Data System (ADS)

Henderson, S. M.; Lynn, K.; Lienard, J.; Strigul, N.; Mullarney, J. C.; Norris, B. K.; Bryan, K. R.

2016-02-01

Aquatic vegetation can shelter coastlines from waves and currents, sometimes resulting in accretion of fine sediments. We developed a photogrammetric technique for estimating the key geometric vegetation parameters that are required for modeling of within-canopy flows. Accurate estimates of vegetation geometry and density are essential to refine hydrodynamic models, but accurate, convenient, and time-efficient methodologies for measuring complex canopy geometries have been lacking. The novel approach presented here builds on recent progress in photogrammetry and computer vision. We analyzed the geometry of aerial mangrove roots, called pneumatophores, in Vietnam's Mekong River Delta. Although comparatively thin, pneumatophores are more numerous than mangrove trunks, and thus influence near bed flow and sediment transport. Quadrats (1 m2) were placed at low tide among pneumatophores. Roots were counted and measured for height and diameter. Photos were taken from multiple angles around each quadrat. Relative camera locations and orientations were estimated from key features identified in multiple images using open-source software (VisualSfM). Next, a dense 3D point cloud was produced. Finally, algorithms were developed for automated estimation of pneumatophore geometry from the 3D point cloud. We found good agreement between hand-measured and photogrammetric estimates of key geometric parameters, including mean stem diameter, total number of stems, and frontal area density. These methods can reduce time spent measuring in the field, thereby enabling future studies to refine models of water flows and sediment transport within heterogenous vegetation canopies.

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

Long term monitoring of jaguars in the Cockscomb Basin Wildlife Sanctuary, Belize; Implications for camera trap studies of carnivores.

PubMed

Harmsen, Bart J; Foster, Rebecca J; Sanchez, Emma; Gutierrez-González, Carmina E; Silver, Scott C; Ostro, Linde E T; Kelly, Marcella J; Kay, Elma; Quigley, Howard

2017-01-01

In this study, we estimate life history parameters and abundance for a protected jaguar population using camera-trap data from a 14-year monitoring program (2002-2015) in Belize, Central America. We investigated the dynamics of this jaguar population using 3,075 detection events of 105 individual adult jaguars. Using robust design open population models, we estimated apparent survival and temporary emigration and investigated individual heterogeneity in detection rates across years. Survival probability was high and constant among the years for both sexes (φ = 0.78), and the maximum (conservative) age recorded was 14 years. Temporary emigration rate for the population was random, but constant through time at 0.20 per year. Detection probability varied between sexes, and among years and individuals. Heterogeneity in detection took the form of a dichotomy for males: those with consistently high detection rates, and those with low, sporadic detection rates, suggesting a relatively stable population of 'residents' consistently present and a fluctuating layer of 'transients'. Female detection was always low and sporadic. On average, twice as many males than females were detected per survey, and individual detection rates were significantly higher for males. We attribute sex-based differences in detection to biases resulting from social variation in trail-walking behaviour. The number of individual females detected increased when the survey period was extended from 3 months to a full year. Due to the low detection rates of females and the variable 'transient' male subpopulation, annual abundance estimates based on 3-month surveys had low precision. To estimate survival and monitor population changes in elusive, wide-ranging, low-density species, we recommend repeated surveys over multiple years; and suggest that continuous monitoring over multiple years yields even further insight into population dynamics of elusive predator populations.

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.

Improved depth estimation with the light field camera

NASA Astrophysics Data System (ADS)

Wang, Huachun; Sang, Xinzhu; Chen, Duo; Guo, Nan; Wang, Peng; Yu, Xunbo; Yan, Binbin; Wang, Kuiru; Yu, Chongxiu

2017-10-01

Light-field cameras are used in consumer and industrial applications. An array of micro-lenses captures enough information that one can refocus images after acquisition, as well as shift one's viewpoint within the sub-apertures of the main lens, effectively obtaining multiple views. Thus, depth estimation from both defocus and correspondence are now available in a single capture. And Lytro.Inc also provides a depth estimation from a single-shot capture with light field camera, like Lytro Illum. This Lytro depth estimation containing many correct depth information can be used for higher quality estimation. In this paper, we present a novel simple and principled algorithm that computes dense depth estimation by combining defocus, correspondence and Lytro depth estimations. We analyze 2D epipolar image (EPI) to get defocus and correspondence depth maps. Defocus depth is obtained by computing the spatial gradient after angular integration and correspondence depth by computing the angular variance from EPIs. Lytro depth can be extracted from Lyrto Illum with software. We then show how to combine the three cues into a high quality depth map. Our method for depth estimation is suitable for computer vision applications such as matting, full control of depth-of-field, and surface reconstruction, as well as light filed display

Clinical evaluation of melanomas and common nevi by spectral imaging

PubMed Central

Diebele, Ilze; Kuzmina, Ilona; Lihachev, Alexey; Kapostinsh, Janis; Derjabo, Alexander; Valeine, Lauma; Spigulis, Janis

2012-01-01

A clinical trial on multi-spectral imaging of malignant and non-malignant skin pathologies comprising 17 melanomas and 65 pigmented common nevi was performed. Optical density data of skin pathologies were obtained in the spectral range 450–950 nm using the multispectral camera Nuance EX. An image parameter and maps capable of distinguishing melanoma from pigmented nevi were proposed. The diagnostic criterion is based on skin optical density differences at three fixed wavelengths: 540nm, 650nm and 950nm. The sensitivity and specificity of this method were estimated to be 94% and 89%, respectively. The proposed methodology and potential clinical applications are discussed. PMID:22435095

Achieving thermography with a thermal security camera using uncooled amorphous silicon microbolometer image sensors

NASA Astrophysics Data System (ADS)

Wang, Yu-Wei; Tesdahl, Curtis; Owens, Jim; Dorn, David

2012-06-01

Advancements in uncooled microbolometer technology over the last several years have opened up many commercial applications which had been previously cost prohibitive. Thermal technology is no longer limited to the military and government market segments. One type of thermal sensor with low NETD which is available in the commercial market segment is the uncooled amorphous silicon (α-Si) microbolometer image sensor. Typical thermal security cameras focus on providing the best image quality by auto tonemaping (contrast enhancing) the image, which provides the best contrast depending on the temperature range of the scene. While this may provide enough information to detect objects and activities, there are further benefits of being able to estimate the actual object temperatures in a scene. This thermographic ability can provide functionality beyond typical security cameras by being able to monitor processes. Example applications of thermography[2] with thermal camera include: monitoring electrical circuits, industrial machinery, building thermal leaks, oil/gas pipelines, power substations, etc...[3][5] This paper discusses the methodology of estimating object temperatures by characterizing/calibrating different components inside a thermal camera utilizing an uncooled amorphous silicon microbolometer image sensor. Plots of system performance across camera operating temperatures will be shown.

The Estimation of Precisions in the Planning of Uas Photogrammetric Surveys

NASA Astrophysics Data System (ADS)

Passoni, D.; Federici, B.; Ferrando, I.; Gagliolo, S.; Sguerso, D.

2018-05-01

The Unmanned Aerial System (UAS) is widely used in the photogrammetric surveys both of structures and of small areas. Geomatics focuses the attention on the metric quality of the final products of the survey, creating several 3D modelling applications from UAS images. As widely known, the quality of results derives from the quality of images acquisition phase, which needs an a priori estimation of the expected precisions. The planning phase is typically managed using dedicated tools, adapted from the traditional aerial-photogrammetric flight plan. But UAS flight has features completely different from the traditional one. Hence, the use of UAS for photogrammetric applications today requires a growth in knowledge in planning. The basic idea of this research is to provide a drone photogrammetric flight planning tools considering the required metric precisions, given a priori the classical parameters of a photogrammetric planning: flight altitude, overlaps and geometric parameters of the camera. The created "office suite" allows a realistic planning of a photogrammetric survey, starting from an approximate knowledge of the Digital Surface Model (DSM), and the effective attitude parameters, changing along the route. The planning products are the overlapping of the images, the Ground Sample Distance (GSD) and the precision on each pixel taking into account the real geometry. The different tested procedures, the obtained results and the solution proposed for the a priori estimates of the precisions in the particular case of UAS surveys are here reported.

Spatial capture-recapture models allowing Markovian transience or dispersal

USGS Publications Warehouse

Royle, J. Andrew; Fuller, Angela K.; Sutherland, Chris

2016-01-01

Spatial capture–recapture (SCR) models are a relatively recent development in quantitative ecology, and they are becoming widely used to model density in studies of animal populations using camera traps, DNA sampling and other methods which produce spatially explicit individual encounter information. One of the core assumptions of SCR models is that individuals possess home ranges that are spatially stationary during the sampling period. For many species, this assumption is unlikely to be met and, even for species that are typically territorial, individuals may disperse or exhibit transience at some life stages. In this paper we first conduct a simulation study to evaluate the robustness of estimators of density under ordinary SCR models when dispersal or transience is present in the population. Then, using both simulated and real data, we demonstrate that such models can easily be described in the BUGS language providing a practical framework for their analysis, which allows us to evaluate movement dynamics of species using capture–recapture data. We find that while estimators of density are extremely robust, even to pathological levels of movement (e.g., complete transience), the estimator of the spatial scale parameter of the encounter probability model is confounded with the dispersal/transience scale parameter. Thus, use of ordinary SCR models to make inferences about density is feasible, but interpretation of SCR model parameters in relation to movement should be avoided. Instead, when movement dynamics are of interest, such dynamics should be parameterized explicitly in the model.

Digital Image Correlation: Metrological Characterization in Mechanical Analysis

NASA Astrophysics Data System (ADS)

Petrella, Orsola; Signore, Davide; Caramuta, Pietro; Toscano, Cinzia; Ferraiuolo, Michele

2017-04-01

The Digital Image Correlation (DIC) is a newly developed optical technique that is spreading in all engineering sectors because it allows the non-destructive estimation of the entire surface deformation without any contact with the component under analysis. These characteristics make the DIC very appealing in all the cases the global deformation state is to be known without using strain gages, which are the most used measuring device. The DIC is applicable to any material subjected to distortion caused by either thermal or mechanical load, allowing to obtain high-definition mapping of displacements and deformations. That is why in the civil and the transportation industry, DIC is very useful for studying the behavior of metallic materials as well as of composite materials. DIC is also used in the medical field for the characterization of the local strain field of the vascular tissues surface subjected to uniaxial tensile loading. DIC can be carried out in the two dimension mode (2D DIC) if a single camera is used or in a three dimension mode (3D DIC) if two cameras are involved. Each point of the test surface framed by the cameras can be associated with a specific pixel of the image and the coordinates of each point are calculated knowing the relative distance between the two cameras together with their orientation. In both arrangements, when a component is subjected to a load, several images related to different deformation states can be are acquired through the cameras. A specific software analyzes the images via the mutual correlation between the reference image (obtained without any applied load) and those acquired during the deformation giving the relative displacements. In this paper, a Metrological Characterization of the Digital Image Correlation is performed on aluminum and composite targets both in static and dynamic loading conditions by comparison between DIC and strain gauges measures. In the static test, interesting results have been obtained thanks to an excellent agreement between the two measuring techniques. In addition, the deformation detected by the DIC is compliant with the result of a FEM simulation In the dynamic test the DIC was able to follow with a good accuracy the periodic deformation of the specimen giving results coherent with the ones given by FEM simulation. In both situations, it was seen that the DIC measurement accuracy depends on several parameters such as the optical focusing, the parameters chosen to perform the mutual correlation between the images and, finally, the reference points on image to be analyzed. In the future the influence of these parameters will be studied and a method to increase the accuracy of the measurements will be developed in accordance with the requirements of the industries especially of the aerospace one.

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.

The Scottish way - getting results in soil spectroscopy without spending money

NASA Astrophysics Data System (ADS)

Aitkenhead, Matt; Cameron, Clare; Gaskin, Graham; Choisy, Bastien; Coull, Malcolm; Black, Helaina

2016-04-01

Achieving soil characterisation using spectroscopy requires several things. These include soil data to develop or train a calibration model, a method of capturing spectra, the ability to actually develop a calibration model and also additional data to reinforce the model by introducing some form of stratification or site-specific information. Each of these steps requires investment in both time and money. Here we present an approach developed at the James Hutton Institute that achieves the end goal with minimal cost, by making as much use as possible of existing soil and environmental datasets for Scotland. The spectroscopy device that has been developed is PHYLIS (Prototype HYperspectral Low-cost Imaging System) that was constructed using inexpensive optical components, and uses a basic digital camera to produce visible-range spectra. The results show that for a large number of soil parameters, it is possible to estimate values either very well (RSQ > 0.9) (LOI, C, exchangeable H), well (RSQ > 0.75) (N, pH) or moderately (RSQ > 0.5) (Mg, Na, K, Fe, Al, sand, silt, clay). The methods used to achieve these results are described. A number of additional parameters were not well estimated (elemental concentrations), and we describe how work is ongoing to improve our ability to estimate these using similar technology and data.

Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation

PubMed Central

Przemyslaw, Baranski; Pawel, Strumillo

2012-01-01

The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian's steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS. PMID:22969321

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.

Image quality testing of assembled IR camera modules

NASA Astrophysics Data System (ADS)

Winters, Daniel; Erichsen, Patrik

2013-10-01

Infrared (IR) camera modules for the LWIR (8-12_m) that combine IR imaging optics with microbolometer focal plane array (FPA) sensors with readout electronics are becoming more and more a mass market product. At the same time, steady improvements in sensor resolution in the higher priced markets raise the requirement for imaging performance of objectives and the proper alignment between objective and FPA. This puts pressure on camera manufacturers and system integrators to assess the image quality of finished camera modules in a cost-efficient and automated way for quality control or during end-of-line testing. In this paper we present recent development work done in the field of image quality testing of IR camera modules. This technology provides a wealth of additional information in contrast to the more traditional test methods like minimum resolvable temperature difference (MRTD) which give only a subjective overall test result. Parameters that can be measured are image quality via the modulation transfer function (MTF) for broadband or with various bandpass filters on- and off-axis and optical parameters like e.g. effective focal length (EFL) and distortion. If the camera module allows for refocusing the optics, additional parameters like best focus plane, image plane tilt, auto-focus quality, chief ray angle etc. can be characterized. Additionally, the homogeneity and response of the sensor with the optics can be characterized in order to calculate the appropriate tables for non-uniformity correction (NUC). The technology can also be used to control active alignment methods during mechanical assembly of optics to high resolution sensors. Other important points that are discussed are the flexibility of the technology to test IR modules with different form factors, electrical interfaces and last but not least the suitability for fully automated measurements in mass production.

Infrared cameras are potential traceable "fixed points" for future thermometry studies.

PubMed

Yap Kannan, R; Keresztes, K; Hussain, S; Coats, T J; Bown, M J

2015-01-01

The National physical laboratory (NPL) requires "fixed points" whose temperatures have been established by the International Temperature Scale of 1990 (ITS 90) be used for device calibration. In practice, "near" blackbody radiators together with the standard platinum resistance thermometer is accepted as a standard. The aim of this study was to report the correlation and limits of agreement (LOA) of the thermal infrared camera and non-contact infrared temporal thermometer against each other and the "near" blackbody radiator. Temperature readings from an infrared thermography camera (FLIR T650sc) and a non-contact infrared temporal thermometer (Hubdic FS-700) were compared to a near blackbody (Hyperion R blackbody model 982) at 0.5 °C increments between 20-40 °C. At each increment, blackbody cavity temperature was confirmed with the platinum resistance thermometer. Measurements were taken initially with the thermal infrared camera followed by the infrared thermometer, with each device mounted in turn on a stand at a fixed distance of 20 cm and 5 cm from the blackbody aperture, respectively. The platinum thermometer under-estimated the blackbody temperature by 0.015 °C (95% LOA: -0.08 °C to 0.05 °C), in contrast to the thermal infrared camera and infrared thermometer which over-estimated the blackbody temperature by 0.16 °C (95% LOA: 0.03 °C to 0.28 °C) and 0.75 °C (95% LOA: -0.30 °C to 1.79 °C), respectively. Infrared thermometer over-estimates thermal infrared camera measurements by 0.6 °C (95% LOA: -0.46 °C to 1.65 °C). In conclusion, the thermal infrared camera is a potential temperature reference "fixed point" that could substitute mercury thermometers. However, further repeatability and reproducibility studies will be required with different models of thermal infrared cameras.

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.

Vision-Based SLAM System for Unmanned Aerial Vehicles

PubMed Central

Munguía, Rodrigo; Urzua, Sarquis; Bolea, Yolanda; Grau, Antoni

2016-01-01

The present paper describes a vision-based simultaneous localization and mapping system to be applied to Unmanned Aerial Vehicles (UAVs). The main contribution of this work is to propose a novel estimator relying on an Extended Kalman Filter. The estimator is designed in order to fuse the measurements obtained from: (i) an orientation sensor (AHRS); (ii) a position sensor (GPS); and (iii) a monocular camera. The estimated state consists of the full state of the vehicle: position and orientation and their first derivatives, as well as the location of the landmarks observed by the camera. The position sensor will be used only during the initialization period in order to recover the metric scale of the world. Afterwards, the estimated map of landmarks will be used to perform a fully vision-based navigation when the position sensor is not available. Experimental results obtained with simulations and real data show the benefits of the inclusion of camera measurements into the system. In this sense the estimation of the trajectory of the vehicle is considerably improved, compared with the estimates obtained using only the measurements from the position sensor, which are commonly low-rated and highly noisy. PMID:26999131

A reference estimator based on composite sensor pattern noise for source device identification

NASA Astrophysics Data System (ADS)

Li, Ruizhe; Li, Chang-Tsun; Guan, Yu

2014-02-01

It has been proved that Sensor Pattern Noise (SPN) can serve as an imaging device fingerprint for source camera identification. Reference SPN estimation is a very important procedure within the framework of this application. Most previous works built reference SPN by averaging the SPNs extracted from 50 images of blue sky. However, this method can be problematic. Firstly, in practice we may face the problem of source camera identification in the absence of the imaging cameras and reference SPNs, which means only natural images with scene details are available for reference SPN estimation rather than blue sky images. It is challenging because the reference SPN can be severely contaminated by image content. Secondly, the number of available reference images sometimes is too few for existing methods to estimate a reliable reference SPN. In fact, existing methods lack consideration of the number of available reference images as they were designed for the datasets with abundant images to estimate the reference SPN. In order to deal with the aforementioned problem, in this work, a novel reference estimator is proposed. Experimental results show that our proposed method achieves better performance than the methods based on the averaged reference SPN, especially when few reference images used.

Nonuniformity correction based on focal plane array temperature in uncooled long-wave infrared cameras without a shutter.

PubMed

Liang, Kun; Yang, Cailan; Peng, Li; Zhou, Bo

2017-02-01

In uncooled long-wave IR camera systems, the temperature of a focal plane array (FPA) is variable along with the environmental temperature as well as the operating time. The spatial nonuniformity of the FPA, which is partly affected by the FPA temperature, obviously changes as well, resulting in reduced image quality. This study presents a real-time nonuniformity correction algorithm based on FPA temperature to compensate for nonuniformity caused by FPA temperature fluctuation. First, gain coefficients are calculated using a two-point correction technique. Then offset parameters at different FPA temperatures are obtained and stored in tables. When the camera operates, the offset tables are called to update the current offset parameters via a temperature-dependent interpolation. Finally, the gain coefficients and offset parameters are used to correct the output of the IR camera in real time. The proposed algorithm is evaluated and compared with two representative shutterless algorithms [minimizing the sum of the squares of errors algorithm (MSSE), template-based solution algorithm (TBS)] using IR images captured by a 384×288 pixel uncooled IR camera with a 17 μm pitch. Experimental results show that this method can quickly trace the response drift of the detector units when the FPA temperature changes. The quality of the proposed algorithm is as good as MSSE, while the processing time is as short as TBS, which means the proposed algorithm is good for real-time control and at the same time has a high correction effect.

Adaptive tracking control of a wheeled mobile robot via an uncalibrated camera system.

PubMed

Dixon, W E; Dawson, D M; Zergeroglu, E; Behal, A

2001-01-01

This paper considers the problem of position/orientation tracking control of wheeled mobile robots via visual servoing in the presence of parametric uncertainty associated with the mechanical dynamics and the camera system. Specifically, we design an adaptive controller that compensates for uncertain camera and mechanical parameters and ensures global asymptotic position/orientation tracking. Simulation and experimental results are included to illustrate the performance of the control law.

Feasibility and accuracy assessment of light field (plenoptic) PIV flow-measurement technique

NASA Astrophysics Data System (ADS)

Shekhar, Chandra; Ogawa, Syo; Kawaguchi, Tatsuya

A light field camera can enable measurement of all the three velocity components of a flow field inside a three-dimensional volume when implemented in a PIV measurement. Due to the usage of only one camera, the measurement procedure gets greatly simplified, as well as measurement of the flows with limited visual access also becomes possible. Due to these advantages, light field cameras and their usage in PIV measurements are actively studied. The overall procedure of obtaining an instantaneous flow field consists of imaging a seeded flow at two closely separated time instants, reconstructing the two volumetric distributions of the particles using algorithms such as MART, followed by obtaining the flow velocity through cross-correlations. In this study, we examined effects of various configuration parameters of a light field camera on the in-plane and the depth resolutions, obtained near-optimal parameters in a given case, and then used it to simulate a PIV measurement scenario in order to assess the reconstruction accuracy.

Performance of Color Camera Machine Vision in Automated Furniture Rough Mill Systems

Treesearch

D. Earl Kline; Agus Widoyoko; Janice K. Wiedenbeck; Philip A. Araman

1998-01-01

The objective of this study was to evaluate the performance of color camera machine vision for lumber processing in a furniture rough mill. The study used 134 red oak boards to compare the performance of automated gang-rip-first rough mill yield based on a prototype color camera lumber inspection system developed at Virginia Tech with both estimated optimum rough mill...

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.

Brute Force Matching Between Camera Shots and Synthetic Images from Point Clouds

NASA Astrophysics Data System (ADS)

Boerner, R.; Kröhnert, M.

2016-06-01

3D point clouds, acquired by state-of-the-art terrestrial laser scanning techniques (TLS), provide spatial information about accuracies up to several millimetres. Unfortunately, common TLS data has no spectral information about the covered scene. However, the matching of TLS data with images is important for monoplotting purposes and point cloud colouration. Well-established methods solve this issue by matching of close range images and point cloud data by fitting optical camera systems on top of laser scanners or rather using ground control points. The approach addressed in this paper aims for the matching of 2D image and 3D point cloud data from a freely moving camera within an environment covered by a large 3D point cloud, e.g. a 3D city model. The key advantage of the free movement affects augmented reality applications or real time measurements. Therefore, a so-called real image, captured by a smartphone camera, has to be matched with a so-called synthetic image which consists of reverse projected 3D point cloud data to a synthetic projection centre whose exterior orientation parameters match the parameters of the image, assuming an ideal distortion free camera.

Calibration Techniques for Accurate Measurements by Underwater Camera Systems

PubMed Central

Shortis, Mark

2015-01-01

Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems. PMID:26690172

Dense depth maps from correspondences derived from perceived motion

NASA Astrophysics Data System (ADS)

Kirby, Richard; Whitaker, Ross

2017-01-01

Many computer vision applications require finding corresponding points between images and using the corresponding points to estimate disparity. Today's correspondence finding algorithms primarily use image features or pixel intensities common between image pairs. Some 3-D computer vision applications, however, do not produce the desired results using correspondences derived from image features or pixel intensities. Two examples are the multimodal camera rig and the center region of a coaxial camera rig. We present an image correspondence finding technique that aligns pairs of image sequences using optical flow fields. The optical flow fields provide information about the structure and motion of the scene, which are not available in still images but can be used in image alignment. We apply the technique to a dual focal length stereo camera rig consisting of a visible light-infrared camera pair and to a coaxial camera rig. We test our method on real image sequences and compare our results with the state-of-the-art multimodal and structure from motion (SfM) algorithms. Our method produces more accurate depth and scene velocity reconstruction estimates than the state-of-the-art multimodal and SfM algorithms.

Calibration Procedures in Mid Format Camera Setups

NASA Astrophysics Data System (ADS)

Pivnicka, F.; Kemper, G.; Geissler, S.

2012-07-01

A growing number of mid-format cameras are used for aerial surveying projects. To achieve a reliable and geometrically precise result also in the photogrammetric workflow, awareness on the sensitive parts is important. The use of direct referencing systems (GPS/IMU), the mounting on a stabilizing camera platform and the specific values of the mid format camera make a professional setup with various calibration and misalignment operations necessary. An important part is to have a proper camera calibration. Using aerial images over a well designed test field with 3D structures and/or different flight altitudes enable the determination of calibration values in Bingo software. It will be demonstrated how such a calibration can be performed. The direct referencing device must be mounted in a solid and reliable way to the camera. Beside the mechanical work especially in mounting the camera beside the IMU, 2 lever arms have to be measured in mm accuracy. Important are the lever arms from the GPS Antenna to the IMU's calibrated centre and also the lever arm from the IMU centre to the Camera projection centre. In fact, the measurement with a total station is not a difficult task but the definition of the right centres and the need for using rotation matrices can cause serious accuracy problems. The benefit of small and medium format cameras is that also smaller aircrafts can be used. Like that, a gyro bases stabilized platform is recommended. This causes, that the IMU must be mounted beside the camera on the stabilizer. The advantage is, that the IMU can be used to control the platform, the problematic thing is, that the IMU to GPS antenna lever arm is floating. In fact we have to deal with an additional data stream, the values of the movement of the stabiliser to correct the floating lever arm distances. If the post-processing of the GPS-IMU data by taking the floating levers into account, delivers an expected result, the lever arms between IMU and camera can be applied. However, there is a misalignment (bore side angle) that must be evaluated by photogrammetric process using advanced tools e.g. in Bingo. Once, all these parameters have been determined, the system is capable for projects without or with only a few ground control points. But which effect has the photogrammetric process when directly applying the achieved direct orientation values compared with an AT based on a proper tiepoint matching? The paper aims to show the steps to be done by potential users and gives a kind of quality estimation about the importance and quality influence of the various calibration and adjustment steps.

Joint estimation of high resolution images and depth maps from light field cameras

NASA Astrophysics Data System (ADS)

Ohashi, Kazuki; Takahashi, Keita; Fujii, Toshiaki

2014-03-01

Light field cameras are attracting much attention as tools for acquiring 3D information of a scene through a single camera. The main drawback of typical lenselet-based light field cameras is the limited resolution. This limitation comes from the structure where a microlens array is inserted between the sensor and the main lens. The microlens array projects 4D light field on a single 2D image sensor at the sacrifice of the resolution; the angular resolution and the position resolution trade-off under the fixed resolution of the image sensor. This fundamental trade-off remains after the raw light field image is converted to a set of sub-aperture images. The purpose of our study is to estimate a higher resolution image from low resolution sub-aperture images using a framework of super-resolution reconstruction. In this reconstruction, these sub-aperture images should be registered as accurately as possible. This registration is equivalent to depth estimation. Therefore, we propose a method where super-resolution and depth refinement are performed alternatively. Most of the process of our method is implemented by image processing operations. We present several experimental results using a Lytro camera, where we increased the resolution of a sub-aperture image by three times horizontally and vertically. Our method can produce clearer images compared to the original sub-aperture images and the case without depth refinement.

Estimation of saturated pixel values in digital color imaging

PubMed Central

Zhang, Xuemei; Brainard, David H.

2007-01-01

Pixel saturation, where the incident light at a pixel causes one of the color channels of the camera sensor to respond at its maximum value, can produce undesirable artifacts in digital color images. We present a Bayesian algorithm that estimates what the saturated channel's value would have been in the absence of saturation. The algorithm uses the non-saturated responses from the other color channels, together with a multivariate Normal prior that captures the correlation in response across color channels. The appropriate parameters for the prior may be estimated directly from the image data, since most image pixels are not saturated. Given the prior, the responses of the non-saturated channels, and the fact that the true response of the saturated channel is known to be greater than the saturation level, the algorithm returns the optimal expected mean square estimate for the true response. Extensions of the algorithm to the case where more than one channel is saturated are also discussed. Both simulations and examples with real images are presented to show that the algorithm is effective. PMID:15603065

Small Body GN and C Research Report: G-SAMPLE - An In-Flight Dynamical Method for Identifying Sample Mass [External Release Version

NASA Technical Reports Server (NTRS)

Carson, John M., III; Bayard, David S.

2006-01-01

G-SAMPLE is an in-flight dynamical method for use by sample collection missions to identify the presence and quantity of collected sample material. The G-SAMPLE method implements a maximum-likelihood estimator to identify the collected sample mass, based on onboard force sensor measurements, thruster firings, and a dynamics model of the spacecraft. With G-SAMPLE, sample mass identification becomes a computation rather than an extra hardware requirement; the added cost of cameras or other sensors for sample mass detection is avoided. Realistic simulation examples are provided for a spacecraft configuration with a sample collection device mounted on the end of an extended boom. In one representative example, a 1000 gram sample mass is estimated to within 110 grams (95% confidence) under realistic assumptions of thruster profile error, spacecraft parameter uncertainty, and sensor noise. For convenience to future mission design, an overall sample-mass estimation error budget is developed to approximate the effect of model uncertainty, sensor noise, data rate, and thrust profile error on the expected estimate of collected sample mass.

Update on developments at SNIF

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

Zacks, J., E-mail: jamie.zacks@ccfe.ac.uk; Turner, I.; Day, I.

The Small Negative Ion Facility (SNIF) at CCFE has been undergoing continuous development and enhancement to both improve operational reliability and increase diagnostic capability. SNIF uses a CW 13.56MHz, 5kW RF driven volume source with a 30kV triode accelerator. Improvement and characterisation work includes: Installation of a new “L” type RF matching unit, used to calculate the load on the RF generator. Use of the electron suppressing biased insert as a Langmuir probe under different beam extraction conditions. Measurement of the hydrogen Fulcher molecular spectrum, used to calculate gas temperature in the source. Beam optimisation through parameter scans, using coppermore » target plate and visible cameras, with results compared with AXCEL-INP to provide beam current estimate. Modelling of the beam power density profile on the target plate using ANSYS to estimate beam power and provide another estimate of beam current. This work is described, and has allowed an estimation of the extracted beam current of approximately 6mA (4mA/cm2) at 3.5kW RF power and a source pressure of 0.6Pa.« less

Attitude identification for SCOLE using two infrared cameras

NASA Technical Reports Server (NTRS)

Shenhar, Joram

1991-01-01

An algorithm is presented that incorporates real time data from two infrared cameras and computes the attitude parameters of the Spacecraft COntrol Lab Experiment (SCOLE), a lab apparatus representing an offset feed antenna attached to the Space Shuttle by a flexible mast. The algorithm uses camera position data of three miniature light emitting diodes (LEDs), mounted on the SCOLE platform, permitting arbitrary camera placement and an on-line attitude extraction. The continuous nature of the algorithm allows identification of the placement of the two cameras with respect to some initial position of the three reference LEDs, followed by on-line six degrees of freedom attitude tracking, regardless of the attitude time history. A description is provided of the algorithm in the camera identification mode as well as the mode of target tracking. Experimental data from a reduced size SCOLE-like lab model, reflecting the performance of the camera identification and the tracking processes, are presented. Computer code for camera placement identification and SCOLE attitude tracking is listed.

Binary pressure-sensitive paint measurements using miniaturised, colour, machine vision cameras

NASA Astrophysics Data System (ADS)

Quinn, Mark Kenneth

2018-05-01

Recent advances in machine vision technology and capability have led to machine vision cameras becoming applicable for scientific imaging. This study aims to demonstrate the applicability of machine vision colour cameras for the measurement of dual-component pressure-sensitive paint (PSP). The presence of a second luminophore component in the PSP mixture significantly reduces its inherent temperature sensitivity, increasing its applicability at low speeds. All of the devices tested are smaller than the cooled CCD cameras traditionally used and most are of significantly lower cost, thereby increasing the accessibility of such technology and techniques. Comparisons between three machine vision cameras, a three CCD camera, and a commercially available specialist PSP camera are made on a range of parameters, and a detailed PSP calibration is conducted in a static calibration chamber. The findings demonstrate that colour machine vision cameras can be used for quantitative, dual-component, pressure measurements. These results give rise to the possibility of performing on-board dual-component PSP measurements in wind tunnels or on real flight/road vehicles.

Distance error correction for time-of-flight cameras

NASA Astrophysics Data System (ADS)

Fuersattel, Peter; Schaller, Christian; Maier, Andreas; Riess, Christian

2017-06-01

The measurement accuracy of time-of-flight cameras is limited due to properties of the scene and systematic errors. These errors can accumulate to multiple centimeters which may limit the applicability of these range sensors. In the past, different approaches have been proposed for improving the accuracy of these cameras. In this work, we propose a new method that improves two important aspects of the range calibration. First, we propose a new checkerboard which is augmented by a gray-level gradient. With this addition it becomes possible to capture the calibration features for intrinsic and distance calibration at the same time. The gradient strip allows to acquire a large amount of distance measurements for different surface reflectivities, which results in more meaningful training data. Second, we present multiple new features which are used as input to a random forest regressor. By using random regression forests, we circumvent the problem of finding an accurate model for the measurement error. During application, a correction value for each individual pixel is estimated with the trained forest based on a specifically tailored feature vector. With our approach the measurement error can be reduced by more than 40% for the Mesa SR4000 and by more than 30% for the Microsoft Kinect V2. In our evaluation we also investigate the impact of the individual forest parameters and illustrate the importance of the individual features.

Development of on-line laser power monitoring system

NASA Astrophysics Data System (ADS)

Ding, Chien-Fang; Lee, Meng-Shiou; Li, Kuan-Ming

2016-03-01

Since the laser was invented, laser has been applied in many fields such as material processing, communication, measurement, biomedical engineering, defense industries and etc. Laser power is an important parameter in laser material processing, i.e. laser cutting, and laser drilling. However, the laser power is easily affected by the environment temperature, we tend to monitor the laser power status, ensuring there is an effective material processing. Besides, the response time of current laser power meters is too long, they cannot measure laser power accurately in a short time. To be more precisely, we can know the status of laser power and help us to achieve an effective material processing at the same time. To monitor the laser power, this study utilize a CMOS (Complementary metal-oxide-semiconductor) camera to develop an on-line laser power monitoring system. The CMOS camera captures images of incident laser beam after it is split and attenuated by beam splitter and neutral density filter. By comparing the average brightness of the beam spots and measurement results from laser power meter, laser power can be estimated. Under continuous measuring mode, the average measuring error is about 3%, and the response time is at least 3.6 second shorter than thermopile power meters; under trigger measuring mode which enables the CMOS camera to synchronize with intermittent laser output, the average measuring error is less than 3%, and the shortest response time is 20 millisecond.

Transmitter diversity verification on ARTEMIS geostationary satellite

NASA Astrophysics Data System (ADS)

Mata Calvo, Ramon; Becker, Peter; Giggenbach, Dirk; Moll, Florian; Schwarzer, Malte; Hinz, Martin; Sodnik, Zoran

2014-03-01

Optical feeder links will become the extension of the terrestrial fiber communications towards space, increasing data throughput in satellite communications by overcoming the spectrum limitations of classical RF-links. The geostationary telecommunication satellite Alphasat and the satellites forming the EDRS-system will become the next generation for high-speed data-relay services. The ESA satellite ARTEMIS, precursor for geostationary orbit (GEO) optical terminals, is still a privileged experiment platform to characterize the turbulent channel and investigate the challenges of free-space optical communication to GEO. In this framework, two measurement campaigns were conducted with the scope of verifying the benefits of transmitter diversity in the uplink. To evaluate this mitigation technique, intensity measurements were carried out at both ends of the link. The scintillation parameter is calculated and compared to theory and, additionally, the Fried Parameter is estimated by using a focus camera to monitor the turbulence strength.

Visualizing Interstellar's Wormhole

NASA Astrophysics Data System (ADS)

James, Oliver; von Tunzelmann, Eugénie; Franklin, Paul; Thorne, Kip S.

2015-06-01

Christopher Nolan's science fiction movie Interstellar offers a variety of opportunities for students in elementary courses on general relativity theory. This paper describes such opportunities, including: (i) At the motivational level, the manner in which elementary relativity concepts underlie the wormhole visualizations seen in the movie; (ii) At the briefest computational level, instructive calculations with simple but intriguing wormhole metrics, including, e.g., constructing embedding diagrams for the three-parameter wormhole that was used by our visual effects team and Christopher Nolan in scoping out possible wormhole geometries for the movie; (iii) Combining the proper reference frame of a camera with solutions of the geodesic equation, to construct a light-ray-tracing map backward in time from a camera's local sky to a wormhole's two celestial spheres; (iv) Implementing this map, for example, in Mathematica, Maple or Matlab, and using that implementation to construct images of what a camera sees when near or inside a wormhole; (v) With the student's implementation, exploring how the wormhole's three parameters influence what the camera sees—which is precisely how Christopher Nolan, using our implementation, chose the parameters for Interstellar's wormhole; (vi) Using the student's implementation, exploring the wormhole's Einstein ring and particularly the peculiar motions of star images near the ring, and exploring what it looks like to travel through a wormhole.

Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor)

1994-01-01

Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt, and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

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.

[Microcytomorphometric video-image detection of nuclear chromatin in ovarian cancer].

PubMed

Grzonka, Dariusz; Kamiński, Kazimierz; Kaźmierczak, Wojciech

2003-09-01

Technology of detection of tissue preparates precisious evaluates contents of nuclear chromatine, largeness and shape of cellular nucleus, indicators of mitosis, DNA index, ploidy, phase-S fraction and other parameters. Methods of detection of picture are: microcytomorphometry video-image (MCMM-VI), flow, double flow and activated by fluorescence. Diagnostic methods of malignant neoplasm of ovary are still nonspecific and not precise, that is a reason of unsatisfied results of treatment. Evaluation of microcytomorphometric measurements of nuclear chromatine histopathologic tissue preparates (HP) of ovarian cancer and comparison to normal ovarian tissue. Estimated 10 paraffin embedded tissue preparates of serous ovarian cancer, 4 preparates mucinous cancer and 2 cases of tumor Kruckenberg patients operated in Clinic of Perinatology and Gynaecology Silesian Medical Academy in Zabrze in period 2001-2002, MCMM-VI estimation based on computer aided analysis system: microscope Axioscop 20, camera tv JVCTK-C 1380, CarlZeiss KS Vision 400 rel.3.0 software. Following MCMM-VI parameters assessed: count of pathologic nucleus, diameter of nucleus, area, min/max diameter ratio, equivalent circle diameter (Dcircle), mean of brightness (mean D), integrated optical density (IOD = area x mean D), DNA index and 2.5 c exceeding rate percentage (2.5 c ER%). MCMM-VI performed on the 160 areas of 16 preparates of cancer and 100 areas of normal ovarian tissue. Statistical analysis was performed by used t-Student test. We obtained stastistically significant higher values parameters of nuclear chromatine, DI, 2.5 c ER of mucinous cancer and tumor Kruckenberg comparison to serous cancer. MCMM-VI parameters of chromatine malignant ovarian neoplasm were statistically significantly higher than normal ovarian tissue. Cytometric and karyometric parametres of nuclear chromatine estimated MCMM-VI are useful in the diagnostics and prognosis of ovarian cancer.

Estimating tiger abundance from camera trap data: Field surveys and analytical issues

USGS Publications Warehouse

Karanth, K. Ullas; Nichols, James D.; O'Connell, Allan F.; Nichols, James D.; Karanth, K. Ullas

2011-01-01

Automated photography of tigers Panthera tigris for purely illustrative purposes was pioneered by British forester Fred Champion (1927, 1933) in India in the early part of the Twentieth Century. However, it was McDougal (1977) in Nepal who first used camera traps, equipped with single-lens reflex cameras activated by pressure pads, to identify individual tigers and study their social and predatory behaviors. These attempts involved a small number of expensive, cumbersome camera traps, and were not, in any formal sense, directed at “sampling” tiger populations.

MATE: Machine Learning for Adaptive Calibration Template Detection

PubMed Central

Donné, Simon; De Vylder, Jonas; Goossens, Bart; Philips, Wilfried

2016-01-01

The problem of camera calibration is two-fold. On the one hand, the parameters are estimated from known correspondences between the captured image and the real world. On the other, these correspondences themselves—typically in the form of chessboard corners—need to be found. Many distinct approaches for this feature template extraction are available, often of large computational and/or implementational complexity. We exploit the generalized nature of deep learning networks to detect checkerboard corners: our proposed method is a convolutional neural network (CNN) trained on a large set of example chessboard images, which generalizes several existing solutions. The network is trained explicitly against noisy inputs, as well as inputs with large degrees of lens distortion. The trained network that we evaluate is as accurate as existing techniques while offering improved execution time and increased adaptability to specific situations with little effort. The proposed method is not only robust against the types of degradation present in the training set (lens distortions, and large amounts of sensor noise), but also to perspective deformations, e.g., resulting from multi-camera set-ups. PMID:27827920

Integrating Depth and Image Sequences for Planetary Rover Mapping Using Rgb-D Sensor

NASA Astrophysics Data System (ADS)

Peng, M.; Wan, W.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Zhao, Q.; Teng, B.; Mao, X.

2018-04-01

RGB-D camera allows the capture of depth and color information at high data rates, and this makes it possible and beneficial integrate depth and image sequences for planetary rover mapping. The proposed mapping method consists of three steps. First, the strict projection relationship among 3D space, depth data and visual texture data is established based on the imaging principle of RGB-D camera, then, an extended bundle adjustment (BA) based SLAM method with integrated 2D and 3D measurements is applied to the image network for high-precision pose estimation. Next, as the interior and exterior elements of RGB images sequence are available, dense matching is completed with the CMPMVS tool. Finally, according to the registration parameters after ICP, the 3D scene from RGB images can be registered to the 3D scene from depth images well, and the fused point cloud can be obtained. Experiment was performed in an outdoor field to simulate the lunar surface. The experimental results demonstrated the feasibility of the proposed method.

Robust Kalman filtering cooperated Elman neural network learning for vision-sensing-based robotic manipulation with global stability.

PubMed

Zhong, Xungao; Zhong, Xunyu; Peng, Xiafu

2013-10-08

In this paper, a global-state-space visual servoing scheme is proposed for uncalibrated model-independent robotic manipulation. The scheme is based on robust Kalman filtering (KF), in conjunction with Elman neural network (ENN) learning techniques. The global map relationship between the vision space and the robotic workspace is learned using an ENN. This learned mapping is shown to be an approximate estimate of the Jacobian in global space. In the testing phase, the desired Jacobian is arrived at using a robust KF to improve the ENN learning result so as to achieve robotic precise convergence of the desired pose. Meanwhile, the ENN weights are updated (re-trained) using a new input-output data pair vector (obtained from the KF cycle) to ensure robot global stability manipulation. Thus, our method, without requiring either camera or model parameters, avoids the corrupted performances caused by camera calibration and modeling errors. To demonstrate the proposed scheme's performance, various simulation and experimental results have been presented using a six-degree-of-freedom robotic manipulator with eye-in-hand configurations.

Bispectral infrared forest fire detection and analysis using classification techniques

NASA Astrophysics Data System (ADS)

Aranda, Jose M.; Melendez, Juan; de Castro, Antonio J.; Lopez, Fernando

2004-01-01

Infrared cameras are well established as a useful tool for fire detection, but their use for quantitative forest fire measurements faces difficulties, due to the complex spatial and spectral structure of fires. In this work it is shown that some of these difficulties can be overcome by applying classification techniques, a standard tool for the analysis of satellite multispectral images, to bi-spectral images of fires. Images were acquired by two cameras that operate in the medium infrared (MIR) and thermal infrared (TIR) bands. They provide simultaneous and co-registered images, calibrated in brightness temperatures. The MIR-TIR scatterplot of these images can be used to classify the scene into different fire regions (background, ashes, and several ember and flame regions). It is shown that classification makes possible to obtain quantitative measurements of physical fire parameters like rate of spread, embers temperature, and radiated power in the MIR and TIR bands. An estimation of total radiated power and heat release per unit area is also made and compared with values derived from heat of combustion and fuel consumption.

Raspberry Pi camera with intervalometer used as crescograph

NASA Astrophysics Data System (ADS)

Albert, Stefan; Surducan, Vasile

2017-12-01

The intervalometer is an attachment or facility on a photo-camera that operates the shutter regularly at set intervals over a period. Professional cameras with built in intervalometers are expensive and quite difficult to find. The Canon CHDK open source operating system allows intervalometer implementation on Canon cameras only. However finding a Canon camera with near infra-red (NIR) photographic lens at affordable price is impossible. On experiments requiring several cameras (used to measure growth in plants - the crescographs, but also for coarse evaluation of the water content of leaves), the costs of the equipment are often over budget. Using two Raspberry Pi modules each equipped with a low cost NIR camera and a WIFI adapter (for downloading pictures stored on the SD card) and some freely available software, we have implemented two low budget intervalometer cameras. The shutting interval, the number of pictures to be taken, image resolution and some other parameters can be fully programmed. Cameras have been in use continuously for three months (July-October 2017) in a relevant environment (outside), proving the concept functionality.

Surveillance of a 2D Plane Area with 3D Deployed Cameras

PubMed Central

Fu, Yi-Ge; Zhou, Jie; Deng, Lei

2014-01-01

As the use of camera networks has expanded, camera placement to satisfy some quality assurance parameters (such as a good coverage ratio, an acceptable resolution constraints, an acceptable cost as low as possible, etc.) has become an important problem. The discrete camera deployment problem is NP-hard and many heuristic methods have been proposed to solve it, most of which make very simple assumptions. In this paper, we propose a probability inspired binary Particle Swarm Optimization (PI-BPSO) algorithm to solve a homogeneous camera network placement problem. We model the problem under some more realistic assumptions: (1) deploy the cameras in the 3D space while the surveillance area is restricted to a 2D ground plane; (2) deploy the minimal number of cameras to get a maximum visual coverage under more constraints, such as field of view (FOV) of the cameras and the minimum resolution constraints. We can simultaneously optimize the number and the configuration of the cameras through the introduction of a regulation item in the cost function. The simulation results showed the effectiveness of the proposed PI-BPSO algorithm. PMID:24469353

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.

Improved Feature Matching for Mobile Devices with IMU.

PubMed

Masiero, Andrea; Vettore, Antonio

2016-08-05

Thanks to the recent diffusion of low-cost high-resolution digital cameras and to the development of mostly automated procedures for image-based 3D reconstruction, the popularity of photogrammetry for environment surveys is constantly increasing in the last years. Automatic feature matching is an important step in order to successfully complete the photogrammetric 3D reconstruction: this step is the fundamental basis for the subsequent estimation of the geometry of the scene. This paper reconsiders the feature matching problem when dealing with smart mobile devices (e.g., when using the standard camera embedded in a smartphone as imaging sensor). More specifically, this paper aims at exploiting the information on camera movements provided by the inertial navigation system (INS) in order to make the feature matching step more robust and, possibly, computationally more efficient. First, a revised version of the affine scale-invariant feature transform (ASIFT) is considered: this version reduces the computational complexity of the original ASIFT, while still ensuring an increase of correct feature matches with respect to the SIFT. Furthermore, a new two-step procedure for the estimation of the essential matrix E (and the camera pose) is proposed in order to increase its estimation robustness and computational efficiency.

Motorcycle detection and counting using stereo camera, IR camera, and microphone array

NASA Astrophysics Data System (ADS)

Ling, Bo; Gibson, David R. P.; Middleton, Dan

2013-03-01

Detection, classification, and characterization are the key to enhancing motorcycle safety, motorcycle operations and motorcycle travel estimation. Average motorcycle fatalities per Vehicle Mile Traveled (VMT) are currently estimated at 30 times those of auto fatalities. Although it has been an active research area for many years, motorcycle detection still remains a challenging task. Working with FHWA, we have developed a hybrid motorcycle detection and counting system using a suite of sensors including stereo camera, thermal IR camera and unidirectional microphone array. The IR thermal camera can capture the unique thermal signatures associated with the motorcycle's exhaust pipes that often show bright elongated blobs in IR images. The stereo camera in the system is used to detect the motorcyclist who can be easily windowed out in the stereo disparity map. If the motorcyclist is detected through his or her 3D body recognition, motorcycle is detected. Microphones are used to detect motorcycles that often produce low frequency acoustic signals. All three microphones in the microphone array are placed in strategic locations on the sensor platform to minimize the interferences of background noises from sources such as rain and wind. Field test results show that this hybrid motorcycle detection and counting system has an excellent performance.

A Spectralon BRF Data Base for MISR Calibration Application

NASA Technical Reports Server (NTRS)

Bruegge, C.; Chrien, N.; Haner, D.

1999-01-01

The Multi-angle Imaging SpectroRadiometer (MISR) is an Earth observing sensor which will provide global retrievals of aerosols, clouds, and land surface parameters. Instrument specifications require high accuracy absolute calibration, as well as accurate camera-to-camera, band-to-band and pixel-to-pixel relative response determinations.

Design of a short nonuniform acquisition protocol for quantitative analysis in dynamic cardiac SPECT imaging - a retrospective 123 I-MIBG animal study.

PubMed

Zan, Yunlong; Long, Yong; Chen, Kewei; Li, Biao; Huang, Qiu; Gullberg, Grant T

2017-07-01

Our previous works have found that quantitative analysis of 123 I-MIBG kinetics in the rat heart with dynamic single-photon emission computed tomography (SPECT) offers the potential to quantify the innervation integrity at an early stage of left ventricular hypertrophy. However, conventional protocols involving a long acquisition time for dynamic imaging reduce the animal survival rate and thus make longitudinal analysis difficult. The goal of this work was to develop a procedure to reduce the total acquisition time by selecting nonuniform acquisition times for projection views while maintaining the accuracy and precision of estimated physiologic parameters. Taking dynamic cardiac imaging with 123 I-MIBG in rats as an example, we generated time activity curves (TACs) of regions of interest (ROIs) as ground truths based on a direct four-dimensional reconstruction of experimental data acquired from a rotating SPECT camera, where TACs represented as the coefficients of B-spline basis functions were used to estimate compartmental model parameters. By iteratively adjusting the knots (i.e., control points) of B-spline basis functions, new TACs were created according to two rules: accuracy and precision. The accuracy criterion allocates the knots to achieve low relative entropy between the estimated left ventricular blood pool TAC and its ground truth so that the estimated input function approximates its real value and thus the procedure yields an accurate estimate of model parameters. The precision criterion, via the D-optimal method, forces the estimated parameters to be as precise as possible, with minimum variances. Based on the final knots obtained, a new protocol of 30 min was built with a shorter acquisition time that maintained a 5% error in estimating rate constants of the compartment model. This was evaluated through digital simulations. The simulation results showed that our method was able to reduce the acquisition time from 100 to 30 min for the cardiac study of rats with 123 I-MIBG. Compared to a uniform interval dynamic SPECT protocol (1 s acquisition interval, 30 min acquisition time), the newly proposed protocol with nonuniform interval achieved comparable (K1 and k2, P = 0.5745 for K1 and P = 0.0604 for k2) or better (Distribution Volume, DV, P = 0.0004) performance for parameter estimates with less storage and shorter computational time. In this study, a procedure was devised to shorten the acquisition time while maintaining the accuracy and precision of estimated physiologic parameters in dynamic SPECT imaging. The procedure was designed for 123 I-MIBG cardiac imaging in rat studies; however, it has the potential to be extended to other applications, including patient studies involving the acquisition of dynamic SPECT data. © 2017 American Association of Physicists in Medicine.

Advantages of computer cameras over video cameras/frame grabbers for high-speed vision applications

NASA Astrophysics Data System (ADS)

Olson, Gaylord G.; Walker, Jo N.

1997-09-01

Cameras designed to work specifically with computers can have certain advantages in comparison to the use of cameras loosely defined as 'video' cameras. In recent years the camera type distinctions have become somewhat blurred, with a great presence of 'digital cameras' aimed more at the home markets. This latter category is not considered here. The term 'computer camera' herein is intended to mean one which has low level computer (and software) control of the CCD clocking. These can often be used to satisfy some of the more demanding machine vision tasks, and in some cases with a higher rate of measurements than video cameras. Several of these specific applications are described here, including some which use recently designed CCDs which offer good combinations of parameters such as noise, speed, and resolution. Among the considerations for the choice of camera type in any given application would be such effects as 'pixel jitter,' and 'anti-aliasing.' Some of these effects may only be relevant if there is a mismatch between the number of pixels per line in the camera CCD and the number of analog to digital (A/D) sampling points along a video scan line. For the computer camera case these numbers are guaranteed to match, which alleviates some measurement inaccuracies and leads to higher effective resolution.

Repurposing video recordings for structure motion estimations

NASA Astrophysics Data System (ADS)

Khaloo, Ali; Lattanzi, David

2016-04-01

Video monitoring of public spaces is becoming increasingly ubiquitous, particularly near essential structures and facilities. During any hazard event that dynamically excites a structure, such as an earthquake or hurricane, proximal video cameras may inadvertently capture the motion time-history of the structure during the event. If this dynamic time-history could be extracted from the repurposed video recording it would become a valuable forensic analysis tool for engineers performing post-disaster structural evaluations. The difficulty is that almost all potential video cameras are not installed to monitor structure motions, leading to camera perspective distortions and other associated challenges. This paper presents a method for extracting structure motions from videos using a combination of computer vision techniques. Images from a video recording are first reprojected into synthetic images that eliminate perspective distortion, using as-built knowledge of a structure for calibration. The motion of the camera itself during an event is also considered. Optical flow, a technique for tracking per-pixel motion, is then applied to these synthetic images to estimate the building motion. The developed method was validated using the experimental records of the NEESHub earthquake database. The results indicate that the technique is capable of estimating structural motions, particularly the frequency content of the response. Further work will evaluate variants and alternatives to the optical flow algorithm, as well as study the impact of video encoding artifacts on motion estimates.

Implicit multiplane 3D camera calibration matrices for stereo image processing

NASA Astrophysics Data System (ADS)

McKee, James W.; Burgett, Sherrie J.

1997-12-01

By implicit camera calibration, we mean the process of calibrating cameras without explicitly computing their physical parameters. We introduce a new implicit model based on a generalized mapping between an image plane and multiple, parallel calibration planes (usually between four to seven planes). This paper presents a method of computing a relationship between a point on a three-dimensional (3D) object and its corresponding two-dimensional (2D) coordinate in a camera image. This relationship is expanded to form a mapping of points in 3D space to points in image (camera) space and visa versa that requires only matrix multiplication operations. This paper presents the rationale behind the selection of the forms of four matrices and the algorithms to calculate the parameters for the matrices. Two of the matrices are used to map 3D points in object space to 2D points on the CCD camera image plane. The other two matrices are used to map 2D points on the image plane to points on user defined planes in 3D object space. The mappings include compensation for lens distortion and measurement errors. The number of parameters used can be increased, in a straight forward fashion, to calculate and use as many parameters as needed to obtain a user desired accuracy. Previous methods of camera calibration use a fixed number of parameters which can limit the obtainable accuracy and most require the solution of nonlinear equations. The procedure presented can be used to calibrate a single camera to make 2D measurements or calibrate stereo cameras to make 3D measurements. Positional accuracy of better than 3 parts in 10,000 have been achieved. The algorithms in this paper were developed and are implemented in MATLABR (registered trademark of The Math Works, Inc.). We have developed a system to analyze the path of optical fiber during high speed payout (unwinding) of optical fiber off a bobbin. This requires recording and analyzing high speed (5 microsecond exposure time), synchronous, stereo images of the optical fiber during payout. A 3D equation for the fiber at an instant in time is calculated from the corresponding pair of stereo images as follows. In each image, about 20 points along the 2D projection of the fiber are located. Each of these 'fiber points' in one image is mapped to its projection line in 3D space. Each projection line is mapped into another line in the second image. The intersection of each mapped projection line and a curve fitted to the fiber points of the second image (fiber projection in second image) is calculated. Each intersection point is mapped back to the 3D space. A 3D fiber coordinate is formed from the intersection, in 3D space, of a mapped intersection point with its corresponding projection line. The 3D equation for the fiber is computed from this ordered list of 3D coordinates. This process requires a method of accurately mapping 2D (image space) to 3D (object space) and visa versa.3173

Winter risk estimations through infrared cameras an principal component analysis

NASA Astrophysics Data System (ADS)

Marchetti, M.; Dumoulin, J.; Ibos, L.

2012-04-01

Thermal mapping has been implemented since the late eighties to measure road pavement temperature along with some other atmospheric parameters to establish a winter risk describing the susceptibility of road network to ice occurrence. Measurements are done using a vehicle circulating on the road network in various road weather conditions. When the dew point temperature drops below road surface temperature a risk of ice occurs and therefore a loss of grip risk for circulating vehicles. To avoid too much influence of the sun, and to see the thermal behavior of the pavement enhanced, thermal mapping is usually done before dawn during winter time. That is when the energy accumulated by the road during daytime is mainly dissipated (by radiation, by conduction and by convection) and before the road structure starts a new cycle. This analysis is mainly done when a new road network is built, or when some major pavement changes are made, or when modifications in the road surroundings took place that might affect the thermal heat balance. This helps road managers to install sensors to monitor road status on specific locations identified as dangerous, or simply to install specific road signs. Measurements are anyhow time-consuming. Indeed, a whole road network can hardly be analysed at once, and has to be partitioned in stretches that could be done in the open time window to avoid temperature artefacts due to a rising sun. The LRPC Nancy has been using a thermal mapping vehicle with now two infrared cameras. Road events were collected by the operator to help the analysis of the network thermal response. A conventional radiometer with appropriate performances was used as a reference. The objective of the work was to compare results from the radiometer and the cameras. All the atmospheric parameters measured by the different sensors such as air temperature and relative humidity were used as input parameters for the infrared camera when recording thermal images. Road thermal heterogeneities were clearly identified, while usually missed by a conventional radiometer. In the case presented here, the two lanes of the road could be properly observed. Promising perspectives appeared to increase the measurement rate. Furthermore, to cope with the climatic constraints of the winter measurements as to build a dynamic winter risk, a multivariate data analysis approach was implemented. Principal component analysis was performed and enabled to set up of dynamic thermal signature with a great agreement between statistical results and field measurements.

A panning DLT procedure for three-dimensional videography.

PubMed

Yu, B; Koh, T J; Hay, J G

1993-06-01

The direct linear transformation (DLT) method [Abdel-Aziz and Karara, APS Symposium on Photogrammetry. American Society of Photogrammetry, Falls Church, VA (1971)] is widely used in biomechanics to obtain three-dimensional space coordinates from film and video records. This method has some major shortcomings when used to analyze events which take place over large areas. To overcome these shortcomings, a three-dimensional data collection method based on the DLT method, and making use of panning cameras, was developed. Several small single control volumes were combined to construct a large total control volume. For each single control volume, a regression equation (calibration equation) is developed to express each of the 11 DLT parameters as a function of camera orientation, so that the DLT parameters can then be estimated from arbitrary camera orientations. Once the DLT parameters are known for at least two cameras, and the associated two-dimensional film or video coordinates of the event are obtained, the desired three-dimensional space coordinates can be computed. In a laboratory test, five single control volumes (in a total control volume of 24.40 x 2.44 x 2.44 m3) were used to test the effect of the position of the single control volume on the accuracy of the computed three dimensional space coordinates. Linear and quadratic calibration equations were used to test the effect of the order of the equation on the accuracy of the computed three dimensional space coordinates. For four of the five single control volumes tested, the mean resultant errors associated with the use of the linear calibration equation were significantly larger than those associated with the use of the quadratic calibration equation. The position of the single control volume had no significant effect on the mean resultant errors in computed three dimensional coordinates when the quadratic calibration equation was used. Under the same data collection conditions, the mean resultant errors in the computed three dimensional coordinates associated with the panning and stationary DLT methods were 17 and 22 mm, respectively. The major advantages of the panning DLT method lie in the large image sizes obtained and in the ease with which the data can be collected. The method also has potential for use in a wide variety of contexts. The major shortcoming of the method is the large amount of digitizing necessary to calibrate the total control volume. Adaptations of the method to reduce the amount of digitizing required are being explored.

Dynamics of a low-density tiger population in Southeast Asia in the context of improved law enforcement.

PubMed

Duangchantrasiri, Somphot; Umponjan, Mayuree; Simcharoen, Saksit; Pattanavibool, Anak; Chaiwattana, Soontorn; Maneerat, Sompoch; Kumar, N Samba; Jathanna, Devcharan; Srivathsa, Arjun; Karanth, K Ullas

2016-06-01

Recovering small populations of threatened species is an important global conservation strategy. Monitoring the anticipated recovery, however, often relies on uncertain abundance indices rather than on rigorous demographic estimates. To counter the severe threat from poaching of wild tigers (Panthera tigris), the Government of Thailand established an intensive patrolling system in 2005 to protect and recover its largest source population in Huai Kha Khaeng Wildlife Sanctuary. Concurrently, we assessed the dynamics of this tiger population over the next 8 years with rigorous photographic capture-recapture methods. From 2006 to 2012, we sampled across 624-1026 km(2) with 137-200 camera traps. Cameras deployed for 21,359 trap days yielded photographic records of 90 distinct individuals. We used closed model Bayesian spatial capture-recapture methods to estimate tiger abundances annually. Abundance estimates were integrated with likelihood-based open model analyses to estimate rates of annual and overall rates of survival, recruitment, and changes in abundance. Estimates of demographic parameters fluctuated widely: annual density ranged from 1.25 to 2.01 tigers/100 km(2) , abundance from 35 to 58 tigers, survival from 79.6% to 95.5%, and annual recruitment from 0 to 25 tigers. The number of distinct individuals photographed demonstrates the value of photographic capture-recapture methods for assessments of population dynamics in rare and elusive species that are identifiable from natural markings. Possibly because of poaching pressure, overall tiger densities at Huai Kha Khaeng were 82-90% lower than in ecologically comparable sites in India. However, intensified patrolling after 2006 appeared to reduce poaching and was correlated with marginal improvement in tiger survival and recruitment. Our results suggest that population recovery of low-density tiger populations may be slower than anticipated by current global strategies aimed at doubling the number of wild tigers in a decade. © 2015 Society for Conservation Biology.

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.

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.

Decoupling Intensity Radiated by the Emitter in Distance Estimation from Camera to IR Emitter

PubMed Central

Cano-García, Angel E.; Galilea, José Luis Lázaro; Fernández, Pedro; Infante, Arturo Luis; Pompa-Chacón, Yamilet; Vázquez, Carlos Andrés Luna

2013-01-01

Various models using radiometric approach have been proposed to solve the problem of estimating the distance between a camera and an infrared emitter diode (IRED). They depend directly on the radiant intensity of the emitter, set by the IRED bias current. As is known, this current presents a drift with temperature, which will be transferred to the distance estimation method. This paper proposes an alternative approach to remove temperature drift in the distance estimation method by eliminating the dependence on radiant intensity. The main aim was to use the relative accumulated energy together with other defined models, such as the zeroth-frequency component of the FFT of the IRED image and the standard deviation of pixel gray level intensities in the region of interest containing the IRED image. By using the abovementioned models, an expression free of IRED radiant intensity was obtained. Furthermore, the final model permitted simultaneous estimation of the distance between the IRED and the camera and the IRED orientation angle. The alternative presented in this paper gave a 3% maximum relative error over a range of distances up to 3 m. PMID:23727954

Quality controls for gamma cameras and PET cameras: development of a free open-source ImageJ program

NASA Astrophysics Data System (ADS)

Carlier, Thomas; Ferrer, Ludovic; Berruchon, Jean B.; Cuissard, Regis; Martineau, Adeline; Loonis, Pierre; Couturier, Olivier

2005-04-01

Acquisition data and treatments for quality controls of gamma cameras and Positron Emission Tomography (PET) cameras are commonly performed with dedicated program packages, which are running only on manufactured computers and differ from each other, depending on camera company and program versions. The aim of this work was to develop a free open-source program (written in JAVA language) to analyze data for quality control of gamma cameras and PET cameras. The program is based on the free application software ImageJ and can be easily loaded on any computer operating system (OS) and thus on any type of computer in every nuclear medicine department. Based on standard parameters of quality control, this program includes 1) for gamma camera: a rotation center control (extracted from the American Association of Physics in Medicine, AAPM, norms) and two uniformity controls (extracted from the Institute of Physics and Engineering in Medicine, IPEM, and National Electronic Manufacturers Association, NEMA, norms). 2) For PET systems, three quality controls recently defined by the French Medical Physicist Society (SFPM), i.e. spatial resolution and uniformity in a reconstructed slice and scatter fraction, are included. The determination of spatial resolution (thanks to the Point Spread Function, PSF, acquisition) allows to compute the Modulation Transfer Function (MTF) in both modalities of cameras. All the control functions are included in a tool box which is a free ImageJ plugin and could be soon downloaded from Internet. Besides, this program offers the possibility to save on HTML format the uniformity quality control results and a warning can be set to automatically inform users in case of abnormal results. The architecture of the program allows users to easily add any other specific quality control program. Finally, this toolkit is an easy and robust tool to perform quality control on gamma cameras and PET cameras based on standard computation parameters, is free, run on any type of computer and will soon be downloadable from the net (http://rsb.info.nih.gov/ij/plugins or http://nucleartoolkit.free.fr).

AnimalFinder: A semi-automated system for animal detection in time-lapse camera trap images

USGS Publications Warehouse

Price Tack, Jennifer L.; West, Brian S.; McGowan, Conor P.; Ditchkoff, Stephen S.; Reeves, Stanley J.; Keever, Allison; Grand, James B.

2017-01-01

Although the use of camera traps in wildlife management is well established, technologies to automate image processing have been much slower in development, despite their potential to drastically reduce personnel time and cost required to review photos. We developed AnimalFinder in MATLAB® to identify animal presence in time-lapse camera trap images by comparing individual photos to all images contained within the subset of images (i.e. photos from the same survey and site), with some manual processing required to remove false positives and collect other relevant data (species, sex, etc.). We tested AnimalFinder on a set of camera trap images and compared the presence/absence results with manual-only review with white-tailed deer (Odocoileus virginianus), wild pigs (Sus scrofa), and raccoons (Procyon lotor). We compared abundance estimates, model rankings, and coefficient estimates of detection and abundance for white-tailed deer using N-mixture models. AnimalFinder performance varied depending on a threshold value that affects program sensitivity to frequently occurring pixels in a series of images. Higher threshold values led to fewer false negatives (missed deer images) but increased manual processing time, but even at the highest threshold value, the program reduced the images requiring manual review by ~40% and correctly identified >90% of deer, raccoon, and wild pig images. Estimates of white-tailed deer were similar between AnimalFinder and the manual-only method (~1–2 deer difference, depending on the model), as were model rankings and coefficient estimates. Our results show that the program significantly reduced data processing time and may increase efficiency of camera trapping surveys.

A hierarchical model for estimating density in camera-trap studies

USGS Publications Warehouse

Royle, J. Andrew; Nichols, James D.; Karanth, K.Ullas; Gopalaswamy, Arjun M.

2009-01-01

Estimating animal density using capture–recapture data from arrays of detection devices such as camera traps has been problematic due to the movement of individuals and heterogeneity in capture probability among them induced by differential exposure to trapping.We develop a spatial capture–recapture model for estimating density from camera-trapping data which contains explicit models for the spatial point process governing the distribution of individuals and their exposure to and detection by traps.We adopt a Bayesian approach to analysis of the hierarchical model using the technique of data augmentation.The model is applied to photographic capture–recapture data on tigers Panthera tigris in Nagarahole reserve, India. Using this model, we estimate the density of tigers to be 14·3 animals per 100 km2 during 2004.Synthesis and applications. Our modelling framework largely overcomes several weaknesses in conventional approaches to the estimation of animal density from trap arrays. It effectively deals with key problems such as individual heterogeneity in capture probabilities, movement of traps, presence of potential ‘holes’ in the array and ad hoc estimation of sample area. The formulation, thus, greatly enhances flexibility in the conduct of field surveys as well as in the analysis of data, from studies that may involve physical, photographic or DNA-based ‘captures’ of individual animals.

Estimation of color modification in digital images by CFA pattern change.

PubMed

Choi, Chang-Hee; Lee, Hae-Yeoun; Lee, Heung-Kyu

2013-03-10

Extensive studies have been carried out for detecting image forgery such as copy-move, re-sampling, blurring, and contrast enhancement. Although color modification is a common forgery technique, there is no reported forensic method for detecting this type of manipulation. In this paper, we propose a novel algorithm for estimating color modification in images acquired from digital cameras when the images are modified. Most commercial digital cameras are equipped with a color filter array (CFA) for acquiring the color information of each pixel. As a result, the images acquired from such digital cameras include a trace from the CFA pattern. This pattern is composed of the basic red green blue (RGB) colors, and it is changed when color modification is carried out on the image. We designed an advanced intermediate value counting method for measuring the change in the CFA pattern and estimating the extent of color modification. The proposed method is verified experimentally by using 10,366 test images. The results confirmed the ability of the proposed method to estimate color modification with high accuracy. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

GF-7 Imaging Simulation and Dsm Accuracy Estimate

NASA Astrophysics Data System (ADS)

Yue, Q.; Tang, X.; Gao, X.

2017-05-01

GF-7 satellite is a two-line-array stereo imaging satellite for surveying and mapping which will be launched in 2018. Its resolution is about 0.8 meter at subastral point corresponding to a 20 km width of cloth, and the viewing angle of its forward and backward cameras are 5 and 26 degrees. This paper proposed the imaging simulation method of GF-7 stereo images. WorldView-2 stereo images were used as basic data for simulation. That is, we didn't use DSM and DOM as basic data (we call it "ortho-to-stereo" method) but used a "stereo-to-stereo" method, which will be better to reflect the difference of geometry and radiation in different looking angle. The shortage is that geometric error will be caused by two factors, one is different looking angles between basic image and simulated image, another is not very accurate or no ground reference data. We generated DSM by WorldView-2 stereo images. The WorldView-2 DSM was not only used as reference DSM to estimate the accuracy of DSM generated by simulated GF-7 stereo images, but also used as "ground truth" to establish the relationship between WorldView-2 image point and simulated image point. Static MTF was simulated on the instantaneous focal plane "image" by filtering. SNR was simulated in the electronic sense, that is, digital value of WorldView-2 image point was converted to radiation brightness and used as radiation brightness of simulated GF-7 camera. This radiation brightness will be converted to electronic number n according to physical parameters of GF-7 camera. The noise electronic number n1 will be a random number between -√n and √n. The overall electronic number obtained by TDI CCD will add and converted to digital value of simulated GF-7 image. Sinusoidal curves with different amplitude, frequency and initial phase were used as attitude curves. Geometric installation errors of CCD tiles were also simulated considering the rotation and translation factors. An accuracy estimate was made for DSM generated from simulated images.

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.

VitiCanopy: A Free Computer App to Estimate Canopy Vigor and Porosity for Grapevine

PubMed Central

De Bei, Roberta; Fuentes, Sigfredo; Gilliham, Matthew; Tyerman, Steve; Edwards, Everard; Bianchini, Nicolò; Smith, Jason; Collins, Cassandra

2016-01-01

Leaf area index (LAI) and plant area index (PAI) are common and important biophysical parameters used to estimate agronomical variables such as canopy growth, light interception and water requirements of plants and trees. LAI can be either measured directly using destructive methods or indirectly using dedicated and expensive instrumentation, both of which require a high level of know-how to operate equipment, handle data and interpret results. Recently, a novel smartphone and tablet PC application, VitiCanopy, has been developed by a group of researchers from the University of Adelaide and the University of Melbourne, to estimate grapevine canopy size (LAI and PAI), canopy porosity, canopy cover and clumping index. VitiCanopy uses the front in-built camera and GPS capabilities of smartphones and tablet PCs to automatically implement image analysis algorithms on upward-looking digital images of canopies and calculates relevant canopy architecture parameters. Results from the use of VitiCanopy on grapevines correlated well with traditional methods to measure/estimate LAI and PAI. Like other indirect methods, VitiCanopy does not distinguish between leaf and non-leaf material but it was demonstrated that the non-leaf material could be extracted from the results, if needed, to increase accuracy. VitiCanopy is an accurate, user-friendly and free alternative to current techniques used by scientists and viticultural practitioners to assess the dynamics of LAI, PAI and canopy architecture in vineyards, and has the potential to be adapted for use on other plants. PMID:27120600

The ITSG-Grace2014 Gravity Field Model

NASA Astrophysics Data System (ADS)

Kvas, Andreas; Mayer-Gürr, Torsten; Zehenter, Norbert; Klinger, Beate

2015-04-01

The ITSG-Grace2014 GRACE-only gravity field model consists of a high resolution unconstrained static model (up to degree 200) with trend and annual signal, monthly unconstrained solutions with different spatial resolutions as well as daily snapshots derived by using a Kalman smoother. Apart from the estimated spherical harmonic coefficients, full variance-covariance matrices for the monthly solutions and the static gravity field component are provided. Compared to the previous release, multiple improvements in the processing chain are implemented: updated background models, better ionospheric modeling for GPS observations, an improved satellite attitude by combination of star camera and angular accelerations, estimation of K-band antenna center variations within the gravity field recovery process as well as error covariance function determination. Furthermore, daily gravity field variations have been modeled in the adjustment process to reduce errors caused by temporal leakage. This combined estimation of daily gravity variations field variations together with the static gravity field component represents a computational challenge due to the significantly increased parameter count. The modeling of daily variations up to a spherical harmonic degree of 40 for the whole GRACE observation period results in a system of linear equations with over 6 million unknown gravity field parameters. A least squares adjustment of this size is not solvable in a sensible time frame, therefore measures to reduce the problem size have to be taken. The ITSG-Grace2014 release is presented and selected parts of the processing chain and their effect on the estimated gravity field solutions are discussed.

VitiCanopy: A Free Computer App to Estimate Canopy Vigor and Porosity for Grapevine.

PubMed

De Bei, Roberta; Fuentes, Sigfredo; Gilliham, Matthew; Tyerman, Steve; Edwards, Everard; Bianchini, Nicolò; Smith, Jason; Collins, Cassandra

2016-04-23

Leaf area index (LAI) and plant area index (PAI) are common and important biophysical parameters used to estimate agronomical variables such as canopy growth, light interception and water requirements of plants and trees. LAI can be either measured directly using destructive methods or indirectly using dedicated and expensive instrumentation, both of which require a high level of know-how to operate equipment, handle data and interpret results. Recently, a novel smartphone and tablet PC application, VitiCanopy, has been developed by a group of researchers from the University of Adelaide and the University of Melbourne, to estimate grapevine canopy size (LAI and PAI), canopy porosity, canopy cover and clumping index. VitiCanopy uses the front in-built camera and GPS capabilities of smartphones and tablet PCs to automatically implement image analysis algorithms on upward-looking digital images of canopies and calculates relevant canopy architecture parameters. Results from the use of VitiCanopy on grapevines correlated well with traditional methods to measure/estimate LAI and PAI. Like other indirect methods, VitiCanopy does not distinguish between leaf and non-leaf material but it was demonstrated that the non-leaf material could be extracted from the results, if needed, to increase accuracy. VitiCanopy is an accurate, user-friendly and free alternative to current techniques used by scientists and viticultural practitioners to assess the dynamics of LAI, PAI and canopy architecture in vineyards, and has the potential to be adapted for use on other plants.

Simultaneous Intrinsic and Extrinsic Parameter Identification of a Hand-Mounted Laser-Vision Sensor

PubMed Central

Lee, Jong Kwang; Kim, Kiho; Lee, Yongseok; Jeong, Taikyeong

2011-01-01

In this paper, we propose a simultaneous intrinsic and extrinsic parameter identification of a hand-mounted laser-vision sensor (HMLVS). A laser-vision sensor (LVS), consisting of a camera and a laser stripe projector, is used as a sensor component of the robotic measurement system, and it measures the range data with respect to the robot base frame using the robot forward kinematics and the optical triangulation principle. For the optimal estimation of the model parameters, we applied two optimization techniques: a nonlinear least square optimizer and a particle swarm optimizer. Best-fit parameters, including both the intrinsic and extrinsic parameters of the HMLVS, are simultaneously obtained based on the least-squares criterion. From the simulation and experimental results, it is shown that the parameter identification problem considered was characterized by a highly multimodal landscape; thus, the global optimization technique such as a particle swarm optimization can be a promising tool to identify the model parameters for a HMLVS, while the nonlinear least square optimizer often failed to find an optimal solution even when the initial candidate solutions were selected close to the true optimum. The proposed optimization method does not require good initial guesses of the system parameters to converge at a very stable solution and it could be applied to a kinematically dissimilar robot system without loss of generality. PMID:22164104

Cloud fractions estimated from shipboard whole-sky camera and ceilometer observations between East Asia and Antarctica

NASA Astrophysics Data System (ADS)

Kuji, M.; Hagiwara, M.; Hori, M.; Shiobara, M.

2017-12-01

Shipboard observations on cloud fraction were carried out along the round research cruise between East Asia and Antarctica from November 2015 to Aril 2016 using a whole-sky camera and a ceilometer onboard Research Vessel (R/V) Shirase. We retrieved cloud fraction from the whole-sky camera based on the brightness and color of the images, while we estimated cloud fraction from the ceilometer as a cloud frequency of occurrence. As a result, the average cloud fractions over outward open ocean, sea ice region, and returning openocean were approximately 56% (60%), 44% (64%), and 67% (72%), respectively, with the whole-sky camera (ceilometer). The comparison of the daily-averaged cloud fractions from the whole-sky camera and the ceilometer, it is found that the correlation coefficient was 0.73 for the 129 match-up dataset between East Asia and Antarctica including sea ice region as well as open ocean. The results are qualitatively consistent between the two observations as a whole, but there exists some underestimation with the whole-sky camera compared to the ceilometer. One of the reasons is possibly that the imager is apt to dismiss an optically thinner clouds that can be detected by the ceilometer. On the other hand, the difference of their view angles between the imager and the ceilometer possibly affects the estimation. Therefore, it is necessary to elucidate the cloud properties with detailed match-up analyses in future. Another future task is to compare the cloud fractions with satellite observation such as MODIS cloud products. Shipboard observations in themselves are very valuable for the validation of products from satellite observation, because we do not necessarily have many validation sites over Southern Ocean and sea ice region in particular.

Attempt to the detection of small wildfire by the uncooled micro bolometer camera onboard 50 kg class satellite

NASA Astrophysics Data System (ADS)

Fukuhara, T.; Kouyama, T.; Kato, S.; Nakamura, R.

2016-12-01

University International Formation Mission (UNIFORM) in Japan started in 2011 is an ambitious project that specialized to surveillance of small wildfire to contribute to provide fire information for initial suppression. Final aim of the mission is to construct a constellation with several 50 kg class satellites for frequent and exclusive observation. The uncooled micro-bolometer camera with 640 x 480 pixels based on commercial products has been newly developed for the first satellite. It has been successfully launched on 24 May 2014 and injected to the Sun-Synchronous orbit at local time of 12:00 with altitude of 628 km. The camera has been detected considerable hotspots not only wildfire but also volcanoes. Brightness temperature observed on orbit has been verified and scale of observed wildfire has been roughly presumed; the smallest wildfire ever detected has flame zone less than 2 x 103 m2. It is one tenth of initial requirement estimated in design process; our camera has enough ability to discover small wildfire and to provide beneficial information for fire control with low cost and quick fabrication; it would contribute to practical utility especially in developing nations. A next camera is available for new wildfire mission with satellite constellation; it has already developed for flight. Pixel arrays increasing to 1024 x 768, spatial resolution becomes fine to detect smaller wildfire whereas the swath of image is kept. This camera would be applied to the future planetary mission for Mars and Asteroid explore, too. When it observes planetary surface, thermal inertia can be estimated from continuous observation. When it observes atmosphere, cloud-top altitude can be estimated from horizontal temperature distribution.

Estimating Species Richness and Modelling Habitat Preferences of Tropical Forest Mammals from Camera Trap Data

PubMed Central

Rovero, Francesco; Martin, Emanuel; Rosa, Melissa; Ahumada, Jorge A.; Spitale, Daniel

2014-01-01

Medium-to-large mammals within tropical forests represent a rich and functionally diversified component of this biome; however, they continue to be threatened by hunting and habitat loss. Assessing these communities implies studying species’ richness and composition, and determining a state variable of species abundance in order to infer changes in species distribution and habitat associations. The Tropical Ecology, Assessment and Monitoring (TEAM) network fills a chronic gap in standardized data collection by implementing a systematic monitoring framework of biodiversity, including mammal communities, across several sites. In this study, we used TEAM camera trap data collected in the Udzungwa Mountains of Tanzania, an area of exceptional importance for mammal diversity, to propose an example of a baseline assessment of species’ occupancy. We used 60 camera trap locations and cumulated 1,818 camera days in 2009. Sampling yielded 10,647 images of 26 species of mammals. We estimated that a minimum of 32 species are in fact present, matching available knowledge from other sources. Estimated species richness at camera sites did not vary with a suite of habitat covariates derived from remote sensing, however the detection probability varied with functional guilds, with herbivores being more detectable than other guilds. Species-specific occupancy modelling revealed novel ecological knowledge for the 11 most detected species, highlighting patterns such as ‘montane forest dwellers’, e.g. the endemic Sanje mangabey (Cercocebus sanjei), and ‘lowland forest dwellers’, e.g. suni antelope (Neotragus moschatus). Our results show that the analysis of camera trap data with account for imperfect detection can provide a solid ecological assessment of mammal communities that can be systematically replicated across sites. PMID:25054806

Digital photogrammetric analysis of the IMP camera images: Mapping the Mars Pathfinder landing site in three dimensions

USGS Publications Warehouse

Kirk, R.L.; Howington-Kraus, E.; Hare, T.; Dorrer, E.; Cook, D.; Becker, K.; Thompson, K.; Redding, B.; Blue, J.; Galuszka, D.; Lee, E.M.; Gaddis, L.R.; Johnson, J. R.; Soderblom, L.A.; Ward, A.W.; Smith, P.H.; Britt, D.T.

1999-01-01

This paper describes our photogrammetric analysis of the Imager for Mars Pathfinder data, part of a broader program of mapping the Mars Pathfinder landing site in support of geoscience investigations. This analysis, carried out primarily with a commercial digital photogrammetric system, supported by our in-house Integrated Software for Imagers and Spectrometers (ISIS), consists of three steps: (1) geometric control: simultaneous solution for refined estimates of camera positions and pointing plus three-dimensional (3-D) coordinates of ???103 features sitewide, based on the measured image coordinates of those features; (2) topographic modeling: identification of ???3 ?? 105 closely spaced points in the images and calculation (based on camera parameters from step 1) of their 3-D coordinates, yielding digital terrain models (DTMs); and (3) geometric manipulation of the data: combination of the DTMs from different stereo pairs into a sitewide model, and reprojection of image data to remove parallax between the different spectral filters in the two cameras and to provide an undistorted planimetric view of the site. These processes are described in detail and example products are shown. Plans for combining the photogrammetrically derived topographic data with spectrophotometry are also described. These include photometric modeling using surface orientations from the DTM to study surface microtextures and improve the accuracy of spectral measurements, and photoclinometry to refine the DTM to single-pixel resolution where photometric properties are sufficiently uniform. Finally, the inclusion of rover images in a joint photogrammetric analysis with IMP images is described. This challenging task will provide coverage of areas hidden to the IMP, but accurate ranging of distant features can be achieved only if the lander is also visible in the rover image used. Copyright 1999 by the American Geophysical Union.

Grizzly Bear Noninvasive Genetic Tagging Surveys: Estimating the Magnitude of Missed Detections.

PubMed

Fisher, Jason T; Heim, Nicole; Code, Sandra; Paczkowski, John

2016-01-01

Sound wildlife conservation decisions require sound information, and scientists increasingly rely on remotely collected data over large spatial scales, such as noninvasive genetic tagging (NGT). Grizzly bears (Ursus arctos), for example, are difficult to study at population scales except with noninvasive data, and NGT via hair trapping informs management over much of grizzly bears' range. Considerable statistical effort has gone into estimating sources of heterogeneity, but detection error-arising when a visiting bear fails to leave a hair sample-has not been independently estimated. We used camera traps to survey grizzly bear occurrence at fixed hair traps and multi-method hierarchical occupancy models to estimate the probability that a visiting bear actually leaves a hair sample with viable DNA. We surveyed grizzly bears via hair trapping and camera trapping for 8 monthly surveys at 50 (2012) and 76 (2013) sites in the Rocky Mountains of Alberta, Canada. We used multi-method occupancy models to estimate site occupancy, probability of detection, and conditional occupancy at a hair trap. We tested the prediction that detection error in NGT studies could be induced by temporal variability within season, leading to underestimation of occupancy. NGT via hair trapping consistently underestimated grizzly bear occupancy at a site when compared to camera trapping. At best occupancy was underestimated by 50%; at worst, by 95%. Probability of false absence was reduced through successive surveys, but this mainly accounts for error imparted by movement among repeated surveys, not necessarily missed detections by extant bears. The implications of missed detections and biased occupancy estimates for density estimation-which form the crux of management plans-require consideration. We suggest hair-trap NGT studies should estimate and correct detection error using independent survey methods such as cameras, to ensure the reliability of the data upon which species management and conservation actions are based.

A robust two-way switching control system for remote piloting and stabilization of low-cost quadrotor UAVs

NASA Astrophysics Data System (ADS)

Ripamonti, Francesco; Resta, Ferruccio; Vivani, Andrea

2015-04-01

The aim of this paper is to present two control logics and an attitude estimator for UAV stabilization and remote piloting, that are as robust as possible to physical parameters variation and to other external disturbances. Moreover, they need to be implemented on low-cost micro-controllers, in order to be attractive for commercial drones. As an example, possible applications of the two switching control logics could be area surveillance and facial recognition by means of a camera mounted on the drone: the high computational speed logic is used to reach the target, when the high-stability one is activated, in order to complete the recognition tasks.

Physics-based approach to color image enhancement in poor visibility conditions.

PubMed

Tan, K K; Oakley, J P

2001-10-01

Degradation of images by the atmosphere is a familiar problem. For example, when terrain is imaged from a forward-looking airborne camera, the atmosphere degradation causes a loss in both contrast and color information. Enhancement of such images is a difficult task because of the complexity in restoring both the luminance and the chrominance while maintaining good color fidelity. One particular problem is the fact that the level of contrast loss depends strongly on wavelength. A novel method is presented for the enhancement of color images. This method is based on the underlying physics of the degradation process, and the parameters required for enhancement are estimated from the image itself.

Auroras observations of the MAIN in Apatity during 2014/15 winter season

NASA Astrophysics Data System (ADS)

Guineva, V.; Despirak, I.; Kozelov, B.

2017-08-01

In this work we review substorms, originated during the 2014/2015 winter season. Observations of the Multiscale Aurora Imaging Network (MAIN) in Apatity have been used. Solar wind and interplanetary magnetic field parameters were estimated by the 1-min sampled OMNI data base from CDAWeb (http://cdaweb.gsfc.nasa.gov/cdaweb/ istp_public/). Auroral disturbances were verified by the 10-s sampled data of IMAGE magnetometers and by data of the all-sky camera at Apatity. Subject of the review were the peculiarities in the development of substorms occurred during different geomagnetic conditions. The behavior of the substorms developed in non-storm time and during different phases of geomagnetic storms was discussed.

Compressive Video Recovery Using Block Match Multi-Frame Motion Estimation Based on Single Pixel Cameras

PubMed Central

Bi, Sheng; Zeng, Xiao; Tang, Xin; Qin, Shujia; Lai, King Wai Chiu

2016-01-01

Compressive sensing (CS) theory has opened up new paths for the development of signal processing applications. Based on this theory, a novel single pixel camera architecture has been introduced to overcome the current limitations and challenges of traditional focal plane arrays. However, video quality based on this method is limited by existing acquisition and recovery methods, and the method also suffers from being time-consuming. In this paper, a multi-frame motion estimation algorithm is proposed in CS video to enhance the video quality. The proposed algorithm uses multiple frames to implement motion estimation. Experimental results show that using multi-frame motion estimation can improve the quality of recovered videos. To further reduce the motion estimation time, a block match algorithm is used to process motion estimation. Experiments demonstrate that using the block match algorithm can reduce motion estimation time by 30%. PMID:26950127

Report Of The HST Strategy Panel: A Strategy For Recovery

DTIC Science & Technology

1991-01-01

orbit change out: the Wide Field/Planetary Camera II (WFPC II), the Near-Infrared Camera and Multi- Object Spectrometer (NICMOS) and the Space ...are the Space Telescope Imaging Spectrograph (STB), the Near-Infrared Camera and Multi- Object Spectrom- eter (NICMOS), and the second Wide Field and...expected to fail to lock due to duplicity was 20%; on- orbit data indicates that 10% may be a better estimate, but the guide stars were preselected

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.

Integration of image capture and processing: beyond single-chip digital camera

NASA Astrophysics Data System (ADS)

Lim, SukHwan; El Gamal, Abbas

2001-05-01

An important trend in the design of digital cameras is the integration of capture and processing onto a single CMOS chip. Although integrating the components of a digital camera system onto a single chip significantly reduces system size and power, it does not fully exploit the potential advantages of integration. We argue that a key advantage of integration is the ability to exploit the high speed imaging capability of CMOS image senor to enable new applications such as multiple capture for enhancing dynamic range and to improve the performance of existing applications such as optical flow estimation. Conventional digital cameras operate at low frame rates and it would be too costly, if not infeasible, to operate their chips at high frame rates. Integration solves this problem. The idea is to capture images at much higher frame rates than he standard frame rate, process the high frame rate data on chip, and output the video sequence and the application specific data at standard frame rate. This idea is applied to optical flow estimation, where significant performance improvements are demonstrate over methods using standard frame rate sequences. We then investigate the constraints on memory size and processing power that can be integrated with a CMOS image sensor in a 0.18 micrometers process and below. We show that enough memory and processing power can be integrated to be able to not only perform the functions of a conventional camera system but also to perform applications such as real time optical flow estimation.

Sub-picosecond streak camera measurements at LLNL: From IR to x-rays

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

Kuba, J; Shepherd, R; Booth, R

An ultra fast, sub-picosecond resolution streak camera has been recently developed at the LLNL. The camera is a versatile instrument with a wide operating wavelength range. The temporal resolution of up to 300 fs can be achieved, with routine operation at 500 fs. The streak camera has been operated in a wide wavelength range from IR to x-rays up to 2 keV. In this paper we briefly review the main design features that result in the unique properties of the streak camera and present its several scientific applications: (1) Streak camera characterization using a Michelson interferometer in visible range, (2)more » temporally resolved study of a transient x-ray laser at 14.7 nm, which enabled us to vary the x-ray laser pulse duration from {approx}2-6 ps by changing the pump laser parameters, and (3) an example of a time-resolved spectroscopy experiment with the streak camera.« less

Toward a digital camera to rival the human eye

NASA Astrophysics Data System (ADS)

Skorka, Orit; Joseph, Dileepan

2011-07-01

All things considered, electronic imaging systems do not rival the human visual system despite notable progress over 40 years since the invention of the CCD. This work presents a method that allows design engineers to evaluate the performance gap between a digital camera and the human eye. The method identifies limiting factors of the electronic systems by benchmarking against the human system. It considers power consumption, visual field, spatial resolution, temporal resolution, and properties related to signal and noise power. A figure of merit is defined as the performance gap of the weakest parameter. Experimental work done with observers and cadavers is reviewed to assess the parameters of the human eye, and assessment techniques are also covered for digital cameras. The method is applied to 24 modern image sensors of various types, where an ideal lens is assumed to complete a digital camera. Results indicate that dynamic range and dark limit are the most limiting factors. The substantial functional gap, from 1.6 to 4.5 orders of magnitude, between the human eye and digital cameras may arise from architectural differences between the human retina, arranged in a multiple-layer structure, and image sensors, mostly fabricated in planar technologies. Functionality of image sensors may be significantly improved by exploiting technologies that allow vertical stacking of active tiers.

SVBRDF-Invariant Shape and Reflectance Estimation from a Light-Field Camera.

PubMed

Wang, Ting-Chun; Chandraker, Manmohan; Efros, Alexei A; Ramamoorthi, Ravi

2018-03-01

Light-field cameras have recently emerged as a powerful tool for one-shot passive 3D shape capture. However, obtaining the shape of glossy objects like metals or plastics remains challenging, since standard Lambertian cues like photo-consistency cannot be easily applied. In this paper, we derive a spatially-varying (SV)BRDF-invariant theory for recovering 3D shape and reflectance from light-field cameras. Our key theoretical insight is a novel analysis of diffuse plus single-lobe SVBRDFs under a light-field setup. We show that, although direct shape recovery is not possible, an equation relating depths and normals can still be derived. Using this equation, we then propose using a polynomial (quadratic) shape prior to resolve the shape ambiguity. Once shape is estimated, we also recover the reflectance. We present extensive synthetic data on the entire MERL BRDF dataset, as well as a number of real examples to validate the theory, where we simultaneously recover shape and BRDFs from a single image taken with a Lytro Illum camera.

On-line, continuous monitoring in solar cell and fuel cell manufacturing using spectral reflectance imaging

DOEpatents

Sopori, Bhushan; Rupnowski, Przemyslaw; Ulsh, Michael

2016-01-12

A monitoring system 100 comprising a material transport system 104 providing for the transportation of a substantially planar material 102, 107 through the monitoring zone 103 of the monitoring system 100. The system 100 also includes a line camera 106 positioned to obtain multiple line images across a width of the material 102, 107 as it is transported through the monitoring zone 103. The system 100 further includes an illumination source 108 providing for the illumination of the material 102, 107 transported through the monitoring zone 103 such that light reflected in a direction normal to the substantially planar surface of the material 102, 107 is detected by the line camera 106. A data processing system 110 is also provided in digital communication with the line camera 106. The data processing system 110 is configured to receive data output from the line camera 106 and further configured to calculate and provide substantially contemporaneous information relating to a quality parameter of the material 102, 107. Also disclosed are methods of monitoring a quality parameter of a material.

High frequency modal identification on noisy high-speed camera data

NASA Astrophysics Data System (ADS)

Javh, Jaka; Slavič, Janko; Boltežar, Miha

2018-01-01

Vibration measurements using optical full-field systems based on high-speed footage are typically heavily burdened by noise, as the displacement amplitudes of the vibrating structures are often very small (in the range of micrometers, depending on the structure). The modal information is troublesome to measure as the structure's response is close to, or below, the noise level of the camera-based measurement system. This paper demonstrates modal parameter identification for such noisy measurements. It is shown that by using the Least-Squares Complex-Frequency method combined with the Least-Squares Frequency-Domain method, identification at high-frequencies is still possible. By additionally incorporating a more precise sensor to identify the eigenvalues, a hybrid accelerometer/high-speed camera mode shape identification is possible even below the noise floor. An accelerometer measurement is used to identify the eigenvalues, while the camera measurement is used to produce the full-field mode shapes close to 10 kHz. The identified modal parameters improve the quality of the measured modal data and serve as a reduced model of the structure's dynamics.

The Influence of Flight Planning and Camera Orientation in UAVs Photogrammetry. a Test in the Area of Rocca San Silvestro (li), Tuscany

NASA Astrophysics Data System (ADS)

Chiabrando, F.; Lingua, A.; Maschio, P.; Teppati Losè, L.

2017-02-01

The purpose of this paper is to discuss how much the phases of flight planning and the setting of the camera orientation can affect a UAVs photogrammetric survey. The test site chosen for these evaluations was the Rocca of San Silvestro, a medieval monumental castle near Livorno, Tuscany (Italy). During the fieldwork, different sets of data have been acquired using different parameters for the camera orientation and for the set up of flight plans. Acquisition with both nadiral and oblique orientation of the camera have been performed, as well as flights with different direction of the flight lines (related with the shape of the object of the survey). The different datasets were then processed in several blocks using Pix4D software and the results of the processing were analysed and compared. Our aim was to evaluate how much the parameters described above can affect the generation of the final products of the survey, in particular the product chosen for this evaluation was the point cloud.

Researches on hazard avoidance cameras calibration of Lunar Rover

NASA Astrophysics Data System (ADS)

Li, Chunyan; Wang, Li; Lu, Xin; Chen, Jihua; Fan, Shenghong

2017-11-01

Lunar Lander and Rover of China will be launched in 2013. It will finish the mission targets of lunar soft landing and patrol exploration. Lunar Rover has forward facing stereo camera pair (Hazcams) for hazard avoidance. Hazcams calibration is essential for stereo vision. The Hazcam optics are f-theta fish-eye lenses with a 120°×120° horizontal/vertical field of view (FOV) and a 170° diagonal FOV. They introduce significant distortion in images and the acquired images are quite warped, which makes conventional camera calibration algorithms no longer work well. A photogrammetric calibration method of geometric model for the type of optical fish-eye constructions is investigated in this paper. In the method, Hazcams model is represented by collinearity equations with interior orientation and exterior orientation parameters [1] [2]. For high-precision applications, the accurate calibration model is formulated with the radial symmetric distortion and the decentering distortion as well as parameters to model affinity and shear based on the fisheye deformation model [3] [4]. The proposed method has been applied to the stereo camera calibration system for Lunar Rover.

On the resolution of plenoptic PIV

NASA Astrophysics Data System (ADS)

Deem, Eric A.; Zhang, Yang; Cattafesta, Louis N.; Fahringer, Timothy W.; Thurow, Brian S.

2016-08-01

Plenoptic PIV offers a simple, single camera solution for volumetric velocity measurements of fluid flow. However, due to the novel manner in which the particle images are acquired and processed, few references exist to aid in determining the resolution limits of the measurements. This manuscript provides a framework for determining the spatial resolution of plenoptic PIV based on camera design and experimental parameters. This information can then be used to determine the smallest length scales of flows that are observable by plenoptic PIV, the dynamic range of plenoptic PIV, and the corresponding uncertainty in plenoptic PIV measurements. A simplified plenoptic camera is illustrated to provide the reader with a working knowledge of the method in which the light field is recorded. Then, operational considerations are addressed. This includes a derivation of the depth resolution in terms of the design parameters of the camera. Simulated volume reconstructions are presented to validate the derived limits. It is found that, while determining the lateral resolution is relatively straightforward, many factors affect the resolution along the optical axis. These factors are addressed and suggestions are proposed for improving performance.

Fundamentals of in Situ Digital Camera Methodology for Water Quality Monitoring of Coast and Ocean

PubMed Central

Goddijn-Murphy, Lonneke; Dailloux, Damien; White, Martin; Bowers, Dave

2009-01-01

Conventional digital cameras, the Nikon Coolpix885® and the SeaLife ECOshot®, were used as in situ optical instruments for water quality monitoring. Measured response spectra showed that these digital cameras are basically three-band radiometers. The response values in the red, green and blue bands, quantified by RGB values of digital images of the water surface, were comparable to measurements of irradiance levels at red, green and cyan/blue wavelengths of water leaving light. Different systems were deployed to capture upwelling light from below the surface, while eliminating direct surface reflection. Relationships between RGB ratios of water surface images, and water quality parameters were found to be consistent with previous measurements using more traditional narrow-band radiometers. This current paper focuses on the method that was used to acquire digital images, derive RGB values and relate measurements to water quality parameters. Field measurements were obtained in Galway Bay, Ireland, and in the Southern Rockall Trough in the North Atlantic, where both yellow substance and chlorophyll concentrations were successfully assessed using the digital camera method. PMID:22346729

Performance Test Data Analysis of Scintillation Cameras

NASA Astrophysics Data System (ADS)

Demirkaya, Omer; Mazrou, Refaat Al

2007-10-01

In this paper, we present a set of image analysis tools to calculate the performance parameters of gamma camera systems from test data acquired according to the National Electrical Manufacturers Association NU 1-2001 guidelines. The calculation methods are either completely automated or require minimal user interaction; minimizing potential human errors. The developed methods are robust with respect to varying conditions under which these tests may be performed. The core algorithms have been validated for accuracy. They have been extensively tested on images acquired by the gamma cameras from different vendors. All the algorithms are incorporated into a graphical user interface that provides a convenient way to process the data and report the results. The entire application has been developed in MATLAB programming environment and is compiled to run as a stand-alone program. The developed image analysis tools provide an automated, convenient and accurate means to calculate the performance parameters of gamma cameras and SPECT systems. The developed application is available upon request for personal or non-commercial uses. The results of this study have been partially presented in Society of Nuclear Medicine Annual meeting as an InfoSNM presentation.

Non-contact measurement of rotation angle with solo camera

NASA Astrophysics Data System (ADS)

Gan, Xiaochuan; Sun, Anbin; Ye, Xin; Ma, Liqun

2015-02-01

For the purpose to measure a rotation angle around the axis of an object, a non-contact rotation angle measurement method based on solo camera was promoted. The intrinsic parameters of camera were calibrated using chessboard on principle of plane calibration theory. The translation matrix and rotation matrix between the object coordinate and the camera coordinate were calculated according to the relationship between the corners' position on object and their coordinates on image. Then the rotation angle between the measured object and the camera could be resolved from the rotation matrix. A precise angle dividing table (PADT) was chosen as the reference to verify the angle measurement error of this method. Test results indicated that the rotation angle measurement error of this method did not exceed +/- 0.01 degree.

What are we missing? Advantages of more than one viewpoint to estimate fish assemblages using baited video

PubMed Central

Huveneers, Charlie; Fairweather, Peter G.

2018-01-01

Counting errors can bias assessments of species abundance and richness, which can affect assessments of stock structure, population structure and monitoring programmes. Many methods for studying ecology use fixed viewpoints (e.g. camera traps, underwater video), but there is little known about how this biases the data obtained. In the marine realm, most studies using baited underwater video, a common method for monitoring fish and nekton, have previously only assessed fishes using a single bait-facing viewpoint. To investigate the biases stemming from using fixed viewpoints, we added cameras to cover 360° views around the units. We found similar species richness for all observed viewpoints but the bait-facing viewpoint recorded the highest fish abundance. Sightings of infrequently seen and shy species increased with the additional cameras and the extra viewpoints allowed the abundance estimates of highly abundant schooling species to be up to 60% higher. We specifically recommend the use of additional cameras for studies focusing on shyer species or those particularly interested in increasing the sensitivity of the method by avoiding saturation in highly abundant species. Studies may also benefit from using additional cameras to focus observation on the downstream viewpoint. PMID:29892386

In vitro near-infrared imaging of occlusal dental caries using a germanium-enhanced CMOS camera

NASA Astrophysics Data System (ADS)

Lee, Chulsung; Darling, Cynthia L.; Fried, Daniel

2010-02-01

The high transparency of dental enamel in the near-infrared (NIR) at 1310-nm can be exploited for imaging dental caries without the use of ionizing radiation. The objective of this study was to determine whether the lesion contrast derived from NIR transillumination can be used to estimate lesion severity. Another aim was to compare the performance of a new Ge enhanced complementary metal-oxide-semiconductor (CMOS) based NIR imaging camera with the InGaAs focal plane array (FPA). Extracted human teeth (n=52) with natural occlusal caries were imaged with both cameras at 1310-nm and the image contrast between sound and carious regions was calculated. After NIR imaging, teeth were sectioned and examined using more established methods, namely polarized light microscopy (PLM) and transverse microradiography (TMR) to calculate lesion severity. Lesions were then classified into 4 categories according to the lesion severity. Lesion contrast increased significantly with lesion severity for both cameras (p<0.05). The Ge enhanced CMOS camera equipped with the larger array and smaller pixels yielded higher contrast values compared with the smaller InGaAs FPA (p<0.01). Results demonstrate that NIR lesion contrast can be used to estimate lesion severity.

In vitro near-infrared imaging of occlusal dental caries using germanium enhanced CMOS camera.

PubMed

Lee, Chulsung; Darling, Cynthia L; Fried, Daniel

2010-03-01

The high transparency of dental enamel in the near-infrared (NIR) at 1310-nm can be exploited for imaging dental caries without the use of ionizing radiation. The objective of this study was to determine whether the lesion contrast derived from NIR transillumination can be used to estimate lesion severity. Another aim was to compare the performance of a new Ge enhanced complementary metal-oxide-semiconductor (CMOS) based NIR imaging camera with the InGaAs focal plane array (FPA). Extracted human teeth (n=52) with natural occlusal caries were imaged with both cameras at 1310-nm and the image contrast between sound and carious regions was calculated. After NIR imaging, teeth were sectioned and examined using more established methods, namely polarized light microscopy (PLM) and transverse microradiography (TMR) to calculate lesion severity. Lesions were then classified into 4 categories according to the lesion severity. Lesion contrast increased significantly with lesion severity for both cameras (p<0.05). The Ge enhanced CMOS camera equipped with the larger array and smaller pixels yielded higher contrast values compared with the smaller InGaAs FPA (p<0.01). Results demonstrate that NIR lesion contrast can be used to estimate lesion severity.

Experimental criteria for the determination of fractal parameters of premixed turbulent flames

NASA Astrophysics Data System (ADS)

Shepherd, I. G.; Cheng, Robert K.; Talbot, L.

1992-10-01

The influence of spatial resolution, digitization noise, the number of records used for averaging, and the method of analysis on the determination of the fractal parameters of a high Damköhler number, methane/air, premixed, turbulent stagnation-point flame are investigated in this paper. The flow exit velocity was 5 m/s and the turbulent Reynolds number was 70 based on a integral scale of 3 mm and a turbulent intensity of 7%. The light source was a copper vapor laser which delivered 20 nsecs, 5 mJ pulses at 4 kHz and the tomographic cross-sections of the flame were recorded by a high speed movie camera. The spatial resolution of the images is 155 × 121 μm/pixel with a field of view of 50 × 65 mm. The stepping caliper technique for obtaining the fractal parameters is found to give the clearest indication of the cutoffs and the effects of noise. It is necessary to ensemble average the results from more than 25 statistically independent images to reduce sufficiently the scatter in the fractal parameters. The effects of reduced spatial resolution on fractal plots are estimated by artificial degradation of the resolution of the digitized flame boundaries. The effect of pixel resolution, an apparent increase in flame length below the inner scale rolloff, appears in the fractal plots when the measurent scale is less than approximately twice the pixel resolution. Although a clearer determination of fractal parameters is obtained by local averaging of the flame boundaries which removes digitization noise, at low spatial resolution this technique can reduce the fractal dimension. The degree of fractal isotropy of the flame surface can have a significant effect on the estimation of the flame surface area and hence burning rate from two-dimensional images. To estimate this isotropy a determination of the outer cutoff is required and three-dimensional measurements are probably also necessary.

Robust camera calibration for sport videos using court models

NASA Astrophysics Data System (ADS)

Farin, Dirk; Krabbe, Susanne; de With, Peter H. N.; Effelsberg, Wolfgang

2003-12-01

We propose an automatic camera calibration algorithm for court sports. The obtained camera calibration parameters are required for applications that need to convert positions in the video frame to real-world coordinates or vice versa. Our algorithm uses a model of the arrangement of court lines for calibration. Since the court model can be specified by the user, the algorithm can be applied to a variety of different sports. The algorithm starts with a model initialization step which locates the court in the image without any user assistance or a-priori knowledge about the most probable position. Image pixels are classified as court line pixels if they pass several tests including color and local texture constraints. A Hough transform is applied to extract line elements, forming a set of court line candidates. The subsequent combinatorial search establishes correspondences between lines in the input image and lines from the court model. For the succeeding input frames, an abbreviated calibration algorithm is used, which predicts the camera parameters for the new image and optimizes the parameters using a gradient-descent algorithm. We have conducted experiments on a variety of sport videos (tennis, volleyball, and goal area sequences of soccer games). Video scenes with considerable difficulties were selected to test the robustness of the algorithm. Results show that the algorithm is very robust to occlusions, partial court views, bad lighting conditions, or shadows.

Geometric rectification of camera-captured document images.

PubMed

Liang, Jian; DeMenthon, Daniel; Doermann, David

2008-04-01

Compared to typical scanners, handheld cameras offer convenient, flexible, portable, and non-contact image capture, which enables many new applications and breathes new life into existing ones. However, camera-captured documents may suffer from distortions caused by non-planar document shape and perspective projection, which lead to failure of current OCR technologies. We present a geometric rectification framework for restoring the frontal-flat view of a document from a single camera-captured image. Our approach estimates 3D document shape from texture flow information obtained directly from the image without requiring additional 3D/metric data or prior camera calibration. Our framework provides a unified solution for both planar and curved documents and can be applied in many, especially mobile, camera-based document analysis applications. Experiments show that our method produces results that are significantly more OCR compatible than the original images.

Multiple-hit parameter estimation in monolithic detectors.

PubMed

Hunter, William C J; Barrett, Harrison H; Lewellen, Tom K; Miyaoka, Robert S

2013-02-01

We examine a maximum-a-posteriori method for estimating the primary interaction position of gamma rays with multiple interaction sites (hits) in a monolithic detector. In assessing the performance of a multiple-hit estimator over that of a conventional one-hit estimator, we consider a few different detector and readout configurations of a 50-mm-wide square cerium-doped lutetium oxyorthosilicate block. For this study, we use simulated data from SCOUT, a Monte-Carlo tool for photon tracking and modeling scintillation- camera output. With this tool, we determine estimate bias and variance for a multiple-hit estimator and compare these with similar metrics for a one-hit maximum-likelihood estimator, which assumes full energy deposition in one hit. We also examine the effect of event filtering on these metrics; for this purpose, we use a likelihood threshold to reject signals that are not likely to have been produced under the assumed likelihood model. Depending on detector design, we observe a 1%-12% improvement of intrinsic resolution for a 1-or-2-hit estimator as compared with a 1-hit estimator. We also observe improved differentiation of photopeak events using a 1-or-2-hit estimator as compared with the 1-hit estimator; more than 6% of photopeak events that were rejected by likelihood filtering for the 1-hit estimator were accurately identified as photopeak events and positioned without loss of resolution by a 1-or-2-hit estimator; for PET, this equates to at least a 12% improvement in coincidence-detection efficiency with likelihood filtering applied.

Automatic source camera identification using the intrinsic lens radial distortion

NASA Astrophysics Data System (ADS)

Choi, Kai San; Lam, Edmund Y.; Wong, Kenneth K. Y.

2006-11-01

Source camera identification refers to the task of matching digital images with the cameras that are responsible for producing these images. This is an important task in image forensics, which in turn is a critical procedure in law enforcement. Unfortunately, few digital cameras are equipped with the capability of producing watermarks for this purpose. In this paper, we demonstrate that it is possible to achieve a high rate of accuracy in the identification by noting the intrinsic lens radial distortion of each camera. To reduce manufacturing cost, the majority of digital cameras are equipped with lenses having rather spherical surfaces, whose inherent radial distortions serve as unique fingerprints in the images. We extract, for each image, parameters from aberration measurements, which are then used to train and test a support vector machine classifier. We conduct extensive experiments to evaluate the success rate of a source camera identification with five cameras. The results show that this is a viable approach with high accuracy. Additionally, we also present results on how the error rates may change with images captured using various optical zoom levels, as zooming is commonly available in digital cameras.

Microprocessor-controlled wide-range streak camera

NASA Astrophysics Data System (ADS)

Lewis, Amy E.; Hollabaugh, Craig

2006-08-01

Bechtel Nevada/NSTec recently announced deployment of their fifth generation streak camera. This camera incorporates many advanced features beyond those currently available for streak cameras. The arc-resistant driver includes a trigger lockout mechanism, actively monitors input trigger levels, and incorporates a high-voltage fault interrupter for user safety and tube protection. The camera is completely modular and may deflect over a variable full-sweep time of 15 nanoseconds to 500 microseconds. The camera design is compatible with both large- and small-format commercial tubes from several vendors. The embedded microprocessor offers Ethernet connectivity, and XML [extensible markup language]-based configuration management with non-volatile parameter storage using flash-based storage media. The camera's user interface is platform-independent (Microsoft Windows, Unix, Linux, Macintosh OSX) and is accessible using an AJAX [asynchronous Javascript and XML]-equipped modem browser, such as Internet Explorer 6, Firefox, or Safari. User interface operation requires no installation of client software or browser plug-in technology. Automation software can also access the camera configuration and control using HTTP [hypertext transfer protocol]. The software architecture supports multiple-simultaneous clients, multiple cameras, and multiple module access with a standard browser. The entire user interface can be customized.

Calibration between Color Camera and 3D LIDAR Instruments with a Polygonal Planar Board

PubMed Central

Park, Yoonsu; Yun, Seokmin; Won, Chee Sun; Cho, Kyungeun; Um, Kyhyun; Sim, Sungdae

2014-01-01

Calibration between color camera and 3D Light Detection And Ranging (LIDAR) equipment is an essential process for data fusion. The goal of this paper is to improve the calibration accuracy between a camera and a 3D LIDAR. In particular, we are interested in calibrating a low resolution 3D LIDAR with a relatively small number of vertical sensors. Our goal is achieved by employing a new methodology for the calibration board, which exploits 2D-3D correspondences. The 3D corresponding points are estimated from the scanned laser points on the polygonal planar board with adjacent sides. Since the lengths of adjacent sides are known, we can estimate the vertices of the board as a meeting point of two projected sides of the polygonal board. The estimated vertices from the range data and those detected from the color image serve as the corresponding points for the calibration. Experiments using a low-resolution LIDAR with 32 sensors show robust results. PMID:24643005

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

PubMed Central

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-01-01

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

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.

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

PubMed

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-03-25

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.

Contactless sub-millimeter displacement measurements

NASA Astrophysics Data System (ADS)

Sliepen, Guus; Jägers, Aswin P. L.; Bettonvil, Felix C. M.; Hammerschlag, Robert H.

2008-07-01

Weather effects on foldable domes, as used at the DOT and GREGOR, are investigated, in particular the correlation between the wind field and the stresses caused to both metal framework and tent clothing. Camera systems measure contactless the displacement of several dome points. The stresses follow from the measured deformation pattern. The cameras placed near the dome floor do not disturb telescope operations. In the set-ups of DOT and GREGOR, these cameras are up to 8 meters away from the measured points and must be able to detect displacements of less than 0.1 mm. The cameras have a FireWire (IEEE1394) interface to eliminate the need for frame grabbers. Each camera captures 15 images of 640 × 480 pixels per second. All data is processed on-site in real-time. In order to get the best estimate for the displacement within the constraints of available processing power, all image processing is done in Fourier-space, with all convolution operations being pre-computed once. A sub-pixel estimate of the peak of the correlation function is made. This enables to process the images of four cameras using only one commodity PC with a dual-core processor, and achieve an effective sensitivity of up to 0.01 mm. The deformation measurements are well correlated to the simultaneous wind measurements. The results are of high interest to upscaling the dome design (ELTs and solar telescopes).

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.

A multi-camera system for real-time pose estimation

NASA Astrophysics Data System (ADS)

Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

2007-04-01

This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

Plate refractive camera model and its applications

NASA Astrophysics Data System (ADS)

Huang, Longxiang; Zhao, Xu; Cai, Shen; Liu, Yuncai

2017-03-01

In real applications, a pinhole camera capturing objects through a planar parallel transparent plate is frequently employed. Due to the refractive effects of the plate, such an imaging system does not comply with the conventional pinhole camera model. Although the system is ubiquitous, it has not been thoroughly studied. This paper aims at presenting a simple virtual camera model, called a plate refractive camera model, which has a form similar to a pinhole camera model and can efficiently model refractions through a plate. The key idea is to employ a pixel-wise viewpoint concept to encode the refraction effects into a pixel-wise pinhole camera model. The proposed camera model realizes an efficient forward projection computation method and has some advantages in applications. First, the model can help to compute the caustic surface to represent the changes of the camera viewpoints. Second, the model has strengths in analyzing and rectifying the image caustic distortion caused by the plate refraction effects. Third, the model can be used to calibrate the camera's intrinsic parameters without removing the plate. Last but not least, the model contributes to putting forward the plate refractive triangulation methods in order to solve the plate refractive triangulation problem easily in multiviews. We verify our theory in both synthetic and real experiments.

Comparison between magnetic anchoring and guidance system camera-assisted laparoendoscopic single-site surgery nephrectomy and conventional laparoendoscopic single-site surgery nephrectomy in a porcine model: focus on ergonomics and workload profiles.

PubMed

Han, Woong Kyu; Tan, Yung K; Olweny, Ephrem O; Yin, Gang; Liu, Zhuo-Wei; Faddegon, Stephen; Scott, Daniel J; Cadeddu, Jeffrey A

2013-04-01

To compare surgeon-assessed ergonomic and workload demands of magnetic anchoring and guidance system (MAGS) laparoendoscopic single-site surgery (LESS) nephrectomy with conventional LESS nephrectomy in a porcine model. Participants included two expert and five novice surgeons who each performed bilateral LESS nephrectomy in two nonsurvival animals using either the MAGS camera or conventional laparoscope. Task difficulty and workload demands of the surgeon and camera driver were assessed using the validated National Aeronautics and Space Administration Task Load Index (NASA-TLX) questionnaire. Surgeons were also asked to score 6 parameters on a Likert scale (range 1=low/easy to 5=high/hard): procedure-associated workload, ergonomics, technical challenge, visualization, accidental events, and instrument handling. Each step of the nephrectomy was also timed and instrument clashing was quantified. Scores for each parameter on the Likert scale were significantly lower for MAGS-LESS nephrectomy. Mean number of internal and external clashes were significantly lower for the MAGS camera (p<0.001). Mean task times for each procedure were shorter for experts than for novices, but this was not statistically significant. NASA-TLX workload ratings by the surgeon and camera driver showed that MAGS resulted in a significantly lower workload than the conventional laparoscope during LESS nephrectomy (p<0.05). The use of the MAGS camera during LESS nephrectomy lowers the task workload for both the surgeon and camera driver when compared to conventional laparoscope use. Subjectively, it appears to also improve surgeons' impressions of ergonomics and technical challenge. Pending approval for clinical use, further evaluation in the clinical setting is warranted.

Grizzly Bear Noninvasive Genetic Tagging Surveys: Estimating the Magnitude of Missed Detections

PubMed Central

Fisher, Jason T.; Heim, Nicole; Code, Sandra; Paczkowski, John

2016-01-01

Sound wildlife conservation decisions require sound information, and scientists increasingly rely on remotely collected data over large spatial scales, such as noninvasive genetic tagging (NGT). Grizzly bears (Ursus arctos), for example, are difficult to study at population scales except with noninvasive data, and NGT via hair trapping informs management over much of grizzly bears’ range. Considerable statistical effort has gone into estimating sources of heterogeneity, but detection error–arising when a visiting bear fails to leave a hair sample–has not been independently estimated. We used camera traps to survey grizzly bear occurrence at fixed hair traps and multi-method hierarchical occupancy models to estimate the probability that a visiting bear actually leaves a hair sample with viable DNA. We surveyed grizzly bears via hair trapping and camera trapping for 8 monthly surveys at 50 (2012) and 76 (2013) sites in the Rocky Mountains of Alberta, Canada. We used multi-method occupancy models to estimate site occupancy, probability of detection, and conditional occupancy at a hair trap. We tested the prediction that detection error in NGT studies could be induced by temporal variability within season, leading to underestimation of occupancy. NGT via hair trapping consistently underestimated grizzly bear occupancy at a site when compared to camera trapping. At best occupancy was underestimated by 50%; at worst, by 95%. Probability of false absence was reduced through successive surveys, but this mainly accounts for error imparted by movement among repeated surveys, not necessarily missed detections by extant bears. The implications of missed detections and biased occupancy estimates for density estimation–which form the crux of management plans–require consideration. We suggest hair-trap NGT studies should estimate and correct detection error using independent survey methods such as cameras, to ensure the reliability of the data upon which species management and conservation actions are based. PMID:27603134

Data-driven local-scale modeling of ionospheric responses to auroral forcing using incoherent scatter radar and ground-based imaging measurements

NASA Astrophysics Data System (ADS)

Grubbs, G. A., II; Zettergren, M. D.; Samara, M.; Michell, R.; Hampton, D. L.; Lynch, K. A.; Varney, R. H.; Reimer, A.; Burleigh, M.

2017-12-01

The aurora encapsulates a wide range of spatial and temporal scale sizes, particularly during active events such as those that exist during substorm expansion. Of interest to the present work are ionospheric responses to magnetospheric forcing at relatively small scales (0.5-20 km), including formation of structured auroral arc current systems, ion frictional heating, upflow, and density cavity formation among other processes. Even for carefully arranged experiments, it is often difficult to fully assess physical details (time evolution, causality, unobservable parameters) associated with these types of responses, thus highlighting the general need for high-resolution modeling efforts to support the observations. In this work, we develop and test a local-scale model to describe effects of precipitating electrons and electric fields on the ionospheric plasma responses using available remote sensing data (e.g. from ISRs and filtered cameras). Our model is based on a 3D multi-fluid/electrostatic ionospheric model, GEMINI (Zettergren et al., 2015), coupled a two-stream electron transport code which produces auroral intensities, impact ionization, and thermal electron heating GLobal airglOW (GLOW; Solomon, 2017). GEMINI-GLOW thus describes both thermal and suprathermal effects on the ionosphere and is driven by boundary conditions consisting of topside ionospheric field-aligned currents and suprathermal electrons. These boundary conditions are constrained using time and space-dependent electric field and precipitation estimates from recent sounding rocket campaigns, ISINGLASS (02 March 2017) and GREECE (03 March 2014), derived from the Poker Flat incoherent scatter radar (PFISR) drifts and filtered EMCCD cameras respectively. Results from these data-driven case studies are compared to plasma parameter responses (i.e. density and temperature) independently estimated by PFISR and from the sounding rockets. These studies are intended as a first step towards a local-scale assimilative modeling approach where data-derived information will be fed back into the model to update the system state.

Analysis of the effect on optical equipment caused by solar position in target flight measure

NASA Astrophysics Data System (ADS)

Zhu, Shun-hua; Hu, Hai-bin

2012-11-01

Optical equipment is widely used to measure flight parameters in target flight performance test, but the equipment is sensitive to the sun's rays. In order to avoid the disadvantage of sun's rays directly shines to the optical equipment camera lens when measuring target flight parameters, the angle between observation direction and the line which connects optical equipment camera lens and the sun should be kept at a big range, The calculation method of the solar azimuth and altitude to the optical equipment at any time and at any place on the earth, the equipment observation direction model and the calculating model of angle between observation direction and the line which connects optical equipment camera lens are introduced in this article. Also, the simulation of the effect on optical equipment caused by solar position at different time, different date, different month and different target flight direction is given in this article.

Camera sensor arrangement for crop/weed detection accuracy in agronomic images.

PubMed

Romeo, Juan; Guerrero, José Miguel; Montalvo, Martín; Emmi, Luis; Guijarro, María; Gonzalez-de-Santos, Pablo; Pajares, Gonzalo

2013-04-02

In Precision Agriculture, images coming from camera-based sensors are commonly used for weed identification and crop line detection, either to apply specific treatments or for vehicle guidance purposes. Accuracy of identification and detection is an important issue to be addressed in image processing. There are two main types of parameters affecting the accuracy of the images, namely: (a) extrinsic, related to the sensor's positioning in the tractor; (b) intrinsic, related to the sensor specifications, such as CCD resolution, focal length or iris aperture, among others. Moreover, in agricultural applications, the uncontrolled illumination, existing in outdoor environments, is also an important factor affecting the image accuracy. This paper is exclusively focused on two main issues, always with the goal to achieve the highest image accuracy in Precision Agriculture applications, making the following two main contributions: (a) camera sensor arrangement, to adjust extrinsic parameters and (b) design of strategies for controlling the adverse illumination effects.

Positional estimation techniques for an autonomous mobile robot

NASA Technical Reports Server (NTRS)

Nandhakumar, N.; Aggarwal, J. K.

1990-01-01

Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented.

Offshore remote sensing of the ocean by stereo vision systems

NASA Astrophysics Data System (ADS)

Gallego, Guillermo; Shih, Ping-Chang; Benetazzo, Alvise; Yezzi, Anthony; Fedele, Francesco

2014-05-01

In recent years, remote sensing imaging systems for the measurement of oceanic sea states have attracted renovated attention. Imaging technology is economical, non-invasive and enables a better understanding of the space-time dynamics of ocean waves over an area rather than at selected point locations of previous monitoring methods (buoys, wave gauges, etc.). We present recent progress in space-time measurement of ocean waves using stereo vision systems on offshore platforms, which focus on sea states with wavelengths in the range of 0.01 m to 1 m. Both traditional disparity-based systems and modern elevation-based ones are presented in a variational optimization framework: the main idea is to pose the stereoscopic reconstruction problem of the surface of the ocean in a variational setting and design an energy functional whose minimizer is the desired temporal sequence of wave heights. The functional combines photometric observations as well as spatial and temporal smoothness priors. Disparity methods estimate the disparity between images as an intermediate step toward retrieving the depth of the waves with respect to the cameras, whereas elevation methods estimate the ocean surface displacements directly in 3-D space. Both techniques are used to measure ocean waves from real data collected at offshore platforms in the Black Sea (Crimean Peninsula, Ukraine) and the Northern Adriatic Sea (Venice coast, Italy). Then, the statistical and spectral properties of the resulting oberved waves are analyzed. We show the advantages and disadvantages of the presented stereo vision systems and discuss furure lines of research to improve their performance in critical issues such as the robustness of the camera calibration in spite of undesired variations of the camera parameters or the processing time that it takes to retrieve ocean wave measurements from the stereo videos, which are very large datasets that need to be processed efficiently to be of practical usage. Multiresolution and short-time approaches would improve efficiency and scalability of the techniques so that wave displacements are obtained in feasible times.

The calibration of video cameras for quantitative measurements

NASA Technical Reports Server (NTRS)

Snow, Walter L.; Childers, Brooks A.; Shortis, Mark R.

1993-01-01

Several different recent applications of velocimetry at Langley Research Center are described in order to show the need for video camera calibration for quantitative measurements. Problems peculiar to video sensing are discussed, including synchronization and timing, targeting, and lighting. The extension of the measurements to include radiometric estimates is addressed.

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

Weinmann, Amanda L.; Hruska, Carrie B.; Conners, Amy L.

Purpose: Molecular breast imaging (MBI) is a dedicated nuclear medicine breast imaging modality that employs dual-head cadmium zinc telluride (CZT) gamma cameras to functionally detect breast cancer. MBI has been shown to detect breast cancers otherwise occult on mammography and ultrasound. Currently, a MBI-guided biopsy system does not exist to biopsy such lesions. Our objective was to consider the utility of a novel conical slant-hole (CSH) collimator for rapid (<1 min) and accurate monitoring of lesion position to serve as part of a MBI-guided biopsy system. Methods: An initial CSH collimator design was derived from the dimensions of a parallel-holemore » collimator optimized for MBI performed with dual-head CZT gamma cameras. The parameters of the CSH collimator included the collimator height, cone slant angle, thickness of septa and cones of the collimator, and the annular areas exposed at the base of the cones. These parameters were varied within the geometric constraints of the MBI system to create several potential CSH collimator designs. The CSH collimator designs were evaluated using Monte Carlo simulations. The model included a breast compressed to a thickness of 6 cm with a 1-cm diameter lesion located 3 cm from the collimator face. The number of particles simulated was chosen to represent the count density of a low-dose, screening MBI study acquired with the parallel-hole collimator for 10 min after a {approx}150 MBq (4 mCi) injection of Tc-99m sestamibi. The same number of particles was used for the CSH collimator simulations. In the resulting simulated images, the count sensitivity, spatial resolution, and accuracy of the lesion depth determined from the lesion profile width were evaluated. Results: The CSH collimator design with default parameters derived from the optimal parallel-hole collimator provided 1-min images with error in the lesion depth estimation of 1.1 {+-} 0.7 mm and over 21 times the lesion count sensitivity relative to 1-min images acquired with the current parallel-hole collimator. Sensitivity was increased via more vertical cone slant angles, larger annular areas, thinner cone walls, shorter cone heights, and thinner radiating septa. Full width at half maximum trended in the opposite direction as sensitivity for all parameters. There was less error in the depth estimates for less vertical slant angles, smaller annular areas, thinner cone walls, cone heights near 1 cm, and generally thinner radiating septa. Conclusions: A Monte Carlo model was used to demonstrate the feasibility of a CSH collimator design for rapid biopsy application in molecular breast imaging. Specifically, lesion depth of a 1-cm diameter lesion positioned in the center of a typical breast can be estimated with error of less than 2 mm using circumferential count profiles of images acquired in 1 min.« less

Volumetric particle image velocimetry with a single plenoptic camera

NASA Astrophysics Data System (ADS)

Fahringer, Timothy W.; Lynch, Kyle P.; Thurow, Brian S.

2015-11-01

A novel three-dimensional (3D), three-component (3C) particle image velocimetry (PIV) technique based on volume illumination and light field imaging with a single plenoptic camera is described. A plenoptic camera uses a densely packed microlens array mounted near a high resolution image sensor to sample the spatial and angular distribution of light collected by the camera. The multiplicative algebraic reconstruction technique (MART) computed tomography algorithm is used to reconstruct a volumetric intensity field from individual snapshots and a cross-correlation algorithm is used to estimate the velocity field from a pair of reconstructed particle volumes. This work provides an introduction to the basic concepts of light field imaging with a plenoptic camera and describes the unique implementation of MART in the context of plenoptic image data for 3D/3C PIV measurements. Simulations of a plenoptic camera using geometric optics are used to generate synthetic plenoptic particle images, which are subsequently used to estimate the quality of particle volume reconstructions at various particle number densities. 3D reconstructions using this method produce reconstructed particles that are elongated by a factor of approximately 4 along the optical axis of the camera. A simulated 3D Gaussian vortex is used to test the capability of single camera plenoptic PIV to produce a 3D/3C vector field, where it was found that lateral displacements could be measured to approximately 0.2 voxel accuracy in the lateral direction and 1 voxel in the depth direction over a 300× 200× 200 voxel volume. The feasibility of the technique is demonstrated experimentally using a home-built plenoptic camera based on a 16-megapixel interline CCD camera and a 289× 193 array of microlenses and a pulsed Nd:YAG laser. 3D/3C measurements were performed in the wake of a low Reynolds number circular cylinder and compared with measurements made using a conventional 2D/2C PIV system. Overall, single camera plenoptic PIV is shown to be a viable 3D/3C velocimetry technique.

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

PubMed Central

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-01-01

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. PMID:28216555

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems.

PubMed

Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

2017-02-14

Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Camera Geo calibration Using an MCMC Approach (Author’s Manuscript)

DTIC Science & Technology

2016-08-19

calibration problem that supports priors over camera parameters and constraints that relate image anno - tations, camera geometry, and a geographic...Θi+1|Θi) = Ndim∏ j =1 1 σj φ ( Θi+1, j −Θi, j σj ) , where σj denotes the sampling step size on the j -th dimen- sion, and φ(x) denotes the PDF of the...image calibration,” Imaging for Crime Detection and Prevention, 2013. 1 [2] Haipeng Zhang, Mohammed Korayem, David J Crandall, and Gretchen LeBuhn

Space-based infrared sensors of space target imaging effect analysis

NASA Astrophysics Data System (ADS)

Dai, Huayu; Zhang, Yasheng; Zhou, Haijun; Zhao, Shuang

2018-02-01

Target identification problem is one of the core problem of ballistic missile defense system, infrared imaging simulation is an important means of target detection and recognition. This paper first established the space-based infrared sensors ballistic target imaging model of point source on the planet's atmosphere; then from two aspects of space-based sensors camera parameters and target characteristics simulated atmosphere ballistic target of infrared imaging effect, analyzed the camera line of sight jitter, camera system noise and different imaging effects of wave on the target.

Characterization and Performance of the Cananea Near-infrared Camera (CANICA)

NASA Astrophysics Data System (ADS)

Devaraj, R.; Mayya, Y. D.; Carrasco, L.; Luna, A.

2018-05-01

We present details of characterization and imaging performance of the Cananea Near-infrared Camera (CANICA) at the 2.1 m telescope of the Guillermo Haro Astrophysical Observatory (OAGH) located in Cananea, Sonora, México. CANICA has a HAWAII array with a HgCdTe detector of 1024 × 1024 pixels covering a field of view of 5.5 × 5.5 arcmin2 with a plate scale of 0.32 arcsec/pixel. The camera characterization involved measuring key detector parameters: conversion gain, dark current, readout noise, and linearity. The pixels in the detector have a full-well-depth of 100,000 e‑ with the conversion gain measured to be 5.8 e‑/ADU. The time-dependent dark current was estimated to be 1.2 e‑/sec. Readout noise for correlated double sampled (CDS) technique was measured to be 30 e‑/pixel. The detector shows 10% non-linearity close to the full-well-depth. The non-linearity was corrected within 1% levels for the CDS images. Full-field imaging performance was evaluated by measuring the point spread function, zeropoints, throughput, and limiting magnitude. The average zeropoint value in each filter are J = 20.52, H = 20.63, and K = 20.23. The saturation limit of the detector is about sixth magnitude in all the primary broadbands. CANICA on the 2.1 m OAGH telescope reaches background-limited magnitudes of J = 18.5, H = 17.6, and K = 16.0 for a signal-to-noise ratio of 10 with an integration time of 900 s.

System Synchronizes Recordings from Separated Video Cameras

NASA Technical Reports Server (NTRS)

Nail, William; Nail, William L.; Nail, Jasper M.; Le, Doung T.

2009-01-01

A system of electronic hardware and software for synchronizing recordings from multiple, physically separated video cameras is being developed, primarily for use in multiple-look-angle video production. The system, the time code used in the system, and the underlying method of synchronization upon which the design of the system is based are denoted generally by the term "Geo-TimeCode(TradeMark)." The system is embodied mostly in compact, lightweight, portable units (see figure) denoted video time-code units (VTUs) - one VTU for each video camera. The system is scalable in that any number of camera recordings can be synchronized. The estimated retail price per unit would be about $350 (in 2006 dollars). The need for this or another synchronization system external to video cameras arises because most video cameras do not include internal means for maintaining synchronization with other video cameras. Unlike prior video-camera-synchronization systems, this system does not depend on continuous cable or radio links between cameras (however, it does depend on occasional cable links lasting a few seconds). Also, whereas the time codes used in prior video-camera-synchronization systems typically repeat after 24 hours, the time code used in this system does not repeat for slightly more than 136 years; hence, this system is much better suited for long-term deployment of multiple cameras.

Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

NASA Astrophysics Data System (ADS)

Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

2007-03-01

We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

The Sensor Irony: How Reliance on Sensor Technology is Limiting Our View of the Battlefield

DTIC Science & Technology

2010-05-10

thermal ) camera, as well as a laser illuminator/range finder.73 Similar to the MQ- 1 , the MQ-9 Reaper is primarily a strike asset for emerging targets...Wescam 14TS. 1 Both systems have an Electro-optical (daylight) TV camera, an Infra-red ( thermal ) camera, as well as a laser illuminator/range finder...Report Documentation Page Form Approved OMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1 hour

IMU-based online kinematic calibration of robot manipulator.

PubMed

Du, Guanglong; Zhang, Ping

2013-01-01

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orientation of the IMU in real time. This paper proposed an efficient approach which incorporates Factored Quaternion Algorithm (FQA) and Kalman Filter (KF) to estimate the orientation of the IMU. Then, an Extended Kalman Filter (EKF) is used to estimate kinematic parameter errors. Using this proposed orientation estimation method will result in improved reliability and accuracy in determining the orientation of the manipulator. Compared with the existing vision-based self-calibration methods, the great advantage of this method is that it does not need the complex steps, such as camera calibration, images capture, and corner detection, which make the robot calibration procedure more autonomous in a dynamic manufacturing environment. Experimental studies on a GOOGOL GRB3016 robot show that this method has better accuracy, convenience, and effectiveness than vision-based methods.

Coupled multiview autoencoders with locality sensitivity for three-dimensional human pose estimation

NASA Astrophysics Data System (ADS)

Yu, Jialin; Sun, Jifeng; Luo, Shasha; Duan, Bichao

2017-09-01

Estimating three-dimensional (3D) human poses from a single camera is usually implemented by searching pose candidates with image descriptors. Existing methods usually suppose that the mapping from feature space to pose space is linear, but in fact, their mapping relationship is highly nonlinear, which heavily degrades the performance of 3D pose estimation. We propose a method to recover 3D pose from a silhouette image. It is based on the multiview feature embedding (MFE) and the locality-sensitive autoencoders (LSAEs). On the one hand, we first depict the manifold regularized sparse low-rank approximation for MFE and then the input image is characterized by a fused feature descriptor. On the other hand, both the fused feature and its corresponding 3D pose are separately encoded by LSAEs. A two-layer back-propagation neural network is trained by parameter fine-tuning and then used to map the encoded 2D features to encoded 3D poses. Our LSAE ensures a good preservation of the local topology of data points. Experimental results demonstrate the effectiveness of our proposed method.

Automatic Camera Calibration for Cultural Heritage Applications Using Unstructured Planar Objects

NASA Astrophysics Data System (ADS)

Adam, K.; Kalisperakis, I.; Grammatikopoulos, L.; Karras, G.; Petsa, E.

2013-07-01

As a rule, image-based documentation of cultural heritage relies today on ordinary digital cameras and commercial software. As such projects often involve researchers not familiar with photogrammetry, the question of camera calibration is important. Freely available open-source user-friendly software for automatic camera calibration, often based on simple 2D chess-board patterns, are an answer to the demand for simplicity and automation. However, such tools cannot respond to all requirements met in cultural heritage conservation regarding possible imaging distances and focal lengths. Here we investigate the practical possibility of camera calibration from unknown planar objects, i.e. any planar surface with adequate texture; we have focused on the example of urban walls covered with graffiti. Images are connected pair-wise with inter-image homographies, which are estimated automatically through a RANSAC-based approach after extracting and matching interest points with the SIFT operator. All valid points are identified on all images on which they appear. Provided that the image set includes a "fronto-parallel" view, inter-image homographies with this image are regarded as emulations of image-to-world homographies and allow computing initial estimates for the interior and exterior orientation elements. Following this initialization step, the estimates are introduced into a final self-calibrating bundle adjustment. Measures are taken to discard unsuitable images and verify object planarity. Results from practical experimentation indicate that this method may produce satisfactory results. The authors intend to incorporate the described approach into their freely available user-friendly software tool, which relies on chess-boards, to assist non-experts in their projects with image-based approaches.

Estimation of vibration frequency of loudspeaker diaphragm by parallel phase-shifting digital holography

NASA Astrophysics Data System (ADS)

Kakue, T.; Endo, Y.; Shimobaba, T.; Ito, T.

2014-11-01

We report frequency estimation of loudspeaker diaphragm vibrating at high speed by parallel phase-shifting digital holography which is a technique of single-shot phase-shifting interferometry. This technique records multiple phaseshifted holograms required for phase-shifting interferometry by using space-division multiplexing. We constructed a parallel phase-shifting digital holography system consisting of a high-speed polarization-imaging camera. This camera has a micro-polarizer array which selects four linear polarization axes for 2 × 2 pixels. We set a loudspeaker as an object, and recorded vibration of diaphragm of the loudspeaker by the constructed system. By the constructed system, we demonstrated observation of vibration displacement of loudspeaker diaphragm. In this paper, we aim to estimate vibration frequency of the loudspeaker diaphragm by applying the experimental results to frequency analysis. Holograms consisting of 128 × 128 pixels were recorded at a frame rate of 262,500 frames per second by the camera. A sinusoidal wave was input to the loudspeaker via a phone connector. We observed displacement of the loudspeaker diaphragm vibrating by the system. We also succeeded in estimating vibration frequency of the loudspeaker diaphragm by applying frequency analysis to the experimental results.

Development of Camera Model and Geometric Calibration/validation of Xsat IRIS Imagery

NASA Astrophysics Data System (ADS)

Kwoh, L. K.; Huang, X.; Tan, W. J.

2012-07-01

XSAT, launched on 20 April 2011, is the first micro-satellite designed and built in Singapore. It orbits the Earth at altitude of 822 km in a sun synchronous orbit. The satellite carries a multispectral camera IRIS with three spectral bands - 0.52~0.60 mm for Green, 0.63~0.69 mm for Red and 0.76~0.89 mm for NIR at 12 m resolution. In the design of IRIS camera, the three bands were acquired by three lines of CCDs (NIR, Red and Green). These CCDs were physically separated in the focal plane and their first pixels not absolutely aligned. The micro-satellite platform was also not stable enough to allow for co-registration of the 3 bands with simple linear transformation. In the camera model developed, this platform stability was compensated with 3rd to 4th order polynomials for the satellite's roll, pitch and yaw attitude angles. With the camera model, the camera parameters such as the band to band separations, the alignment of the CCDs relative to each other, as well as the focal length of the camera can be validated or calibrated. The results of calibration with more than 20 images showed that the band to band along-track separation agreed well with the pre-flight values provided by the vendor (0.093° and 0.046° for the NIR vs red and for green vs red CCDs respectively). The cross-track alignments were 0.05 pixel and 5.9 pixel for the NIR vs red and green vs red CCDs respectively. The focal length was found to be shorter by about 0.8%. This was attributed to the lower operating temperature which XSAT is currently operating. With the calibrated parameters and the camera model, a geometric level 1 multispectral image with RPCs can be generated and if required, orthorectified imagery can also be produced.

Estimation of reflectance from camera responses by the regularized local linear model.

PubMed

Zhang, Wei-Feng; Tang, Gongguo; Dai, Dao-Qing; Nehorai, Arye

2011-10-01

Because of the limited approximation capability of using fixed basis functions, the performance of reflectance estimation obtained by traditional linear models will not be optimal. We propose an approach based on the regularized local linear model. Our approach performs efficiently and knowledge of the spectral power distribution of the illuminant and the spectral sensitivities of the camera is not needed. Experimental results show that the proposed method performs better than some well-known methods in terms of both reflectance error and colorimetric error. © 2011 Optical Society of America

A portable high-speed camera system for vocal fold examinations.

PubMed

Hertegård, Stellan; Larsson, Hans

2014-11-01

In this article, we present a new portable low-cost system for high-speed examinations of the vocal folds. Analysis of glottal vibratory parameters from the high-speed recordings is compared with videostroboscopic recordings. The high-speed system is built around a Fastec 1 monochrome camera, which is used with newly developed software, High-Speed Studio (HSS). The HSS has options for video/image recording, contains a database, and has a set of analysis options. The Fastec/HSS system has been used clinically since 2011 in more than 2000 patient examinations and recordings. The Fastec 1 camera has sufficient time resolution (≥4000 frames/s) and light sensitivity (ISO 3200) to produce images for detailed analyses of parameters pertinent to vocal fold function. The camera can be used with both rigid and flexible endoscopes. The HSS software includes options for analyses of glottal vibrations, such as kymogram, phase asymmetry, glottal area variation, open and closed phase, and angle of vocal fold abduction. It can also be used for separate analysis of the left and vocal fold movements, including maximum speed during opening and closing, a parameter possibly related to vocal fold elasticity. A blinded analysis of 32 patients with various voice disorders examined with both the Fastec/HSS system and videostroboscopy showed that the high-speed recordings were significantly better for the analysis of glottal parameters (eg, mucosal wave and vibration asymmetry). The monochrome high-speed system can be used in daily clinical work within normal clinical time limits for patient examinations. A detailed analysis can be made of voice disorders and laryngeal pathology at a relatively low cost. Copyright © 2014 The Voice Foundation. Published by Elsevier Inc. All rights reserved.

Research on the position estimation of human movement based on camera projection

NASA Astrophysics Data System (ADS)

Yi, Zhang; Yuan, Luo; Hu, Huosheng

2005-06-01

During the rehabilitation process of the post-stroke patients is conducted, their movements need to be localized and learned so that incorrect movement can be instantly modified or tuned. Therefore, tracking these movement becomes vital and necessary for the rehabilitative course. During human movement tracking, the position estimation of human movement is very important. In this paper, the character of the human movement system is first analyzed. Next, camera and inertial sensor are used to respectively measure the position of human movement, and the Kalman filter algorithm is proposed to fuse the two measurement to get a optimization estimation of the position. In the end, the performance of the method is analyzed.

Reductions in injury crashes associated with red light camera enforcement in oxnard, california.

PubMed

Retting, Richard A; Kyrychenko, Sergey Y

2002-11-01

This study estimated the impact of red light camera enforcement on motor vehicle crashes in one of the first US communities to employ such cameras-Oxnard, California. Crash data were analyzed for Oxnard and for 3 comparison cities. Changes in crash frequencies were compared for Oxnard and control cities and for signalized and nonsignalized intersections by means of a generalized linear regression model. Overall, crashes at signalized intersections throughout Oxnard were reduced by 7% and injury crashes were reduced by 29%. Right-angle crashes, those most associated with red light violations, were reduced by 32%; right-angle crashes involving injuries were reduced by 68%. Because red light cameras can be a permanent component of the transportation infrastructure, crash reductions attributed to camera enforcement should be sustainable.