Sample records for ja stereo spectrum

  1. Stereo Imaging Miniature Endoscope

    NASA Technical Reports Server (NTRS)

    Bae, Youngsam; Manohara, Harish; White, Victor; Shcheglov, Kirill V.; Shahinian, Hrayr

    2011-01-01

    Stereo imaging requires two different perspectives of the same object and, traditionally, a pair of side-by-side cameras would be used but are not feasible for something as tiny as a less than 4-mm-diameter endoscope that could be used for minimally invasive surgeries or geoexploration through tiny fissures or bores. The proposed solution here is to employ a single lens, and a pair of conjugated, multiple-bandpass filters (CMBFs) to separate stereo images. When a CMBF is placed in front of each of the stereo channels, only one wavelength of the visible spectrum that falls within the passbands of the CMBF is transmitted through at a time when illuminated. Because the passbands are conjugated, only one of the two channels will see a particular wavelength. These time-multiplexed images are then mixed and reconstructed to display as stereo images. The basic principle of stereo imaging involves an object that is illuminated at specific wavelengths, and a range of illumination wavelengths is time multiplexed. The light reflected from the object selectively passes through one of the two CMBFs integrated with two pupils separated by a baseline distance, and is focused onto the imaging plane through an objective lens. The passband range of CMBFs and the illumination wavelengths are synchronized such that each of the CMBFs allows transmission of only the alternate illumination wavelength bands. And the transmission bandwidths of CMBFs are complementary to each other, so that when one transmits, the other one blocks. This can be clearly understood if the wavelength bands are divided broadly into red, green, and blue, then the illumination wavelengths contain two bands in red (R1, R2), two bands in green (G1, G2), and two bands in blue (B1, B2). Therefore, when the objective is illuminated by R1, the reflected light enters through only the left-CMBF as the R1 band corresponds to the transmission window of the left CMBF at the left pupil. This is blocked by the right CMBF. The

  2. Constraint-based stereo matching

    NASA Technical Reports Server (NTRS)

    Kuan, D. T.

    1987-01-01

    The major difficulty in stereo vision is the correspondence problem that requires matching features in two stereo images. Researchers describe a constraint-based stereo matching technique using local geometric constraints among edge segments to limit the search space and to resolve matching ambiguity. Edge segments are used as image features for stereo matching. Epipolar constraint and individual edge properties are used to determine possible initial matches between edge segments in a stereo image pair. Local edge geometric attributes such as continuity, junction structure, and edge neighborhood relations are used as constraints to guide the stereo matching process. The result is a locally consistent set of edge segment correspondences between stereo images. These locally consistent matches are used to generate higher-level hypotheses on extended edge segments and junctions to form more global contexts to achieve global consistency.

  3. Electronics for the STEREO experiment

    NASA Astrophysics Data System (ADS)

    HÉLAINE, Victor; STEREO Collaboration

    2017-09-01

    The STEREO experiment, aiming to probe short baseline neutrino oscillations by precisely measuring reactor anti-neutrino spectrum, is currently under installation. It is located at short distance from the compact research reactor core of the Institut Laue-Langevin, Grenoble, France. Dedicated electronics, hosted in a single µTCA crate, were designed for this experiment. In this article, the electronics requirements, architecture and the performances achieved are described. It is shown how intrinsic Pulse Shape Discrimination properties of the liquid scintillator are preserved and how custom adaptable logic is used to improve the muon veto efficiency.

  4. LROC Stereo Observations

    NASA Astrophysics Data System (ADS)

    Beyer, Ross A.; Archinal, B.; Li, R.; Mattson, S.; Moratto, Z.; McEwen, A.; Oberst, J.; Robinson, M.

    2009-09-01

    The Lunar Reconnaissance Orbiter Camera (LROC) will obtain two types of multiple overlapping coverage to derive terrain models of the lunar surface. LROC has two Narrow Angle Cameras (NACs), working jointly to provide a wider (in the cross-track direction) field of view, as well as a Wide Angle Camera (WAC). LRO's orbit precesses, and the same target can be viewed at different solar azimuth and incidence angles providing the opportunity to acquire `photometric stereo' in addition to traditional `geometric stereo' data. Geometric stereo refers to images acquired by LROC with two observations at different times. They must have different emission angles to provide a stereo convergence angle such that the resultant images have enough parallax for a reasonable stereo solution. The lighting at the target must not be radically different. If shadows move substantially between observations, it is very difficult to correlate the images. The majority of NAC geometric stereo will be acquired with one nadir and one off-pointed image (20 degree roll). Alternatively, pairs can be obtained with two spacecraft rolls (one to the left and one to the right) providing a stereo convergence angle up to 40 degrees. Overlapping WAC images from adjacent orbits can be used to generate topography of near-global coverage at kilometer-scale effective spatial resolution. Photometric stereo refers to multiple-look observations of the same target under different lighting conditions. LROC will acquire at least three (ideally five) observations of a target. These observations should have near identical emission angles, but with varying solar azimuth and incidence angles. These types of images can be processed via various methods to derive single pixel resolution topography and surface albedo. The LROC team will produce some topographic models, but stereo data collection is focused on acquiring the highest quality data so that such models can be generated later.

  5. Solar Eclipse, STEREO Style

    NASA Technical Reports Server (NTRS)

    2007-01-01

    There was a transit of the Moon across the face of the Sun - but it could not be seen from Earth. This sight was visible only from the STEREO-B spacecraft in its orbit about the sun, trailing behind the Earth. NASA's STEREO mission consists of two spacecraft launched in October, 2006 to study solar storms. The transit starts at 1:56 am EST and continued for 12 hours until 1:57 pm EST. STEREO-B is currently about 1 million miles from the Earth, 4.4 times farther away from the Moon than we are on Earth. As the result, the Moon will appear 4.4 times smaller than what we are used to. This is still, however, much larger than, say, the planet Venus appeared when it transited the Sun as seen from Earth in 2004. This alignment of STEREO-B and the Moon is not just due to luck. It was arranged with a small tweak to STEREO-B's orbit last December. The transit is quite useful to STEREO scientists for measuring the focus and the amount of scattered light in the STEREO imagers and for determining the pointing of the STEREO coronagraphs. The Sun as it appears in these the images and each frame of the movie is a composite of nearly simultaneous images in four different wavelengths of extreme ultraviolet light that were separated into color channels and then recombined with some level of transparency for each.

  6. STEREO Mission Design

    NASA Technical Reports Server (NTRS)

    Dunham, David W.; Guzman, Jose J.; Sharer, Peter J.; Friessen, Henry D.

    2007-01-01

    STEREO (Solar-TErestrial RElations Observatory) is the third mission in the Solar Terrestrial Probes program (STP) of the National Aeronautics and Space Administration (NASA). STEREO is the first mission to utilize phasing loops and multiple lunar flybys to alter the trajectories of more than one satellite. This paper describes the launch computation methodology, the launch constraints, and the resulting nine launch windows that were prepared for STEREO. More details are provided for the window in late October 2006 that was actually used.

  7. Stereo Science Update

    NASA Image and Video Library

    2009-04-13

    Michael Kaiser, project scientist, Solar Terrestrial Relations Observatory (STEREO) at Goddard Space Flight Center, left, makes a point during a Science Update on the STEREO mission at NASA Headquarters in Washington, Tuesday, April 14, 2009, as Angelo Vourlidas, project scientist, Sun Earth Connection Coronal and Heliospheric Investigation, at the Naval Research Laboratory, Toni Galvin, principal investigator, Plasma and Superthermal Ion Composition instrument at the University of New Hampshire and Madhulika Guhathkurta, STEREO program scientist, right, look on. Photo Credit: (NASA/Paul E. Alers)

  8. JAVA Stereo Display Toolkit

    NASA Technical Reports Server (NTRS)

    Edmonds, Karina

    2008-01-01

    This toolkit provides a common interface for displaying graphical user interface (GUI) components in stereo using either specialized stereo display hardware (e.g., liquid crystal shutter or polarized glasses) or anaglyph display (red/blue glasses) on standard workstation displays. An application using this toolkit will work without modification in either environment, allowing stereo software to reach a wider audience without sacrificing high-quality display on dedicated hardware. The toolkit is written in Java for use with the Swing GUI Toolkit and has cross-platform compatibility. It hooks into the graphics system, allowing any standard Swing component to be displayed in stereo. It uses the OpenGL graphics library to control the stereo hardware and to perform the rendering. It also supports anaglyph and special stereo hardware using the same API (application-program interface), and has the ability to simulate color stereo in anaglyph mode by combining the red band of the left image with the green/blue bands of the right image. This is a low-level toolkit that accomplishes simply the display of components (including the JadeDisplay image display component). It does not include higher-level functions such as disparity adjustment, 3D cursor, or overlays all of which can be built using this toolkit.

  9. STEREO-IMPACT Education and Public Outreach: Sharing STEREO Science

    NASA Astrophysics Data System (ADS)

    Craig, N.; Peticolas, L. M.; Mendez, B. J.

    2005-12-01

    The Solar TErrestrial RElations Observatory (STEREO) is scheduled for launch in Spring 2006. STEREO will study the Sun with two spacecrafts in orbit around it and on either side of Earth. The primary science goal is to understand the nature and consequences of Coronal Mass Ejections (CMEs). Despite their importance, scientists don't fully understand the origin and evolution of CMEs, nor their structure or extent in interplanetary space. STEREO's unique 3-D images of the structure of CMEs will enable scientists to determine their fundamental nature and origin. We will discuss the Education and Public Outreach (E/PO) program for the In-situ Measurement of Particles And CME Transients (IMPACT) suite of instruments aboard the two crafts and give examples of upcoming activities, including NASA's Sun-Earth day events, which are scheduled to coincide with a total solar eclipse in March. This event offers a good opportunity to engage the public in STEREO science, because an eclipse allows one to see the solar corona from where CMEs erupt. STEREO's connection to space weather lends itself to close partnerships with the Sun-Earth Connection Education Forum (SECEF), The Exploratorium, and UC Berkeley's Center for New Music and Audio Technologies to develop informal science programs for science centers, museum visitors, and the public in general. We will also discuss our teacher workshops locally in California and also at annual conferences such as those of the National Science Teachers Association. Such workshops often focus on magnetism and its connection to CMEs and Earth's magnetic field, leading to the questions STEREO scientists hope to answer. The importance of partnerships and coordination in working in an instrument E/PO program that is part of a bigger NASA mission with many instrument suites and many PIs will be emphasized. The Education and Outreach Porgram is funded by NASA's SMD.

  10. Stereo Science Update

    NASA Image and Video Library

    2009-04-13

    Michael Kaiser, project scientist, Solar Terrestrial Relations Observatory (STEREO) at Goddard Space Flight Center, left, makes a comment during a Science Update on the STEREO mission at NASA Headquarters in Washington, Tuesday, April 14, 2009, as Angelo Vourlidas, project scientist, Sun Earth Connection Coronal and Heliospheric Investigation, at the Naval Research Laboratory, second from left, Toni Galvin, principal investigator, Plasma and Superthermal Ion Composition instrument at the University of New Hampshire and Madhulika Guhathakurta, STEREO program scientist, right, look on. Photo Credit: (NASA/Paul E. Alers)

  11. Stereo Science Update

    NASA Image and Video Library

    2009-04-13

    Angelo Vourlidas, project scientist, Sun Earth Connection Coronal and Heliospheric Investigation, at the Naval Research Laboratory, second from left, makes a comment during a Science Update on the STEREO mission at NASA Headquarters in Washington, Tuesday, April 14, 2009, as Michael Kaiser, project scientist, Solar Terrestrial Relations Observatory (STEREO) at Goddard Space Flight Center, left, Toni Galvin, principal investigator, Plasma and Superthermal Ion Composition instrument at the University of New Hampshire and Madhulika Guhathakurta, STEREO program scientist, right, look on. Photo Credit: (NASA/Paul E. Alers)

  12. Search for eV Sterile Neutrinos - The Stereo Experiment

    NASA Astrophysics Data System (ADS)

    Haser, J.; Stereo Collaboration

    2017-07-01

    In the recent years, major milestones in neutrino physics were accomplished at nuclear reactors: the smallest neutrino mixing angle $\\theta_{13}$ was determined with high precision and the emitted antineutrino spectrum was measured at unprecedented resolution. However, two anomalies, the first one related to the absolute flux and the second one to the spectral shape, have yet to be solved. The flux anomaly is known as the Reactor Antineutrino Anomaly and could be caused by the existence of a light sterile neutrino participating in the neutrino oscillation phenomenon. Introducing a sterile state implies the presence of a fourth mass eigenstate, global fits favour oscillation parameters around $\\sin^2({2\\theta}) \\approx 0.09$ and $\\Delta m^2 \\approx 1\\,\\mathrm{eV}^2$. The Stereo experiment was built to finally solve this puzzle. It is one of the first running experiments built to search for eV sterile neutrinos and takes data since end of 2016 at ILL Grenoble (France). At a short baseline of 10 metres, it measures the antineutrino flux and spectrum emitted by a compact research reactor. The segmentation of the detector in six target cells allows for measurements of the neutrino spectrum at multiple baselines. An active-sterile flavour oscillation could be unambiguously detected, as it distorts the spectral shape of each cell's measurement differently. This contribution gives an overview on the Stereo experiment, along with details on the detector design, detection principle and the current status of data analysis.

  13. STEREO In-situ Data Analysis

    NASA Astrophysics Data System (ADS)

    Schroeder, P. C.; Luhmann, J. G.; Davis, A. J.; Russell, C. T.

    2006-12-01

    STEREO's IMPACT (In-situ Measurements of Particles and CME Transients) investigation provides the first opportunity for long duration, detailed observations of 1 AU magnetic field structures, plasma and suprathermal electrons, and energetic particles at points bracketing Earth's heliospheric location. The PLASTIC instrument takes plasma ion composition measurements completing STEREO's comprehensive in-situ perspective. Stereoscopic/3D information from the STEREO SECCHI imagers and SWAVES radio experiment make it possible to use both multipoint and quadrature studies to connect interplanetary Coronal Mass Ejections (ICME) and solar wind structures to CMEs and coronal holes observed at the Sun. The uniqueness of the STEREO mission requires novel data analysis tools and techniques to take advantage of the mission's full scientific potential. An interactive browser with the ability to create publication-quality plots has been developed which integrates STEREO's in-situ data with data from a variety of other missions including WIND and ACE. Also, an application program interface (API) is provided allowing users to create custom software that ties directly into STEREO's data set. The API allows for more advanced forms of data mining than currently available through most web-based data services. A variety of data access techniques and the development of cross-spacecraft data analysis tools allow the larger scientific community to combine STEREO's unique in-situ data with those of other missions, particularly the L1 missions, and, therefore, to maximize STEREO's scientific potential in gaining a greater understanding of the heliosphere.

  14. STEREO In-situ Data Analysis

    NASA Astrophysics Data System (ADS)

    Schroeder, P. C.; Luhmann, J. G.; Davis, A. J.; Russell, C. T.

    2007-05-01

    STEREO's IMPACT (In-situ Measurements of Particles and CME Transients) investigation provides the first opportunity for long duration, detailed observations of 1 AU magnetic field structures, plasma and suprathermal electrons, and energetic particles at points bracketing Earth's heliospheric location. The PLASTIC instrument takes plasma ion composition measurements completing STEREO's comprehensive in-situ perspective. Stereoscopic/3D information from the STEREO SECCHI imagers and SWAVES radio experiment make it possible to use both multipoint and quadrature studies to connect interplanetary Coronal Mass Ejections (ICME) and solar wind structures to CMEs and coronal holes observed at the Sun. The uniqueness of the STEREO mission requires novel data analysis tools and techniques to take advantage of the mission's full scientific potential. An interactive browser with the ability to create publication-quality plots has been developed which integrates STEREO's in-situ data with data from a variety of other missions including WIND and ACE. Static summary plots and a key-parameter type data set with a related online browser provide alternative data access. Finally, an application program interface (API) is provided allowing users to create custom software that ties directly into STEREO's data set. The API allows for more advanced forms of data mining than currently available through most web-based data services. A variety of data access techniques and the development of cross- spacecraft data analysis tools allow the larger scientific community to combine STEREO's unique in-situ data with those of other missions, particularly the L1 missions, and, therefore, to maximize STEREO's scientific potential in gaining a greater understanding of the heliosphere.

  15. Stereo vision and strabismus

    PubMed Central

    Read, J C A

    2015-01-01

    Binocular stereopsis, or stereo vision, is the ability to derive information about how far away objects are, based solely on the relative positions of the object in the two eyes. It depends on both sensory and motor abilities. In this review, I briefly outline some of the neuronal mechanisms supporting stereo vision, and discuss how these are disrupted in strabismus. I explain, in some detail, current methods of assessing stereo vision and their pros and cons. Finally, I review the evidence supporting the clinical importance of such measurements. PMID:25475234

  16. Stereo depth distortions in teleoperation

    NASA Technical Reports Server (NTRS)

    Diner, Daniel B.; Vonsydow, Marika

    1988-01-01

    In teleoperation, a typical application of stereo vision is to view a work space located short distances (1 to 3m) in front of the cameras. The work presented here treats converged camera placement and studies the effects of intercamera distance, camera-to-object viewing distance, and focal length of the camera lenses on both stereo depth resolution and stereo depth distortion. While viewing the fronto-parallel plane 1.4 m in front of the cameras, depth errors are measured on the order of 2cm. A geometric analysis was made of the distortion of the fronto-parallel plane of divergence for stereo TV viewing. The results of the analysis were then verified experimentally. The objective was to determine the optimal camera configuration which gave high stereo depth resolution while minimizing stereo depth distortion. It is found that for converged cameras at a fixed camera-to-object viewing distance, larger intercamera distances allow higher depth resolutions, but cause greater depth distortions. Thus with larger intercamera distances, operators will make greater depth errors (because of the greater distortions), but will be more certain that they are not errors (because of the higher resolution).

  17. STEREO Education and Public Outreach Efforts

    NASA Technical Reports Server (NTRS)

    Kucera, Therese

    2007-01-01

    STEREO has had a big year this year with its launch and the start of data collection. STEREO has mostly focused on informal educational venues, most notably with STEREO 3D images made available to museums through the NASA Museum Alliance. Other activities have involved making STEREO imagery available though the AMNH network and Viewspace, continued partnership with the Christa McAuliffe Planetarium, data sonification projects, preservice teacher training, and learning activity development.

  18. Stereo images from space

    NASA Astrophysics Data System (ADS)

    Sabbatini, Massimo; Collon, Maximilien J.; Visentin, Gianfranco

    2008-02-01

    The Erasmus Recording Binocular (ERB1) was the first fully digital stereo camera used on the International Space Station. One year after its first utilisation, the results and feedback collected with various audiences have convinced us to continue exploiting the outreach potential of such media, with its unique capability to bring space down to earth, to share the feeling of weightlessness and confinement with the viewers on earth. The production of stereo is progressing quickly but it still poses problems for the distribution of the media. The Erasmus Centre of the European Space Agency has experienced how difficult it is to master the full production and distribution chain of a stereo system. Efforts are also on the way to standardize the satellite broadcasting part of the distribution. A new stereo camera is being built, ERB2, to be launched to the International Space Station (ISS) in September 2008: it shall have 720p resolution, it shall be able to transmit its images to the ground in real-time allowing the production of live programs and it could possibly be used also outside the ISS, in support of Extra Vehicular Activities of the astronauts. These new features are quite challenging to achieve in the reduced power and mass budget available to space projects and we hope to inspire more designers to come up with ingenious ideas to built cameras capable to operate in the hash Low Earth Orbit environment: radiations, temperature, power consumption and thermal design are the challenges to be met. The intent of this paper is to share with the readers the experience collected so far in all aspects of the 3D video production chain and to increase awareness on the unique content that we are collecting: nice stereo images from space can be used by all actors in the stereo arena to gain consensus on this powerful media. With respect to last year we shall present the progress made in the following areas: a) the satellite broadcasting live of stereo content to D

  19. STEREO in-situ data analysis

    NASA Astrophysics Data System (ADS)

    Schroeder, P.; Luhmann, J.; Davis, A.; Russell, C.

    STEREO s IMPACT In-situ Measurements of Particles and CME Transients investigation provides the first opportunity for long duration detailed observations of 1 AU magnetic field structures plasma and suprathermal electrons and energetic particles at points bracketing Earth s heliospheric location The PLASTIC instrument will make plasma ion composition measurements completing STEREO s comprehensive in-situ perspective Stereoscopic 3D information from the STEREO SECCHI imagers and SWAVES radio experiment will make it possible to use both multipoint and quadrature studies to connect interplanetary Coronal Mass Ejections ICME and solar wind structures to CMEs and coronal holes observed at the Sun The uniqueness of the STEREO mission requires novel data analysis tools and techniques to take advantage of the mission s full scientific potential An interactive browser with the ability to create publication-quality plots is being developed which will integrate STEREO s in-situ data with data from a variety of other missions including WIND and ACE Also an application program interface API will be provided allowing users to create custom software that ties directly into STEREO s data set The API will allow for more advanced forms of data mining than currently available through most data web services A variety of data access techniques and the development of cross-spacecraft data analysis tools will allow the larger scientific community to combine STEREO s unique in-situ data with those of other missions particularly the L1 missions and therefore to maximize

  20. Deblocking of mobile stereo video

    NASA Astrophysics Data System (ADS)

    Azzari, Lucio; Gotchev, Atanas; Egiazarian, Karen

    2012-02-01

    Most of candidate methods for compression of mobile stereo video apply block-transform based compression based on the H-264 standard with quantization of transform coefficients driven by quantization parameter (QP). The compression ratio and the resulting bit rate are directly determined by the QP level and high compression is achieved for the price of visually noticeable blocking artifacts. Previous studies on perceived quality of mobile stereo video have revealed that blocking artifacts are the most annoying and most influential in the acceptance/rejection of mobile stereo video and can even completely cancel the 3D effect and the corresponding quality added value. In this work, we address the problem of deblocking of mobile stereo video. We modify a powerful non-local transform-domain collaborative filtering method originally developed for denoising of images and video. The method employs grouping of similar block patches residing in spatial and temporal vicinity of a reference block in filtering them collaboratively in a suitable transform domain. We study the most suitable way of finding similar patches in both channels of stereo video and suggest a hybrid four-dimensional transform to process the collected synchronized (stereo) volumes of grouped blocks. The results benefit from the additional correlation available between the left and right channel of the stereo video. Furthermore, addition sharpening is applied through an embedded alpha-rooting in transform domain, which improve the visual appearance of the deblocked frames.

  1. The Sun in STEREO

    NASA Technical Reports Server (NTRS)

    2006-01-01

    Parallax gives depth to life. Simultaneous viewing from slightly different vantage points makes binocular humans superior to monocular cyclopes, and fixes us in the third dimension of the Universe. We've been stunned by 3-d images of Venus and Mars (along with more familiar views of earth). Now astronomers plan to give us the best view of all, 3-d images of the dynamic Sun. That's one of the prime goals of NASA's Solar Terrestrial Relations Observatories, also known as STEREO. STEREO is a pair of spacecraft observatories, one placed in orbit in front of earth, and one to be placed in an earth-trailing orbit. Simultaneous observations of the Sun with the two STEREO spacecraft will provide extraordinary 3-d views of all types of solar activity, especially the dramatic events called coronal mass ejections which send high energy particles from the outer solar atmosphere hurtling towards earth. The image above the first image of the sun by the two STEREO spacecraft, an extreme ultraviolet shot of the Sun's million-degree corona, taken by the Extreme Ultraviolet Imager on the Sun Earth Connection Coronal and Heliospheric Investigation (SECCHI) instrument package. STEREO's first 3-d solar images should be available in April if all goes well. Put on your red and blue glasses!

  2. Multiview photometric stereo.

    PubMed

    Hernández Esteban, Carlos; Vogiatzis, George; Cipolla, Roberto

    2008-03-01

    This paper addresses the problem of obtaining complete, detailed reconstructions of textureless shiny objects. We present an algorithm which uses silhouettes of the object, as well as images obtained under changing illumination conditions. In contrast with previous photometric stereo techniques, ours is not limited to a single viewpoint but produces accurate reconstructions in full 3D. A number of images of the object are obtained from multiple viewpoints, under varying lighting conditions. Starting from the silhouettes, the algorithm recovers camera motion and constructs the object's visual hull. This is then used to recover the illumination and initialise a multi-view photometric stereo scheme to obtain a closed surface reconstruction. There are two main contributions in this paper: Firstly we describe a robust technique to estimate light directions and intensities and secondly, we introduce a novel formulation of photometric stereo which combines multiple viewpoints and hence allows closed surface reconstructions. The algorithm has been implemented as a practical model acquisition system. Here, a quantitative evaluation of the algorithm on synthetic data is presented together with complete reconstructions of challenging real objects. Finally, we show experimentally how even in the case of highly textured objects, this technique can greatly improve on correspondence-based multi-view stereo results.

  3. Solar Eclipse Video Captured by STEREO-B

    NASA Technical Reports Server (NTRS)

    2007-01-01

    No human has ever witnessed a solar eclipse quite like the one captured on this video. The NASA STEREO-B spacecraft, managed by the Goddard Space Center, was about a million miles from Earth , February 25, 2007, when it photographed the Moon passing in front of the sun. The resulting movie looks like it came from an alien solar system. The fantastically-colored star is our own sun as STEREO sees it in four wavelengths of extreme ultraviolet light. The black disk is the Moon. When we observe a lunar transit from Earth, the Moon appears to be the same size as the sun, a coincidence that produces intoxicatingly beautiful solar eclipses. The silhouette STEREO-B saw, on the other hand, was only a fraction of the Sun. The Moon seems small because of the STEREO-B location. The spacecraft circles the sun in an Earth-like orbit, but it lags behind Earth by one million miles. This means STEREO-B is 4.4 times further from the Moon than we are, and so the Moon looks 4.4 times smaller. This version of the STEREO-B eclipse movie is a composite of data from the coronagraph and extreme ultraviolet imager of the spacecraft. STEREO-B has a sister ship named STEREO-A. Both are on a mission to study the sun. While STEREO-B lags behind Earth, STEREO-A orbits one million miles ahead ('B' for behind, 'A' for ahead). The gap is deliberate as it allows the two spacecraft to capture offset views of the sun. Researchers can then combine the images to produce 3D stereo movies of solar storms. The two spacecraft were launched in Oct. 2006 and reached their stations on either side of Earth in January 2007.

  4. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    Madhulika Guhathakurta, seated left, STEREO program scientist, speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington as Craig DeForest, David Webb and Alysha Reinard, look on. The briefing was held to discusses new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth)

  5. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    Madhulika Guhathakurta, seated left, STEREO program scientist, speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington as Craig DeForest, David Webb and Alysha Reinard, look on. The briefing was held to discusses new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth).

  6. Near real-time stereo vision system

    NASA Technical Reports Server (NTRS)

    Anderson, Charles H. (Inventor); Matthies, Larry H. (Inventor)

    1993-01-01

    The apparatus for a near real-time stereo vision system for use with a robotic vehicle is described. The system is comprised of two cameras mounted on three-axis rotation platforms, image-processing boards, a CPU, and specialized stereo vision algorithms. Bandpass-filtered image pyramids are computed, stereo matching is performed by least-squares correlation, and confidence ranges are estimated by means of Bayes' theorem. In particular, Laplacian image pyramids are built and disparity maps are produced from the 60 x 64 level of the pyramids at rates of up to 2 seconds per image pair. The first autonomous cross-country robotic traverses (of up to 100 meters) have been achieved using the stereo vision system of the present invention with all computing done onboard the vehicle. The overall approach disclosed herein provides a unifying paradigm for practical domain-independent stereo ranging.

  7. Sampling artifacts in perspective and stereo displays

    NASA Astrophysics Data System (ADS)

    Pfautz, Jonathan D.

    2001-06-01

    The addition of stereo cues to perspective displays is generally expected to improve the perception of depth. However, the display's pixel array samples both perspective and stereo depth cues, introducing inaccuracies and inconsistencies into the representation of an object's depth. The position, size and disparity of an object will be inaccurately presented and size and disparity will be inconsistently presented across depth. These inconsistencies can cause the left and right edges of an object to appear at different stereo depths. This paper describes how these inconsistencies result in conflicts between stereo and perspective depth information. A relative depth judgement task was used to explore these conflicts. Subjects viewed two objects and reported which appeared closer. Three conflicts resulting from inconsistencies caused by sampling were examined: (1) Perspective size and location versus stereo disparity. (2) Perspective size versus perspective location and stereo disparity. (3) Left and right edge disparity versus perspective size and location. In the first two cases, subjects achieved near-perfect accuracy when perspective and disparity cues were complementary. When size and disparity were inconsistent and thus in conflict, stereo dominated perspective. Inconsistency between the disparities of the horizontal edges of an object confused the subjects, even when complementary perspective and stereo information was provided. Since stereo was the dominant cue and was ambiguous across the object, this led to significantly reduced accuracy. Edge inconsistencies also led to more complaints about visual fatigue and discomfort.

  8. Preparing WIND for the STEREO Mission

    NASA Astrophysics Data System (ADS)

    Schroeder, P.; Ogilve, K.; Szabo, A.; Lin, R.; Luhmann, J.

    2006-05-01

    The upcoming STEREO mission's IMPACT and PLASTIC investigations will provide the first opportunity for long duration, detailed observations of 1 AU magnetic field structures, plasma ions and electrons, suprathermal electrons, and energetic particles at points bracketing Earth's heliospheric location. Stereoscopic/3D information from the STEREO SECCHI imagers and SWAVES radio experiment will make it possible to use both multipoint and quadrature studies to connect interplanetary Coronal Mass Ejections (ICME) and solar wind structures to CMEs and coronal holes observed at the Sun. To fully exploit these unique data sets, tight integration with similarly equipped missions at L1 will be essential, particularly WIND and ACE. The STEREO mission is building novel data analysis tools to take advantage of the mission's scientific potential. These tools will require reliable access and a well-documented interface to the L1 data sets. Such an interface already exists for ACE through the ACE Science Center. We plan to provide a similar service for the WIND mission that will supplement existing CDAWeb services. Building on tools also being developed for STEREO, we will create a SOAP application program interface (API) which will allow both our STEREO/WIND/ACE interactive browser and third-party software to access WIND data as a seamless and integral part of the STEREO mission. The API will also allow for more advanced forms of data mining than currently available through other data web services. Access will be provided to WIND-specific data analysis software as well. The development of cross-spacecraft data analysis tools will allow a larger scientific community to combine STEREO's unique in-situ data with those of other missions, particularly the L1 missions, and, therefore, to maximize STEREO's scientific potential in gaining a greater understanding of the heliosphere.

  9. Stereo Cameras for Clouds (STEREOCAM) Instrument Handbook

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

    Romps, David; Oktem, Rusen

    2017-10-31

    The three pairs of stereo camera setups aim to provide synchronized and stereo calibrated time series of images that can be used for 3D cloud mask reconstruction. Each camera pair is positioned at approximately 120 degrees from the other pair, with a 17o-19o pitch angle from the ground, and at 5-6 km distance from the U.S. Department of Energy (DOE) Central Facility at the Atmospheric Radiation Measurement (ARM) Climate Research Facility Southern Great Plains (SGP) observatory to cover the region from northeast, northwest, and southern views. Images from both cameras of the same stereo setup can be paired together tomore » obtain 3D reconstruction by triangulation. 3D reconstructions from the ring of three stereo pairs can be combined together to generate a 3D mask from surrounding views. This handbook delivers all stereo reconstruction parameters of the cameras necessary to make 3D reconstructions from the stereo camera images.« less

  10. Stereo-tomography in triangulated models

    NASA Astrophysics Data System (ADS)

    Yang, Kai; Shao, Wei-Dong; Xing, Feng-yuan; Xiong, Kai

    2018-04-01

    Stereo-tomography is a distinctive tomographic method. It is capable of estimating the scatterer position, the local dip of scatterer and the background velocity simultaneously. Building a geologically consistent velocity model is always appealing for applied and earthquake seismologists. Differing from the previous work to incorporate various regularization techniques into the cost function of stereo-tomography, we think extending stereo-tomography to the triangulated model will be the most straightforward way to achieve this goal. In this paper, we provided all the Fréchet derivatives of stereo-tomographic data components with respect to model components for slowness-squared triangulated model (or sloth model) in 2D Cartesian coordinate based on the ray perturbation theory for interfaces. A sloth model representation means a sparser model representation when compared with conventional B-spline model representation. A sparser model representation leads to a smaller scale of stereo-tomographic (Fréchet) matrix, a higher-accuracy solution when solving linear equations, a faster convergence rate and a lower requirement for quantity of data space. Moreover, a quantitative representation of interface strengthens the relationships among different model components, which makes the cross regularizations among these model components, such as node coordinates, scatterer coordinates and scattering angles, etc., more straightforward and easier to be implemented. The sensitivity analysis, the model resolution matrix analysis and a series of synthetic data examples demonstrate the correctness of the Fréchet derivatives, the applicability of the regularization terms and the robustness of the stereo-tomography in triangulated model. It provides a solid theoretical foundation for the real applications in the future.

  11. Generalized parallel-perspective stereo mosaics from airborne video.

    PubMed

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

    2004-02-01

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

  12. Stereo imaging with spaceborne radars

    NASA Technical Reports Server (NTRS)

    Leberl, F.; Kobrick, M.

    1983-01-01

    Stereo viewing is a valuable tool in photointerpretation and is used for the quantitative reconstruction of the three dimensional shape of a topographical surface. Stereo viewing refers to a visual perception of space by presenting an overlapping image pair to an observer so that a three dimensional model is formed in the brain. Some of the observer's function is performed by machine correlation of the overlapping images - so called automated stereo correlation. The direct perception of space with two eyes is often called natural binocular vision; techniques of generating three dimensional models of the surface from two sets of monocular image measurements is the topic of stereology.

  13. Neural architectures for stereo vision.

    PubMed

    Parker, Andrew J; Smith, Jackson E T; Krug, Kristine

    2016-06-19

    Stereoscopic vision delivers a sense of depth based on binocular information but additionally acts as a mechanism for achieving correspondence between patterns arriving at the left and right eyes. We analyse quantitatively the cortical architecture for stereoscopic vision in two areas of macaque visual cortex. For primary visual cortex V1, the result is consistent with a module that is isotropic in cortical space with a diameter of at least 3 mm in surface extent. This implies that the module for stereo is larger than the repeat distance between ocular dominance columns in V1. By contrast, in the extrastriate cortical area V5/MT, which has a specialized architecture for stereo depth, the module for representation of stereo is about 1 mm in surface extent, so the representation of stereo in V5/MT is more compressed than V1 in terms of neural wiring of the neocortex. The surface extent estimated for stereo in V5/MT is consistent with measurements of its specialized domains for binocular disparity. Within V1, we suggest that long-range horizontal, anatomical connections form functional modules that serve both binocular and monocular pattern recognition: this common function may explain the distortion and disruption of monocular pattern vision observed in amblyopia.This article is part of the themed issue 'Vision in our three-dimensional world'. © 2016 The Authors.

  14. BRDF invariant stereo using light transport constancy.

    PubMed

    Wang, Liang; Yang, Ruigang; Davis, James E

    2007-09-01

    Nearly all existing methods for stereo reconstruction assume that scene reflectance is Lambertian and make use of brightness constancy as a matching invariant. We introduce a new invariant for stereo reconstruction called light transport constancy (LTC), which allows completely arbitrary scene reflectance (bidirectional reflectance distribution functions (BRDFs)). This invariant can be used to formulate a rank constraint on multiview stereo matching when the scene is observed by several lighting configurations in which only the lighting intensity varies. In addition, we show that this multiview constraint can be used with as few as two cameras and two lighting configurations. Unlike previous methods for BRDF invariant stereo, LTC does not require precisely configured or calibrated light sources or calibration objects in the scene. Importantly, the new constraint can be used to provide BRDF invariance to any existing stereo method whenever appropriate lighting variation is available.

  15. STEREO Space Weather and the Space Weather Beacon

    NASA Technical Reports Server (NTRS)

    Biesecker, D. A.; Webb, D F.; SaintCyr, O. C.

    2007-01-01

    The Solar Terrestrial Relations Observatory (STEREO) is first and foremost a solar and interplanetary research mission, with one of the natural applications being in the area of space weather. The obvious potential for space weather applications is so great that NOAA has worked to incorporate the real-time data into their forecast center as much as possible. A subset of the STEREO data will be continuously downlinked in a real-time broadcast mode, called the Space Weather Beacon. Within the research community there has been considerable interest in conducting space weather related research with STEREO. Some of this research is geared towards making an immediate impact while other work is still very much in the research domain. There are many areas where STEREO might contribute and we cannot predict where all the successes will come. Here we discuss how STEREO will contribute to space weather and many of the specific research projects proposed to address STEREO space weather issues. We also discuss some specific uses of the STEREO data in the NOAA Space Environment Center.

  16. Mastcam Stereo Analysis and Mosaics (MSAM)

    NASA Astrophysics Data System (ADS)

    Deen, R. G.; Maki, J. N.; Algermissen, S. S.; Abarca, H. E.; Ruoff, N. A.

    2017-06-01

    Describes a new PDART task that will generate stereo analysis products (XYZ, slope, etc.), terrain meshes, and mosaics (stereo, ortho, and Mast/Nav combos) for all MSL Mastcam images and deliver the results to PDS.

  17. Viking orbiter stereo imaging catalog

    NASA Technical Reports Server (NTRS)

    Blasius, K. R.; Vertrone, A. V.; Lewis, B. H.; Martin, M. D.

    1982-01-01

    The extremely long mission of the two Viking Orbiter spacecraft produced a wealth of photos of surface features. Many of these photos can be used to form stereo images allowing the student of Mars to examine a subject in three dimensional. This catalog is a technical guide to the use of stereo coverage within the complex Viking imaging data set.

  18. The contribution of stereo vision to the control of braking.

    PubMed

    Tijtgat, Pieter; Mazyn, Liesbeth; De Laey, Christophe; Lenoir, Matthieu

    2008-03-01

    In this study the contribution of stereo vision to the control of braking in front of a stationary target vehicle was investigated. Participants with normal (StereoN) and weak (StereoW) stereo vision drove a go-cart along a linear track towards a stationary vehicle. They could start braking from a distance of 4, 7, or 10m from the vehicle. Deceleration patterns were measured by means of a laser. A lack of stereo vision was associated with an earlier onset of braking, but the duration of the braking manoeuvre was similar. During the deceleration, the time of peak deceleration occurred earlier in drivers with weak stereo vision. Stopping distance was greater in those lacking in stereo vision. A lack of stereo vision was associated with a more prudent brake behaviour, in which the driver took into account a larger safety margin. This compensation might be caused either by an unconscious adaptation of the human perceptuo-motor system, or by a systematic underestimation of distance remaining due to the lack of stereo vision. In general, a lack of stereo vision did not seem to increase the risk of rear-end collisions.

  19. STEREO as a "Planetary Hazards" Mission

    NASA Technical Reports Server (NTRS)

    Guhathakurta, M.; Thompson, B. J.

    2014-01-01

    NASA's twin STEREO probes, launched in 2006, have advanced the art and science of space weather forecasting more than any other spacecraft or solar observatory. By surrounding the Sun, they provide previously-impossible early warnings of threats approaching Earth as they develop on the solar far side. They have also revealed the 3D shape and inner structure of CMEs-massive solar storms that can trigger geomagnetic storms when they collide with Earth. This improves the ability of forecasters to anticipate the timing and severity of such events. Moreover, the unique capability of STEREO to track CMEs in three dimensions allows forecasters to make predictions for other planets, giving rise to the possibility of interplanetary space weather forecasting too. STEREO is one of those rare missions for which "planetary hazards" refers to more than one world. The STEREO probes also hold promise for the study of comets and potentially hazardous asteroids.

  20. STEREO's View

    NASA Image and Video Library

    2017-12-08

    STEREO witnessed the March 5, 2013, CME from the side of the sun – Earth is far to the left of this picture. While the SOHO images show a halo CME, STEREO shows the CME clearly moving away from Earth. Credit: NASA/STEREO --- CME WEEK: What To See in CME Images Two main types of explosions occur on the sun: solar flares and coronal mass ejections. Unlike the energy and x-rays produced in a solar flare – which can reach Earth at the speed of light in eight minutes – coronal mass ejections are giant, expanding clouds of solar material that take one to three days to reach Earth. Once at Earth, these ejections, also called CMEs, can impact satellites in space or interfere with radio communications. During CME WEEK from Sept. 22 to 26, 2014, we explore different aspects of these giant eruptions that surge out from the star we live with. When a coronal mass ejection blasts off the sun, scientists rely on instruments called coronagraphs to track their progress. Coronagraphs block out the bright light of the sun, so that the much fainter material in the solar atmosphere -- including CMEs -- can be seen in the surrounding space. CMEs appear in these images as expanding shells of material from the sun's atmosphere -- sometimes a core of colder, solar material (called a filament) from near the sun's surface moves in the center. But mapping out such three-dimensional components from a two-dimensional image isn't easy. Watch the slideshow to find out how scientists interpret what they see in CME pictures. The images in the slideshow are from the three sets of coronagraphs NASA currently has in space. One is on the joint European Space Agency and NASA Solar and Heliospheric Observatory, or SOHO. SOHO launched in 1995, and sits between Earth and the sun about a million miles away from Earth. The other two coronagraphs are on the two spacecraft of the NASA Solar Terrestrial Relations Observatory, or STEREO, mission, which launched in 2006. The two STEREO spacecraft are both

  1. Topography from shading and stereo

    NASA Technical Reports Server (NTRS)

    Horn, Berthold K. P.

    1994-01-01

    Methods exploiting photometric information in images that have been developed in machine vision can be applied to planetary imagery. Integrating shape from shading, binocular stereo, and photometric stereo yields a robust system for recovering detailed surface shape and surface reflectance information. Such a system is useful in producing quantitative information from the vast volume of imagery being received, as well as in helping visualize the underlying surface.

  2. Kinder, gentler stereo

    NASA Astrophysics Data System (ADS)

    Siegel, Mel; Tobinaga, Yoshikazu; Akiya, Takeo

    1999-05-01

    Not only binocular perspective disparity, but also many secondary binocular and monocular sensory phenomena, contribute to the human sensation of depth. Binocular perspective disparity is notable as the strongest depth perception factor. However means for creating if artificially from flat image pairs are notorious for inducing physical and mental stresses, e.g., 'virtual reality sickness'. Aiming to deliver a less stressful 'kinder gentler stereo (KGS)', we systematically examine the secondary phenomena and their synergistic combination with each other and with binocular perspective disparity. By KGS we mean a stereo capture, rendering, and display paradigm without cue conflicts, without eyewear, without viewing zones, with negligible 'lock-in' time to perceive the image in depth, and with a normal appearance for stereo-deficient viewers. To achieve KGS we employ optical and digital image processing steps that introduce distortions contrary to strict 'geometrical correctness' of binocular perspective but which nevertheless result in increased stereoscopic viewing comfort. We particularly exploit the lower limits of interoccular separation, showing that unexpectedly small disparities stimulate accurate and pleasant depth sensations. Under these circumstances crosstalk is perceived as depth-of-focus rather than as ghosting. This suggests the possibility of radically new approaches to stereoview multiplexing that enable zoneless autostereoscopic display.

  3. STEREO Mission Design Implementation

    NASA Technical Reports Server (NTRS)

    Guzman, Jose J.; Dunham, David W.; Sharer, Peter J.; Hunt, Jack W.; Ray, J. Courtney; Shapiro, Hongxing S.; Ossing, Daniel A.; Eichstedt, John E.

    2007-01-01

    STEREO (Solar-TErrestrial RElations Observatory) is the third mission in the Solar Terrestrial Probes program (STP) of the National Aeronautics and Space Administration (NASA) Science Mission Directorate Sun-Earth Connection theme. This paper describes the successful implementation (lunar swingby targeting) of the mission following the first phasing orbit to deployment into the heliocentric mission orbits following the two lunar swingbys. The STEREO Project had to make some interesting trajectory decisions in order to exploit opportunities to image a bright comet and an unusual lunar transit across the Sun.

  4. Three-dimensional displays and stereo vision

    PubMed Central

    Westheimer, Gerald

    2011-01-01

    Procedures for three-dimensional image reconstruction that are based on the optical and neural apparatus of human stereoscopic vision have to be designed to work in conjunction with it. The principal methods of implementing stereo displays are described. Properties of the human visual system are outlined as they relate to depth discrimination capabilities and achieving optimal performance in stereo tasks. The concept of depth rendition is introduced to define the change in the parameters of three-dimensional configurations for cases in which the physical disposition of the stereo camera with respect to the viewed object differs from that of the observer's eyes. PMID:21490023

  5. Possibilities and limitations of current stereo-endoscopy.

    PubMed

    Mueller-Richter, U D A; Limberger, A; Weber, P; Ruprecht, K W; Spitzer, W; Schilling, M

    2004-06-01

    Stereo-endoscopy has become a commonly used technology. In many comparative studies striking advantages of stereo-endoscopy over two-dimensional presentation could not be proven. To show the potential and fields for further improvement of this technology is the aim of this article. The physiological basis of three-dimensional vision limitations of current stereo-endoscopes is discussed and fields for further research are indicated. New developments in spatial picture acquisition and spatial picture presentation are discussed. Current limitations of stereo-endoscopy that prevent a better ranking in comparative studies with two-dimensional presentation are mainly based on insufficient picture acquisition. Devices for three-dimensional picture presentation are at a more advanced developmental stage than devices for three-dimensional picture acquisition. Further research should emphasize the development of new devices for three-dimensional picture acquisition.

  6. Acquisition of stereo panoramas for display in VR environments

    NASA Astrophysics Data System (ADS)

    Ainsworth, Richard A.; Sandin, Daniel J.; Schulze, Jurgen P.; Prudhomme, Andrew; DeFanti, Thomas A.; Srinivasan, Madhusudhanan

    2011-03-01

    Virtual reality systems are an excellent environment for stereo panorama displays. The acquisition and display methods described here combine high-resolution photography with surround vision and full stereo view in an immersive environment. This combination provides photographic stereo-panoramas for a variety of VR displays, including the StarCAVE, NexCAVE, and CORNEA. The zero parallax point used in conventional panorama photography is also the center of horizontal and vertical rotation when creating photographs for stereo panoramas. The two photographically created images are displayed on a cylinder or a sphere. The radius from the viewer to the image is set at approximately 20 feet, or at the object of major interest. A full stereo view is presented in all directions. The interocular distance, as seen from the viewer's perspective, displaces the two spherical images horizontally. This presents correct stereo separation in whatever direction the viewer is looking, even up and down. Objects at infinity will move with the viewer, contributing to an immersive experience. Stereo panoramas created with this acquisition and display technique can be applied without modification to a large array of VR devices having different screen arrangements and different VR libraries.

  7. Stereo and IMU-Assisted Visual Odometry for Small Robots

    NASA Technical Reports Server (NTRS)

    2012-01-01

    This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

  8. Eros in Stereo

    NASA Image and Video Library

    2000-05-07

    Stereo imaging, an important tool on NASA NEAR Shoemaker for geologic analysis of Eros, provides three-dimensional information on the asteroid landforms and structures. 3D glasses are necessary to view this image.

  9. Stereo Imaging Velocimetry

    NASA Technical Reports Server (NTRS)

    McDowell, Mark (Inventor); Glasgow, Thomas K. (Inventor)

    1999-01-01

    A system and a method for measuring three-dimensional velocities at a plurality of points in a fluid employing at least two cameras positioned approximately perpendicular to one another. The cameras are calibrated to accurately represent image coordinates in world coordinate system. The two-dimensional views of the cameras are recorded for image processing and centroid coordinate determination. Any overlapping particle clusters are decomposed into constituent centroids. The tracer particles are tracked on a two-dimensional basis and then stereo matched to obtain three-dimensional locations of the particles as a function of time so that velocities can be measured therefrom The stereo imaging velocimetry technique of the present invention provides a full-field. quantitative, three-dimensional map of any optically transparent fluid which is seeded with tracer particles.

  10. Hybrid-Based Dense Stereo Matching

    NASA Astrophysics Data System (ADS)

    Chuang, T. Y.; Ting, H. W.; Jaw, J. J.

    2016-06-01

    Stereo matching generating accurate and dense disparity maps is an indispensable technique for 3D exploitation of imagery in the fields of Computer vision and Photogrammetry. Although numerous solutions and advances have been proposed in the literature, occlusions, disparity discontinuities, sparse texture, image distortion, and illumination changes still lead to problematic issues and await better treatment. In this paper, a hybrid-based method based on semi-global matching is presented to tackle the challenges on dense stereo matching. To ease the sensitiveness of SGM cost aggregation towards penalty parameters, a formal way to provide proper penalty estimates is proposed. To this end, the study manipulates a shape-adaptive cross-based matching with an edge constraint to generate an initial disparity map for penalty estimation. Image edges, indicating the potential locations of occlusions as well as disparity discontinuities, are approved by the edge drawing algorithm to ensure the local support regions not to cover significant disparity changes. Besides, an additional penalty parameter 𝑃𝑒 is imposed onto the energy function of SGM cost aggregation to specifically handle edge pixels. Furthermore, the final disparities of edge pixels are found by weighting both values derived from the SGM cost aggregation and the U-SURF matching, providing more reliable estimates at disparity discontinuity areas. Evaluations on Middlebury stereo benchmarks demonstrate satisfactory performance and reveal the potency of the hybrid-based dense stereo matching method.

  11. MUSIC - Multifunctional stereo imaging camera system for wide angle and high resolution stereo and color observations on the Mars-94 mission

    NASA Astrophysics Data System (ADS)

    Oertel, D.; Jahn, H.; Sandau, R.; Walter, I.; Driescher, H.

    1990-10-01

    Objectives of the multifunctional stereo imaging camera (MUSIC) system to be deployed on the Soviet Mars-94 mission are outlined. A high-resolution stereo camera (HRSC) and wide-angle opto-electronic stereo scanner (WAOSS) are combined in terms of hardware, software, technology aspects, and solutions. Both HRSC and WAOSS are push-button instruments containing a single optical system and focal plates with several parallel CCD line sensors. Emphasis is placed on the MUSIC system's stereo capability, its design, mass memory, and data compression. A 1-Gbit memory is divided into two parts: 80 percent for HRSC and 20 percent for WAOSS, while the selected on-line compression strategy is based on macropixel coding and real-time transform coding.

  12. Stereo vision with distance and gradient recognition

    NASA Astrophysics Data System (ADS)

    Kim, Soo-Hyun; Kang, Suk-Bum; Yang, Tae-Kyu

    2007-12-01

    Robot vision technology is needed for the stable walking, object recognition and the movement to the target spot. By some sensors which use infrared rays and ultrasonic, robot can overcome the urgent state or dangerous time. But stereo vision of three dimensional space would make robot have powerful artificial intelligence. In this paper we consider about the stereo vision for stable and correct movement of a biped robot. When a robot confront with an inclination plane or steps, particular algorithms are needed to go on without failure. This study developed the recognition algorithm of distance and gradient of environment by stereo matching process.

  13. Improved stereo matching applied to digitization of greenhouse plants

    NASA Astrophysics Data System (ADS)

    Zhang, Peng; Xu, Lihong; Li, Dawei; Gu, Xiaomeng

    2015-03-01

    The digitization of greenhouse plants is an important aspect of digital agriculture. Its ultimate aim is to reconstruct a visible and interoperable virtual plant model on the computer by using state-of-the-art image process and computer graphics technologies. The most prominent difficulties of the digitization of greenhouse plants include how to acquire the three-dimensional shape data of greenhouse plants and how to carry out its realistic stereo reconstruction. Concerning these issues an effective method for the digitization of greenhouse plants is proposed by using a binocular stereo vision system in this paper. Stereo vision is a technique aiming at inferring depth information from two or more cameras; it consists of four parts: calibration of the cameras, stereo rectification, search of stereo correspondence and triangulation. Through the final triangulation procedure, the 3D point cloud of the plant can be achieved. The proposed stereo vision system can facilitate further segmentation of plant organs such as stems and leaves; moreover, it can provide reliable digital samples for the visualization of greenhouse tomato plants.

  14. Eruptive Trio Seen by STEREO

    NASA Image and Video Library

    2017-12-08

    NASA image acquired May 1, 2010. As an active region rotated into view, it blew out three relatively small eruptions over about two days (Apr. 30 - May 2) as STEREO (Ahead) observed in extreme UV light. The first one was the largest and exhibited a pronounced twisting motion (shown in the still from May 1, 2010). The plasma, not far above the Sun's surface in these images, is ionized Helium heated to about 60,000 degrees. Note, too, the movement of plasma flowing along magnetic field lines that extend out beyond and loop back into the Sun's surface. Such activity occurs every day and is part of the dynamism of the changing Sun. Credit: NASA/GSFC/STEREO To learn more about STEREO go to: soho.nascom.nasa.gov/home.html NASA Goddard Space Flight Center is home to the nation's largest organization of combined scientists, engineers and technologists that build spacecraft, instruments and new technology to study the Earth, the sun, our solar system, and the universe.

  15. Local Surface Reconstruction from MER images using Stereo Workstation

    NASA Astrophysics Data System (ADS)

    Shin, Dongjoe; Muller, Jan-Peter

    2010-05-01

    The authors present a semi-automatic workflow that reconstructs the 3D shape of the martian surface from local stereo images delivered by PnCam or NavCam on systems such as the NASA Mars Exploration Rover (MER) Mission and in the future the ESA-NASA ExoMars rover PanCam. The process is initiated with manually selected tiepoints on a stereo workstation which is then followed by a tiepoint refinement, stereo-matching using region growing and Levenberg-Marquardt Algorithm (LMA)-based bundle adjustment processing. The stereo workstation, which is being developed by UCL in collaboration with colleagues at the Jet Propulsion Laboratory (JPL) within the EU FP7 ProVisG project, includes a set of practical GUI-based tools that enable an operator to define a visually correct tiepoint via a stereo display. To achieve platform and graphic hardware independence, the stereo application has been implemented using JPL's JADIS graphic library which is written in JAVA and the remaining processing blocks used in the reconstruction workflow have also been developed as a JAVA package to increase the code re-usability, portability and compatibility. Although initial tiepoints from the stereo workstation are reasonably acceptable as true correspondences, it is often required to employ an optional validity check and/or quality enhancing process. To meet this requirement, the workflow has been designed to include a tiepoint refinement process based on the Adaptive Least Square Correlation (ALSC) matching algorithm so that the initial tiepoints can be further enhanced to sub-pixel precision or rejected if they fail to pass the ALSC matching threshold. Apart from the accuracy of reconstruction, it is obvious that the other criterion to assess the quality of reconstruction is the density (or completeness) of reconstruction, which is not attained in the refinement process. Thus, we re-implemented a stereo region growing process, which is a core matching algorithm within the UCL

  16. Probabilistic fusion of stereo with color and contrast for bilayer segmentation.

    PubMed

    Kolmogorov, Vladimir; Criminisi, Antonio; Blake, Andrew; Cross, Geoffrey; Rother, Carsten

    2006-09-01

    This paper describes models and algorithms for the real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from color/contrast or from stereo alone is known to be error-prone. Here, color, contrast, and stereo matching information are fused to infer layers accurately and efficiently. The first algorithm, Layered Dynamic Programming (LDP), solves stereo in an extended six-state space that represents both foreground/background layers and occluded regions. The stereo-match likelihood is then fused with a contrast-sensitive color model that is learned on-the-fly and stereo disparities are obtained by dynamic programming. The second algorithm, Layered Graph Cut (LGC), does not directly solve stereo. Instead, the stereo match likelihood is marginalized over disparities to evaluate foreground and background hypotheses and then fused with a contrast-sensitive color model like the one used in LDP. Segmentation is solved efficiently by ternary graph cut. Both algorithms are evaluated with respect to ground truth data and found to have similar performance, substantially better than either stereo or color/ contrast alone. However, their characteristics with respect to computational efficiency are rather different. The algorithms are demonstrated in the application of background substitution and shown to give good quality composite video output.

  17. Infrared stereo calibration for unmanned ground vehicle navigation

    NASA Astrophysics Data System (ADS)

    Harguess, Josh; Strange, Shawn

    2014-06-01

    The problem of calibrating two color cameras as a stereo pair has been heavily researched and many off-the-shelf software packages, such as Robot Operating System and OpenCV, include calibration routines that work in most cases. However, the problem of calibrating two infrared (IR) cameras for the purposes of sensor fusion and point could generation is relatively new and many challenges exist. We present a comparison of color camera and IR camera stereo calibration using data from an unmanned ground vehicle. There are two main challenges in IR stereo calibration; the calibration board (material, design, etc.) and the accuracy of calibration pattern detection. We present our analysis of these challenges along with our IR stereo calibration methodology. Finally, we present our results both visually and analytically with computed reprojection errors.

  18. GLD100 - Lunar topography from LROC WAC stereo

    NASA Astrophysics Data System (ADS)

    Scholten, F.; Oberst, J.; Robinson, M. S.

    2011-10-01

    The LROC WAC instrument of the LRO mission comprises substantial stereo image data from adjacent orbits. Multiple coverage of the entire surface of the Moon at a mean ground scale of 75 m/pxl has already been achieved within the first two years of the mission. We applied photogrammetric stereo processing methods for the derivation of a 100 m raster DTM (digital terrain model), called GLD100, from several tens of thousands stereo models. The GLD100 covers the lunar surface between 80° northern and southern latitude. Polar regions are excluded because of poor illumination and stereo conditions. Vertical differences of the GLD100 to altimetry data from the LRO LOLA instrument are small, the mean deviation is typically about 20 m, without systematic lateral or vertical offsets.

  19. Viking orbiter stereo imaging catalog

    NASA Technical Reports Server (NTRS)

    Blasius, K. R.; Vetrone, A. V.; Martin, M. D.

    1980-01-01

    The extremely long missions of the two Viking Orbiter spacecraft produced a wealth of photos of surface features. Many of which can be used to form stereo images allowing the earth-bound student of Mars to examine the subject in 3-D. This catalog is a technical guide to the use of stereo coverage within the complex Viking imaging data set. Since that data set is still growing (January, 1980, about 3 1/2 years after the mission began), a second edition of this catalog is planned with completion expected about November, 1980.

  20. Electron density measurements from the shot noise collected on the STEREO/WAVES antennas

    NASA Astrophysics Data System (ADS)

    Zouganelis, Ioannis; Bale, Stuart; Bougeret, J.-L.; Maksimovic, Milan

    One of the most reliable techniques for in situ measuring the electron density and temperature in space plasmas is the quasi-thermal noise spectroscopy. When a passive electric antenna is immersed in a stable plasma, the thermal motion of the ambient particles produces electrostatic fluctuations, which can be adequately measured with a sensitive wave receiver connected to a wire dipole antenna. Unfortunately, on STEREO, the S/WAVES design does not let us use this high accuracy technique because the antennas have a large surface area and the resulting shot noise spectrum in the solar wind dominates the power at lower frequencies. We can use, instead, the electron shot noise to infer the plasma density. For this, we use well calibrated Wind particle data to deduce the base capacitance of the S/WAVES instrument in a special configuration when the STEREO-B spacecraft was just downstream of Wind. The electron plasma density deduced is then compared to the S/PLASTIC ion density and its accuracy is estimated of up to 10

  1. System for clinical photometric stereo endoscopy

    NASA Astrophysics Data System (ADS)

    Durr, Nicholas J.; González, Germán.; Lim, Daryl; Traverso, Giovanni; Nishioka, Norman S.; Vakoc, Benjamin J.; Parot, Vicente

    2014-02-01

    Photometric stereo endoscopy is a technique that captures information about the high-spatial-frequency topography of the field of view simultaneously with a conventional color image. Here we describe a system that will enable photometric stereo endoscopy to be clinically evaluated in the large intestine of human patients. The clinical photometric stereo endoscopy system consists of a commercial gastroscope, a commercial video processor, an image capturing and processing unit, custom synchronization electronics, white light LEDs, a set of four fibers with diffusing tips, and an alignment cap. The custom pieces that come into contact with the patient are composed of biocompatible materials that can be sterilized before use. The components can then be assembled in the endoscopy suite before use. The resulting endoscope has the same outer diameter as a conventional colonoscope (14 mm), plugs into a commercial video processor, captures topography and color images at 15 Hz, and displays the conventional color image to the gastroenterologist in real-time. We show that this system can capture a color and topographical video in a tubular colon phantom, demonstrating robustness to complex geometries and motion. The reported system is suitable for in vivo evaluation of photometric stereo endoscopy in the human large intestine.

  2. Stereo Science Update

    NASA Image and Video Library

    2009-04-13

    Angelo Vourlidas, project scientist, Sun Earth Connection Coronal and Heliospheric Investigation, at the Naval Research Laboratory makes a comment during a Science Update on the STEREO mission at NASA Headquarters in Washington, Tuesday, April 14, 2009. Photo Credit: (NASA/Paul E. Alers)

  3. Stereo Science Update

    NASA Image and Video Library

    2009-04-13

    Toni Galvin, principal investigator, Plasma and Superthermal Ion Composition instrument at the University of New Hampshire makes a comment during a Science Update on the STEREO mission at NASA Headquarters in Washington, Tuesday, April 14, 2009. Photo Credit: (NASA/Paul E. Alers)

  4. Cloud photogrammetry with dense stereo for fisheye cameras

    NASA Astrophysics Data System (ADS)

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

    2016-11-01

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

  5. STEREO/Waves Education and Public Outreach

    NASA Astrophysics Data System (ADS)

    MacDowall, R. J.; Bougeret, J.; Bale, S. D.; Goetz, K.; Kaiser, M. L.

    2005-05-01

    We present the education and public outreach plan and activities of the STEREO Waves (aka SWAVES) investigation. SWAVES measures radio emissions from the solar corona, interplanetary medium, and terrestrial magnetosphere, as well as in situ waves in the solar wind. In addition to the web site components that display stereo/multi-spacecraft data in a graphical form and explain the science and instruments, we will focus on the following three areas of EPO: class-room demonstrations using models of the STEREO spacecraft with battery powered radio receivers (and speakers) to illustrate spacecraft radio direction finding, teacher developed and tested class-room activities using SWAVES solar radio observations to motivate geometry and trigonometry, and sound-based delivery of characteristic radio and plasma wave events from the SWAVES web site for accessibility and esthetic reasons. Examples of each element will be demonstrated.

  6. A search for Ganymede stereo images and 3D mapping opportunities

    NASA Astrophysics Data System (ADS)

    Zubarev, A.; Nadezhdina, I.; Brusnikin, E.; Giese, B.; Oberst, J.

    2017-10-01

    We used 126 Voyager-1 and -2 as well as 87 Galileo images of Ganymede and searched for stereo images suitable for digital 3D stereo analysis. Specifically, we consider image resolutions, stereo angles, as well as matching illumination conditions of respective stereo pairs. Lists of regions and local areas with stereo coverage are compiled. We present anaglyphs and we selected areas, not previously discussed, for which we constructed Digital Elevation Models and associated visualizations. The terrain characteristics in the models are in agreement with our previous notion of Ganymede morphology, represented by families of lineaments and craters of various sizes and degradation stages. The identified areas of stereo coverage may serve as important reference targets for the Ganymede Laser Altimeter (GALA) experiment on the future JUICE (Jupiter Icy Moons Explorer) mission.

  7. Robust Mosaicking of Stereo Digital Elevation Models from the Ames Stereo Pipeline

    NASA Technical Reports Server (NTRS)

    Kim, Tae Min; Moratto, Zachary M.; Nefian, Ara Victor

    2010-01-01

    Robust estimation method is proposed to combine multiple observations and create consistent, accurate, dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce higher-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data than is currently possible. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. However, the DEMs currently produced by the ASP often contain errors and inconsistencies due to image noise, shadows, etc. The proposed method addresses this problem by making use of multiple observations and by considering their goodness of fit to improve both the accuracy and robustness of the estimate. The stepwise regression method is applied to estimate the relaxed weight of each observation.

  8. Key characteristics of specular stereo

    PubMed Central

    Muryy, Alexander A.; Fleming, Roland W.; Welchman, Andrew E.

    2014-01-01

    Because specular reflection is view-dependent, shiny surfaces behave radically differently from matte, textured surfaces when viewed with two eyes. As a result, specular reflections pose substantial problems for binocular stereopsis. Here we use a combination of computer graphics and geometrical analysis to characterize the key respects in which specular stereo differs from standard stereo, to identify how and why the human visual system fails to reconstruct depths correctly from specular reflections. We describe rendering of stereoscopic images of specular surfaces in which the disparity information can be varied parametrically and independently of monocular appearance. Using the generated surfaces and images, we explain how stereo correspondence can be established with known and unknown surface geometry. We show that even with known geometry, stereo matching for specular surfaces is nontrivial because points in one eye may have zero, one, or multiple matches in the other eye. Matching features typically yield skew (nonintersecting) rays, leading to substantial ortho-epipolar components to the disparities, which makes deriving depth values from matches nontrivial. We suggest that the human visual system may base its depth estimates solely on the epipolar components of disparities while treating the ortho-epipolar components as a measure of the underlying reliability of the disparity signals. Reconstructing virtual surfaces according to these principles reveals that they are piece-wise smooth with very large discontinuities close to inflection points on the physical surface. Together, these distinctive characteristics lead to cues that the visual system could use to diagnose specular reflections from binocular information. PMID:25540263

  9. Optical stereo video signal processor

    NASA Technical Reports Server (NTRS)

    Craig, G. D. (Inventor)

    1985-01-01

    An otpical video signal processor is described which produces a two-dimensional cross-correlation in real time of images received by a stereo camera system. The optical image of each camera is projected on respective liquid crystal light valves. The images on the liquid crystal valves modulate light produced by an extended light source. This modulated light output becomes the two-dimensional cross-correlation when focused onto a video detector and is a function of the range of a target with respect to the stereo camera. Alternate embodiments utilize the two-dimensional cross-correlation to determine target movement and target identification.

  10. Attenuating Stereo Pixel-Locking via Affine Window Adaptation

    NASA Technical Reports Server (NTRS)

    Stein, Andrew N.; Huertas, Andres; Matthies, Larry H.

    2006-01-01

    For real-time stereo vision systems, the standard method for estimating sub-pixel stereo disparity given an initial integer disparity map involves fitting parabolas to a matching cost function aggregated over rectangular windows. This results in a phenomenon known as 'pixel-locking,' which produces artificially-peaked histograms of sub-pixel disparity. These peaks correspond to the introduction of erroneous ripples or waves in the 3D reconstruction of truly Rat surfaces. Since stereo vision is a common input modality for autonomous vehicles, these inaccuracies can pose a problem for safe, reliable navigation. This paper proposes a new method for sub-pixel stereo disparity estimation, based on ideas from Lucas-Kanade tracking and optical flow, which substantially reduces the pixel-locking effect. In addition, it has the ability to correct much larger initial disparity errors than previous approaches and is more general as it applies not only to the ground plane.

  11. Development of a stereo 3-D pictorial primary flight display

    NASA Technical Reports Server (NTRS)

    Nataupsky, Mark; Turner, Timothy L.; Lane, Harold; Crittenden, Lucille

    1989-01-01

    Computer-generated displays are becoming increasingly popular in aerospace applications. The use of stereo 3-D technology provides an opportunity to present depth perceptions which otherwise might be lacking. In addition, the third dimension could also be used as an additional dimension along which information can be encoded. Historically, the stereo 3-D displays have been used in entertainment, in experimental facilities, and in the handling of hazardous waste. In the last example, the source of the stereo images generally has been remotely controlled television camera pairs. The development of a stereo 3-D pictorial primary flight display used in a flight simulation environment is described. The applicability of stereo 3-D displays for aerospace crew stations to meet the anticipated needs for 2000 to 2020 time frame is investigated. Although, the actual equipment that could be used in an aerospace vehicle is not currently available, the lab research is necessary to determine where stereo 3-D enhances the display of information and how the displays should be formatted.

  12. Stereo 3-D Vision in Teaching Physics

    ERIC Educational Resources Information Center

    Zabunov, Svetoslav

    2012-01-01

    Stereo 3-D vision is a technology used to present images on a flat surface (screen, paper, etc.) and at the same time to create the notion of three-dimensional spatial perception of the viewed scene. A great number of physical processes are much better understood when viewed in stereo 3-D vision compared to standard flat 2-D presentation. The…

  13. Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

    PubMed Central

    Hu, Shaopeng; Matsumoto, Yuji; Takaki, Takeshi; Ishii, Idaku

    2017-01-01

    This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the active vision system can function virtually as two or more tracking cameras with different views. It enables a single active vision system to act as virtual left and right pan-tilt cameras that can simultaneously shoot a pair of stereo images for the same object to be observed at arbitrary viewpoints by switching the direction of the mirrors of the active vision system frame by frame. We developed a monocular galvano-mirror-based stereo tracking system that can switch between 500 different views in a second, and it functions as a catadioptric active stereo with left and right pan-tilt tracking cameras that can virtually capture 8-bit color 512×512 images each operating at 250 fps to mechanically track a fast-moving object with a sufficient parallax for accurate 3D measurement. Several tracking experiments for moving objects in 3D space are described to demonstrate the performance of our monocular stereo tracking system. PMID:28792483

  14. Prism-based single-camera system for stereo display

    NASA Astrophysics Data System (ADS)

    Zhao, Yue; Cui, Xiaoyu; Wang, Zhiguo; Chen, Hongsheng; Fan, Heyu; Wu, Teresa

    2016-06-01

    This paper combines the prism and single camera and puts forward a method of stereo imaging with low cost. First of all, according to the principle of geometrical optics, we can deduce the relationship between the prism single-camera system and dual-camera system, and according to the principle of binocular vision we can deduce the relationship between binoculars and dual camera. Thus we can establish the relationship between the prism single-camera system and binoculars and get the positional relation of prism, camera, and object with the best effect of stereo display. Finally, using the active shutter stereo glasses of NVIDIA Company, we can realize the three-dimensional (3-D) display of the object. The experimental results show that the proposed approach can make use of the prism single-camera system to simulate the various observation manners of eyes. The stereo imaging system, which is designed by the method proposed by this paper, can restore the 3-D shape of the object being photographed factually.

  15. An Evaluation of the Effectiveness of Stereo Slides in Teaching Geomorphology.

    ERIC Educational Resources Information Center

    Giardino, John R.; Thornhill, Ashton G.

    1984-01-01

    Provides information about producing stereo slides and their use in the classroom. Describes an evaluation of the teaching effectiveness of stereo slides using two groups of 30 randomly selected students from introductory geomorphology. Results from a pretest/postttest measure show that stereo slides significantly improved understanding. (JM)

  16. Real-Time Visualization Tool Integrating STEREO, ACE, SOHO and the SDO

    NASA Astrophysics Data System (ADS)

    Schroeder, P. C.; Luhmann, J. G.; Marchant, W.

    2011-12-01

    The STEREO/IMPACT team has developed a new web-based visualization tool for near real-time data from the STEREO instruments, ACE and SOHO as well as relevant models of solar activity. This site integrates images, solar energetic particle, solar wind plasma and magnetic field measurements in an intuitive way using near real-time products from NOAA and other sources to give an overview of recent space weather events. This site enhances the browse tools already available at UC Berkeley, UCLA and Caltech which allow users to visualize similar data from the start of the STEREO mission. Our new near real-time tool utilizes publicly available real-time data products from a number of missions and instruments, including SOHO LASCO C2 images from the SOHO team's NASA site, SDO AIA images from the SDO team's NASA site, STEREO IMPACT SEP data plots and ACE EPAM data plots from the NOAA Space Weather Prediction Center and STEREO spacecraft positions from the STEREO Science Center.

  17. Epipolar Rectification for CARTOSAT-1 Stereo Images Using SIFT and RANSAC

    NASA Astrophysics Data System (ADS)

    Akilan, A.; Sudheer Reddy, D.; Nagasubramanian, V.; Radhadevi, P. V.; Varadan, G.

    2014-11-01

    Cartosat-1 provides stereo images of spatial resolution 2.5 m with high fidelity of geometry. Stereo camera on the spacecraft has look angles of +26 degree and -5 degree respectively that yields effective along track stereo. Any DSM generation algorithm can use the stereo images for accurate 3D reconstruction and measurement of ground. Dense match points and pixel-wise matching are prerequisite in DSM generation to capture discontinuities and occlusions for accurate 3D modelling application. Epipolar image matching reduces the computational effort from two dimensional area searches to one dimensional. Thus, epipolar rectification is preferred as a pre-processing step for accurate DSM generation. In this paper we explore a method based on SIFT and RANSAC for epipolar rectification of cartosat-1 stereo images.

  18. 3D visualization techniques for the STEREO-mission

    NASA Astrophysics Data System (ADS)

    Wiegelmann, T.; Podlipnik, B.; Inhester, B.; Feng, L.; Ruan, P.

    The forthcoming STEREO-mission will observe the Sun from two different viewpoints We expect about 2GB data per day which ask for suitable data presentation techniques A key feature of STEREO is that it will provide for the first time a 3D-view of the Sun and the solar corona In our normal environment we see objects three dimensional because the light from real 3D objects needs different travel times to our left and right eye As a consequence we see slightly different images with our eyes which gives us information about the depth of objects and a corresponding 3D impression Techniques for the 3D-visualization of scientific and other data on paper TV computer screen cinema etc are well known e g two colour anaglyph technique shutter glasses polarization filters and head-mounted displays We discuss advantages and disadvantages of these techniques and how they can be applied to STEREO-data The 3D-visualization techniques are not limited to visual images but can be also used to show the reconstructed coronal magnetic field and energy and helicity distribution In the advent of STEREO we test the method with data from SOHO which provides us different viewpoints by the solar rotation This restricts the analysis to structures which remain stationary for several days Real STEREO-data will not be affected by these limitations however

  19. Bias Reduction and Filter Convergence for Long Range Stereo

    NASA Technical Reports Server (NTRS)

    Sibley, Gabe; Matthies, Larry; Sukhatme, Gaurav

    2005-01-01

    We are concerned here with improving long range stereo by filtering image sequences. Traditionally, measurement errors from stereo camera systems have been approximated as 3-D Gaussians, where the mean is derived by triangulation and the covariance by linearized error propagation. However, there are two problems that arise when filtering such 3-D measurements. First, stereo triangulation suffers from a range dependent statistical bias; when filtering this leads to over-estimating the true range. Second, filtering 3-D measurements derived via linearized error propagation leads to apparent filter divergence; the estimator is biased to under-estimate range. To address the first issue, we examine the statistical behavior of stereo triangulation and show how to remove the bias by series expansion. The solution to the second problem is to filter with image coordinates as measurements instead of triangulated 3-D coordinates.

  20. Stereo sequence transmission via conventional transmission channel

    NASA Astrophysics Data System (ADS)

    Lee, Ho-Keun; Kim, Chul-Hwan; Han, Kyu-Phil; Ha, Yeong-Ho

    2003-05-01

    This paper proposes a new stereo sequence transmission technique using digital watermarking for compatibility with conventional 2D digital TV. We, generally, compress and transmit image sequence using temporal-spatial redundancy between stereo images. It is difficult for users with conventional digital TV to watch the transmitted 3D image sequence because many 3D image compression methods are different. To solve such a problem, in this paper, we perceive the concealment of new information of digital watermarking and conceal information of the other stereo image into three channels of the reference image. The main target of the technique presented is to let the people who have conventional DTV watch stereo movies at the same time. This goal is reached by considering the response of human eyes to color information and by using digital watermarking. To hide right images into left images effectively, bit-change in 3 color channels and disparity estimation according to the value of estimated disparity are performed. The proposed method assigns the displacement information of right image to each channel of YCbCr on DCT domain. Each LSB bit on YCbCr channels is changed according to the bits of disparity information. The performance of the presented methods is confirmed by several computer experiments.

  1. Stereo Measurements from Satellites

    NASA Technical Reports Server (NTRS)

    Adler, R.

    1982-01-01

    The papers in this presentation include: 1) 'Stereographic Observations from Geosynchronous Satellites: An Important New Tool for the Atmospheric Sciences'; 2) 'Thunderstorm Cloud Top Ascent Rates Determined from Stereoscopic Satellite Observations'; 3) 'Artificial Stereo Presentation of Meteorological Data Fields'.

  2. Opportunity's Surroundings on Sol 1687 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11739 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11739

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo, 360-degree view of the rover's surroundings on the 1,687th Martian day, or sol, of its surface mission (Oct. 22, 2008). The view appears three-dimensional when viewed through red-blue glasses.

    Opportunity had driven 133 meters (436 feet) that sol, crossing sand ripples up to about 10 centimeters (4 inches) tall. The tracks visible in the foreground are in the east-northeast direction.

    Opportunity's position on Sol 1687 was about 300 meters southwest of Victoria Crater. The rover was beginning a long trek toward a much larger crater, Endeavour, about 12 kilometers (7 miles) to the southeast.

    This panorama combines right-eye and left-eye views presented as cylindrical-perspective projections with geometric seam correction.

  3. FM Stereo and AM Stereo: Government Standard-Setting vs. the Marketplace.

    ERIC Educational Resources Information Center

    Huff, W. A. Kelly

    The emergence of frequency modulation or FM radio signals, which arose from the desire to free broadcasting of static noise common to amplitude modulation or AM, has produced the controversial development of stereo broadcasting. The resulting enhancement of sound quality helped FM pass AM in audience shares in less than two decades. The basic…

  4. Modified Test Protocol Improves Sensitivity of the Stereo Fly Test.

    PubMed

    De La Cruz, Angie; Morale, Sarah E; Jost, Reed M; Kelly, Krista R; Birch, Eileen E

    2016-01-01

    Stereoacuity measurement is a common element of pediatric ophthalmic examinations. Although the Stereo Fly Test is routinely used to establish the presence of coarse stereopsis (3000 arcsecs), it often yields a false negative "pass" due to learned responses and non-stereoscopic cues. We developed and evaluated a modified Stereo Fly Test protocol aimed at increasing sensitivity, thus reducing false negatives. The Stereo Fly Test was administered according to manufacturer instructions to 321 children aged 3-12 years. Children with a "pass" outcome (n = 147) were re-tested wearing glasses fitted with polarizers of matching orientation for both eyes to verify that they were responding to stereoscopic cues (modified protocol). The response to the standard Stereo Fly Test was considered a false negative (pass) if the child still pinched above the plate after disparity cues were eliminated. Randot ® Preschool Stereoacuity and Butterfly Tests were used as gold standards. Sensitivity was 81% (95% CI: 0.75 - 0.86) for standard administration of the Stereo Fly Test (19% false negative "pass"). The modified protocol increased sensitivity to 90% (95% CI: 0.85 - 0.94). The modified two-step protocol is a simple and convenient way to administer the Stereo Fly Test with increased sensitivity in a clinical setting. © 2016 Board of regents of the University of Wisconsin System, American Orthoptic Journal, Volume 66, 2016, ISSN 0065-955X, E-ISSN 1553-4448.

  5. Optimization of Stereo Matching in 3D Reconstruction Based on Binocular Vision

    NASA Astrophysics Data System (ADS)

    Gai, Qiyang

    2018-01-01

    Stereo matching is one of the key steps of 3D reconstruction based on binocular vision. In order to improve the convergence speed and accuracy in 3D reconstruction based on binocular vision, this paper adopts the combination method of polar constraint and ant colony algorithm. By using the line constraint to reduce the search range, an ant colony algorithm is used to optimize the stereo matching feature search function in the proposed search range. Through the establishment of the stereo matching optimization process analysis model of ant colony algorithm, the global optimization solution of stereo matching in 3D reconstruction based on binocular vision system is realized. The simulation results show that by the combining the advantage of polar constraint and ant colony algorithm, the stereo matching range of 3D reconstruction based on binocular vision is simplified, and the convergence speed and accuracy of this stereo matching process are improved.

  6. Application of Stereo Vision to the Reconnection Scaling Experiment

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

    Klarenbeek, Johnny; Sears, Jason A.; Gao, Kevin W.

    The measurement and simulation of the three-dimensional structure of magnetic reconnection in astrophysical and lab plasmas is a challenging problem. At Los Alamos National Laboratory we use the Reconnection Scaling Experiment (RSX) to model 3D magnetohydrodynamic (MHD) relaxation of plasma filled tubes. These magnetic flux tubes are called flux ropes. In RSX, the 3D structure of the flux ropes is explored with insertable probes. Stereo triangulation can be used to compute the 3D position of a probe from point correspondences in images from two calibrated cameras. While common applications of stereo triangulation include 3D scene reconstruction and robotics navigation, wemore » will investigate the novel application of stereo triangulation in plasma physics to aid reconstruction of 3D data for RSX plasmas. Several challenges will be explored and addressed, such as minimizing 3D reconstruction errors in stereo camera systems and dealing with point correspondence problems.« less

  7. Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)

    NASA Technical Reports Server (NTRS)

    Mesarch, Michael A.; Robertson, Mika; Ottenstein, Neil; Nicholson, Ann; Nicholson, Mark; Ward, Douglas T.; Cosgrove, Jennifer; German, Darla; Hendry, Stephen; Shaw, James

    2007-01-01

    This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF's orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.

  8. Owls see in stereo much like humans do.

    PubMed

    van der Willigen, Robert F

    2011-06-10

    While 3D experiences through binocular disparity sensitivity have acquired special status in the understanding of human stereo vision, much remains to be learned about how binocularity is put to use in animals. The owl provides an exceptional model to study stereo vision as it displays one of the highest degrees of binocular specialization throughout the animal kingdom. In a series of six behavioral experiments, equivalent to hallmark human psychophysical studies, I compiled an extensive body of stereo performance data from two trained owls. Computer-generated, binocular random-dot patterns were used to ensure pure stereo performance measurements. In all cases, I found that owls perform much like humans do, viz.: (1) disparity alone can evoke figure-ground segmentation; (2) selective use of "relative" rather than "absolute" disparity; (3) hyperacute sensitivity; (4) disparity processing allows for the avoidance of monocular feature detection prior to object recognition; (5) large binocular disparities are not tolerated; (6) disparity guides the perceptual organization of 2D shape. The robustness and very nature of these binocular disparity-based perceptual phenomena bear out that owls, like humans, exploit the third dimension to facilitate early figure-ground segmentation of tangible objects.

  9. Stereo vision for ecohydraulic research: Seashell reconstruction

    NASA Astrophysics Data System (ADS)

    Friedrich, H.; Bertin, S.; Montgomery, J. C.; Thrush, S. F.; Delmas, P.

    2016-12-01

    3D information of underwater topographies can be obtained more easily nowadays. In general, those measurements do not provide the spatial nor temporal detail for more specific research of dynamic processes, such as sediment transport. More recently, we have seen the advance of true interdisciplinary ecohydraulics research initiatives. One important research avenue is the interaction of organisms with flow and sediment. We have used stereo vision substantially for fluvial morphology studies over the last years, and will present and discuss the use of stereo vision in ecohydraulic research. The work is undertaken in the laboratory, and we present a workflow of reconstructing seashells. We obtain shape and dimensional information, which are important to better understand the organism's interaction in the natural water environment. Although we find that stereo vision is suitable to capture our studied organisms, the challenge of studying organisms in their natural environments persists. We discuss the limitations of our approach, and the need to fuse technical and behavioural knowledge to better manage our ecosystems.

  10. The relationship of acquisition systems to automated stereo correlation.

    USGS Publications Warehouse

    Colvocoresses, A.P.

    1983-01-01

    Today a concerted effort is being made to expedite the mapping process through automated correlation of stereo data. Stereo correlation involves the comparison of radiance (brightness) signals or patterns recorded by sensors. Conventionally, two-dimensional area correlation is utilized but this is a rather slow and cumbersome procedure. Digital correlation can be performed in only one dimension where suitable signal patterns exist, and the one-dimensional mode is much faster. Electro-optical (EO) systems, suitable for space use, also have much greater flexibility than film systems. Thus, an EO space system can be designed which will optimize one-dimensional stereo correlation and lead toward the automation of topographic mapping.-from Author

  11. Forest abovegroundbiomass mapping using spaceborne stereo imagery acquired by Chinese ZY-3

    NASA Astrophysics Data System (ADS)

    Sun, G.; Ni, W.; Zhang, Z.; Xiong, C.

    2015-12-01

    Besides LiDAR data, another valuable type of data which is also directly sensitive to forest vertical structures and more suitable for regional mapping of forest biomass is the stereo imagery or photogrammetry. Photogrammetry is the traditional technique for deriving terrain elevation. The elevation of the top of a tree canopy can be directly measured from stereo imagery but winter images are required to get the elevation of ground surface because stereo images are acquired by optical sensors which cannot penetrate dense forest canopies with leaf-on condition. Several spaceborne stereoscopic systems with higher spatial resolutions have been launched in the past several years. For example the Chinese satellite Zi Yuan 3 (ZY-3) specifically designed for the collection of stereo imagery with a resolution of 3.6 m for forward and backward views and 2.1 m for the nadir view was launched on January 9, 2012. Our previous studies have demonstrated that the spaceborne stereo imagery acquired in summer has good performance on the description of forest structures. The ground surface elevation could be extracted from spaceborne stereo imagery acquired in winter. This study mainly focused on assessing the mapping of forest biomass through the combination of spaceborne stereo imagery acquired in summer and those in winter. The test sites of this study located at Daxing AnlingMountains areas as shown in Fig.1. The Daxing Anling site is on the south border of boreal forest belonging to frigid-temperate zone coniferous forest vegetation The dominant tree species is Dhurian larch (Larix gmelinii). 10 scenes of ZY-3 stereo images are used in this study. 5 scenes were acquired on March 14,2012 while the other 5 scenes were acquired on September 7, 2012. Their spatial coverage is shown in Fig.2-a. Fig.2-b is the mosaic of nadir images acquired on 09/07/2012 while Fig.2-c is thecorresponding digital surface model (DSM) derived from stereo images acquired on 09/07/2012. Fig.2-d is the

  12. Panoramic stereo sphere vision

    NASA Astrophysics Data System (ADS)

    Feng, Weijia; Zhang, Baofeng; Röning, Juha; Zong, Xiaoning; Yi, Tian

    2013-01-01

    Conventional stereo vision systems have a small field of view (FOV) which limits their usefulness for certain applications. While panorama vision is able to "see" in all directions of the observation space, scene depth information is missed because of the mapping from 3D reference coordinates to 2D panoramic image. In this paper, we present an innovative vision system which builds by a special combined fish-eye lenses module, and is capable of producing 3D coordinate information from the whole global observation space and acquiring no blind area 360°×360° panoramic image simultaneously just using single vision equipment with one time static shooting. It is called Panoramic Stereo Sphere Vision (PSSV). We proposed the geometric model, mathematic model and parameters calibration method in this paper. Specifically, video surveillance, robotic autonomous navigation, virtual reality, driving assistance, multiple maneuvering target tracking, automatic mapping of environments and attitude estimation are some of the applications which will benefit from PSSV.

  13. Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)

    NASA Technical Reports Server (NTRS)

    Mesarch, Michael; Robertson, Mika; Ottenstein, Neil; Nicholson, Ann; Nicholson, Mark; Ward, Douglas T.; Cosgrove, Jennifer; German, Darla; Hendry, Stephen; Shaw, James

    2007-01-01

    This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF s orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.

  14. Wide Swath Stereo Mapping from Gaofen-1 Wide-Field-View (WFV) Images Using Calibration

    PubMed Central

    Chen, Shoubin; Liu, Jingbin; Huang, Wenchao

    2018-01-01

    The development of Earth observation systems has changed the nature of survey and mapping products, as well as the methods for updating maps. Among optical satellite mapping methods, the multiline array stereo and agile stereo modes are the most common methods for acquiring stereo images. However, differences in temporal resolution and spatial coverage limit their application. In terms of this issue, our study takes advantage of the wide spatial coverage and high revisit frequencies of wide swath images and aims at verifying the feasibility of stereo mapping with the wide swath stereo mode and reaching a reliable stereo accuracy level using calibration. In contrast with classic stereo modes, the wide swath stereo mode is characterized by both a wide spatial coverage and high-temporal resolution and is capable of obtaining a wide range of stereo images over a short period. In this study, Gaofen-1 (GF-1) wide-field-view (WFV) images, with total imaging widths of 800 km, multispectral resolutions of 16 m and revisit periods of four days, are used for wide swath stereo mapping. To acquire a high-accuracy digital surface model (DSM), the nonlinear system distortion in the GF-1 WFV images is detected and compensated for in advance. The elevation accuracy of the wide swath stereo mode of the GF-1 WFV images can be improved from 103 m to 30 m for a DSM with proper calibration, meeting the demands for 1:250,000 scale mapping and rapid topographic map updates and showing improved efficacy for satellite imaging. PMID:29494540

  15. 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.

  16. Opportunity's Surroundings on Sol 1798 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11850 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11850

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo 180-degree view of the rover's surroundings during the 1,798th Martian day, or sol, of Opportunity's surface mission (Feb. 13, 2009). North is on top.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 111 meters (364 feet) southward on the preceding sol. Tracks from that drive recede northward in this view. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches).

    The terrain in this portion of Mars' Meridiani Planum region includes dark-toned sand ripples and lighter-toned bedrock.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  17. Current STEREO Status on the Far Side of the Sun

    NASA Astrophysics Data System (ADS)

    Thompson, William T.; Gurman, Joseph; Ossing, Daniel; Luhmann, Janet; Curtis, David; Schroeder, Peter; Mewaldt, Richard; Davis, Andrew; Wortman, Kristin; Russell, Christopher; Galvin, Antoinette; Kistler, Lynn; Ellis, Lorna; Howard, Russell; Vourlidas, Angelos; Rich, Nathan; Hutting, Lynn; Maksimovic, Milan; Bale, Stuart D.; Goetz, Keith

    2015-04-01

    The current positions of the two STEREO spacecraft on the opposite side of the Sun from Earth (superior solar conjunction) has forced some significant changes in the spacecraft and instrument operations. No communications are possible when the spacecraft is within 2 degrees of the Sun, requiring that the spacecraft be put into safe mode until communications can be restored. Unfortunately, communications were lost with the STEREO Behind spacecraft on October 1, 2014, during testing for superior solar conjunction operations. We will discuss what is known about the causes of loss of contact, the steps being taken to try to recover the Behind spacecraft, and what has been done to prevent a similar occurrence on STEREO Ahead.We will also discuss the effect of being on the far side of the Sun on the science operations of STEREO Ahead. Starting on August 20, 2014, the telemetry rate from the STEREO Ahead spacecraft has been tremendously reduced due to the need to keep the temperature of the feed horn on the high gain antenna below acceptable limits. However, the amount of telemetry that can be brought down has been highly reduced. Even so, significant science is still possible from STEREO's unique position on the solar far side. We will discuss the science and space weather products that are, or will be, available from each STEREO instrument, when those products will be available, and how they will be used. Some data, including the regular space weather beacon products, are brought down for an average of a few hours each day during the daily real-time passes, while the in situ and radio beacon data are being stored on the onboard recorder to provide a continuous 24-hour coverage for eventual downlink once the spacecraft is back to normal operations.

  18. Forest Biomass Mapping from Stereo Imagery and Radar Data

    NASA Astrophysics Data System (ADS)

    Sun, G.; Ni, W.; Zhang, Z.

    2013-12-01

    Both InSAR and lidar data provide critical information on forest vertical structure, which are critical for regional mapping of biomass. However, the regional application of these data is limited by the availability and acquisition costs. Some researchers have demonstrated potentials of stereo imagery in the estimation of forest height. Most of these researches were conducted on aerial images or spaceborne images with very high resolutions (~0.5m). Space-born stereo imagers with global coverage such as ALOS/PRISM have coarser spatial resolutions (2-3m) to achieve wider swath. The features of stereo images are directly affected by resolutions and the approaches use by most of researchers need to be adjusted for stereo imagery with lower resolutions. This study concentrated on analyzing the features of point clouds synthesized from multi-view stereo imagery over forested areas. The small footprint lidar and lidar waveform data were used as references. The triplets of ALOS/PRISM data form three pairs (forward/nadir, backward/nadir and forward/backward) of stereo images. Each pair of the stereo images can be used to generate points (pixels) with 3D coordinates. By carefully co-register these points from three pairs of stereo images, a point cloud data was generated. The height of each point above ground surface was then calculated using DEM from National Elevation Dataset, USGS as the ground surface elevation. The height data were gridded into pixel of different sizes and the histograms of the points within a pixel were analyzed. The average height of the points within a pixel was used as the height of the pixel to generate a canopy height map. The results showed that the synergy of point clouds from different views were necessary, which increased the point density so the point cloud could detect the vertical structure of sparse and unclosed forests. The top layer of multi-layered forest could be captured but the dense forest prevented the stereo imagery to see through

  19. Consequences of Incorrect Focus Cues in Stereo Displays

    PubMed Central

    Banks, Martin S.; Akeley, Kurt; Hoffman, David M.; Girshick, Ahna R.

    2010-01-01

    Conventional stereo displays produce images in which focus cues – blur and accommodation – are inconsistent with the simulated depth. We have developed new display techniques that allow the presentation of nearly correct focus. Using these techniques, we find that stereo vision is faster and more accurate when focus cues are mostly consistent with simulated depth; furthermore, viewers experience less fatigue when focus cues are correct or nearly correct. PMID:20523910

  20. Hearing symptoms personal stereos.

    PubMed

    da Luz, Tiara Santos; Borja, Ana Lúcia Vieira de Freitas

    2012-04-01

     Practical and portable the personal stereos if had become almost indispensable accessories in the day the day. Studies disclose that the portable players of music can cause auditory damages in the long run for who hear music in high volume for a drawn out time.  to verify the prevalence of auditory symptoms in users of amplified players and to know its habits of use  Observational prospective study of transversal cut carried through in three institutions of education of the city of Salvador BA, being two of public net and one of the private net. 400 students had answered to the questionnaire, of both the sex, between 14 and 30 years that had related the habit to use personal stereos.  The symptoms most prevalent had been hyperacusis (43.5%), auricular fullness (30.5%) and humming (27.5), being that the humming is the symptom most present in the population youngest. How much to the daily habits: 62.3% frequent use, 57% in raised intensities, 34% in drawn out periods. An inverse relation between exposition time was verified and the band of age (p = 0,000) and direct with the prevalence of the humming.  Although to admit to have knowledge on the damages that the exposition the sound of high intensity can cause the hearing, the daily habits of the young evidence the inadequate use of the portable stereos characterized by long periods of exposition, raised intensities, frequent use and preference for the insertion phones. The high prevalence of symptoms after the use suggests a bigger risk for the hearing of these young.

  1. Hearing symptoms personal stereos

    PubMed Central

    da Luz, Tiara Santos; Borja, Ana Lúcia Vieira de Freitas

    2012-01-01

    Summary Introduction: Practical and portable the personal stereos if had become almost indispensable accessories in the day the day. Studies disclose that the portable players of music can cause auditory damages in the long run for who hear music in high volume for a drawn out time. Objective: to verify the prevalence of auditory symptoms in users of amplified players and to know its habits of use Method: Observational prospective study of transversal cut carried through in three institutions of education of the city of Salvador BA, being two of public net and one of the private net. 400 students had answered to the questionnaire, of both the sex, between 14 and 30 years that had related the habit to use personal stereos. Results: The symptoms most prevalent had been hyperacusis (43.5%), auricular fullness (30.5%) and humming (27.5), being that the humming is the symptom most present in the population youngest. How much to the daily habits: 62.3% frequent use, 57% in raised intensities, 34% in drawn out periods. An inverse relation between exposition time was verified and the band of age (p = 0,000) and direct with the prevalence of the humming. Conclusion: Although to admit to have knowledge on the damages that the exposition the sound of high intensity can cause the hearing, the daily habits of the young evidence the inadequate use of the portable stereos characterized by long periods of exposition, raised intensities, frequent use and preference for the insertion phones. The high prevalence of symptoms after the use suggests a bigger risk for the hearing of these young. PMID:25991931

  2. Accuracy and robustness evaluation in stereo matching

    NASA Astrophysics Data System (ADS)

    Nguyen, Duc M.; Hanca, Jan; Lu, Shao-Ping; Schelkens, Peter; Munteanu, Adrian

    2016-09-01

    Stereo matching has received a lot of attention from the computer vision community, thanks to its wide range of applications. Despite of the large variety of algorithms that have been proposed so far, it is not trivial to select suitable algorithms for the construction of practical systems. One of the main problems is that many algorithms lack sufficient robustness when employed in various operational conditions. This problem is due to the fact that most of the proposed methods in the literature are usually tested and tuned to perform well on one specific dataset. To alleviate this problem, an extensive evaluation in terms of accuracy and robustness of state-of-the-art stereo matching algorithms is presented. Three datasets (Middlebury, KITTI, and MPEG FTV) representing different operational conditions are employed. Based on the analysis, improvements over existing algorithms have been proposed. The experimental results show that our improved versions of cross-based and cost volume filtering algorithms outperform the original versions with large margins on Middlebury and KITTI datasets. In addition, the latter of the two proposed algorithms ranks itself among the best local stereo matching approaches on the KITTI benchmark. Under evaluations using specific settings for depth-image-based-rendering applications, our improved belief propagation algorithm is less complex than MPEG's FTV depth estimation reference software (DERS), while yielding similar depth estimation performance. Finally, several conclusions on stereo matching algorithms are also presented.

  3. Efficiency of extracting stereo-driven object motions

    PubMed Central

    Jain, Anshul; Zaidi, Qasim

    2013-01-01

    Most living things and many nonliving things deform as they move, requiring observers to separate object motions from object deformations. When the object is partially occluded, the task becomes more difficult because it is not possible to use two-dimensional (2-D) contour correlations (Cohen, Jain, & Zaidi, 2010). That leaves dynamic depth matching across the unoccluded views as the main possibility. We examined the role of stereo cues in extracting motion of partially occluded and deforming three-dimensional (3-D) objects, simulated by disk-shaped random-dot stereograms set at randomly assigned depths and placed uniformly around a circle. The stereo-disparities of the disks were temporally oscillated to simulate clockwise or counterclockwise rotation of the global shape. To dynamically deform the global shape, random disparity perturbation was added to each disk's depth on each stimulus frame. At low perturbation, observers reported rotation directions consistent with the global shape, even against local motion cues, but performance deteriorated at high perturbation. Using 3-D global shape correlations, we formulated an optimal Bayesian discriminator for rotation direction. Based on rotation discrimination thresholds, human observers were 75% as efficient as the optimal model, demonstrating that global shapes derived from stereo cues facilitate inferences of object motions. To complement reports of stereo and motion integration in extrastriate cortex, our results suggest the possibilities that disparity selectivity and feature tracking are linked, or that global motion selective neurons can be driven purely from disparity cues. PMID:23325345

  4. Wind-Sculpted Vicinity After Opportunity's Sol 1797 Drive (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11820 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11820

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo, full-circle view of the rover's surroundings just after driving 111 meters (364 feet) on the 1,797th Martian day, or sol, of Opportunity's surface mission (Feb. 12, 2009). North is at the center; south at both ends.

    This view is the right-eye member of a stereo pair presented as a cylindrical-perspective projection with geometric seam correction.

    Tracks from the drive recede northward across dark-toned sand ripples in the Meridiani Planum region of Mars. Patches of lighter-toned bedrock are visible on the left and right sides of the image. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches).

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  5. ROS-based ground stereo vision detection: implementation and experiments.

    PubMed

    Hu, Tianjiang; Zhao, Boxin; Tang, Dengqing; Zhang, Daibing; Kong, Weiwei; Shen, Lincheng

    This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating. The flying vehicle outdoor experiments capture the stereo sequential images dataset and record the simultaneous data from pan-and-tilt unit, onboard sensors and differential GPS. Experimental results by using the collected dataset validate the effectiveness of the published ROS-based detection algorithm.

  6. Viewing The Entire Sun With STEREO And SDO

    NASA Astrophysics Data System (ADS)

    Thompson, William T.; Gurman, J. B.; Kucera, T. A.; Howard, R. A.; Vourlidas, A.; Wuelser, J.; Pesnell, D.

    2011-05-01

    On 6 February 2011, the two Solar Terrestrial Relations Observatory (STEREO) spacecraft were at 180 degrees separation. This allowed the first-ever simultaneous view of the entire Sun. Combining the STEREO data with corresponding images from the Solar Dynamics Observatory (SDO) allows this full-Sun view to continue for the next eight years. We show how the data from the three viewpoints are combined into a single heliographic map. Processing of the STEREO beacon telemetry allows these full-Sun views to be created in near-real-time, allowing tracking of solar activity even on the far side of the Sun. This is a valuable space-weather tool, not only for anticipating activity before it rotates onto the Earth-view, but also for deep space missions in other parts of the solar system. Scientific use of the data includes the ability to continuously track the entire lifecycle of active regions, filaments, coronal holes, and other solar features. There is also a significant public outreach component to this activity. The STEREO Science Center produces products from the three viewpoints used in iPhone/iPad and Android applications, as well as time sequences for spherical projection systems used in museums, such as Science-on-a-Sphere and Magic Planet.

  7. Event-Based Stereo Depth Estimation Using Belief Propagation.

    PubMed

    Xie, Zhen; Chen, Shengyong; Orchard, Garrick

    2017-01-01

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

  8. Rapid matching of stereo vision based on fringe projection profilometry

    NASA Astrophysics Data System (ADS)

    Zhang, Ruihua; Xiao, Yi; Cao, Jian; Guo, Hongwei

    2016-09-01

    As the most important core part of stereo vision, there are still many problems to solve in stereo matching technology. For smooth surfaces on which feature points are not easy to extract, this paper adds a projector into stereo vision measurement system based on fringe projection techniques, according to the corresponding point phases which extracted from the left and right camera images are the same, to realize rapid matching of stereo vision. And the mathematical model of measurement system is established and the three-dimensional (3D) surface of the measured object is reconstructed. This measurement method can not only broaden application fields of optical 3D measurement technology, and enrich knowledge achievements in the field of optical 3D measurement, but also provide potential possibility for the commercialized measurement system in practical projects, which has very important scientific research significance and economic value.

  9. Augmented reality glass-free three-dimensional display with the stereo camera

    NASA Astrophysics Data System (ADS)

    Pang, Bo; Sang, Xinzhu; Chen, Duo; Xing, Shujun; Yu, Xunbo; Yan, Binbin; Wang, Kuiru; Yu, Chongxiu

    2017-10-01

    An improved method for Augmented Reality (AR) glass-free three-dimensional (3D) display based on stereo camera used for presenting parallax contents from different angle with lenticular lens array is proposed. Compared with the previous implementation method of AR techniques based on two-dimensional (2D) panel display with only one viewpoint, the proposed method can realize glass-free 3D display of virtual objects and real scene with 32 virtual viewpoints. Accordingly, viewers can get abundant 3D stereo information from different viewing angles based on binocular parallax. Experimental results show that this improved method based on stereo camera can realize AR glass-free 3D display, and both of virtual objects and real scene have realistic and obvious stereo performance.

  10. Object tracking with stereo vision

    NASA Technical Reports Server (NTRS)

    Huber, Eric

    1994-01-01

    A real-time active stereo vision system incorporating gaze control and task directed vision is described. Emphasis is placed on object tracking and object size and shape determination. Techniques include motion-centroid tracking, depth tracking, and contour tracking.

  11. Method for Stereo Mapping Based on Objectarx and Pipeline Technology

    NASA Astrophysics Data System (ADS)

    Liu, F.; Chen, T.; Lin, Z.; Yang, Y.

    2012-07-01

    Stereo mapping is an important way to acquire 4D production. Based on the development of the stereo mapping and the characteristics of ObjectARX and pipeline technology, a new stereo mapping scheme which can realize the interaction between the AutoCAD and digital photogrammetry system is offered by ObjectARX and pipeline technology. An experiment is made in order to make sure the feasibility with the example of the software MAP-AT (Modern Aerial Photogrammetry Automatic Triangulation), the experimental results show that this scheme is feasible and it has very important meaning for the realization of the acquisition and edit integration.

  12. Congruence analysis of point clouds from unstable stereo image sequences

    NASA Astrophysics Data System (ADS)

    Jepping, C.; Bethmann, F.; Luhmann, T.

    2014-06-01

    This paper deals with the correction of exterior orientation parameters of stereo image sequences over deformed free-form surfaces without control points. Such imaging situation can occur, for example, during photogrammetric car crash test recordings where onboard high-speed stereo cameras are used to measure 3D surfaces. As a result of such measurements 3D point clouds of deformed surfaces are generated for a complete stereo sequence. The first objective of this research focusses on the development and investigation of methods for the detection of corresponding spatial and temporal tie points within the stereo image sequences (by stereo image matching and 3D point tracking) that are robust enough for a reliable handling of occlusions and other disturbances that may occur. The second objective of this research is the analysis of object deformations in order to detect stable areas (congruence analysis). For this purpose a RANSAC-based method for congruence analysis has been developed. This process is based on the sequential transformation of randomly selected point groups from one epoch to another by using a 3D similarity transformation. The paper gives a detailed description of the congruence analysis. The approach has been tested successfully on synthetic and real image data.

  13. Correlating magnetoencephalography to stereo-electroencephalography in patients undergoing epilepsy surgery

    PubMed Central

    Murakami, Hiroatsu; Wang, Zhong I.; Marashly, Ahmad; Krishnan, Balu; Prayson, Richard A.; Kakisaka, Yosuke; Mosher, John C.; Bulacio, Juan; Gonzalez-Martinez, Jorge A.; Bingaman, William E.; Najm, Imad M.; Burgess, Richard C.; Alexopoulos, Andreas V.

    2016-01-01

    See Bear and Kirsch (doi:10.1093/aww248) for a scientific commentary on this article. Magnetoencephalography and stereo-electroencephalography are often necessary in the course of the non-invasive and invasive presurgical evaluation of challenging patients with medically intractable focal epilepsies. In this study, we aim to examine the significance of magnetoencephalography dipole clusters and their relationship to stereo-electroencephalography findings, area of surgical resection, and seizure outcome. We also aim to define the positive and negative predictors based on magnetoencephalography dipole cluster characteristics pertaining to seizure-freedom. Included in this retrospective study were a consecutive series of 50 patients who underwent magnetoencephalography and stereo-electroencephalography at the Cleveland Clinic Epilepsy Center. Interictal magnetoencephalography localization was performed using a single equivalent current dipole model. Magnetoencephalography dipole clusters were classified based on tightness and orientation criteria. Magnetoencephalography dipole clusters, stereo-electroencephalography findings and area of resection were reconstructed and examined in the same space using the patient’s own magnetic resonance imaging scan. Seizure outcomes at 1 year postoperative were dichotomized into seizure-free or not seizure-free. We found that patients in whom the magnetoencephalography clusters were completely resected had a much higher chance of seizure-freedom compared to the partial and no resection groups (P = 0.007). Furthermore, patients had a significantly higher chance of being seizure-free when stereo-electroencephalography completely sampled the area identified by magnetoencephalography as compared to those with incomplete or no sampling of magnetoencephalography results (P = 0.012). Partial concordance between magnetoencephalography and interictal or ictal stereo-electroencephalography was associated with a much lower chance of seizure

  14. Spirit Beside 'Home Plate,' Sol 1809 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11803 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11803

    NASA Mars Exploration Rover Spirit used its navigation camera to take the images assembled into this stereo, 120-degree view southward after a short drive during the 1,809th Martian day, or sol, of Spirit's mission on the surface of Mars (February 3, 2009).

    By combining images from the left-eye and right-eye sides of the navigation camera, the view appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    Spirit had driven about 2.6 meters (8.5 feet) that sol, continuing a clockwise route around a low plateau called 'Home Plate.' In this image, the rocks visible above the rovers' solar panels are on the slope at the northern edge of Home Plate.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  15. Precision Relative Positioning for Automated Aerial Refueling from a Stereo Imaging System

    DTIC Science & Technology

    2015-03-01

    PRECISION RELATIVE POSITIONING FOR AUTOMATED AERIAL REFUELING FROM A STEREO IMAGING SYSTEM THESIS Kyle P. Werner, 2Lt, USAF AFIT-ENG-MS-15-M-048...REFUELING FROM A STEREO IMAGING SYSTEM THESIS Presented to the Faculty Department of Electrical and Computer Engineering Graduate School of...RELEASE; DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-048 PRECISION RELATIVE POSITIONING FOR AUTOMATED AERIAL REFUELING FROM A STEREO IMAGING SYSTEM THESIS

  16. The study of stereo vision technique for the autonomous vehicle

    NASA Astrophysics Data System (ADS)

    Li, Pei; Wang, Xi; Wang, Jiang-feng

    2015-08-01

    The stereo vision technology by two or more cameras could recovery 3D information of the field of view. This technology can effectively help the autonomous navigation system of unmanned vehicle to judge the pavement conditions within the field of view, and to measure the obstacles on the road. In this paper, the stereo vision technology in measuring the avoidance of the autonomous vehicle is studied and the key techniques are analyzed and discussed. The system hardware of the system is built and the software is debugged, and finally the measurement effect is explained by the measured data. Experiments show that the 3D reconstruction, within the field of view, can be rebuilt by the stereo vision technology effectively, and provide the basis for pavement condition judgment. Compared with unmanned vehicle navigation radar used in measuring system, the stereo vision system has the advantages of low cost, distance and so on, it has a good application prospect.

  17. A Comparative Study of Radar Stereo and Interferometry for DEM Generation

    NASA Astrophysics Data System (ADS)

    Gelautz, M.; Paillou, P.; Chen, C. W.; Zebker, H. A.

    2004-06-01

    In this experiment, we derive and compare radar stereo and interferometric elevation models (DEMs) of a study site in Djibouti, East Africa. As test data, we use a Radarsat stereo pair and ERS-2 and Radarsat interferometric data. Comparison of the reconstructed DEMs with a SPOT reference DEM shows that in regions of high coherence the DEMs produced by interferometry are of much better quality than the stereo result. However, the interferometric error histograms also show some pronounced outliers due to decorrelation and phase unwrapping problems on forested mountain slopes. The more robust stereo result is able to capture the general terrain shape, but finer surface details are lost. A fusion experiment demonstrates that merging the stereoscopic and interferometric DEMs by utilizing coherence- derived weights can significantly improve the accuracy of the computed elevation maps.

  18. A dual-adaptive support-based stereo matching algorithm

    NASA Astrophysics Data System (ADS)

    Zhang, Yin; Zhang, Yun

    2017-07-01

    Many stereo matching algorithms use fixed color thresholds and a rigid cross skeleton to segment supports (viz., Cross method), which, however, does not work well for different images. To address this issue, this paper proposes a novel dual adaptive support (viz., DAS)-based stereo matching method, which uses both appearance and shape information of a local region to segment supports automatically, and, then, integrates the DAS-based cost aggregation with the absolute difference plus census transform cost, scanline optimization and disparity refinement to develop a stereo matching system. The performance of the DAS method is also evaluated in the Middlebury benchmark and by comparing with the Cross method. The results show that the average error for the DAS method 25.06% lower than that for the Cross method, indicating that the proposed method is more accurate, with fewer parameters and suitable for parallel computing.

  19. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    David Webb, a research physicist from the Institute for Scientific Research at Boston College speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington. The briefing was held to discuss new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth)

  20. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    Alysha Reinard, as research scientist with National Oceanic and Atmospheric Administration and the University of Colorado Boulder, speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington. The briefing was held to discusses new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth)

  1. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    Craig DeForest, second from left, speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington as Madhulika Guhathakurta, left, David Webb and Alysha Reinard look on. The briefing was held to discusses new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth)

  2. STEREO Press Briefing

    NASA Image and Video Library

    2011-08-17

    Craig DeForest, a staff scientist at the Southwest Research Institute in Boulder, Colo., speaks during a press briefing, Thursday, Aug. 18, 2011, at NASA Headquarters in Washington. The briefing was held to discusses new details about the structure of solar storms and the impact they have on Earth. The new information comes from NASA's Solar Terrestrial Relations Observatory, or STEREO, spacecraft and other NASA probes. Photo Credit: (NASA/GSFC/Rebecca Roth)

  3. Stereo and Solar Cycle 24

    NASA Technical Reports Server (NTRS)

    Kaise,r Michael L.

    2008-01-01

    The twin STEREO spacecrafi, launched in October 2006, are in heliocentric orbits near 4 AU with one spacecraft (Ahead) leading Earth in its orbit around the Sun and the other (Behind) trailing Earth. As viewed from the Sun, the STEREO spacecraft are continually separating from one another at about 45 degrees per year with Earth biseding the angle. At present, th@spaser=raft are a bit more than 45 degrees apart, thus they are able to each 'vie@ ground the limb's of the Sun by about 23 degrees, corresponding to about 1.75 days of solar rotation. Both spameraft contain an identical set of instruments including an extreme ultraviolet imager, two white light coronagraphs, tws all-sky imagers, a wide selection of energetic particle detectors, a magnetometer and a radio burst tracker. A snapshot of the real time data is continually broadcast to NOW-managed ground stations and this small stream of data is immediately sent to the STEREO Science Center and converted into useful space weather data within 5 minutes of ground receipt. The resulting images, particle, magnetometer and radio astronomy plots are available at j g i t , : gAs timqe conting ues ijnto . g solar cycle 24, the separation angle becomes 90 degrees in early 2009 and 180 degrees in early 201 1 as the activity heads toward maximum. By the time of solar maximum, STEREO will provide for the first time a view of the entire Sun with the mronagraphs and e*reme ultraviolet instruments. This view wilt allow us to follow the evolution of active regions continuously and also detect new active regions long before they pose a space weather threat to Earth. The in situ instruments will be able to provide about 7 days advanced notice of co-rotating structures in the solar wind. During this same intewal near solar maximum, the wide-angle imagers on STEREB will both be ;able to view EarlCP-dirsted CMEs in their plane-oPsky. When combined with Eat-lhorbiting assets available at that time, it seems solar cycle 24 will mark a

  4. Reversed stereo depth and motion direction with anti-correlated stimuli.

    PubMed

    Read, J C; Eagle, R A

    2000-01-01

    We used anti-correlated stimuli to compare the correspondence problem in stereo and motion. Subjects performed a two-interval forced-choice disparity/motion direction discrimination task for different displacements. For anti-correlated 1d band-pass noise, we found weak reversed depth and motion. With 2d anti-correlated stimuli, stereo performance was impaired, but the perception of reversed motion was enhanced. We can explain the main features of our data in terms of channels tuned to different spatial frequencies and orientation. We suggest that a key difference between the solution of the correspondence problem by the motion and stereo systems concerns the integration of information at different orientations.

  5. Intrepid Crater on Mars Stereo

    NASA Image and Video Library

    2010-11-18

    Intrepid crater on Mars carries the name of the lunar module of NASA Apollo 12 mission, which landed on Earth moon Nov. 19, 1969. NASA Mars Exploration Rover Opportunity recorded this stereo view on Nov. 11, 2010. 3D glasses are necessary.

  6. Burns Cliff in Color Stereo

    NASA Image and Video Library

    2006-07-10

    NASA Mars Exploration Rover Opportunity captured a sweeping stereo image of Burns Cliff after driving right to the base of this southeastern portion of the inner wall of Endurance Crater in November 2004. 3D glasses are necessary to view this image.

  7. Inexpensive driver for stereo videogame glasses

    NASA Astrophysics Data System (ADS)

    Pique, Michael; Coogan, Anthony

    1990-09-01

    We have adapted home videogame glasses from Sega as workstation stereo viewers. A small (4x7x9 cm.) box of electronics receives sync signals in parallel with the monitor (either separate ROB-Sync or composite video) and drives the glasses.The view is dimmer than with costlier shutters, there is more ghosting, and the user is feuered by the wires. But the glasses are so much cheaper than the full-screen shutters (250 instead of about 10 000) that it is practical to provide the benefits of stereo to many more workstation users. We are using them with Sun TAAC-1 workstations; the interlaced video can also be recorded on ordinary NTSC videotape and played on television monitors.

  8. Joint histogram-based cost aggregation for stereo matching.

    PubMed

    Min, Dongbo; Lu, Jiangbo; Do, Minh N

    2013-10-01

    This paper presents a novel method for performing efficient cost aggregation in stereo matching. The cost aggregation problem is reformulated from the perspective of a histogram, giving us the potential to reduce the complexity of the cost aggregation in stereo matching significantly. Differently from previous methods which have tried to reduce the complexity in terms of the size of an image and a matching window, our approach focuses on reducing the computational redundancy that exists among the search range, caused by a repeated filtering for all the hypotheses. Moreover, we also reduce the complexity of the window-based filtering through an efficient sampling scheme inside the matching window. The tradeoff between accuracy and complexity is extensively investigated by varying the parameters used in the proposed method. Experimental results show that the proposed method provides high-quality disparity maps with low complexity and outperforms existing local methods. This paper also provides new insights into complexity-constrained stereo-matching algorithm design.

  9. Discriminability limits in spatio-temporal stereo block matching.

    PubMed

    Jain, Ankit K; Nguyen, Truong Q

    2014-05-01

    Disparity estimation is a fundamental task in stereo imaging and is a well-studied problem. Recently, methods have been adapted to the video domain where motion is used as a matching criterion to help disambiguate spatially similar candidates. In this paper, we analyze the validity of the underlying assumptions of spatio-temporal disparity estimation, and determine the extent to which motion aids the matching process. By analyzing the error signal for spatio-temporal block matching under the sum of squared differences criterion and treating motion as a stochastic process, we determine the probability of a false match as a function of image features, motion distribution, image noise, and number of frames in the spatio-temporal patch. This performance quantification provides insight into when spatio-temporal matching is most beneficial in terms of the scene and motion, and can be used as a guide to select parameters for stereo matching algorithms. We validate our results through simulation and experiments on stereo video.

  10. Three-camera stereo vision for intelligent transportation systems

    NASA Astrophysics Data System (ADS)

    Bergendahl, Jason; Masaki, Ichiro; Horn, Berthold K. P.

    1997-02-01

    A major obstacle in the application of stereo vision to intelligent transportation system is high computational cost. In this paper, a PC based three-camera stereo vision system constructed with off-the-shelf components is described. The system serves as a tool for developing and testing robust algorithms which approach real-time performance. We present an edge based, subpixel stereo algorithm which is adapted to permit accurate distance measurements to objects in the field of view using a compact camera assembly. Once computed, the 3D scene information may be directly applied to a number of in-vehicle applications, such as adaptive cruise control, obstacle detection, and lane tracking. Moreover, since the largest computational costs is incurred in generating the 3D scene information, multiple applications that leverage this information can be implemented in a single system with minimal cost. On-road applications, such as vehicle counting and incident detection, are also possible. Preliminary in-vehicle road trial results are presented.

  11. Stereo reconstruction from multiperspective panoramas.

    PubMed

    Li, Yin; Shum, Heung-Yeung; Tang, Chi-Keung; Szeliski, Richard

    2004-01-01

    A new approach to computing a panoramic (360 degrees) depth map is presented in this paper. Our approach uses a large collection of images taken by a camera whose motion has been constrained to planar concentric circles. We resample regular perspective images to produce a set of multiperspective panoramas and then compute depth maps directly from these resampled panoramas. Our panoramas sample uniformly in three dimensions: rotation angle, inverse radial distance, and vertical elevation. The use of multiperspective panoramas eliminates the limited overlap present in the original input images and, thus, problems as in conventional multibaseline stereo can be avoided. Our approach differs from stereo matching of single-perspective panoramic images taken from different locations, where the epipolar constraints are sine curves. For our multiperspective panoramas, the epipolar geometry, to the first order approximation, consists of horizontal lines. Therefore, any traditional stereo algorithm can be applied to multiperspective panoramas with little modification. In this paper, we describe two reconstruction algorithms. The first is a cylinder sweep algorithm that uses a small number of resampled multiperspective panoramas to obtain dense 3D reconstruction. The second algorithm, in contrast, uses a large number of multiperspective panoramas and takes advantage of the approximate horizontal epipolar geometry inherent in multiperspective panoramas. It comprises a novel and efficient 1D multibaseline matching technique, followed by tensor voting to extract the depth surface. Experiments show that our algorithms are capable of producing comparable high quality depth maps which can be used for applications such as view interpolation.

  12. An Integrated Calibration Technique for Stereo Vision Systems (PREPRINT)

    DTIC Science & Technology

    2010-03-01

    technique for stereo vision systems has been developed. To demonstrate and evaluate this calibration technique, multiple Wii Remotes (Wiimotes) from Nintendo ...from Nintendo were used to form stereo vision systems to perform 3D motion capture in real time. This integrated technique is a two-step process...Wiimotes) used in Nintendo Wii games. Many researchers have successfully dealt with the problem of camera calibration by taking images from a 2D

  13. MISR Stereo-heights of Grassland Fire Smoke Plumes in Australia

    NASA Astrophysics Data System (ADS)

    Mims, S. R.; Kahn, R. A.; Moroney, C. M.; Gaitley, B. J.; Nelson, D. L.; Garay, M. J.

    2008-12-01

    Plume heights from wildfires are used in climate modeling to predict and understand trends in aerosol transport. This study examines whether smoke from grassland fires in the desert region of Western and central Australia ever rises above the relatively stable atmospheric boundary layer and accumulates in higher layers of relative atmospheric stability. Several methods for deriving plume heights from the Multi-angle Imaging SpectroRadiometer (MISR) instrument are examined for fire events during the summer 2000 and 2002 burning seasons. Using MISR's multi-angle stereo-imagery from its three near-nadir-viewing cameras, an automatic algorithm routinely derives the stereo-heights above the geoid of the level-of-maximum-contrast for the entire global data set, which often correspond to the heights of clouds and aerosol plumes. Most of the fires that occur in the cases studied here are small, diffuse, and difficult to detect. To increase the signal from these thin hazes, the MISR enhanced stereo product that computes stereo heights from the most steeply viewing MISR cameras is used. For some cases, a third approach to retrieving plume heights from MISR stereo imaging observations, the MISR Interactive Explorer (MINX) tool, is employed to help differentiate between smoke and cloud. To provide context and to search for correlative factors, stereo-heights are combined with data providing fire strength from the Moderate-resolution Imaging Spectroradiometer (MODIS) instrument, atmospheric structure from the NCEP/NCAR Reanalysis Project, surface cover from the Australia National Vegetation Information System, and forward and backward trajectories from the NOAA HYSPLIT model. Although most smoke plumes concentrate in the near-surface boundary layer, as expected, some appear to rise higher. These findings suggest that a closer examination of grassland fire energetics may be warranted.

  14. Accuracy aspects of stereo side-looking radar. [analysis of its visual perception and binocular vision

    NASA Technical Reports Server (NTRS)

    Leberl, F. W.

    1979-01-01

    The geometry of the radar stereo model and factors affecting visual radar stereo perception are reviewed. Limits to the vertical exaggeration factor of stereo radar are defined. Radar stereo model accuracies are analyzed with respect to coordinate errors caused by errors of radar sensor position and of range, and with respect to errors of coordinate differences, i.e., cross-track distances and height differences.

  15. Design of interpolation functions for subpixel-accuracy stereo-vision systems.

    PubMed

    Haller, Istvan; Nedevschi, Sergiu

    2012-02-01

    Traditionally, subpixel interpolation in stereo-vision systems was designed for the block-matching algorithm. During the evaluation of different interpolation strategies, a strong correlation was observed between the type of the stereo algorithm and the subpixel accuracy of the different solutions. Subpixel interpolation should be adapted to each stereo algorithm to achieve maximum accuracy. In consequence, it is more important to propose methodologies for interpolation function generation than specific function shapes. We propose two such methodologies based on data generated by the stereo algorithms. The first proposal uses a histogram to model the environment and applies histogram equalization to an existing solution adapting it to the data. The second proposal employs synthetic images of a known environment and applies function fitting to the resulted data. The resulting function matches the algorithm and the data as best as possible. An extensive evaluation set is used to validate the findings. Both real and synthetic test cases were employed in different scenarios. The test results are consistent and show significant improvements compared with traditional solutions. © 2011 IEEE

  16. Depth-Based Selective Blurring in Stereo Images Using Accelerated Framework

    NASA Astrophysics Data System (ADS)

    Mukherjee, Subhayan; Guddeti, Ram Mohana Reddy

    2014-09-01

    We propose a hybrid method for stereo disparity estimation by combining block and region-based stereo matching approaches. It generates dense depth maps from disparity measurements of only 18 % image pixels (left or right). The methodology involves segmenting pixel lightness values using fast K-Means implementation, refining segment boundaries using morphological filtering and connected components analysis; then determining boundaries' disparities using sum of absolute differences (SAD) cost function. Complete disparity maps are reconstructed from boundaries' disparities. We consider an application of our method for depth-based selective blurring of non-interest regions of stereo images, using Gaussian blur to de-focus users' non-interest regions. Experiments on Middlebury dataset demonstrate that our method outperforms traditional disparity estimation approaches using SAD and normalized cross correlation by up to 33.6 % and some recent methods by up to 6.1 %. Further, our method is highly parallelizable using CPU-GPU framework based on Java Thread Pool and APARAPI with speed-up of 5.8 for 250 stereo video frames (4,096 × 2,304).

  17. Utility of Digital Stereo Images for Optic Disc Evaluation

    PubMed Central

    Ying, Gui-shuang; Pearson, Denise J.; Bansal, Mayank; Puri, Manika; Miller, Eydie; Alexander, Judith; Piltz-Seymour, Jody; Nyberg, William; Maguire, Maureen G.; Eledath, Jayan; Sawhney, Harpreet

    2010-01-01

    Purpose. To assess the suitability of digital stereo images for optic disc evaluations in glaucoma. Methods. Stereo color optic disc images in both digital and 35-mm slide film formats were acquired contemporaneously from 29 subjects with various cup-to-disc ratios (range, 0.26–0.76; median, 0.475). Using a grading scale designed to assess image quality, the ease of visualizing optic disc features important for glaucoma diagnosis, and the comparative diameters of the optic disc cup, experienced observers separately compared the primary digital stereo images to each subject's 35-mm slides, to scanned images of the same 35-mm slides, and to grayscale conversions of the digital images. Statistical analysis accounted for multiple gradings and comparisons and also assessed image formats under monoscopic viewing. Results. Overall, the quality of primary digital color images was judged superior to that of 35-mm slides (P < 0.001), including improved stereo (P < 0.001), but the primary digital color images were mostly equivalent to the scanned digitized images of the same slides. Color seemingly added little to grayscale optic disc images, except that peripapillary atrophy was best seen in color (P < 0.0001); both the nerve fiber layer (P < 0.0001) and the paths of blood vessels on the optic disc (P < 0.0001) were best seen in grayscale. The preference for digital over film images was maintained under monoscopic viewing conditions. Conclusions. Digital stereo optic disc images are useful for evaluating the optic disc in glaucoma and allow the application of advanced image processing applications. Grayscale images, by providing luminance distinct from color, may be informative for assessing certain features. PMID:20505199

  18. Research on the feature set construction method for spherical stereo vision

    NASA Astrophysics Data System (ADS)

    Zhu, Junchao; Wan, Li; Röning, Juha; Feng, Weijia

    2015-01-01

    Spherical stereo vision is a kind of stereo vision system built by fish-eye lenses, which discussing the stereo algorithms conform to the spherical model. Epipolar geometry is the theory which describes the relationship of the two imaging plane in cameras for the stereo vision system based on perspective projection model. However, the epipolar in uncorrected fish-eye image will not be a line but an arc which intersects at the poles. It is polar curve. In this paper, the theory of nonlinear epipolar geometry will be explored and the method of nonlinear epipolar rectification will be proposed to eliminate the vertical parallax between two fish-eye images. Maximally Stable Extremal Region (MSER) utilizes grayscale as independent variables, and uses the local extremum of the area variation as the testing results. It is demonstrated in literatures that MSER is only depending on the gray variations of images, and not relating with local structural characteristics and resolution of image. Here, MSER will be combined with the nonlinear epipolar rectification method proposed in this paper. The intersection of the rectified epipolar and the corresponding MSER region is determined as the feature set of spherical stereo vision. Experiments show that this study achieved the expected results.

  19. Dent detection method by high gradation photometric stereo

    NASA Astrophysics Data System (ADS)

    Hasebe, Akihisa; Kato, Kunihito; Tanahashi, Hideki; Kubota, Naoki

    2017-03-01

    This paper describes an automatic detection method for small dents on a metal plate. We adopted the photometric stereo as a three-dimensional measurement method, which has advantages in terms of low cost and short measurement time. In addition, a high precision measurement system was realized by using an 18bit camera. Furthermore, the small dent on the surface of the metal plate is detected by the inner product of the measured normal vectors using photometric stereo. Finally, the effectiveness of our method was confirmed by detection experiments.

  20. Interactive stereo electron microscopy enhanced with virtual reality

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

    Bethel, E.Wes; Bastacky, S.Jacob; Schwartz, Kenneth S.

    2001-12-17

    An analytical system is presented that is used to take measurements of objects perceived in stereo image pairs obtained from a scanning electron microscope (SEM). Our system operates by presenting a single stereo view that contains stereo image data obtained from the SEM, along with geometric representations of two types of virtual measurement instruments, a ''protractor'' and a ''caliper''. The measurements obtained from this system are an integral part of a medical study evaluating surfactant, a liquid coating the inner surface of the lung which makes possible the process of breathing. Measurements of the curvature and contact angle of submicronmore » diameter droplets of a fluorocarbon deposited on the surface of airways are performed in order to determine surface tension of the air/liquid interface. This approach has been extended to a microscopic level from the techniques of traditional surface science by measuring submicrometer rather than millimeter diameter droplets, as well as the lengths and curvature of cilia responsible for movement of the surfactant, the airway's protective liquid blanket. An earlier implementation of this approach for taking angle measurements from objects perceived in stereo image pairs using a virtual protractor is extended in this paper to include distance measurements and to use a unified view model. The system is built around a unified view model that is derived from microscope-specific parameters, such as focal length, visible area and magnification. The unified view model ensures that the underlying view models and resultant binocular parallax cues are consistent between synthetic and acquired imagery. When the view models are consistent, it is possible to take measurements of features that are not constrained to lie within the projection plane. The system is first calibrated using non-clinical data of known size and resolution. Using the SEM, stereo image pairs of grids and spheres of known resolution are created to

  1. Type II Radio Bursts Observed by STEREO/Waves and Wind/Waves instruments

    NASA Astrophysics Data System (ADS)

    Krupar, V.; Magdalenic, J.; Zhukov, A.; Rodriguez, L.; Mierla, M.; Maksimovic, M.; Cecconi, B.; Santolik, O.

    2013-12-01

    Type II radio bursts are slow-drift emissions triggered by suprathermal electrons accelerated on shock fronts of propagating CMEs. We present several events at kilometric wavelengths observed by radio instruments onboard the STEREO and Wind spacecraft. The STEREO/Waves and Wind/Waves have goniopolarimetric (GP, also referred to as direction finding) capabilities that allow us to triangulate radio sources when an emission is observed by two or more spacecraft. As the GP inversion has high requirements on the signal-to-noise ratio we only have a few type II radio bursts with sufficient intensity for this analysis. We have compared obtained radio sources with white-light observations of STEREO/COR and STEREO/HI instruments. Our preliminary results indicate that radio sources are located at flanks of propagating CMEs.

  2. Using terrestrial stereo photography to interpret changes in tree quality characteristics

    Treesearch

    David L. Sonderman

    1980-01-01

    A technique is described for using stereo photography to evaluate tree quality changes over time. Stereo pairs were taken four times over an 18-year period. All four faces of the selected trees were photographed. Individual defect changes are shown for young upland white oak trees.

  3. Analysis and design of stereoscopic display in stereo television endoscope system

    NASA Astrophysics Data System (ADS)

    Feng, Dawei

    2008-12-01

    Many 3D displays have been proposed for medical use. When we design and evaluate new system, there are three demands from surgeons. Priority is the precision. Secondly, displayed images should be easy to understand, In addition, surgery lasts hours and hours, they do not like fatiguing display. The stereo television endoscope researched in this paper make celiac viscera image on the photosurface of the left and right CCD by imitating human binocular stereo vision effect by using the double-optical lines system. The left and right video signal will be processed by frequency multiplication and display on the monitor, people can observe the stereo image which has depth impression by using a polarized LCD screen and a pair of polarized glasses. Clinical experiments show that by using the stereo TV endoscope people can make minimally invasive surgery more safe and reliable, and can shorten the operation time, and can improve the operation accuracy.

  4. SAD5 Stereo Correlation Line-Striping in an FPGA

    NASA Technical Reports Server (NTRS)

    Villalpando, Carlos Y.; Morfopoulos, Arin C.

    2011-01-01

    High precision SAD5 stereo computations can be performed in an FPGA (field-programmable gate array) at much higher speeds than possible in a conventional CPU (central processing unit), but this uses large amounts of FPGA resources that scale with image size. Of the two key resources in an FPGA, Slices and BRAM (block RAM), Slices scale linearly in the new algorithm with image size, and BRAM scales quadratically with image size. An approach was developed to trade latency for BRAM by sub-windowing the image vertically into overlapping strips and stitching the outputs together to create a single continuous disparity output. In stereo, the general rule of thumb is that the disparity search range must be 1/10 the image size. In the new algorithm, BRAM usage scales linearly with disparity search range and scales again linearly with line width. So a doubling of image size, say from 640 to 1,280, would in the previous design be an effective 4 of BRAM usage: 2 for line width, 2 again for disparity search range. The minimum strip size is twice the search range, and will produce an output strip width equal to the disparity search range. So assuming a disparity search range of 1/10 image width, 10 sequential runs of the minimum strip size would produce a full output image. This approach allowed the innovators to fit 1280 960 wide SAD5 stereo disparity in less than 80 BRAM, 52k Slices on a Virtex 5LX330T, 25% and 24% of resources, respectively. Using a 100-MHz clock, this build would perform stereo at 39 Hz. Of particular interest to JPL is that there is a flight qualified version of the Virtex 5: this could produce stereo results even for very large image sizes at 3 orders of magnitude faster than could be computed on the PowerPC 750 flight computer. The work covered in the report allows the stereo algorithm to run on much larger images than before, and using much less BRAM. This opens up choices for a smaller flight FPGA (which saves power and space), or for other algorithms

  5. After Conquering 'Husband Hill,' Spirit Moves On (Stereo)

    NASA Technical Reports Server (NTRS)

    2005-01-01

    [figure removed for brevity, see original site] Left-eye view of a stereo pair for PIA03062

    [figure removed for brevity, see original site] Right-eye view of a stereo pair for PIA03062

    The first explorer ever to scale a summit on another planet, NASA's Mars Exploration Rover Spirit has begun a long trek downward from the top of 'Husband Hill' to new destinations. As shown in this 180-degree panorama from east of the summit, Spirit's earlier tracks are no longer visible. They are off to the west (to the left in this view). Spirit's next destination is 'Haskin Ridge,' straight ahead along the edge of the steep cliff on the right side of this panorama.

    The scene is a mosaic of images that Spirit took with the navigation camera on the rover's 635th Martian day, or sol, (Oct. 16, 2005) of exploration of Gusev Crater on Mars. This stereo view is presented in a cylindrical-perspective projection with geometric seam correction.

  6. Relation Between Type II Bursts and CMEs Inferred from STEREO Observations

    NASA Technical Reports Server (NTRS)

    Gopalswamy, N.; Thompson, W.; Davila, J.; Kaiser, M. L.; Yashiro, S.; Maekelae, P.; Michalek, G.; Bougeret, J.-L.; Hoawrd, R. A.

    2010-01-01

    The inner coronagraph (COR1) of the Solar Terrestrial Relations Observatory (STEREO) mission has made it possible to observe coronal mass ejections (CMEs) a in the spatial domain overlapping with that of the metric type II radio bursts. The type II bursts were associated with generally weak flares (mostly B and C class soft X-ray flares), but the CMEs were quite energetic. Using CME data for a set of type II bursts during the declining phase of solar cycle 23, we determine the CME height when the type II bursts start, thus giving an estimate of the heliocentric distance at which CME-driven shocks form. This distance has been determined to be approximately 1.5Rs (solar radii), which coincides with the distance at which the Alfv?n speed profile has a minimum value. We also use type II radio observations from STEREO/WAVES and Wind/WAVES observations to show that CMEs with moderate speed drive either weak shocks or no shock at all when they attain a height where the Alfv?n speed peaks (?3Rs ? 4Rs). Thus the shocks seem to be most efficient in accelerating electrons in the heliocentric distance range of 1.5Rs to 4Rs. By combining the radial variation of the CME speed in the inner corona (CME speed increase) and interplanetary medium (speed decrease) we were able to correctly account for the deviations from the universal drift-rate spectrum of type II bursts, thus confirming the close physical connection between type II bursts and CMEs. The average height (approximately 1.5 Rs) of STEREO CMEs at the time of type II bursts is smaller than that (2.2 Rs) obtained for SOHO (Solar and Heliospheric Observatory) CMEs. We suggest that this may indicate, at least partly, the density reduction in the corona between the maximum and declining phases, so a given plasma level occurs closer to the Sun in the latter phase. In two cases, there was a diffuse shock-like feature ahead of the main body of the CME, indicating a standoff distance of 1Rs - 2Rs by the time the CME left the LASCO

  7. Relation Between Type II Bursts and CMEs Inferred from STEREO Observations

    NASA Technical Reports Server (NTRS)

    Gopalswamy, N.; Thompson, W.; Davila, J.; Kaiser, M.; Yashiro, S.; Maelekae, P.; Michalek, G.; Bougret, J.-L.; Howard, R. A.

    2009-01-01

    The inner coronagraph (COR1) of the Solar Terrestrial Relations Observatory (STEREO) mission has made it possible to observe CMEs in the spatial domain overlapping with that of the metric type II radio bursts. The type II bursts were associated with generally weak flares (mostly B and C class soft X-ray flares), but the CMEs were quite energetic. Using CME data for a set of type II bursts during the declining phase of solar cycle 23, we determine the CME height when the type II bursts start, thus giving an estimate of the heliocentric distance at which CME-driven shocks form. This distance has been determined to be approx. 1.5Rs (solar radii), which coincides with the distance at which the Alfven speed profile has a minimum value.We also use type II radio observations from STEREO/WAVES and Wind/WAVES observations to show that CMEs with moderate speed drive either weak shocks or no shock at all when they attain a height where the Alfven speed peaks (approx. 3Rs - 4Rs). Thus the shocks seem to be most efficient in accelerating electrons in the heliocentric distance range of 1.5Rs to 4Rs. By combining the radial variation of the CME speed in the inner corona (CME speed increase) and interplanetary medium (speed decrease) we were able to correctly account for the deviations from the universal drift-rate spectrum of type II bursts, thus confirming the close physical connection between type II bursts and CMEs. The average height (approx 1.5Rs) of STEREO CMEs at the time of type II bursts is smaller than that (2.2Rs) obtained for SOHO (Solar and Heliospheric Observatory) CMEs. We suggest that this may indicate, at least partly, the density reduction in the corona between the maximum and declining phases, so a given plasma level occurs closer to the Sun in the latter phase. In two cases, there was a diffuse shock-like feature ahead of the main body of the CME, indicating a standoff distance of 1Rs - 2Rs by the time the CME left the LASCO field of view.

  8. Visual homing with a pan-tilt based stereo camera

    NASA Astrophysics Data System (ADS)

    Nirmal, Paramesh; Lyons, Damian M.

    2013-01-01

    Visual homing is a navigation method based on comparing a stored image of the goal location and the current image (current view) to determine how to navigate to the goal location. It is theorized that insects, such as ants and bees, employ visual homing methods to return to their nest. Visual homing has been applied to autonomous robot platforms using two main approaches: holistic and feature-based. Both methods aim at determining distance and direction to the goal location. Navigational algorithms using Scale Invariant Feature Transforms (SIFT) have gained great popularity in the recent years due to the robustness of the feature operator. Churchill and Vardy have developed a visual homing method using scale change information (Homing in Scale Space, HiSS) from SIFT. HiSS uses SIFT feature scale change information to determine distance between the robot and the goal location. Since the scale component is discrete with a small range of values, the result is a rough measurement with limited accuracy. We have developed a method that uses stereo data, resulting in better homing performance. Our approach utilizes a pan-tilt based stereo camera, which is used to build composite wide-field images. We use the wide-field images combined with stereo-data obtained from the stereo camera to extend the keypoint vector described in to include a new parameter, depth (z). Using this info, our algorithm determines the distance and orientation from the robot to the goal location. We compare our method with HiSS in a set of indoor trials using a Pioneer 3-AT robot equipped with a BumbleBee2 stereo camera. We evaluate the performance of both methods using a set of performance measures described in this paper.

  9. The zone of comfort: Predicting visual discomfort with stereo displays.

    PubMed

    Shibata, Takashi; Kim, Joohwan; Hoffman, David M; Banks, Martin S

    2011-07-21

    Recent increased usage of stereo displays has been accompanied by public concern about potential adverse effects associated with prolonged viewing of stereo imagery. There are numerous potential sources of adverse effects, but we focused on how vergence-accommodation conflicts in stereo displays affect visual discomfort and fatigue. In one experiment, we examined the effect of viewing distance on discomfort and fatigue. We found that conflicts of a given dioptric value were slightly less comfortable at far than at near distance. In a second experiment, we examined the effect of the sign of the vergence-accommodation conflict on discomfort and fatigue. We found that negative conflicts (stereo content behind the screen) are less comfortable at far distances and that positive conflicts (content in front of screen) are less comfortable at near distances. In a third experiment, we measured phoria and the zone of clear single binocular vision, which are clinical measurements commonly associated with correcting refractive error. Those measurements predicted susceptibility to discomfort in the first two experiments. We discuss the relevance of these findings for a wide variety of situations including the viewing of mobile devices, desktop displays, television, and cinema.

  10. The zone of comfort: Predicting visual discomfort with stereo displays

    PubMed Central

    Shibata, Takashi; Kim, Joohwan; Hoffman, David M.; Banks, Martin S.

    2012-01-01

    Recent increased usage of stereo displays has been accompanied by public concern about potential adverse effects associated with prolonged viewing of stereo imagery. There are numerous potential sources of adverse effects, but we focused on how vergence–accommodation conflicts in stereo displays affect visual discomfort and fatigue. In one experiment, we examined the effect of viewing distance on discomfort and fatigue. We found that conflicts of a given dioptric value were slightly less comfortable at far than at near distance. In a second experiment, we examined the effect of the sign of the vergence–accommodation conflict on discomfort and fatigue. We found that negative conflicts (stereo content behind the screen) are less comfortable at far distances and that positive conflicts (content in front of screen) are less comfortable at near distances. In a third experiment, we measured phoria and the zone of clear single binocular vision, which are clinical measurements commonly associated with correcting refractive error. Those measurements predicted susceptibility to discomfort in the first two experiments. We discuss the relevance of these findings for a wide variety of situations including the viewing of mobile devices, desktop displays, television, and cinema. PMID:21778252

  11. Detecting personnel around UGVs using stereo vision

    NASA Astrophysics Data System (ADS)

    Bajracharya, Max; Moghaddam, Baback; Howard, Andrew; Matthies, Larry H.

    2008-04-01

    Detecting people around unmanned ground vehicles (UGVs) to facilitate safe operation of UGVs is one of the highest priority issues in the development of perception technology for autonomous navigation. Research to date has not achieved the detection ranges or reliability needed in deployed systems to detect upright pedestrians in flat, relatively uncluttered terrain, let alone in more complex environments and with people in postures that are more difficult to detect. Range data is essential to solve this problem. Combining range data with high resolution imagery may enable higher performance than range data alone because image appearance can complement shape information in range data and because cameras may offer higher angular resolution than typical range sensors. This makes stereo vision a promising approach for several reasons: image resolution is high and will continue to increase, the physical size and power dissipation of the cameras and computers will continue to decrease, and stereo cameras provide range data and imagery that are automatically spatially and temporally registered. We describe a stereo vision-based pedestrian detection system, focusing on recent improvements to a shape-based classifier applied to the range data, and present frame-level performance results that show great promise for the overall approach.

  12. WASS: an open-source stereo processing pipeline for sea waves 3D reconstruction

    NASA Astrophysics Data System (ADS)

    Bergamasco, Filippo; Benetazzo, Alvise; Torsello, Andrea; Barbariol, Francesco; Carniel, Sandro; Sclavo, Mauro

    2017-04-01

    Stereo 3D reconstruction of ocean waves is gaining more and more popularity in the oceanographic community. In fact, recent advances of both computer vision algorithms and CPU processing power can now allow the study of the spatio-temporal wave fields with unprecedented accuracy, especially at small scales. Even if simple in theory, multiple details are difficult to be mastered for a practitioner so that the implementation of a 3D reconstruction pipeline is in general considered a complex task. For instance, camera calibration, reliable stereo feature matching and mean sea-plane estimation are all factors for which a well designed implementation can make the difference to obtain valuable results. For this reason, we believe that the open availability of a well-tested software package that automates the steps from stereo images to a 3D point cloud would be a valuable addition for future researches in this area. We present WASS, a completely Open-Source stereo processing pipeline for sea waves 3D reconstruction, available at http://www.dais.unive.it/wass/. Our tool completely automates the recovery of dense point clouds from stereo images by providing three main functionalities. First, WASS can automatically recover the extrinsic parameters of the stereo rig (up to scale) so that no delicate calibration has to be performed on the field. Second, WASS implements a fast 3D dense stereo reconstruction procedure so that an accurate 3D point cloud can be computed from each stereo pair. We rely on the well-consolidated OpenCV library both for the image stereo rectification and disparity map recovery. Lastly, a set of 2D and 3D filtering techniques both on the disparity map and the produced point cloud are implemented to remove the vast majority of erroneous points that can naturally arise while analyzing the optically complex nature of the water surface (examples are sun-glares, large white-capped areas, fog and water areosol, etc). Developed to be as fast as possible, WASS

  13. A Stereo Music Preprocessing Scheme for Cochlear Implant Users.

    PubMed

    Buyens, Wim; van Dijk, Bas; Wouters, Jan; Moonen, Marc

    2015-10-01

    Listening to music is still one of the more challenging aspects of using a cochlear implant (CI) for most users. Simple musical structures, a clear rhythm/beat, and lyrics that are easy to follow are among the top factors contributing to music appreciation for CI users. Modifying the audio mix of complex music potentially improves music enjoyment in CI users. A stereo music preprocessing scheme is described in which vocals, drums, and bass are emphasized based on the representation of the harmonic and the percussive components in the input spectrogram, combined with the spatial allocation of instruments in typical stereo recordings. The scheme is assessed with postlingually deafened CI subjects (N = 7) using pop/rock music excerpts with different complexity levels. The scheme is capable of modifying relative instrument level settings, with the aim of improving music appreciation in CI users, and allows individual preference adjustments. The assessment with CI subjects confirms the preference for more emphasis on vocals, drums, and bass as offered by the preprocessing scheme, especially for songs with higher complexity. The stereo music preprocessing scheme has the potential to improve music enjoyment in CI users by modifying the audio mix in widespread (stereo) music recordings. Since music enjoyment in CI users is generally poor, this scheme can assist the music listening experience of CI users as a training or rehabilitation tool.

  14. A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system

    NASA Astrophysics Data System (ADS)

    Ge, Zhuo; Zhu, Ying; Liang, Guanhao

    2017-01-01

    To provide 3D environment information for the quadruped robot autonomous navigation system during walking through rough terrain, based on the stereo vision, a novel 3D terrain reconstruction method is presented. In order to solve the problem that images collected by stereo sensors have large regions with similar grayscale and the problem that image matching is poor at real-time performance, watershed algorithm and fuzzy c-means clustering algorithm are combined for contour extraction. Aiming at the problem of error matching, duel constraint with region matching and pixel matching is established for matching optimization. Using the stereo matching edge pixel pairs, the 3D coordinate algorithm is estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield high stereo matching ratio and reconstruct 3D scene quickly and efficiently.

  15. Opportunity Surroundings on Sol 1687 Stereo

    NASA Image and Video Library

    2009-01-05

    NASA Mars Exploration Rover Opportunity combined images into this stereo, 360-degree view of the rover surroundings on Oct. 22, 2008. Opportunity position was about 300 meters southwest of Victoria. 3D glasses are necessary to view this image.

  16. Solar wind parameteres and disturbances in STEREO view

    NASA Astrophysics Data System (ADS)

    Opitz, Andrea

    2017-04-01

    The twin STEREO spacecraft provided two vantage point solar wind observations between 2007 and 2014. Instrumentation of the STEREO A and B spacecraft is very nearly identical, hence their measurements are easily comparable. These measurements are visualised and treated with different methods in order to obtain a global view of the in-ecliptic background solar wind and the disturbances such as CIRs and CMEs. Comparison of the two datasets and exclusion of spatial effects provides information on the in-ecliptic solar wind structure in the inner heliosphere. These methods and results will be revised in this paper.

  17. Combined DEM Extration Method from StereoSAR and InSAR

    NASA Astrophysics Data System (ADS)

    Zhao, Z.; Zhang, J. X.; Duan, M. Y.; Huang, G. M.; Yang, S. C.

    2015-06-01

    A pair of SAR images acquired from different positions can be used to generate digital elevation model (DEM). Two techniques exploiting this characteristic have been introduced: stereo SAR and interferometric SAR. They permit to recover the third dimension (topography) and, at the same time, to identify the absolute position (geolocation) of pixels included in the imaged area, thus allowing the generation of DEMs. In this paper, StereoSAR and InSAR combined adjustment model are constructed, and unify DEM extraction from InSAR and StereoSAR into the same coordinate system, and then improve three dimensional positioning accuracy of the target. We assume that there are four images 1, 2, 3 and 4. One pair of SAR images 1,2 meet the required conditions for InSAR technology, while the other pair of SAR images 3,4 can form stereo image pairs. The phase model is based on InSAR rigorous imaging geometric model. The master image 1 and the slave image 2 will be used in InSAR processing, but the slave image 2 is only used in the course of establishment, and the pixels of the slave image 2 are relevant to the corresponding pixels of the master image 1 through image coregistration coefficient, and it calculates the corresponding phase. It doesn't require the slave image in the construction of the phase model. In Range-Doppler (RD) model, the range equation and Doppler equation are a function of target geolocation, while in the phase equation, the phase is also a function of target geolocation. We exploit combined adjustment model to deviation of target geolocation, thus the problem of target solution is changed to solve three unkonwns through seven equations. The model was tested for DEM extraction under spaceborne InSAR and StereoSAR data and compared with InSAR and StereoSAR methods respectively. The results showed that the model delivered a better performance on experimental imagery and can be used for DEM extraction applications.

  18. Solar Terrestrial Relations Observatory (STEREO)

    NASA Technical Reports Server (NTRS)

    Davila, Joseph M.; SaintCyr, O. C.

    2003-01-01

    The solar magnetic field is constantly generated beneath the surface of the Sun by the solar dynamo. To balance this flux generation, there is constant dissipation of magnetic flux at and above the solar surface. The largest phenomenon associated with this dissipation is the Coronal Mass Ejection (CME). The Solar and Heliospheric Observatory (SOHO) has provided remarkable views of the corona and CMEs, and served to highlight how these large interplanetary disturbances can have terrestrial consequences. STEREO is the next logical step to study the physics of CME origin, propagation, and terrestrial effects. Two spacecraft with identical instrument complements will be launched on a single launch vehicle in November 2007. One spacecraft will drift ahead and the second behind the Earth at a separation rate of 22 degrees per year. Observation from these two vantage points will for the first time allow the observation of the three-dimensional structure of CMEs and the coronal structures where they originate. Each STEREO spacecraft carries a complement of 10 instruments, which include (for the first time) an extensive set of both remote sensing and in-situ instruments. The remote sensing suite is capable of imaging CMEs from the solar surface out to beyond Earth's orbit (1 AU), and in-situ instruments are able to measure distribution functions for electrons, protons, and ions over a broad energy range, from the normal thermal solar wind plasma to the most energetic solar particles. It is anticipated that these studies will ultimately lead to an increased understanding of the CME process and provide unique observations of the flow of energy from the corona to the near-Earth environment. An international research program, the International Heliophysical Year (IHY) will provide a framework for interpreting STEREO data in the context of global processes in the Sun-Earth system.

  19. Novel Descattering Approach for Stereo Vision in Dense Suspended Scatterer Environments

    PubMed Central

    Nguyen, Chanh D. Tr.; Park, Jihyuk; Cho, Kyeong-Yong; Kim, Kyung-Soo; Kim, Soohyun

    2017-01-01

    In this paper, we propose a model-based scattering removal method for stereo vision for robot manipulation in indoor scattering media where the commonly used ranging sensors are unable to work. Stereo vision is an inherently ill-posed and challenging problem. It is even more difficult in the case of images of dense fog or dense steam scenes illuminated by active light sources. Images taken in such environments suffer attenuation of object radiance and scattering of the active light sources. To solve this problem, we first derive the imaging model for images taken in a dense scattering medium with a single active illumination close to the cameras. Based on this physical model, the non-uniform backscattering signal is efficiently removed. The descattered images are then utilized as the input images of stereo vision. The performance of the method is evaluated based on the quality of the depth map from stereo vision. We also demonstrate the effectiveness of the proposed method by carrying out the real robot manipulation task. PMID:28629139

  20. 3D optic disc reconstruction via a global fundus stereo algorithm.

    PubMed

    Bansal, M; Sizintsev, M; Eledath, J; Sawhney, H; Pearson, D J; Stone, R A

    2013-01-01

    This paper presents a novel method to recover 3D structure of the optic disc in the retina from two uncalibrated fundus images. Retinal images are commonly uncalibrated when acquired clinically, creating rectification challenges as well as significant radiometric and blur differences within the stereo pair. By exploiting structural peculiarities of the retina, we modified the Graph Cuts computational stereo method (one of current state-of-the-art methods) to yield a high quality algorithm for fundus stereo reconstruction. Extensive qualitative and quantitative experimental evaluation (where OCT scans are used as 3D ground truth) on our and publicly available datasets shows the superiority of the proposed method in comparison to other alternatives.

  1. 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.

  2. Effects of MeJA on Arabidopsis metabolome under endogenous JA deficiency

    NASA Astrophysics Data System (ADS)

    Cao, Jingjing; Li, Mengya; Chen, Jian; Liu, Pei; Li, Zhen

    2016-11-01

    Jasmonates (JAs) play important roles in plant growth, development and defense. Comprehensive metabolomics profiling of plants under JA treatment provides insights into the interaction and regulation network of plant hormones. Here we applied high resolution mass spectrometry based metabolomics approach on Arabidopsis wild type and JA synthesis deficiency mutant opr3. The effects of exogenous MeJA treatment on the metabolites of opr3 were investigated. More than 10000 ion signals were detected and more than 2000 signals showed significant variation in different genotypes and treatment groups. Multivariate statistic analyses (PCA and PLS-DA) were performed and a differential compound library containing 174 metabolites with high resolution precursor ion-product ions pairs was obtained. Classification and pathway analysis of 109 identified compounds in this library showed that glucosinolates and tryptophan metabolism, amino acids and small peptides metabolism, lipid metabolism, especially fatty acyls metabolism, were impacted by endogenous JA deficiency and exogenous MeJA treatment. These results were further verified by quantitative reverse transcription PCR (RT-qPCR) analysis of 21 related genes involved in the metabolism of glucosinolates, tryptophan and α-linolenic acid pathways. The results would greatly enhance our understanding of the biological functions of JA.

  3. STEREO Superior Solar Conjunction Mission Phase

    NASA Technical Reports Server (NTRS)

    Ossing, Daniel A.; Wilson, Daniel; Balon, Kevin; Hunt, Jack; Dudley, Owen; Chiu, George; Coulter, Timothy; Reese, Angel; Cox, Matthew; Srinivasan, Dipak; hide

    2017-01-01

    With its long duration and high gain antenna (HGA) feed thermal constraint; the NASA Solar-TErestrial RElations Observatory (STEREO) solar conjunction mission phase is quite unique to deep space operations. Originally designed for a two year heliocentric orbit mission to primarily study coronal mass ejection propagation, after 8 years of continuous science data collection, the twin STEREO observatories entered the solar conjunction mission phase, for which they were not designed. Nine months before entering conjunction, an unforeseen thermal constraint threatened to stop daily communications and science data collection for 15months. With a 3.5 month long communication blackout from the superior solar conjunction, without ground commands, each observatory will reset every 3 days, resulting in 35 system resets at an Earth range of 2 AU. As the observatories will be conjoined for the first time in 8 years, a unique opportunity for calibrating the same instruments on identical spacecraft will occur. As each observatory has lost redundancy, and with only a limited fidelity hardware simulator, how can the new observatory configuration be adequately and safely tested on each spacecraft? Without ground commands, how would a 3-axis stabilized spacecraft safely manage the ever accumulating system momentum without using propellant for thrusters? Could science data still be collected for the duration of the solar conjunction mission phase? Would the observatories survive? In its second extended mission, operational resources were limited at best. This paper discusses the solutions to the STEREO superior solar conjunction operational challenges, science data impact, testing, mission operations, results, and lessons learned while implementing.

  4. Relationship Between the Expansion Speed and Radial Speed of CMEs Confirmed Using Quadrature Observations from SOHO and STEREO

    NASA Technical Reports Server (NTRS)

    Gopalswamy, Nat; Makela, Pertti; Yashiro, Seiji

    2011-01-01

    It is difficult to measure the true speed of Earth-directed CMEs from a coronagraph along the Sun-Earth line because of the occulting disk. However, the expansion speed (the speed with which the CME appears to spread in the sky plane) can be measured by such coronagraph. In order to convert the expansion speed to radial speed (which is important for space weather applications) one can use empirical relationship between the two that assumes an average width for all CMEs. If we have the width information from quadrature observations, we can confirm the relationship between expansion and radial speeds derived by Gopalswamy et al. (2009, CEAB, 33, 115,2009). The STEREO spacecraft were in quadrature with SOHO (STEREO-A ahead of Earth by 87 and STEREO-B 94 behind Earth) on 2011 February 15, when a fast Earth-directed CME occurred. The CME was observed as a halo by the Large-Angle and Spectrometric Coronagraph (LASCO) on board SOHO. The sky-plane speed was measured by SOHO/LASCO as the expansion speed, while the radial speed was measured by STEREO-A and STEREO-B. In addition, STEREO-A and STEREO-B images measured the width of the CME, which is unknown from Earth view. From the SOHO and STEREO measurements, we confirm the relationship between the expansion speed (Vexp ) and radial speed (Vrad ) derived previously from geometrical considerations (Gopalswamy et al. 2009): Vrad = 1/2 (1 + cot w) Vexp, where w is the half width of the CME. STEREO-B images of the CME, we found that CME had a full width of 75 degrees, so w = 37.5 degrees. This gives the relation as Vrad = 1.15 Vexp. From LASCO observations, we measured Vexp = 897 km/s, so we get the radial speed as 1033 km/s. Direct measurement of radial speed from STEREO gives 945 km/s (STEREO-A) and 1057 km/s (STEREO-B). These numbers are different only by 2.3% and 8.5% (for STEREO-A and STEREO-B, respectively) from the computed value.

  5. Reconciling CME Kinematics using Radio and White-light Observations from STEREO and SOHO

    NASA Astrophysics Data System (ADS)

    Gopalswamy, Nat; Yashiro, Seiji; Xie, Hong; Makela, Pertti; Akiyama, Sachiko; Reiner, Michael; MacDowall, Robert

    2014-05-01

    We study the characteristics of nonthermal radio emission associated with coronal mass ejections (CMEs) observed by STEREO, SOHO, and Wind spacecraft. In particular, we examine three backside CMEs associated with type II radio bursts at frequencies below 16 MHz. These bursts are known to be excellent indicators of solar energetic particle events. We use the universal drift rate spectrum of type II radio bursts and the inferred density scale heights in the corona and interplanetary medium o estimate the speed of the shock waves that produce the type II radio bursts. We find that the radio bursts can provide an accurate estimate of the CME speeds. We consider three backside events and a cannibalism event to show the usefulness of radio dynamic spectrum in inferring CME kinematics. We use radio direction finding technique to show that CME-CME interaction results in enhanced nonthermal radio emission. The radio data also provide constraints on the particle acceleration mechanisms and the reason for the energetic particles observed at wide-ranging longitudes. Finally we infer the shape and extent of the shock associated with one of the biggest solar energetic particle events in the space era.

  6. Mapping snow depth from stereo satellite imagery

    NASA Astrophysics Data System (ADS)

    Gascoin, S.; Marti, R.; Berthier, E.; Houet, T.; de Pinel, M.; Laffly, D.

    2016-12-01

    To date, there is no definitive approach to map snow depth in mountainous areas from spaceborne sensors. Here, we examine the potential of very-high-resolution (VHR) optical stereo satellites to this purpose. Two triplets of 0.70 m resolution images were acquired by the Pléiades satellite over an open alpine catchment (14.5 km²) under snow-free and snow-covered conditions. The open-source software Ame's Stereo Pipeline (ASP) was used to match the stereo pairs without ground control points to generate raw photogrammetric clouds and to convert them into high-resolution digital elevation models (DEMs) at 1, 2, and 4 m resolutions. The DEM differences (dDEMs) were computed after 3-D coregistration, including a correction of a -0.48 m vertical bias. The bias-corrected dDEM maps were compared to 451 snow-probe measurements. The results show a decimetric accuracy and precision in the Pléiades-derived snow depths. The median of the residuals is -0.16 m, with a standard deviation (SD) of 0.58 m at a pixel size of 2 m. We compared the 2 m Pléiades dDEM to a 2 m dDEM that was based on a winged unmanned aircraft vehicle (UAV) photogrammetric survey that was performed on the same winter date over a portion of the catchment (3.1 km²). The UAV-derived snow depth map exhibits the same patterns as the Pléiades-derived snow map, with a median of -0.11 m and a SD of 0.62 m when compared to the snow-probe measurements. The Pléiades images benefit from a very broad radiometric range (12 bits), allowing a high correlation success rate over the snow-covered areas. This study demonstrates the value of VHR stereo satellite imagery to map snow depth in remote mountainous areas even when no field data are available. Based on this method we have initiated a multi-year survey of the peak snow depth in the Bassiès catchment.

  7. WASS: An open-source pipeline for 3D stereo reconstruction of ocean waves

    NASA Astrophysics Data System (ADS)

    Bergamasco, Filippo; Torsello, Andrea; Sclavo, Mauro; Barbariol, Francesco; Benetazzo, Alvise

    2017-10-01

    Stereo 3D reconstruction of ocean waves is gaining more and more popularity in the oceanographic community and industry. Indeed, recent advances of both computer vision algorithms and computer processing power now allow the study of the spatio-temporal wave field with unprecedented accuracy, especially at small scales. Even if simple in theory, multiple details are difficult to be mastered for a practitioner, so that the implementation of a sea-waves 3D reconstruction pipeline is in general considered a complex task. For instance, camera calibration, reliable stereo feature matching and mean sea-plane estimation are all factors for which a well designed implementation can make the difference to obtain valuable results. For this reason, we believe that the open availability of a well tested software package that automates the reconstruction process from stereo images to a 3D point cloud would be a valuable addition for future researches in this area. We present WASS (http://www.dais.unive.it/wass), an Open-Source stereo processing pipeline for sea waves 3D reconstruction. Our tool completely automates all the steps required to estimate dense point clouds from stereo images. Namely, it computes the extrinsic parameters of the stereo rig so that no delicate calibration has to be performed on the field. It implements a fast 3D dense stereo reconstruction procedure based on the consolidated OpenCV library and, lastly, it includes set of filtering techniques both on the disparity map and the produced point cloud to remove the vast majority of erroneous points that can naturally arise while analyzing the optically complex nature of the water surface. In this paper, we describe the architecture of WASS and the internal algorithms involved. The pipeline workflow is shown step-by-step and demonstrated on real datasets acquired at sea.

  8. The Eyephone: a head-mounted stereo display

    NASA Astrophysics Data System (ADS)

    Teitel, Michael A.

    1990-09-01

    Head mounted stereo displays for virtual environments and computer simulations have been made since 1969. Most of the recent displays have been based on monochrome (black and white) liquid crystal display technology. Color LCD displays have generally not been used due to their lower resolution and color triad structure. As the resolution of color LCDdisplays is increasing we have begun to use color displays in our Eyephone. In this paper we describe four methods for minimizing the effect of the color triads in the magnified images of LCD displays in the Eyephone stereo head mounted display. We have settled on the use of wavefront randomizer with a spatial frequency enhancement overlay in order to blur the triacis in the displays while keeping the perceived resolution of the display high.

  9. Stereo imaging velocimetry for microgravity applications

    NASA Technical Reports Server (NTRS)

    Miller, Brian B.; Meyer, Maryjo B.; Bethea, Mark D.

    1994-01-01

    Stereo imaging velocimetry is the quantitative measurement of three-dimensional flow fields using two sensors recording data from different vantage points. The system described in this paper, under development at NASA Lewis Research Center in Cleveland, Ohio, uses two CCD cameras placed perpendicular to one another, laser disk recorders, an image processing substation, and a 586-based computer to record data at standard NTSC video rates (30 Hertz) and reduce it offline. The flow itself is marked with seed particles, hence the fluid must be transparent. The velocimeter tracks the motion of the particles, and from these we deduce a multipoint (500 or more), quantitative map of the flow. Conceptually, the software portion of the velocimeter can be divided into distinct modules. These modules are: camera calibration, particle finding (image segmentation) and centroid location, particle overlap decomposition, particle tracking, and stereo matching. We discuss our approach to each module, and give our currently achieved speed and accuracy for each where available.

  10. SAD-Based Stereo Matching Using FPGAs

    NASA Astrophysics Data System (ADS)

    Ambrosch, Kristian; Humenberger, Martin; Kubinger, Wilfried; Steininger, Andreas

    In this chapter we present a field-programmable gate array (FPGA) based stereo matching architecture. This architecture uses the sum of absolute differences (SAD) algorithm and is targeted at automotive and robotics applications. The disparity maps are calculated using 450×375 input images and a disparity range of up to 150 pixels. We discuss two different implementation approaches for the SAD and analyze their resource usage. Furthermore, block sizes ranging from 3×3 up to 11×11 and their impact on the consumed logic elements as well as on the disparity map quality are discussed. The stereo matching architecture enables a frame rate of up to 600 fps by calculating the data in a highly parallel and pipelined fashion. This way, a software solution optimized by using Intel's Open Source Computer Vision Library running on an Intel Pentium 4 with 3 GHz clock frequency is outperformed by a factor of 400.

  11. Stereo-Video Data Reduction of Wake Vortices and Trailing Aircrafts

    NASA Technical Reports Server (NTRS)

    Alter-Gartenberg, Rachel

    1998-01-01

    This report presents stereo image theory and the corresponding image processing software developed to analyze stereo imaging data acquired for the wake-vortex hazard flight experiment conducted at NASA Langley Research Center. In this experiment, a leading Lockheed C-130 was equipped with wing-tip smokers to visualize its wing vortices, while a trailing Boeing 737 flew into the wake vortices of the leading airplane. A Rockwell OV-10A airplane, fitted with video cameras under its wings, flew at 400 to 1000 feet above and parallel to the wakes, and photographed the wake interception process for the purpose of determining the three-dimensional location of the trailing aircraft relative to the wake. The report establishes the image-processing tools developed to analyze the video flight-test data, identifies sources of potential inaccuracies, and assesses the quality of the resultant set of stereo data reduction.

  12. New Data Products and Tools from STEREO's IMPACT Investigation

    NASA Astrophysics Data System (ADS)

    Schroeder, P. C.; Luhmann, J. G.; Li, Y.; Huttunen, E.; Toy, V.; Russell, C. T.; Davis, A.

    2008-05-01

    STEREO's IMPACT (In-situ Measurements of Particles and CME Transients) investigation provides the first opportunity for long duration, detailed observations of 1 AU magnetic field structures, plasma and suprathermal electrons, and energetic particles at points bracketing Earth's heliospheric location. The IMPACT team has developed both human-friendly web portals and API's (application program interfaces) which provide straight- foward data access to scientists and the Virtual Observatories. Several new data products and web features have been developed including the release of more and higher-level data products, a library of TPLOT-based IDL data analysis routines, and web sites devoted to event analysis and inter-mission and inter-disciplinary collaboration. A web browser integrating STEREO and L1 in situ data with imaging and models provides a powerful venue for exploring the Sun-Earth connection. These latest releases enable the larger scientific community to use STEREO's unique in-situ data in novel ways along side "third eye" data sets from Wind, ACE and other heliospheric missions contributing to a better understanding of three dimensional structures in the solar wind.

  13. Person and gesture tracking with smart stereo cameras

    NASA Astrophysics Data System (ADS)

    Gordon, Gaile; Chen, Xiangrong; Buck, Ron

    2008-02-01

    Physical security increasingly involves sophisticated, real-time visual tracking of a person's location inside a given environment, often in conjunction with biometrics and other security-related technologies. However, demanding real-world conditions like crowded rooms, changes in lighting and physical obstructions have proved incredibly challenging for 2D computer vision technology. In contrast, 3D imaging technology is not affected by constant changes in lighting and apparent color, and thus allows tracking accuracy to be maintained in dynamically lit environments. In addition, person tracking with a 3D stereo camera can provide the location and movement of each individual very precisely, even in a very crowded environment. 3D vision only requires that the subject be partially visible to a single stereo camera to be correctly tracked; multiple cameras are used to extend the system's operational footprint, and to contend with heavy occlusion. A successful person tracking system, must not only perform visual analysis robustly, but also be small, cheap and consume relatively little power. The TYZX Embedded 3D Vision systems are perfectly suited to provide the low power, small footprint, and low cost points required by these types of volume applications. Several security-focused organizations, including the U.S Government, have deployed TYZX 3D stereo vision systems in security applications. 3D image data is also advantageous in the related application area of gesture tracking. Visual (uninstrumented) tracking of natural hand gestures and movement provides new opportunities for interactive control including: video gaming, location based entertainment, and interactive displays. 2D images have been used to extract the location of hands within a plane, but 3D hand location enables a much broader range of interactive applications. In this paper, we provide some background on the TYZX smart stereo cameras platform, describe the person tracking and gesture tracking systems

  14. Mars Science Laboratory Mission Curiosity Rover Stereo

    NASA Image and Video Library

    2011-07-22

    This stereo image of NASA Mars Science Laboratory Curiosity Rovert was taken May 26, 2011, in Spacecraft Assembly Facility at NASA Jet Propulsion Laboratory in Pasadena, Calif. 3D glasses are necessary to view this image.

  15. Stereo Correspondence Using Moment Invariants

    NASA Astrophysics Data System (ADS)

    Premaratne, Prashan; Safaei, Farzad

    Autonomous navigation is seen as a vital tool in harnessing the enormous potential of Unmanned Aerial Vehicles (UAV) and small robotic vehicles for both military and civilian use. Even though, laser based scanning solutions for Simultaneous Location And Mapping (SLAM) is considered as the most reliable for depth estimation, they are not feasible for use in UAV and land-based small vehicles due to their physical size and weight. Stereovision is considered as the best approach for any autonomous navigation solution as stereo rigs are considered to be lightweight and inexpensive. However, stereoscopy which estimates the depth information through pairs of stereo images can still be computationally expensive and unreliable. This is mainly due to some of the algorithms used in successful stereovision solutions require high computational requirements that cannot be met by small robotic vehicles. In our research, we implement a feature-based stereovision solution using moment invariants as a metric to find corresponding regions in image pairs that will reduce the computational complexity and improve the accuracy of the disparity measures that will be significant for the use in UAVs and in small robotic vehicles.

  16. The Stereo Electron Spikes and the Interplanetary Magnetic Field

    NASA Astrophysics Data System (ADS)

    Jokipii, J. R.; Sheeley, N. R., Jr.; Wang, Y. M.; Giacalone, J.

    2016-12-01

    A recent paper (Klassen etal, 2015) discussed observations of a spike event of 55-65 keV electrons which occurred very nearly simultaneously at STEREO A and STEREO B, which at the time were separated in longitude by 38 degrees. The authors associated the spikes with a flare at the Sun near the footpoint of the nominal Archimedean spiral magnetic field line passing through STEREO A. The spike at STEREO A was delayed by 2.2 minutes from that at STEREOB. We discuss the observations in terms of a model in which the electrons, accelerated at the flare, propagate without significant scattering along magnetic field lines which separate or diverge as a function of radial distance from the Sun. The near simultaneity of the spikes at the two spacecraft is a natural consequence of this model. We interpret the divergence of the magnetic field lines as a consequence of field-line random walk and flux-tube expansion. We show that the field-line random walk in the absence of flux-tube expansion produces an rms spread of field lines significantly less than that which is required to produce to observed divergence. We find that observations of the solar wind and its source region at the time of the event can account for the observations in terms of propagation along interplanetary magnetic field-lines. Klassen, A., Dresing, N., Gomez-Herrero, R, and Heber, B., A&A 580, A115 (2015) Financial support for NS and YMW was provided by NASA and CNR.

  17. A comparison of static near stereo acuity in youth baseball/softball players and non-ball players.

    PubMed

    Boden, Lauren M; Rosengren, Kenneth J; Martin, Daniel F; Boden, Scott D

    2009-03-01

    Although many aspects of vision have been investigated in professional baseball players, few studies have been performed in developing athletes. The issue of whether youth baseball players have superior stereopsis to nonplayers has not been addressed specifically. The purpose of this study was to determine if youth baseball/softball players have better stereo acuity than non-ball players. Informed consent was obtained from 51 baseball/softball players and 52 non-ball players (ages 10 to 18 years). Subjects completed a questionnaire, and their static near stereo acuity was measured using the Randot Stereotest (Stereo Optical Company, Chicago, Illinois). Stereo acuity was measured as the seconds of arc between the last pair of images correctly distinguished by the subject. The mean stereo acuity score was 25.5 +/- 1.7 seconds of arc in the baseball/softball players and 56.2 +/- 8.4 seconds of arc in the non-ball players. This difference was statistically significant (P < 0.00001). In addition, a perfect stereo acuity score of 20 seconds of arc was seen in 61% of the ball players and only 23% of the non-ball players (P = 0.0001). Youth baseball/softball players had significantly better static stereo acuity than non-ball players, comparable to professional ball players.

  18. Connectionist model-based stereo vision for telerobotics

    NASA Technical Reports Server (NTRS)

    Hoff, William; Mathis, Donald

    1989-01-01

    Autonomous stereo vision for range measurement could greatly enhance the performance of telerobotic systems. Stereo vision could be a key component for autonomous object recognition and localization, thus enabling the system to perform low-level tasks, and allowing a human operator to perform a supervisory role. The central difficulty in stereo vision is the ambiguity in matching corresponding points in the left and right images. However, if one has a priori knowledge of the characteristics of the objects in the scene, as is often the case in telerobotics, a model-based approach can be taken. Researchers describe how matching ambiguities can be resolved by ensuring that the resulting three-dimensional points are consistent with surface models of the expected objects. A four-layer neural network hierarchy is used in which surface models of increasing complexity are represented in successive layers. These models are represented using a connectionist scheme called parameter networks, in which a parametrized object (for example, a planar patch p=f(h,m sub x, m sub y) is represented by a collection of processing units, each of which corresponds to a distinct combination of parameter values. The activity level of each unit in the parameter network can be thought of as representing the confidence with which the hypothesis represented by that unit is believed. Weights in the network are set so as to implement gradient descent in an energy function.

  19. 3D digital image correlation using single color camera pseudo-stereo system

    NASA Astrophysics Data System (ADS)

    Li, Junrui; Dan, Xizuo; Xu, Wan; Wang, Yonghong; Yang, Guobiao; Yang, Lianxiang

    2017-10-01

    Three dimensional digital image correlation (3D-DIC) has been widely used by industry to measure the 3D contour and whole-field displacement/strain. In this paper, a novel single color camera 3D-DIC setup, using a reflection-based pseudo-stereo system, is proposed. Compared to the conventional single camera pseudo-stereo system, which splits the CCD sensor into two halves to capture the stereo views, the proposed system achieves both views using the whole CCD chip and without reducing the spatial resolution. In addition, similarly to the conventional 3D-DIC system, the center of the two views stands in the center of the CCD chip, which minimizes the image distortion relative to the conventional pseudo-stereo system. The two overlapped views in the CCD are separated by the color domain, and the standard 3D-DIC algorithm can be utilized directly to perform the evaluation. The system's principle and experimental setup are described in detail, and multiple tests are performed to validate the system.

  20. Comparison of different "along the track" high resolution satellite stereo-pair for DSM extraction

    NASA Astrophysics Data System (ADS)

    Nikolakopoulos, Konstantinos G.

    2013-10-01

    The possibility to create DEM from stereo pairs is based on the Pythagoras theorem and on the principles of photogrammetry that are applied to aerial photographs stereo pairs for the last seventy years. The application of these principles to digital satellite stereo data was inherent in the first satellite missions. During the last decades the satellite stereo-pairs were acquired across the track in different days (SPOT, ERS etc.). More recently the same-date along the track stereo-data acquisition seems to prevail (Terra ASTER, SPOT5 HRS, Cartosat, ALOS Prism) as it reduces the radiometric image variations (refractive effects, sun illumination, temporal changes) and thus increases the correlation success rate in any image matching.Two of the newest satellite sensors with stereo collection capability is Cartosat and ALOS Prism. Both of them acquire stereopairs along the track with a 2,5m spatial resolution covering areas of 30X30km. In this study we compare two different satellite stereo-pair collected along the track for DSM creation. The first one is created from a Cartosat stereopair and the second one from an ALOS PRISM triplet. The area of study is situated in Chalkidiki Peninsula, Greece. Both DEMs were created using the same ground control points collected with a Differential GPS. After a first control for random or systematic errors a statistical analysis was done. Points of certified elevation have been used to estimate the accuracy of these two DSMs. The elevation difference between the different DEMs was calculated. 2D RMSE, correlation and the percentile value were also computed and the results are presented.

  1. Modeling the convergence accommodation of stereo vision for binocular endoscopy.

    PubMed

    Gao, Yuanqian; Li, Jinhua; Li, Jianmin; Wang, Shuxin

    2018-02-01

    The stereo laparoscope is an important tool for achieving depth perception in robot-assisted minimally invasive surgery (MIS). A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established. The imaging plane pair is rectified to ensure that the two rectified virtual optical axes intersect at the fixation target to provide immersive depth perception. Stereo disparity was simulated with the roll and pitch movements of the binocular system. The chessboard test and the endoscopic peg transfer task were performed, and the results demonstrated the improved disparity distribution and robustness of the proposed convergence accommodation method with respect to the position of the fixation target. This method offers a new solution for effective depth perception with the stereo laparoscopes used in robot-assisted MIS. Copyright © 2017 John Wiley & Sons, Ltd.

  2. Wide-Baseline Stereo-Based Obstacle Mapping for Unmanned Surface Vehicles

    PubMed Central

    Mou, Xiaozheng; Wang, Han

    2018-01-01

    This paper proposes a wide-baseline stereo-based static obstacle mapping approach for unmanned surface vehicles (USVs). The proposed approach eliminates the complicated calibration work and the bulky rig in our previous binocular stereo system, and raises the ranging ability from 500 to 1000 m with a even larger baseline obtained from the motion of USVs. Integrating a monocular camera with GPS and compass information in this proposed system, the world locations of the detected static obstacles are reconstructed while the USV is traveling, and an obstacle map is then built. To achieve more accurate and robust performance, multiple pairs of frames are leveraged to synthesize the final reconstruction results in a weighting model. Experimental results based on our own dataset demonstrate the high efficiency of our system. To the best of our knowledge, we are the first to address the task of wide-baseline stereo-based obstacle mapping in a maritime environment. PMID:29617293

  3. Calibration of stereo rigs based on the backward projection process

    NASA Astrophysics Data System (ADS)

    Gu, Feifei; Zhao, Hong; Ma, Yueyang; Bu, Penghui; Zhao, Zixin

    2016-08-01

    High-accuracy 3D measurement based on binocular vision system is heavily dependent on the accurate calibration of two rigidly-fixed cameras. In most traditional calibration methods, stereo parameters are iteratively optimized through the forward imaging process (FIP). However, the results can only guarantee the minimal 2D pixel errors, but not the minimal 3D reconstruction errors. To address this problem, a simple method to calibrate a stereo rig based on the backward projection process (BPP) is proposed. The position of a spatial point can be determined separately from each camera by planar constraints provided by the planar pattern target. Then combined with pre-defined spatial points, intrinsic and extrinsic parameters of the stereo-rig can be optimized by minimizing the total 3D errors of both left and right cameras. An extensive performance study for the method in the presence of image noise and lens distortions is implemented. Experiments conducted on synthetic and real data demonstrate the accuracy and robustness of the proposed method.

  4. A stereo remote sensing feature selection method based on artificial bee colony algorithm

    NASA Astrophysics Data System (ADS)

    Yan, Yiming; Liu, Pigang; Zhang, Ye; Su, Nan; Tian, Shu; Gao, Fengjiao; Shen, Yi

    2014-05-01

    To improve the efficiency of stereo information for remote sensing classification, a stereo remote sensing feature selection method is proposed in this paper presents, which is based on artificial bee colony algorithm. Remote sensing stereo information could be described by digital surface model (DSM) and optical image, which contain information of the three-dimensional structure and optical characteristics, respectively. Firstly, three-dimensional structure characteristic could be analyzed by 3D-Zernike descriptors (3DZD). However, different parameters of 3DZD could descript different complexity of three-dimensional structure, and it needs to be better optimized selected for various objects on the ground. Secondly, features for representing optical characteristic also need to be optimized. If not properly handled, when a stereo feature vector composed of 3DZD and image features, that would be a lot of redundant information, and the redundant information may not improve the classification accuracy, even cause adverse effects. To reduce information redundancy while maintaining or improving the classification accuracy, an optimized frame for this stereo feature selection problem is created, and artificial bee colony algorithm is introduced for solving this optimization problem. Experimental results show that the proposed method can effectively improve the computational efficiency, improve the classification accuracy.

  5. Extracting accurate and precise topography from LROC narrow angle camera stereo observations

    NASA Astrophysics Data System (ADS)

    Henriksen, M. R.; Manheim, M. R.; Burns, K. N.; Seymour, P.; Speyerer, E. J.; Deran, A.; Boyd, A. K.; Howington-Kraus, E.; Rosiek, M. R.; Archinal, B. A.; Robinson, M. S.

    2017-02-01

    The Lunar Reconnaissance Orbiter Camera (LROC) includes two identical Narrow Angle Cameras (NAC) that each provide 0.5 to 2.0 m scale images of the lunar surface. Although not designed as a stereo system, LROC can acquire NAC stereo observations over two or more orbits using at least one off-nadir slew. Digital terrain models (DTMs) are generated from sets of stereo images and registered to profiles from the Lunar Orbiter Laser Altimeter (LOLA) to improve absolute accuracy. With current processing methods, DTMs have absolute accuracies better than the uncertainties of the LOLA profiles and relative vertical and horizontal precisions less than the pixel scale of the DTMs (2-5 m). We computed slope statistics from 81 highland and 31 mare DTMs across a range of baselines. For a baseline of 15 m the highland mean slope parameters are: median = 9.1°, mean = 11.0°, standard deviation = 7.0°. For the mare the mean slope parameters are: median = 3.5°, mean = 4.9°, standard deviation = 4.5°. The slope values for the highland terrain are steeper than previously reported, likely due to a bias in targeting of the NAC DTMs toward higher relief features in the highland terrain. Overlapping DTMs of single stereo sets were also combined to form larger area DTM mosaics that enable detailed characterization of large geomorphic features. From one DTM mosaic we mapped a large viscous flow related to the Orientale basin ejecta and estimated its thickness and volume to exceed 300 m and 500 km3, respectively. Despite its ∼3.8 billion year age the flow still exhibits unconfined margin slopes above 30°, in some cases exceeding the angle of repose, consistent with deposition of material rich in impact melt. We show that the NAC stereo pairs and derived DTMs represent an invaluable tool for science and exploration purposes. At this date about 2% of the lunar surface is imaged in high-resolution stereo, and continued acquisition of stereo observations will serve to strengthen our

  6. On-screen-display (OSD) menu detection for proper stereo content reproduction for 3D TV

    NASA Astrophysics Data System (ADS)

    Tolstaya, Ekaterina V.; Bucha, Victor V.; Rychagov, Michael N.

    2011-03-01

    Modern consumer 3D TV sets are able to show video content in two different modes: 2D and 3D. In 3D mode, stereo pair comes from external device such as Blue-ray player, satellite receivers etc. The stereo pair is split into left and right images that are shown one after another. The viewer sees different image for left and right eyes using shutter-glasses properly synchronized with a 3DTV. Besides, some devices that provide TV with a stereo content are able to display some additional information by imposing an overlay picture on video content, an On-Screen-Display (OSD) menu. Some OSDs are not always 3D compatible and lead to incorrect 3D reproduction. In this case, TV set must recognize the type of OSD, whether it is 3D compatible, and visualize it correctly by either switching off stereo mode, or continue demonstration of stereo content. We propose a new stable method for detection of 3D incompatible OSD menus on stereo content. Conventional OSD is a rectangular area with letters and pictograms. OSD menu can be of different transparency levels and colors. To be 3D compatible, an OSD is overlaid separately on both images of a stereo pair. The main problem in detecting OSD is to distinguish whether the color difference is due to OSD presence, or due to stereo parallax. We applied special techniques to find reliable image difference and additionally used a cue that usually OSD has very implicit geometrical features: straight parallel lines. The developed algorithm was tested on our video sequences database, with several types of OSD with different colors and transparency levels overlaid upon video content. Detection quality exceeded 99% of true answers.

  7. A holistic calibration method with iterative distortion compensation for stereo deflectometry

    NASA Astrophysics Data System (ADS)

    Xu, Yongjia; Gao, Feng; Zhang, Zonghua; Jiang, Xiangqian

    2018-07-01

    This paper presents a novel holistic calibration method for stereo deflectometry system to improve the system measurement accuracy. The reconstruction result of stereo deflectometry is integrated with the calculated normal data of the measured surface. The calculation accuracy of the normal data is seriously influenced by the calibration accuracy of the geometrical relationship of the stereo deflectometry system. Conventional calibration approaches introduce form error to the system due to inaccurate imaging model and distortion elimination. The proposed calibration method compensates system distortion based on an iterative algorithm instead of the conventional distortion mathematical model. The initial value of the system parameters are calculated from the fringe patterns displayed on the systemic LCD screen through a reflection of a markless flat mirror. An iterative algorithm is proposed to compensate system distortion and optimize camera imaging parameters and system geometrical relation parameters based on a cost function. Both simulation work and experimental results show the proposed calibration method can significantly improve the calibration and measurement accuracy of a stereo deflectometry. The PV (peak value) of measurement error of a flat mirror can be reduced to 69.7 nm by applying the proposed method from 282 nm obtained with the conventional calibration approach.

  8. An assembly system based on industrial robot with binocular stereo vision

    NASA Astrophysics Data System (ADS)

    Tang, Hong; Xiao, Nanfeng

    2017-01-01

    This paper proposes an electronic part and component assembly system based on an industrial robot with binocular stereo vision. Firstly, binocular stereo vision with a visual attention mechanism model is used to get quickly the image regions which contain the electronic parts and components. Secondly, a deep neural network is adopted to recognize the features of the electronic parts and components. Thirdly, in order to control the end-effector of the industrial robot to grasp the electronic parts and components, a genetic algorithm (GA) is proposed to compute the transition matrix and the inverse kinematics of the industrial robot (end-effector), which plays a key role in bridging the binocular stereo vision and the industrial robot. Finally, the proposed assembly system is tested in LED component assembly experiments, and the results denote that it has high efficiency and good applicability.

  9. 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.

  10. Dig Hazard Assessment Using a Stereo Pair of Cameras

    NASA Technical Reports Server (NTRS)

    Rankin, Arturo L.; Trebi-Ollennu, Ashitey

    2012-01-01

    This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each

  11. Chasing the light sterile neutrino with the STEREO detector

    NASA Astrophysics Data System (ADS)

    Minotti, A.

    2017-09-01

    The standard three-family neutrino oscillation model is challenged by a number of observations, such as the reactor antineutrino anomaly (RAA), that can be explained by the existence of sterile neutrinos at the eV mass scale. The STEREO experiment detects {\\bar ν _e} produced in the 58.3MW Th compact core of the ILL research reactor via inverse beta decay (IBD) interactions in a liquid scintillator. Using 6 identical target cells, STEREO compares {\\bar ν _e} energy spectra at different baselines in order to observe possible distortions due to short-baseline oscillations toward eV sterile neutrinos. IBD events are effectively singled out from γ radiation by selecting events with a two-fold coincidence that is typical of an IBD interaction. External background is reduced by means of layers of shielding material. A Cherenkov veto allows to partially remove background produced by cosmic muons, and the remaining component is measured in reactor-off periods and subtracted statistically. If no evidence of sterile neutrinos after the full statistics of 6 reactor cycles is gathered, STEREO is expected to fully exclude the RAA allowed region.

  12. Stereo tests as a screening tool for strabismus: which is the best choice?

    PubMed Central

    Ancona, Chiara; Stoppani, Monica; Odazio, Veronica; La Spina, Carlo; Corradetti, Giulia; Bandello, Francesco

    2014-01-01

    Purpose To compare four stereo tests (Lang I, Lang II, Titmus, and TNO) and assess their effectiveness. The main focus of this study is to identify the most useful stereo test as a challenging tool in the screening of strabismus. Patients and methods A total of 143 Caucasian subjects, 74 males (52%) and 69 females (48%), aged between 4 years and 78 years (mean age 19.09±15.12 years) were examined at our Strabismus Service (Scientific Institute San Raffaele Hospital, Milan, Italy) and included in this observational cross-sectional study. Subjects recruited in this study were either affected by strabismus, including microstrabismic patients, or healthy volunteers. Subjects affected by ophthalmological diseases, other than strabismus, were excluded. All patients underwent both ophthalmological and orthoptic examination, including stereo tests, Hirschberg Corneal Light Reflex Test, Worth Four-Dot Test, the 4 Prism Diopter Base-Out Test, Cover Testing, Bruckner Test, visual acuity, automated refraction under 1% tropicamide cycloplegia and thereafter, posterior pole evaluation. Results All data were processed using the IBM SPSS Statistics, Version 2.0, to perform all statistical calculations. The main finding of this study is that Lang I stereo test achieved the highest sensitivity (89.8%) and specificity (95.2%) in detecting strabismus, including microstrabismus as well, compared to all the other stereoacuity tests. Furthermore, Lang I is the stereo test with the highest positive predictive value and negative predictive value, both greater than 90%. Conclusion The stereo test with the highest sensitivity, specificity, positive predictive value, and negative predictive value is Lang I. These results suggest its applicability as a screening test for strabismus in people older than 4 years. PMID:25419114

  13. Opportunity's Surroundings on Sol 1818 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11846 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11846

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this full-circle view of the rover's surroundings during the 1,818th Martian day, or sol, of Opportunity's surface mission (March 5, 2009). South is at the center; north at both ends.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 80.3 meters (263 feet) southward earlier on that sol. Tracks from the drive recede northward in this view.

    The terrain in this portion of Mars' Meridiani Planum region includes dark-toned sand ripples and lighter-toned bedrock.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  14. GPU-based real-time trinocular stereo vision

    NASA Astrophysics Data System (ADS)

    Yao, Yuanbin; Linton, R. J.; Padir, Taskin

    2013-01-01

    Most stereovision applications are binocular which uses information from a 2-camera array to perform stereo matching and compute the depth image. Trinocular stereovision with a 3-camera array has been proved to provide higher accuracy in stereo matching which could benefit applications like distance finding, object recognition, and detection. This paper presents a real-time stereovision algorithm implemented on a GPGPU (General-purpose graphics processing unit) using a trinocular stereovision camera array. Algorithm employs a winner-take-all method applied to perform fusion of disparities in different directions following various image processing techniques to obtain the depth information. The goal of the algorithm is to achieve real-time processing speed with the help of a GPGPU involving the use of Open Source Computer Vision Library (OpenCV) in C++ and NVidia CUDA GPGPU Solution. The results are compared in accuracy and speed to verify the improvement.

  15. The Dynamic Photometric Stereo Method Using a Multi-Tap CMOS Image Sensor.

    PubMed

    Yoda, Takuya; Nagahara, Hajime; Taniguchi, Rin-Ichiro; Kagawa, Keiichiro; Yasutomi, Keita; Kawahito, Shoji

    2018-03-05

    The photometric stereo method enables estimation of surface normals from images that have been captured using different but known lighting directions. The classical photometric stereo method requires at least three images to determine the normals in a given scene. However, this method cannot be applied to dynamic scenes because it is assumed that the scene remains static while the required images are captured. In this work, we present a dynamic photometric stereo method for estimation of the surface normals in a dynamic scene. We use a multi-tap complementary metal-oxide-semiconductor (CMOS) image sensor to capture the input images required for the proposed photometric stereo method. This image sensor can divide the electrons from the photodiode from a single pixel into the different taps of the exposures and can thus capture multiple images under different lighting conditions with almost identical timing. We implemented a camera lighting system and created a software application to enable estimation of the normal map in real time. We also evaluated the accuracy of the estimated surface normals and demonstrated that our proposed method can estimate the surface normals of dynamic scenes.

  16. Evaluation of Deep Learning Based Stereo Matching Methods: from Ground to Aerial Images

    NASA Astrophysics Data System (ADS)

    Liu, J.; Ji, S.; Zhang, C.; Qin, Z.

    2018-05-01

    Dense stereo matching has been extensively studied in photogrammetry and computer vision. In this paper we evaluate the application of deep learning based stereo methods, which were raised from 2016 and rapidly spread, on aerial stereos other than ground images that are commonly used in computer vision community. Two popular methods are evaluated. One learns matching cost with a convolutional neural network (known as MC-CNN); the other produces a disparity map in an end-to-end manner by utilizing both geometry and context (known as GC-net). First, we evaluate the performance of the deep learning based methods for aerial stereo images by a direct model reuse. The models pre-trained on KITTI 2012, KITTI 2015 and Driving datasets separately, are directly applied to three aerial datasets. We also give the results of direct training on target aerial datasets. Second, the deep learning based methods are compared to the classic stereo matching method, Semi-Global Matching(SGM), and a photogrammetric software, SURE, on the same aerial datasets. Third, transfer learning strategy is introduced to aerial image matching based on the assumption of a few target samples available for model fine tuning. It experimentally proved that the conventional methods and the deep learning based methods performed similarly, and the latter had greater potential to be explored.

  17. An embedded multi-core parallel model for real-time stereo imaging

    NASA Astrophysics Data System (ADS)

    He, Wenjing; Hu, Jian; Niu, Jingyu; Li, Chuanrong; Liu, Guangyu

    2018-04-01

    The real-time processing based on embedded system will enhance the application capability of stereo imaging for LiDAR and hyperspectral sensor. The task partitioning and scheduling strategies for embedded multiprocessor system starts relatively late, compared with that for PC computer. In this paper, aimed at embedded multi-core processing platform, a parallel model for stereo imaging is studied and verified. After analyzing the computing amount, throughout capacity and buffering requirements, a two-stage pipeline parallel model based on message transmission is established. This model can be applied to fast stereo imaging for airborne sensors with various characteristics. To demonstrate the feasibility and effectiveness of the parallel model, a parallel software was designed using test flight data, based on the 8-core DSP processor TMS320C6678. The results indicate that the design performed well in workload distribution and had a speed-up ratio up to 6.4.

  18. The High Resolution Stereo Camera (HRSC): 10 Years of Imaging Mars

    NASA Astrophysics Data System (ADS)

    Jaumann, R.; Neukum, G.; Tirsch, D.; Hoffmann, H.

    2014-04-01

    The HRSC Experiment: Imagery is the major source for our current understanding of the geologic evolution of Mars in qualitative and quantitative terms.Imaging is required to enhance our knowledge of Mars with respect to geological processes occurring on local, regional and global scales and is an essential prerequisite for detailed surface exploration. The High Resolution Stereo Camera (HRSC) of ESA's Mars Express Mission (MEx) is designed to simultaneously map the morphology, topography, structure and geologic context of the surface of Mars as well as atmospheric phenomena [1]. The HRSC directly addresses two of the main scientific goals of the Mars Express mission: (1) High-resolution three-dimensional photogeologic surface exploration and (2) the investigation of surface-atmosphere interactions over time; and significantly supports: (3) the study of atmospheric phenomena by multi-angle coverage and limb sounding as well as (4) multispectral mapping by providing high-resolution threedimensional color context information. In addition, the stereoscopic imagery will especially characterize landing sites and their geologic context [1]. The HRSC surface resolution and the digital terrain models bridge the gap in scales between highest ground resolution images (e.g., HiRISE) and global coverage observations (e.g., Viking). This is also the case with respect to DTMs (e.g., MOLA and local high-resolution DTMs). HRSC is also used as cartographic basis to correlate between panchromatic and multispectral stereo data. The unique multi-angle imaging technique of the HRSC supports its stereo capability by providing not only a stereo triplet but also a stereo quintuplet, making the photogrammetric processing very robust [1, 3]. The capabilities for three dimensional orbital reconnaissance of the Martian surface are ideally met by HRSC making this camera unique in the international Mars exploration effort.

  19. Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm

    PubMed Central

    Chiang, Mao-Hsiung; Lin, Hao-Ting; Hou, Chien-Lun

    2011-01-01

    In this paper, a stereo vision 3D position measurement system for a three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the robot arm. To track the end-effector of the robot arm, the circle detection algorithm is used to detect the desired target and the SAD algorithm is used to track the moving target and to search the corresponding target location along the conjugate epipolar line in the stereo pair. After camera calibration, both intrinsic and extrinsic parameters of the stereo rig can be obtained, so images can be rectified according to the camera parameters. Thus, through the epipolar rectification, the stereo matching process is reduced to a horizontal search along the conjugate epipolar line. Finally, 3D trajectories of the end-effector are computed by stereo triangulation. The experimental results show that the stereo vision 3D position measurement system proposed in this paper can successfully track and measure the fifth-order polynomial trajectory and sinusoidal trajectory of the end-effector of the three- axial pneumatic parallel mechanism robot arm. PMID:22319408

  20. [EEG technician-nurse collaboration during stereo-electroencephalography].

    PubMed

    Jomard, Caroline; Benghezal, Mouna; Cheramy, Isabelle; De Beaumont, Ségolène

    2017-01-01

    Drug-resistant epilepsy has significant repercussions on the daily life of children. Surgery may represent a hope. The nurse and the electroencephalogram technician carry out important teamwork during pre-surgical assessment tests and notably the stereo-electroencephalography. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

  1. Comparison of the depth of an optic nerve head obtained using stereo retinal images and HRT

    NASA Astrophysics Data System (ADS)

    Nakagawa, Toshiaki; Hayashi, Yoshinori; Hatanaka, Yuji; Aoyama, Akira; Hara, Takeshi; Kakogawa, Masakatsu; Fujita, Hiroshi; Yamamoto, Tetsuya

    2007-03-01

    The analysis of the optic nerve head (ONH) in the retinal fundus is important for the early detection of glaucoma. In this study, we investigate an automatic reconstruction method for producing the 3-D structure of the ONH from a stereo retinal image pair; the depth value of the ONH measured by using this method was compared with the measurement results determined from the Heidelberg Retina Tomograph (HRT). We propose a technique to obtain the depth value from the stereo image pair, which mainly consists of four steps: (1) cutout of the ONH region from the retinal images, (2) registration of the stereo pair, (3) disparity detection, and (4) depth calculation. In order to evaluate the accuracy of this technique, the shape of the depression of an eyeball phantom that had a circular dent as generated from the stereo image pair and used to model the ONH was compared with a physically measured quantity. The measurement results obtained when the eyeball phantom was used were approximately consistent. The depth of the ONH obtained using the stereo retinal images was in accordance with the results obtained using the HRT. These results indicate that the stereo retinal images could be useful for assessing the depth of the ONH for the diagnosis of glaucoma.

  2. Clinical applications of modern imaging technology: stereo image formation and location of brain cancer

    NASA Astrophysics Data System (ADS)

    Wang, Dezong; Wang, Jinxiang

    1994-05-01

    It is very important to locate the tumor for a patient, who has cancer in his brain. If he only gets X-CT or MRI pictures, the doctor does not know the size, shape location of the tumor and the relation between the tumor and other organs. This paper presents the formation of stereo images of cancer. On the basis of color code and color 3D reconstruction. The stereo images of tumor, brain and encephalic truncus are formed. The stereo image of cancer can be round on X, Y, Z-coordinates to show the shape from different directions. In order to show the location of tumor, stereo image of tumor and encephalic truncus are provided on different angles. The cross section pictures are also offered to indicate the relation of brain, tumor and encephalic truncus on cross sections. In this paper the calculating of areas, volume and the space between cancer and the side of the brain are also described.

  3. Stereo View of Phoenix Test Sample Site

    NASA Image and Video Library

    2008-06-02

    This anaglyph image, acquired by NASA’s Phoenix Lander’s Surface Stereo Imager on June 1, 2008, shows a stereoscopic 3D view of the so-called Knave of Hearts first-dig test area to the north of the lander. 3D glasses are necessary to view this image.

  4. Video stereo-laparoscopy system

    NASA Astrophysics Data System (ADS)

    Xiang, Yang; Hu, Jiasheng; Jiang, Huilin

    2006-01-01

    Minimally invasive surgery (MIS) has contributed significantly to patient care by reducing the morbidity associated with more invasive procedures. MIS procedures have become standard treatment for gallbladder disease and some abdominal malignancies. The imaging system has played a major role in the evolving field of minimally invasive surgery (MIS). The image need to have good resolution, large magnification, especially, the image need to have depth cue at the same time the image have no flicker and suit brightness. The video stereo-laparoscopy system can meet the demand of the doctors. This paper introduces the 3d video laparoscopy has those characteristic, field frequency: 100Hz, the depth space: 150mm, resolution: 10pl/mm. The work principle of the system is introduced in detail, and the optical system and time-division stereo-display system are described briefly in this paper. The system has focusing image lens, it can image on the CCD chip, the optical signal can change the video signal, and through A/D switch of the image processing system become the digital signal, then display the polarized image on the screen of the monitor through the liquid crystal shutters. The doctors with the polarized glasses can watch the 3D image without flicker of the tissue or organ. The 3D video laparoscope system has apply in the MIS field and praised by doctors. Contrast to the traditional 2D video laparoscopy system, it has some merit such as reducing the time of surgery, reducing the problem of surgery and the trained time.

  5. Stereo transparency and the disparity gradient limit

    NASA Technical Reports Server (NTRS)

    McKee, Suzanne P.; Verghese, Preeti

    2002-01-01

    Several studies (Vision Research 15 (1975) 583; Perception 9 (1980) 671) have shown that binocular fusion is limited by the disparity gradient (disparity/distance) separating image points, rather than by their absolute disparity values. Points separated by a gradient >1 appear diplopic. These results are sometimes interpreted as a constraint on human stereo matching, rather than a constraint on fusion. Here we have used psychophysical measurements on stereo transparency to show that human stereo matching is not constrained by a gradient of 1. We created transparent surfaces composed of many pairs of dots, in which each member of a pair was assigned a disparity equal and opposite to the disparity of the other member. For example, each pair could be composed of one dot with a crossed disparity of 6' and the other with uncrossed disparity of 6', vertically separated by a parametrically varied distance. When the vertical separation between the paired dots was small, the disparity gradient for each pair was very steep. Nevertheless, these opponent-disparity dot pairs produced a striking appearance of two transparent surfaces for disparity gradients ranging between 0.5 and 3. The apparent depth separating the two transparent planes was correctly matched to an equivalent disparity defined by two opaque surfaces. A test target presented between the two transparent planes was easily detected, indicating robust segregation of the disparities associated with the paired dots into two transparent surfaces with few mismatches in the target plane. Our simulations using the Tsai-Victor model show that the response profiles produced by scaled disparity-energy mechanisms can account for many of our results on the transparency generated by steep gradients.

  6. View Ahead After Spirit's Sol 1861 Drive (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11977 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11977

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images combined into this stereo, 210-degree view of the rover's surroundings during the 1,861st to 1,863rd Martian days, or sols, of Spirit's surface mission (March 28 to 30, 2009).

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The center of the scene is toward the south-southwest. East is on the left. West-northwest is on the right.

    The rover had driven 22.7 meters (74 feet) southwestward on Sol 1861 before beginning to take the frames in this view. The drive brought Spirit past the northwestern corner of Home Plate.

    In this view, the western edge of Home Plate is on the portion of the horizon farthest to the left. A mound in middle distance near the center of the view is called 'Tsiolkovsky' and is about 40 meters (about 130 feet) from the rover's position.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  7. A Self-Assessment Stereo Capture Model Applicable to the Internet of Things

    PubMed Central

    Lin, Yancong; Yang, Jiachen; Lv, Zhihan; Wei, Wei; Song, Houbing

    2015-01-01

    The realization of the Internet of Things greatly depends on the information communication among physical terminal devices and informationalized platforms, such as smart sensors, embedded systems and intelligent networks. Playing an important role in information acquisition, sensors for stereo capture have gained extensive attention in various fields. In this paper, we concentrate on promoting such sensors in an intelligent system with self-assessment capability to deal with the distortion and impairment in long-distance shooting applications. The core design is the establishment of the objective evaluation criteria that can reliably predict shooting quality with different camera configurations. Two types of stereo capture systems—toed-in camera configuration and parallel camera configuration—are taken into consideration respectively. The experimental results show that the proposed evaluation criteria can effectively predict the visual perception of stereo capture quality for long-distance shooting. PMID:26308004

  8. StereoGene: rapid estimation of genome-wide correlation of continuous or interval feature data.

    PubMed

    Stavrovskaya, Elena D; Niranjan, Tejasvi; Fertig, Elana J; Wheelan, Sarah J; Favorov, Alexander V; Mironov, Andrey A

    2017-10-15

    Genomics features with similar genome-wide distributions are generally hypothesized to be functionally related, for example, colocalization of histones and transcription start sites indicate chromatin regulation of transcription factor activity. Therefore, statistical algorithms to perform spatial, genome-wide correlation among genomic features are required. Here, we propose a method, StereoGene, that rapidly estimates genome-wide correlation among pairs of genomic features. These features may represent high-throughput data mapped to reference genome or sets of genomic annotations in that reference genome. StereoGene enables correlation of continuous data directly, avoiding the data binarization and subsequent data loss. Correlations are computed among neighboring genomic positions using kernel correlation. Representing the correlation as a function of the genome position, StereoGene outputs the local correlation track as part of the analysis. StereoGene also accounts for confounders such as input DNA by partial correlation. We apply our method to numerous comparisons of ChIP-Seq datasets from the Human Epigenome Atlas and FANTOM CAGE to demonstrate its wide applicability. We observe the changes in the correlation between epigenomic features across developmental trajectories of several tissue types consistent with known biology and find a novel spatial correlation of CAGE clusters with donor splice sites and with poly(A) sites. These analyses provide examples for the broad applicability of StereoGene for regulatory genomics. The StereoGene C ++ source code, program documentation, Galaxy integration scripts and examples are available from the project homepage http://stereogene.bioinf.fbb.msu.ru/. favorov@sensi.org. Supplementary data are available at Bioinformatics online. © The Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com

  9. 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.

  10. A spiking neural network model of 3D perception for event-based neuromorphic stereo vision systems

    PubMed Central

    Osswald, Marc; Ieng, Sio-Hoi; Benosman, Ryad; Indiveri, Giacomo

    2017-01-01

    Stereo vision is an important feature that enables machine vision systems to perceive their environment in 3D. While machine vision has spawned a variety of software algorithms to solve the stereo-correspondence problem, their implementation and integration in small, fast, and efficient hardware vision systems remains a difficult challenge. Recent advances made in neuromorphic engineering offer a possible solution to this problem, with the use of a new class of event-based vision sensors and neural processing devices inspired by the organizing principles of the brain. Here we propose a radically novel model that solves the stereo-correspondence problem with a spiking neural network that can be directly implemented with massively parallel, compact, low-latency and low-power neuromorphic engineering devices. We validate the model with experimental results, highlighting features that are in agreement with both computational neuroscience stereo vision theories and experimental findings. We demonstrate its features with a prototype neuromorphic hardware system and provide testable predictions on the role of spike-based representations and temporal dynamics in biological stereo vision processing systems. PMID:28079187

  11. A spiking neural network model of 3D perception for event-based neuromorphic stereo vision systems.

    PubMed

    Osswald, Marc; Ieng, Sio-Hoi; Benosman, Ryad; Indiveri, Giacomo

    2017-01-12

    Stereo vision is an important feature that enables machine vision systems to perceive their environment in 3D. While machine vision has spawned a variety of software algorithms to solve the stereo-correspondence problem, their implementation and integration in small, fast, and efficient hardware vision systems remains a difficult challenge. Recent advances made in neuromorphic engineering offer a possible solution to this problem, with the use of a new class of event-based vision sensors and neural processing devices inspired by the organizing principles of the brain. Here we propose a radically novel model that solves the stereo-correspondence problem with a spiking neural network that can be directly implemented with massively parallel, compact, low-latency and low-power neuromorphic engineering devices. We validate the model with experimental results, highlighting features that are in agreement with both computational neuroscience stereo vision theories and experimental findings. We demonstrate its features with a prototype neuromorphic hardware system and provide testable predictions on the role of spike-based representations and temporal dynamics in biological stereo vision processing systems.

  12. A spiking neural network model of 3D perception for event-based neuromorphic stereo vision systems

    NASA Astrophysics Data System (ADS)

    Osswald, Marc; Ieng, Sio-Hoi; Benosman, Ryad; Indiveri, Giacomo

    2017-01-01

    Stereo vision is an important feature that enables machine vision systems to perceive their environment in 3D. While machine vision has spawned a variety of software algorithms to solve the stereo-correspondence problem, their implementation and integration in small, fast, and efficient hardware vision systems remains a difficult challenge. Recent advances made in neuromorphic engineering offer a possible solution to this problem, with the use of a new class of event-based vision sensors and neural processing devices inspired by the organizing principles of the brain. Here we propose a radically novel model that solves the stereo-correspondence problem with a spiking neural network that can be directly implemented with massively parallel, compact, low-latency and low-power neuromorphic engineering devices. We validate the model with experimental results, highlighting features that are in agreement with both computational neuroscience stereo vision theories and experimental findings. We demonstrate its features with a prototype neuromorphic hardware system and provide testable predictions on the role of spike-based representations and temporal dynamics in biological stereo vision processing systems.

  13. STEREO-IMPACT E/PO at NASA's Sun-Earth Day Event: Participation in Total Eclipse 2006 Webcast

    NASA Astrophysics Data System (ADS)

    Craig, N.; Peticolas, L. M.; Mendez, B. J.; Luhmann, J. G.; Higdon, R.

    2006-05-01

    The Solar Terrestrial Relations Observatory (STEREO) is planned for launch in late Summer 2006. STEREO will study the Sun with two spacecraft in orbit around the Sun moving on opposite sides of Earth. The primary science goal is to understand the nature of Coronal Mass Ejections (CMEs). This presentation will focus on one of the informal education efforts of our E/PO program for the IMPACT instrument suite aboard STEREO. We will share our participation in NASA's Sun-Earth Day event which is scheduled to coincide with a total solar eclipse in March and is titled In a Different Light. We will show how this live eclipse Webcast, which reaches thousands of science center attendees, can inspire the public to observe, understand and be part of the Sun-Earth-Moon system. We will present video clips of STEREO-IMPACT team members Janet Luhmann and Nahide Craig participating in the Exploratorium's live Webcast of the 2006 solar eclipse on location from Side, Turkey, and the experiences and remarks of the other STEREO scientist from the path of totality from Africa.

  14. Improving Visibility of Stereo-Radiographic Spine Reconstruction with Geometric Inferences.

    PubMed

    Kumar, Sampath; Nayak, K Prabhakar; Hareesha, K S

    2016-04-01

    Complex deformities of the spine, like scoliosis, are evaluated more precisely using stereo-radiographic 3D reconstruction techniques. Primarily, it uses six stereo-corresponding points available on the vertebral body for the 3D reconstruction of each vertebra. The wireframe structure obtained in this process has poor visualization, hence difficult to diagnose. In this paper, a novel method is proposed to improve the visibility of this wireframe structure using a deformation of a generic spine model in accordance with the 3D-reconstructed corresponding points. Then, the geometric inferences like vertebral orientations are automatically extracted from the radiographs to improve the visibility of the 3D model. Biplanar radiographs are acquired from five scoliotic subjects on a specifically designed calibration bench. The stereo-corresponding point reconstruction method is used to build six-point wireframe vertebral structures and thus the entire spine model. Using the 3D spine midline and automatically extracted vertebral orientation features, a more realistic 3D spine model is generated. To validate the method, the 3D spine model is back-projected on biplanar radiographs and the error difference is computed. Though, this difference is within the error limits available in the literature, the proposed work is simple and economical. The proposed method does not require more corresponding points and image features to improve the visibility of the model. Hence, it reduces the computational complexity. Expensive 3D digitizer and vertebral CT scan models are also excluded from this study. Thus, the visibility of stereo-corresponding point reconstruction is improved to obtain a low-cost spine model for a better diagnosis of spinal deformities.

  15. Mapping Io's Surface Topography Using Voyager and Galileo Stereo Images and Photoclinometry

    NASA Astrophysics Data System (ADS)

    White, O. L.; Schenk, P.

    2011-12-01

    O.L. White and P.M. Schenk Lunar and Planetary Institute, 3600 Bay Area Boulevard, Houston, Texas, 77058 No instrumentation specifically designed to measure the topography of a planetary surface has ever been deployed to any of the Galilean satellites. Available methods that exist to perform such a task in the absence of the relevant instrumentation include photoclinometry, shadow length measurement, and stereo imaging. Stereo imaging is generally the most accurate of these methods, but is subject to limitations. Io is a challenging subject for stereo imaging given that much of its surface is comprised of volcanic plains, smooth at the resolution of many of the available global images. Radiation noise in Galileo images can also complicate mapping. Paterae, mountains and a few tall shield volcanoes, the only features of any considerable relief, exist as isolated features within these plains; previous research concerning topography measurement on Io using stereo imaging has focused on these features, and has been localized in its scope [Schenk et al., 2001; Schenk et al., 2004]. With customized ISIS software developed at LPI, it is the ultimate intention of our research to use stereo and photoclinometry processing of Voyager and Galileo images to create a global topographic map of Io that will constrain the shapes of local- and regional-scale features on this volcanic moon, and which will be tied to the global shape model of Thomas et al. [1998]. Applications of these data include investigation of how global heat flow varies across the moon and its relation to mantle convection and tidal heating [Tackley et al., 2001], as well as its correlation with local geology. Initial stereo mapping has focused on the Ra Patera/Euboea Montes/Acala Fluctus area, while initial photoclinometry mapping has focused on several paterae and calderas across Io. The results of both stereo and photoclinometry mapping have indicated that distinct topographic areas may correlate with surface

  16. Parallel Computer System for 3D Visualization Stereo on GPU

    NASA Astrophysics Data System (ADS)

    Al-Oraiqat, Anas M.; Zori, Sergii A.

    2018-03-01

    This paper proposes the organization of a parallel computer system based on Graphic Processors Unit (GPU) for 3D stereo image synthesis. The development is based on the modified ray tracing method developed by the authors for fast search of tracing rays intersections with scene objects. The system allows significant increase in the productivity for the 3D stereo synthesis of photorealistic quality. The generalized procedure of 3D stereo image synthesis on the Graphics Processing Unit/Graphics Processing Clusters (GPU/GPC) is proposed. The efficiency of the proposed solutions by GPU implementation is compared with single-threaded and multithreaded implementations on the CPU. The achieved average acceleration in multi-thread implementation on the test GPU and CPU is about 7.5 and 1.6 times, respectively. Studying the influence of choosing the size and configuration of the computational Compute Unified Device Archi-tecture (CUDA) network on the computational speed shows the importance of their correct selection. The obtained experimental estimations can be significantly improved by new GPUs with a large number of processing cores and multiprocessors, as well as optimized configuration of the computing CUDA network.

  17. Sensitivity Monitoring of the SECCHI COR1 Telescopes on STEREO

    NASA Astrophysics Data System (ADS)

    Thompson, William T.

    2018-03-01

    Measurements of bright stars passing through the fields of view of the inner coronagraphs (COR1) on board the Solar Terrestrial Relations Observatory (STEREO) are used to monitor changes in the radiometric calibration over the course of the mission. Annual decline rates are found to be 0.648 ± 0.066%/year for COR1-A on STEREO Ahead and 0.258 ± 0.060%/year for COR1-B on STEREO Behind. These rates are consistent with decline rates found for other space-based coronagraphs in similar radiation environments. The theorized cause for the decline in sensitivity is darkening of the lenses and other optical elements due to exposure to high-energy solar particles and photons, although other causes are also possible. The total decline in the COR-B sensitivity when contact with Behind was lost on 1 October 2014 was 1.7%, while COR1-A was down by 4.4%. As of 1 November 2017, the COR1-A decline is estimated to be 6.4%. The SECCHI calibration routines will be updated to take these COR1 decline rates into account.

  18. SAD-Based Stereo Vision Machine on a System-on-Programmable-Chip (SoPC)

    PubMed Central

    Zhang, Xiang; Chen, Zhangwei

    2013-01-01

    This paper, proposes a novel solution for a stereo vision machine based on the System-on-Programmable-Chip (SoPC) architecture. The SOPC technology provides great convenience for accessing many hardware devices such as DDRII, SSRAM, Flash, etc., by IP reuse. The system hardware is implemented in a single FPGA chip involving a 32-bit Nios II microprocessor, which is a configurable soft IP core in charge of managing the image buffer and users' configuration data. The Sum of Absolute Differences (SAD) algorithm is used for dense disparity map computation. The circuits of the algorithmic module are modeled by the Matlab-based DSP Builder. With a set of configuration interfaces, the machine can process many different sizes of stereo pair images. The maximum image size is up to 512 K pixels. This machine is designed to focus on real time stereo vision applications. The stereo vision machine offers good performance and high efficiency in real time. Considering a hardware FPGA clock of 90 MHz, 23 frames of 640 × 480 disparity maps can be obtained in one second with 5 × 5 matching window and maximum 64 disparity pixels. PMID:23459385

  19. The Dynamic Photometric Stereo Method Using a Multi-Tap CMOS Image Sensor †

    PubMed Central

    Yoda, Takuya; Nagahara, Hajime; Taniguchi, Rin-ichiro; Kagawa, Keiichiro; Yasutomi, Keita; Kawahito, Shoji

    2018-01-01

    The photometric stereo method enables estimation of surface normals from images that have been captured using different but known lighting directions. The classical photometric stereo method requires at least three images to determine the normals in a given scene. However, this method cannot be applied to dynamic scenes because it is assumed that the scene remains static while the required images are captured. In this work, we present a dynamic photometric stereo method for estimation of the surface normals in a dynamic scene. We use a multi-tap complementary metal-oxide-semiconductor (CMOS) image sensor to capture the input images required for the proposed photometric stereo method. This image sensor can divide the electrons from the photodiode from a single pixel into the different taps of the exposures and can thus capture multiple images under different lighting conditions with almost identical timing. We implemented a camera lighting system and created a software application to enable estimation of the normal map in real time. We also evaluated the accuracy of the estimated surface normals and demonstrated that our proposed method can estimate the surface normals of dynamic scenes. PMID:29510599

  20. Developing Mirror Self Awareness in Students with Autism Spectrum Disorder

    ERIC Educational Resources Information Center

    Duff, Christine K.; Flattery, J. J., Jr.

    2014-01-01

    A teaching methodology and curriculum was designed to develop and increase positive self-awareness in students diagnosed with autism spectrum disorders (ASD). Joint attention (JA) strategies were first utilized to directly teach students about reflected mirror images, and then subsequently, to indirectly teach students about their reflected image.…

  1. Double biprism arrays design using for stereo-photography of mobile phone camera

    NASA Astrophysics Data System (ADS)

    Sun, Wen-Shing; Chu, Pu-Yi; Chao, Yu-Hao; Pan, Jui-Wen; Tien, Chuen-Lin

    2016-11-01

    Generally, mobile phone use one camera to catch the image, and it is hard to get stereo image pair. Adding a biprism array can help that get the image pair easily. So users can use their mobile phone to catch the stereo image anywhere by adding a biprism array, and if they want to get a normal image just remove it. Using biprism arrays will induce chromatic aberration. Therefore, we design a double biprism arrays to reduce chromatic aberration.

  2. Approaching Solar Maximum 24 with Stereo-Multipoint Observations of Solar Energetic Particle Events

    NASA Technical Reports Server (NTRS)

    Dresing, N.; Cohen, C. M. S.; Gomez-Herrero, R.; Heber, B.; Klassen, A.; Leske, R. A.; Mason, G. M.; Mewaldt, R. A.; von Rosenvinge, T. T.

    2014-01-01

    Since the beginning of the Solar Terrestrial Relations Observatory (STEREO) mission at the end of 2006, the two spacecraft have now separated by more than 130? degrees from the Earth. A 360-degree view of the Sun has been possible since February 2011, providing multipoint in situ and remote sensing observations of unprecedented quality. Combining STEREO observations with near-Earth measurements allows the study of solar energetic particle (SEP) events over a wide longitudinal range with minimal radial gradient effects. This contribution provides an overview of recent results obtained by the STEREO/IMPACT team in combination with observations by the ACE and SOHO spacecraft. We focus especially on multi-spacecraft investigations of SEP events. The large longitudinal spread of electron and 3He-rich events as well as unusual anisotropies will be presented and discussed.

  3. Small Orbital Stereo Tracking Camera Technology Development

    NASA Technical Reports Server (NTRS)

    Bryan, Tom; MacLeod, Todd; Gagliano, Larry

    2016-01-01

    On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well To help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

  4. Small Orbital Stereo Tracking Camera Technology Development

    NASA Technical Reports Server (NTRS)

    Bryan, Tom; Macleod, Todd; Gagliano, Larry

    2015-01-01

    On-Orbit Small Debris Tracking and Characterization is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crew. This poses a major risk of MOD damage to ISS and Exploration vehicles. In 2015 this technology was added to NASA's Office of Chief Technologist roadmap. For missions flying in or assembled in or staging from LEO, the physical threat to vehicle and crew is needed in order to properly design the proper level of MOD impact shielding and proper mission design restrictions. Need to verify debris flux and size population versus ground RADAR tracking. Use of ISS for In-Situ Orbital Debris Tracking development provides attitude, power, data and orbital access without a dedicated spacecraft or restricted operations on-board a host vehicle as a secondary payload. Sensor Applicable to in-situ measuring orbital debris in flux and population in other orbits or on other vehicles. Could enhance safety on and around ISS. Some technologies extensible to monitoring of extraterrestrial debris as well to help accomplish this, new technologies must be developed quickly. The Small Orbital Stereo Tracking Camera is one such up and coming technology. It consists of flying a pair of intensified megapixel telephoto cameras to evaluate Orbital Debris (OD) monitoring in proximity of International Space Station. It will demonstrate on-orbit optical tracking (in situ) of various sized objects versus ground RADAR tracking and small OD models. The cameras are based on Flight Proven Advanced Video Guidance Sensor pixel to spot algorithms (Orbital Express) and military targeting cameras. And by using twin cameras we can provide Stereo images for ranging & mission redundancy. When pointed into the orbital velocity vector (RAM), objects approaching or near the stereo camera set can be differentiated from the stars moving upward in background.

  5. Recovering stereo vision by squashing virtual bugs in a virtual reality environment.

    PubMed

    Vedamurthy, Indu; Knill, David C; Huang, Samuel J; Yung, Amanda; Ding, Jian; Kwon, Oh-Sang; Bavelier, Daphne; Levi, Dennis M

    2016-06-19

    Stereopsis is the rich impression of three-dimensionality, based on binocular disparity-the differences between the two retinal images of the same world. However, a substantial proportion of the population is stereo-deficient, and relies mostly on monocular cues to judge the relative depth or distance of objects in the environment. Here we trained adults who were stereo blind or stereo-deficient owing to strabismus and/or amblyopia in a natural visuomotor task-a 'bug squashing' game-in a virtual reality environment. The subjects' task was to squash a virtual dichoptic bug on a slanted surface, by hitting it with a physical cylinder they held in their hand. The perceived surface slant was determined by monocular texture and stereoscopic cues, with these cues being either consistent or in conflict, allowing us to track the relative weighting of monocular versus stereoscopic cues as training in the task progressed. Following training most participants showed greater reliance on stereoscopic cues, reduced suppression and improved stereoacuity. Importantly, the training-induced changes in relative stereo weights were significant predictors of the improvements in stereoacuity. We conclude that some adults deprived of normal binocular vision and insensitive to the disparity information can, with appropriate experience, recover access to more reliable stereoscopic information.This article is part of the themed issue 'Vision in our three-dimensional world'. © 2016 The Author(s).

  6. Recovering stereo vision by squashing virtual bugs in a virtual reality environment

    PubMed Central

    Vedamurthy, Indu; Knill, David C.; Huang, Samuel J.; Yung, Amanda; Ding, Jian; Kwon, Oh-Sang; Bavelier, Daphne

    2016-01-01

    Stereopsis is the rich impression of three-dimensionality, based on binocular disparity—the differences between the two retinal images of the same world. However, a substantial proportion of the population is stereo-deficient, and relies mostly on monocular cues to judge the relative depth or distance of objects in the environment. Here we trained adults who were stereo blind or stereo-deficient owing to strabismus and/or amblyopia in a natural visuomotor task—a ‘bug squashing’ game—in a virtual reality environment. The subjects' task was to squash a virtual dichoptic bug on a slanted surface, by hitting it with a physical cylinder they held in their hand. The perceived surface slant was determined by monocular texture and stereoscopic cues, with these cues being either consistent or in conflict, allowing us to track the relative weighting of monocular versus stereoscopic cues as training in the task progressed. Following training most participants showed greater reliance on stereoscopic cues, reduced suppression and improved stereoacuity. Importantly, the training-induced changes in relative stereo weights were significant predictors of the improvements in stereoacuity. We conclude that some adults deprived of normal binocular vision and insensitive to the disparity information can, with appropriate experience, recover access to more reliable stereoscopic information. This article is part of the themed issue ‘Vision in our three-dimensional world’. PMID:27269607

  7. Gamma/x-ray linear pushbroom stereo for 3D cargo inspection

    NASA Astrophysics Data System (ADS)

    Zhu, Zhigang; Hu, Yu-Chi

    2006-05-01

    For evaluating the contents of trucks, containers, cargo, and passenger vehicles by a non-intrusive gamma-ray or X-ray imaging system to determine the possible presence of contraband, three-dimensional (3D) measurements could provide more information than 2D measurements. In this paper, a linear pushbroom scanning model is built for such a commonly used gamma-ray or x-ray cargo inspection system. Accurate 3D measurements of the objects inside a cargo can be obtained by using two such scanning systems with different scanning angles to construct a pushbroom stereo system. A simple but robust calibration method is proposed to find the important parameters of the linear pushbroom sensors. Then, a fast and automated stereo matching algorithm based on free-form deformable registration is developed to obtain 3D measurements of the objects under inspection. A user interface is designed for 3D visualization of the objects in interests. Experimental results of sensor calibration, stereo matching, 3D measurements and visualization of a 3D cargo container and the objects inside, are presented.

  8. Stereo View of Martian Rock Target 'Funzie'

    NASA Image and Video Library

    2018-02-08

    The surface of the Martian rock target in this stereo image includes small hollows with a "swallowtail" shape characteristic of some gypsum crystals, most evident in the lower left quadrant. These hollows may have resulted from the original crystallizing mineral subsequently dissolving away. The view appears three-dimensional when seen through blue-red glasses with the red lens on the left. The scene spans about 2.5 inches (6.5 centimeters). This rock target, called "Funzie," is near the southern, uphill edge of "Vera Rubin Ridge" on lower Mount Sharp. The stereo view combines two images taken from slightly different angles by the Mars Hand Lens Imager (MAHLI) camera on NASA's Curiosity Mars rover, with the camera about 4 inches (10 centimeters) above the target. Fig. 1 and Fig. 2 are the separate "right-eye" and "left-eye" images, taken on Jan. 11, 2018, during the 1,932nd Martian day, or sol, of the rover's work on Mars. Right-eye and left-eye images are available at https://photojournal.jpl.nasa.gov/catalog/PIA22212

  9. Stereo photos for evaluating jack pine slash fuels.

    Treesearch

    Richard W. Blank

    1982-01-01

    Describes a quick, visual method for estimating jack pine logging residue and other fuels. The method uses a series of large color photographs and stereo pairs as well as data sheets that detail size classes and loadings of the logging slash and other fuels.

  10. Accuracy analysis for DSM and orthoimages derived from SPOT HRS stereo data using direct georeferencing

    NASA Astrophysics Data System (ADS)

    Reinartz, Peter; Müller, Rupert; Lehner, Manfred; Schroeder, Manfred

    During the HRS (High Resolution Stereo) Scientific Assessment Program the French space agency CNES delivered data sets from the HRS camera system with high precision ancillary data. Two test data sets from this program were evaluated: one is located in Germany, the other in Spain. The first goal was to derive orthoimages and digital surface models (DSM) from the along track stereo data by applying the rigorous model with direct georeferencing and without ground control points (GCPs). For the derivation of DSM, the stereo processing software, developed at DLR for the MOMS-2P three line stereo camera was used. As a first step, the interior and exterior orientation of the camera, delivered as ancillary data from positioning and attitude systems were extracted. A dense image matching, using nearly all pixels as kernel centers provided the parallaxes. The quality of the stereo tie points was controlled by forward and backward matching of the two stereo partners using the local least squares matching method. Forward intersection lead to points in object space which are subsequently interpolated to a DSM in a regular grid. DEM filtering methods were also applied and evaluations carried out differentiating between accuracies in forest and other areas. Additionally, orthoimages were generated from the images of the two stereo looking directions. The orthoimage and DSM accuracy was determined by using GCPs and available reference DEMs of superior accuracy (DEM derived from laser data and/or classical airborne photogrammetry). As expected the results obtained without using GCPs showed a bias in the order of 5-20 m to the reference data for all three coordinates. By image matching it could be shown that the two independently derived orthoimages exhibit a very constant shift behavior. In a second step few GCPs (3-4) were used to calculate boresight alignment angles, introduced into the direct georeferencing process of each image independently. This method improved the absolute

  11. The STEREO Mission: A New Approach to Space Weather Research

    NASA Technical Reports Server (NTRS)

    Kaiser, michael L.

    2006-01-01

    With the launch of the twin STEREO spacecraft in July 2006, a new capability will exist for both real-time space weather predictions and for advances in space weather research. Whereas previous spacecraft monitors of the sun such as ACE and SOH0 have been essentially on the sun-Earth line, the STEREO spacecraft will be in 1 AU orbits around the sun on either side of Earth and will be viewing the solar activity from distinctly different vantage points. As seen from the sun, the two spacecraft will separate at a rate of 45 degrees per year, with Earth bisecting the angle. The instrument complement on the two spacecraft will consist of a package of optical instruments capable of imaging the sun in the visible and ultraviolet from essentially the surface to 1 AU and beyond, a radio burst receiver capable of tracking solar eruptive events from an altitude of 2-3 Rs to 1 AU, and a comprehensive set of fields and particles instruments capable of measuring in situ solar events such as interplanetary magnetic clouds. In addition to normal daily recorded data transmissions, each spacecraft is equipped with a real-time beacon that will provide 1 to 5 minute snapshots or averages of the data from the various instruments. This beacon data will be received by NOAA and NASA tracking stations and then relayed to the STEREO Science Center located at Goddard Space Flight Center in Maryland where the data will be processed and made available within a goal of 5 minutes of receipt on the ground. With STEREO's instrumentation and unique view geometry, we believe considerable improvement can be made in space weather prediction capability as well as improved understanding of the three dimensional structure of solar transient events.

  12. Massive stereo-based DTM production for Mars on cloud computers

    NASA Astrophysics Data System (ADS)

    Tao, Y.; Muller, J.-P.; Sidiropoulos, P.; Xiong, Si-Ting; Putri, A. R. D.; Walter, S. H. G.; Veitch-Michaelis, J.; Yershov, V.

    2018-05-01

    Digital Terrain Model (DTM) creation is essential to improving our understanding of the formation processes of the Martian surface. Although there have been previous demonstrations of open-source or commercial planetary 3D reconstruction software, planetary scientists are still struggling with creating good quality DTMs that meet their science needs, especially when there is a requirement to produce a large number of high quality DTMs using "free" software. In this paper, we describe a new open source system to overcome many of these obstacles by demonstrating results in the context of issues found from experience with several planetary DTM pipelines. We introduce a new fully automated multi-resolution DTM processing chain for NASA Mars Reconnaissance Orbiter (MRO) Context Camera (CTX) and High Resolution Imaging Science Experiment (HiRISE) stereo processing, called the Co-registration Ames Stereo Pipeline (ASP) Gotcha Optimised (CASP-GO), based on the open source NASA ASP. CASP-GO employs tie-point based multi-resolution image co-registration, and Gotcha sub-pixel refinement and densification. CASP-GO pipeline is used to produce planet-wide CTX and HiRISE DTMs that guarantee global geo-referencing compliance with respect to High Resolution Stereo Colour imaging (HRSC), and thence to the Mars Orbiter Laser Altimeter (MOLA); providing refined stereo matching completeness and accuracy. All software and good quality products introduced in this paper are being made open-source to the planetary science community through collaboration with NASA Ames, United States Geological Survey (USGS) and the Jet Propulsion Laboratory (JPL), Advanced Multi-Mission Operations System (AMMOS) Planetary Data System (PDS) Pipeline Service (APPS-PDS4), as well as browseable and visualisable through the iMars web based Geographic Information System (webGIS) system.

  13. Stereo Image of Mt. Usu Volcano

    NASA Technical Reports Server (NTRS)

    2002-01-01

    On April 3, the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) on NASA's Terra Satellite captured this image of the erupting Mt. Usu volcano in Hokkaido, Japan. This anaglyph stereo image is of Mt Usu volcano. On Friday, March 31, more than 15,000 people were evacuated by helicopter, truck and boat from the foot of Usu, that began erupting from the northwest flank, shooting debris and plumes of smoke streaked with blue lightning thousands of feet in the air. Although no lava gushed from the mountain, rocks and ash continued to fall after the eruption. The region was shaken by thousands of tremors before the eruption. People said they could taste grit from the ash that was spewed as high as 2,700 meters (8,850 ft) into the sky and fell to coat surrounding towns with ash. A 3-D view can be obtained by looking through stereo glasses, with the blue film through your left eye and red film with your right eye at the same time. North is on your right hand side. For more information, see When Rivers of Rock Flow ASTER web page Image courtesy of MITI, ERSDAC, JAROS, and the U.S./Japan ASTER Science Team

  14. Stereo Viewing Modulates Three-Dimensional Shape Processing During Object Recognition: A High-Density ERP Study

    PubMed Central

    2017-01-01

    The role of stereo disparity in the recognition of 3-dimensional (3D) object shape remains an unresolved issue for theoretical models of the human visual system. We examined this issue using high-density (128 channel) recordings of event-related potentials (ERPs). A recognition memory task was used in which observers were trained to recognize a subset of complex, multipart, 3D novel objects under conditions of either (bi-) monocular or stereo viewing. In a subsequent test phase they discriminated previously trained targets from untrained distractor objects that shared either local parts, 3D spatial configuration, or neither dimension, across both previously seen and novel viewpoints. The behavioral data showed a stereo advantage for target recognition at untrained viewpoints. ERPs showed early differential amplitude modulations to shape similarity defined by local part structure and global 3D spatial configuration. This occurred initially during an N1 component around 145–190 ms poststimulus onset, and then subsequently during an N2/P3 component around 260–385 ms poststimulus onset. For mono viewing, amplitude modulation during the N1 was greatest between targets and distracters with different local parts for trained views only. For stereo viewing, amplitude modulation during the N2/P3 was greatest between targets and distracters with different global 3D spatial configurations and generalized across trained and untrained views. The results show that image classification is modulated by stereo information about the local part, and global 3D spatial configuration of object shape. The findings challenge current theoretical models that do not attribute functional significance to stereo input during the computation of 3D object shape. PMID:29022728

  15. Stereo 3-D and non-stereo presentations of a computer-generated pictorial primary flight display with pathway augmentation

    NASA Technical Reports Server (NTRS)

    Nataupsky, Mark; Crittenden, Lucille

    1988-01-01

    Stereo 3-D was researched as a means to present cockpit displays which enhance a pilot's situational awareness while maintaining a desirable level of mental workload. The initial study at the NASA Langley Research Center used two different pathways-in-the-sky to augment a computer-generated pictorial primary flight display. One pathway resembled the outline of signposts, while the other pathway resembled a monorail. That display was configured for a curved approach to a landing such as could be used in a Microwave Landing System (MLS) approach. It could also be used for military transports which would have to fly a precision curved pathway. Each trial was initialized with the pilot on the desired flight path. After 2 seconds, he suddenly was shifted to one of eight flight path offsets. The pilot was then required to make the initial pitch and/or roll input to correct back to the nominal flight path. As soon as the input was made, the trial was over. No input was required for control trials with no flight path offset. Pilots responded statistically significantly faster when the display was presented in the stereo version than when it was presented in the nonstereo version.

  16. Infrared Stereo Calibration for Unmanned Ground Vehicle Navigation

    DTIC Science & Technology

    2014-05-01

    Josh Harguess: E -mail: joshua.harguess@navy.mil, Telephone: 1 619 553 0777 SPIE Proc. 9084: Unmanned Systems Technology XVI, Baltimore, MD, May 6-8...G., Diniz , H., Silvino, S., and de Andrade, R., “Thermal/visible au- tonomous stereo visio system calibration methodology for non-controlled

  17. Test Image of Earth Rocks by Mars Camera Stereo

    NASA Image and Video Library

    2010-11-16

    This stereo view of terrestrial rocks combines two images taken by a testing twin of the Mars Hand Lens Imager MAHLI camera on NASA Mars Science Laboratory. 3D glasses are necessary to view this image.

  18. An efficient photogrammetric stereo matching method for high-resolution images

    NASA Astrophysics Data System (ADS)

    Li, Yingsong; Zheng, Shunyi; Wang, Xiaonan; Ma, Hao

    2016-12-01

    Stereo matching of high-resolution images is a great challenge in photogrammetry. The main difficulty is the enormous processing workload that involves substantial computing time and memory consumption. In recent years, the semi-global matching (SGM) method has been a promising approach for solving stereo problems in different data sets. However, the time complexity and memory demand of SGM are proportional to the scale of the images involved, which leads to very high consumption when dealing with large images. To solve it, this paper presents an efficient hierarchical matching strategy based on the SGM algorithm using single instruction multiple data instructions and structured parallelism in the central processing unit. The proposed method can significantly reduce the computational time and memory required for large scale stereo matching. The three-dimensional (3D) surface is reconstructed by triangulating and fusing redundant reconstruction information from multi-view matching results. Finally, three high-resolution aerial date sets are used to evaluate our improvement. Furthermore, precise airborne laser scanner data of one data set is used to measure the accuracy of our reconstruction. Experimental results demonstrate that our method remarkably outperforms in terms of time and memory savings while maintaining the density and precision of the 3D cloud points derived.

  19. Dust Devil in Spirit's View Ahead on Sol 1854 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11960 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11960

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,854th Martian day, or sol, of Spirit's surface mission (March 21, 2009).

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 13.79 meters (45 feet) westward earlier on Sol 1854.

    West is at the center, where a dust devil is visible in the distance. North on the right, where Husband Hill dominates the horizon; Spirit was on top of Husband Hill in September and October 2005. South is on the left, where lighter-toned rock lines the edge of the low plateau called 'Home Plate.'

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  20. The High Energy Telescopes for the STEREO Mission

    NASA Astrophysics Data System (ADS)

    von Rosenvinge, T.T.; Cummings, A.C.; Leske, R.A.; Mewaldt, R.A.; Reames, D.V.; Stone, E.C.; Wiedenbeck, M.E.

    We describe the High Energy Telescopes (HETs), which are part of the IMPACT investigation for the STEREO mission (Principal Investigator: Janet Luhmann, University of California at Berkeley). The two STEREO spacecraft were launched from Cape Canaveral, FL on October 25, 2006. High energy electrons (~ 0.7 -6 MeV) and nuclei from hydrogen to iron (~ 13 - 200 MeV/nucleon) are detected by the HETs, one on each spacecraft. Observations from one pass through the Earth’s magnetosphere and from four X-class solar events in December, 2006 are presented to illustrate the capabilities of the HETs. The HET observations are also compared with observations from other spacecraft. The event of December 13th was the first Ground Level Event in almost two years. We will compare the elemental composition of this event with that of the previous Ground Level Event on January 20, 2005. This work was supported by NASA (at Caltech and JPL under contract NAS5-00133 and grant NAG5-12929).

  1. The High Energy Telescopes for the STEREO Mission

    NASA Astrophysics Data System (ADS)

    von Rosenvinge, T.; Cummings, A.; Cohen, C.; Leske, R.; Mewaldt, R.; Stone, E.; Wiedenbeck, M.

    2007-05-01

    The High Energy Telescopes (HETs) described in this paper are part of the IMPACT investigation for the STEREO mission (Principal Investigator: Janet Luhmann, University of California at Berkeley). The two STEREO spacecraft were launched from Cape Canaveral, FL on October 25, 2006. High energy electrons (~ 0.7 -6 MeV) and nuclei from hydrogen to iron (~ 13 - 200 MeV/nucleon) are detected by the HETs, one on each spacecraft. The HET design, the associated electronics, and the on-board software are described in some detail. Observations from one pass through the Earth's magnetosphere and from four X-class solar events in December, 2006 are presented to illustrate the capabilities of the HETs. The event of December 13th was a Ground Level Event. We will compare the elemental composition of this event with that of a previous Ground Level Event on January 20, 2005. This work was supported by NASA (at Caltech and JPL under contract NAS5-00133).

  2. Using Combination of Planar and Height Features for Detecting Built-Up Areas from High-Resolution Stereo Imagery

    NASA Astrophysics Data System (ADS)

    Peng, F.; Cai, X.; Tan, W.

    2017-09-01

    Within-class spectral variation and between-class spectral confusion in remotely sensed imagery degrades the performance of built-up area detection when using planar texture, shape, and spectral features. Terrain slope and building height are often used to optimize the results, but extracted from auxiliary data (e.g. LIDAR data, DSM). Moreover, the auxiliary data must be acquired around the same time as image acquisition. Otherwise, built-up area detection accuracy is affected. Stereo imagery incorporates both planar and height information unlike single remotely sensed images. Stereo imagery acquired by many satellites (e.g. Worldview-4, Pleiades-HR, ALOS-PRISM, and ZY-3) can be used as data source of identifying built-up areas. A new method of identifying high-accuracy built-up areas from stereo imagery is achieved by using a combination of planar and height features. The digital surface model (DSM) and digital orthophoto map (DOM) are first generated from stereo images. Then, height values of above-ground objects (e.g. buildings) are calculated from the DSM, and used to obtain raw built-up areas. Other raw built-up areas are obtained from the DOM using Pantex and Gabor, respectively. Final high-accuracy built-up area results are achieved from these raw built-up areas using the decision level fusion. Experimental results show that accurate built-up areas can be achieved from stereo imagery. The height information used in the proposed method is derived from stereo imagery itself, with no need to require auxiliary height data (e.g. LIDAR data). The proposed method is suitable for spaceborne and airborne stereo pairs and triplets.

  3. The tomato res mutant which accumulates JA in roots in non-stressed conditions restores cell structure alterations under salinity.

    PubMed

    Garcia-Abellan, José O; Fernandez-Garcia, Nieves; Lopez-Berenguer, Carmen; Egea, Isabel; Flores, Francisco B; Angosto, Trinidad; Capel, Juan; Lozano, Rafael; Pineda, Benito; Moreno, Vicente; Olmos, Enrique; Bolarin, Maria C

    2015-11-01

    Jasmonic acid (JA) regulates a wide spectrum of plant biological processes, from plant development to stress defense responses. The role of JA in plant response to salt stress is scarcely known, and even less known is the specific response in root, the main plant organ responsible for ionic uptake and transport to the shoot. Here we report the characterization of the first tomato (Solanum lycopersicum) mutant, named res (restored cell structure by salinity), that accumulates JA in roots prior to exposure to stress. The res tomato mutant presented remarkable growth inhibition and displayed important morphological alterations and cellular disorganization in roots and leaves under control conditions, while these alterations disappeared when the res mutant plants were grown under salt stress. Reciprocal grafting between res and wild type (WT) (tomato cv. Moneymaker) indicated that the main organ responsible for the development of alterations was the root. The JA-signaling pathway is activated in res roots prior to stress, with transcripts levels being even higher in control condition than in salinity. Future studies on this mutant will provide significant advances in the knowledge of JA role in root in salt-stress tolerance response, as well as in the energy trade-off between plant growth and response to stress. © 2015 Scandinavian Plant Physiology Society.

  4. Opportunity's View After Drive on Sol 1806 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11816 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11816

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo, full-circle view of the rover's surroundings just after driving 60.86 meters (200 feet) on the 1,806th Martian day, or sol, of Opportunity's surface mission (Feb. 21, 2009). North is at the center; south at both ends.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    Tracks from the drive extend northward across dark-toned sand ripples and light-toned patches of exposed bedrock in the Meridiani Planum region of Mars. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches).

    Engineers designed the Sol 1806 drive to be driven backwards as a strategy to redistribute lubricant in the rovers wheels. The right-front wheel had been showing signs of increased friction.

    The rover's position after the Sol 1806 drive was about 2 kilometer (1.2 miles) south southwest of Victoria Crater. Cumulative odometry was 14.74 kilometers (9.16 miles) since landing in January 2004, including 2.96 kilometers (1.84 miles) since climbing out of Victoria Crater on the west side of the crater on Sol 1634 (August 28, 2008).

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  5. Rock Moved by Mars Lander Arm, Stereo View

    NASA Technical Reports Server (NTRS)

    2008-01-01

    The robotic arm on NASA's Phoenix Mars Lander slid a rock out of the way during the mission's 117th Martian day (Sept. 22, 2008) to gain access to soil that had been underneath the rock.The lander's Surface Stereo Imager took the two images for this stereo view later the same day, showing the rock, called 'Headless,' after the arm pushed it about 40 centimeters (16 inches) from its previous location.

    'The rock ended up exactly where we intended it to,' said Matt Robinson of NASA's Jet Propulsion Laboratory, robotic arm flight software lead for the Phoenix team.

    The arm had enlarged the trench near Headless two days earlier in preparation for sliding the rock into the trench. The trench was dug to about 3 centimeters (1.2 inches) deep. The ground surface between the rock's prior position and the lip of the trench had a slope of about 3 degrees downward toward the trench. Headless is about the size and shape of a VHS videotape.

    The Phoenix science team sought to move the rock in order to study the soil and the depth to subsurface ice underneath where the rock had been.

    This left-eye and right-eye images for this stereo view were taken at about 12:30 p.m., local solar time on Mars. The scene appears three-dimensional when seen through blue-red glasses.The view is to the north northeast of the lander.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by JPL, Pasadena, Calif. Spacecraft development was by Lockheed Martin Space Systems, Denver.

  6. Stereo matching image processing by synthesized color and the characteristic area by the synthesized color

    NASA Astrophysics Data System (ADS)

    Akiyama, Akira; Mutoh, Eiichiro; Kumagai, Hideo

    2014-09-01

    We have developed the stereo matching image processing by synthesized color and the corresponding area by the synthesized color for ranging the object and image recognition. The typical images from a pair of the stereo imagers may have some image disagreement each other due to the size change, missed place, appearance change and deformation of characteristic area. We constructed the synthesized color and corresponding color area with the same synthesized color to make the distinct stereo matching. We constructed the synthesized color and corresponding color area with the same synthesized color by the 3 steps. The first step is making binary edge image by differentiating the focused image from each imager and verifying that differentiated image has normal density of frequency distribution to find the threshold level of binary procedure. We used Daubechies wavelet transformation for the procedures of differentiating in this study. The second step is deriving the synthesized color by averaging color brightness between binary edge points with respect to horizontal direction and vertical direction alternatively. The averaging color procedure was done many times until the fluctuation of averaged color become negligible with respect to 256 levels in brightness. The third step is extracting area with same synthesized color by collecting the pixel of same synthesized color and grouping these pixel points by 4 directional connectivity relations. The matching areas for the stereo matching are determined by using synthesized color areas. The matching point is the center of gravity of each synthesized color area. The parallax between a pair of images is derived by the center of gravity of synthesized color area easily. The experiment of this stereo matching was done for the object of the soccer ball toy. From this experiment we showed that stereo matching by the synthesized color technique are simple and effective.

  7. Correction techniques for depth errors with stereo three-dimensional graphic displays

    NASA Technical Reports Server (NTRS)

    Parrish, Russell V.; Holden, Anthony; Williams, Steven P.

    1992-01-01

    Three-dimensional (3-D), 'real-world' pictorial displays that incorporate 'true' depth cues via stereopsis techniques have proved effective for displaying complex information in a natural way to enhance situational awareness and to improve pilot/vehicle performance. In such displays, the display designer must map the depths in the real world to the depths available with the stereo display system. However, empirical data have shown that the human subject does not perceive the information at exactly the depth at which it is mathematically placed. Head movements can also seriously distort the depth information that is embedded in stereo 3-D displays because the transformations used in mapping the visual scene to the depth-viewing volume (DVV) depend intrinsically on the viewer location. The goal of this research was to provide two correction techniques; the first technique corrects the original visual scene to the DVV mapping based on human perception errors, and the second (which is based on head-positioning sensor input data) corrects for errors induced by head movements. Empirical data are presented to validate both correction techniques. A combination of the two correction techniques effectively eliminates the distortions of depth information embedded in stereo 3-D displays.

  8. A new stereo topographic map of Io: Implications for geology from global to local scales

    NASA Astrophysics Data System (ADS)

    White, Oliver L.; Schenk, Paul M.; Nimmo, Francis; Hoogenboom, Trudi

    2014-06-01

    We use Voyager and Galileo stereo pairs to construct the most complete stereo digital elevation model (DEM) of Io assembled to date, controlled using Galileo limb profiles. Given the difficulty of applying these two techniques to Io due to its anomalous surface albedo properties, we have experimented extensively with the relevant procedures in order to generate what we consider to be the most reliable DEMs. Our final stereo DEM covers ~75% of the globe, and we have identified a partial system of longitudinally arranged alternating basins and swells that correlates well to the distribution of mountain and volcano concentrations. We consider the correlation of swells to volcano concentrations and basins to mountain concentrations, to imply a heat flow distribution across Io that is consistent with the asthenospheric tidal heating model of Tackley et al. (2001). The stereo DEM reveals topographic signatures of regional-scale features including Loki Patera, Ra Patera, and the Tvashtar Paterae complex, in addition to previously unrecognized features including an ~1000 km diameter depression and a >2000 km long topographic arc comprising mountainous and layered plains material.

  9. Opportunity's Surroundings After Sol 1820 Drive (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11841 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11841

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this full-circle view of the rover's surroundings during the 1,820th to 1,822nd Martian days, or sols, of Opportunity's surface mission (March 7 to 9, 2009).

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 20.6 meters toward the northwest on Sol 1820 before beginning to take the frames in this view. Tracks from that drive recede southwestward. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches).

    The terrain in this portion of Mars' Meridiani Planum region includes dark-toned sand ripples and small exposures of lighter-toned bedrock.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  10. Uncalibrated stereo rectification and disparity range stabilization: a comparison of different feature detectors

    NASA Astrophysics Data System (ADS)

    Luo, Xiongbiao; Jayarathne, Uditha L.; McLeod, A. Jonathan; Pautler, Stephen E.; Schlacta, Christopher M.; Peters, Terry M.

    2016-03-01

    This paper studies uncalibrated stereo rectification and stable disparity range determination for surgical scene three-dimensional (3-D) reconstruction. Stereoscopic endoscope calibration sometimes is not available and also increases the complexity of the operating-room environment. Stereo from uncalibrated endoscopic cameras is an alternative to reconstruct the surgical field visualized by binocular endoscopes within the body. Uncalibrated rectification is usually performed on the basis of a number of matched feature points (semi-dense correspondence) between the left and the right images of stereo pairs. After uncalibrated rectification, the corresponding feature points can be used to determine the proper disparity range that helps to improve the reconstruction accuracy and reduce the computational time of disparity map estimation. Therefore, the corresponding or matching accuracy and robustness of feature point descriptors is important to surgical field 3-D reconstruction. This work compares four feature detectors: (1) scale invariant feature transform (SIFT), (2) speeded up robust features (SURF), (3) affine scale invariant feature transform (ASIFT), and (4) gauge speeded up robust features (GSURF) with applications to uncalibrated rectification and stable disparity range determination. We performed our experiments on surgical endoscopic video images that were collected during robotic prostatectomy. The experimental results demonstrate that ASIFT outperforms other feature detectors in the uncalibrated stereo rectification and also provides a stable stable disparity range for surgical scene reconstruction.

  11. Low-cost, portable, robust and high-resolution single-camera stereo-DIC system and its application in high-temperature deformation measurements

    NASA Astrophysics Data System (ADS)

    Chi, Yuxi; Yu, Liping; Pan, Bing

    2018-05-01

    A low-cost, portable, robust and high-resolution single-camera stereo-digital image correlation (stereo-DIC) system for accurate surface three-dimensional (3D) shape and deformation measurements is described. This system adopts a single consumer-grade high-resolution digital Single Lens Reflex (SLR) camera and a four-mirror adaptor, rather than two synchronized industrial digital cameras, for stereo image acquisition. In addition, monochromatic blue light illumination and coupled bandpass filter imaging are integrated to ensure the robustness of the system against ambient light variations. In contrast to conventional binocular stereo-DIC systems, the developed pseudo-stereo-DIC system offers the advantages of low cost, portability, robustness against ambient light variations, and high resolution. The accuracy and precision of the developed single SLR camera-based stereo-DIC system were validated by measuring the 3D shape of a stationary sphere along with in-plane and out-of-plane displacements of a translated planar plate. Application of the established system to thermal deformation measurement of an alumina ceramic plate and a stainless-steel plate subjected to radiation heating was also demonstrated.

  12. Disentangling the initiation from the response in joint attention: an eye-tracking study in toddlers with autism spectrum disorders.

    PubMed

    Billeci, L; Narzisi, A; Campatelli, G; Crifaci, G; Calderoni, S; Gagliano, A; Calzone, C; Colombi, C; Pioggia, G; Muratori, F

    2016-05-17

    Joint attention (JA), whose deficit is an early risk marker for autism spectrum disorder (ASD), has two dimensions: (1) responding to JA and (2) initiating JA. Eye-tracking technology has largely been used to investigate responding JA, but rarely to study initiating JA especially in young children with ASD. The aim of this study was to describe the differences in the visual patterns of toddlers with ASD and those with typical development (TD) during both responding JA and initiating JA tasks. Eye-tracking technology was used to monitor the gaze of 17 children with ASD and 15 age-matched children with TD during the presentation of short video sequences involving one responding JA and two initiating JA tasks (initiating JA-1 and initiating JA-2). Gaze accuracy, transitions and fixations were analyzed. No differences were found in the responding JA task between children with ASD and those with TD, whereas, in the initiating JA tasks, different patterns of fixation and transitions were shown between the groups. These results suggest that children with ASD and those with TD show different visual patterns when they are expected to initiate joint attention but not when they respond to joint attention. We hypothesized that differences in transitions and fixations are linked to ASD impairments in visual disengagement from face, in global scanning of the scene and in the ability to anticipate object's action.

  13. Validation of a stereo camera system to quantify brain deformation due to breathing and pulsatility.

    PubMed

    Faria, Carlos; Sadowsky, Ofri; Bicho, Estela; Ferrigno, Giancarlo; Joskowicz, Leo; Shoham, Moshe; Vivanti, Refael; De Momi, Elena

    2014-11-01

    A new stereo vision system is presented to quantify brain shift and pulsatility in open-skull neurosurgeries. The system is endowed with hardware and software synchronous image acquisition with timestamp embedding in the captured images, a brain surface oriented feature detection, and a tracking subroutine robust to occlusions and outliers. A validation experiment for the stereo vision system was conducted against a gold-standard optical tracking system, Optotrak CERTUS. A static and dynamic analysis of the stereo camera tracking error was performed tracking a customized object in different positions, orientations, linear, and angular speeds. The system is able to detect an immobile object position and orientation with a maximum error of 0.5 mm and 1.6° in all depth of field, and tracking a moving object until 3 mm/s with a median error of 0.5 mm. Three stereo video acquisitions were recorded from a patient, immediately after the craniotomy. The cortical pulsatile motion was captured and is represented in the time and frequency domain. The amplitude of motion of the cloud of features' center of mass was inferior to 0.8 mm. Three distinct peaks are identified in the fast Fourier transform analysis related to the sympathovagal balance, breathing, and blood pressure with 0.03-0.05, 0.2, and 1 Hz, respectively. The stereo vision system presented is a precise and robust system to measure brain shift and pulsatility with an accuracy superior to other reported systems.

  14. SAIL--stereo-array isotope labeling.

    PubMed

    Kainosho, Masatsune; Güntert, Peter

    2009-11-01

    Optimal stereospecific and regiospecific labeling of proteins with stable isotopes enhances the nuclear magnetic resonance (NMR) method for the determination of the three-dimensional protein structures in solution. Stereo-array isotope labeling (SAIL) offers sharpened lines, spectral simplification without loss of information and the ability to rapidly collect and automatically evaluate the structural restraints required to solve a high-quality solution structure for proteins up to twice as large as before. This review gives an overview of stable isotope labeling methods for NMR spectroscopy with proteins and provides an in-depth treatment of the SAIL technology.

  15. Optics of the human cornea influence the accuracy of stereo eye-tracking methods: a simulation study.

    PubMed

    Barsingerhorn, A D; Boonstra, F N; Goossens, H H L M

    2017-02-01

    Current stereo eye-tracking methods model the cornea as a sphere with one refractive surface. However, the human cornea is slightly aspheric and has two refractive surfaces. Here we used ray-tracing and the Navarro eye-model to study how these optical properties affect the accuracy of different stereo eye-tracking methods. We found that pupil size, gaze direction and head position all influence the reconstruction of gaze. Resulting errors range between ± 1.0 degrees at best. This shows that stereo eye-tracking may be an option if reliable calibration is not possible, but the applied eye-model should account for the actual optics of the cornea.

  16. Classification of road sign type using mobile stereo vision

    NASA Astrophysics Data System (ADS)

    McLoughlin, Simon D.; Deegan, Catherine; Fitzgerald, Conor; Markham, Charles

    2005-06-01

    This paper presents a portable mobile stereo vision system designed for the assessment of road signage and delineation (lines and reflective pavement markers or "cat's eyes"). This novel system allows both geometric and photometric measurements to be made on objects in a scene. Global Positioning System technology provides important location data for any measurements made. Using the system it has been shown that road signs can be classfied by nature of their reflectivity. This is achieved by examining the changes in the reflected light intensity with changes in range (facilitated by stereo vision). Signs assessed include those made from retro-reflective materials, those made from diffuse reflective materials and those made from diffuse reflective matrials with local illumination. Field-testing results demonstrate the systems ability to classify objects in the scene based on their reflective properties. The paper includes a discussion of a physical model that supports the experimental data.

  17. Quasi-Epipolar Resampling of High Resolution Satellite Stereo Imagery for Semi Global Matching

    NASA Astrophysics Data System (ADS)

    Tatar, N.; Saadatseresht, M.; Arefi, H.; Hadavand, A.

    2015-12-01

    Semi-global matching is a well-known stereo matching algorithm in photogrammetric and computer vision society. Epipolar images are supposed as input of this algorithm. Epipolar geometry of linear array scanners is not a straight line as in case of frame camera. Traditional epipolar resampling algorithms demands for rational polynomial coefficients (RPCs), physical sensor model or ground control points. In this paper we propose a new solution for epipolar resampling method which works without the need for these information. In proposed method, automatic feature extraction algorithms are employed to generate corresponding features for registering stereo pairs. Also original images are divided into small tiles. In this way by omitting the need for extra information, the speed of matching algorithm increased and the need for high temporal memory decreased. Our experiments on GeoEye-1 stereo pair captured over Qom city in Iran demonstrates that the epipolar images are generated with sub-pixel accuracy.

  18. Reliable Fusion of Stereo Matching and Depth Sensor for High Quality Dense Depth Maps

    PubMed Central

    Liu, Jing; Li, Chunpeng; Fan, Xuefeng; Wang, Zhaoqi

    2015-01-01

    Depth estimation is a classical problem in computer vision, which typically relies on either a depth sensor or stereo matching alone. The depth sensor provides real-time estimates in repetitive and textureless regions where stereo matching is not effective. However, stereo matching can obtain more accurate results in rich texture regions and object boundaries where the depth sensor often fails. We fuse stereo matching and the depth sensor using their complementary characteristics to improve the depth estimation. Here, texture information is incorporated as a constraint to restrict the pixel’s scope of potential disparities and to reduce noise in repetitive and textureless regions. Furthermore, a novel pseudo-two-layer model is used to represent the relationship between disparities in different pixels and segments. It is more robust to luminance variation by treating information obtained from a depth sensor as prior knowledge. Segmentation is viewed as a soft constraint to reduce ambiguities caused by under- or over-segmentation. Compared to the average error rate 3.27% of the previous state-of-the-art methods, our method provides an average error rate of 2.61% on the Middlebury datasets, which shows that our method performs almost 20% better than other “fused” algorithms in the aspect of precision. PMID:26308003

  19. 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.

  20. 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

  1. Bait Effects in Sampling Coral Reef Fish Assemblages with Stereo-BRUVs

    PubMed Central

    Dorman, Stacey R.; Harvey, Euan S.; Newman, Stephen J.

    2012-01-01

    Baited underwater video techniques are increasingly being utilised for assessing and monitoring demersal fishes because they are: 1) non extractive, 2) can be used to sample across multiple habitats and depths, 3) are cost effective, 4) sample a broader range of species than many other techniques, 5) and with greater statistical power. However, an examination of the literature demonstrates that a range of different bait types are being used. The use of different types of bait can create an additional source of variability in sampling programs. Coral reef fish assemblages at the Houtman Abrolhos Islands, Western Australia, were sampled using baited remote underwater stereo-video systems. One-hour stereo-video recordings were collected for four different bait treatments (pilchards, cat food, falafel mix and no bait (control)) from sites inside and outside a targeted fishery closure (TFC). In total, 5209 individuals from 132 fish species belonging to 41 families were recorded. There were significant differences in the fish assemblage structure and composition between baited and non-baited treatments (P<0.001), while no difference was observed with species richness. Samples baited with cat food and pilchards contained similar ingredients and were found to record similar components of the fish assemblage. There were no significant differences in the fish assemblages in areas open or closed to fishing, regardless of the bait used. Investigation of five targeted species indicated that the response to different types of bait was species-specific. For example, the relative abundance of Pagrus auratus was found to increase in areas protected from fishing, but only in samples baited with pilchards and cat food. The results indicate that the use of bait in conjunction with stereo-BRUVs is advantageous. On balance, the use of pilchards as a standardised bait for stereo-BRUVs deployments is justified for use along the mid-west coast of Western Australia. PMID:22848522

  2. A long baseline global stereo matching based upon short baseline estimation

    NASA Astrophysics Data System (ADS)

    Li, Jing; Zhao, Hong; Li, Zigang; Gu, Feifei; Zhao, Zixin; Ma, Yueyang; Fang, Meiqi

    2018-05-01

    In global stereo vision, balancing the matching efficiency and computing accuracy seems to be impossible because they contradict each other. In the case of a long baseline, this contradiction becomes more prominent. In order to solve this difficult problem, this paper proposes a novel idea to improve both the efficiency and accuracy in global stereo matching for a long baseline. In this way, the reference images located between the long baseline image pairs are firstly chosen to form the new image pairs with short baselines. The relationship between the disparities of pixels in the image pairs with different baselines is revealed by considering the quantized error so that the disparity search range under the long baseline can be reduced by guidance of the short baseline to gain matching efficiency. Then, the novel idea is integrated into the graph cuts (GCs) to form a multi-step GC algorithm based on the short baseline estimation, by which the disparity map under the long baseline can be calculated iteratively on the basis of the previous matching. Furthermore, the image information from the pixels that are non-occluded under the short baseline but are occluded for the long baseline can be employed to improve the matching accuracy. Although the time complexity of the proposed method depends on the locations of the chosen reference images, it is usually much lower for a long baseline stereo matching than when using the traditional GC algorithm. Finally, the validity of the proposed method is examined by experiments based on benchmark datasets. The results show that the proposed method is superior to the traditional GC method in terms of efficiency and accuracy, and thus it is suitable for long baseline stereo matching.

  3. Bait effects in sampling coral reef fish assemblages with stereo-BRUVs.

    PubMed

    Dorman, Stacey R; Harvey, Euan S; Newman, Stephen J

    2012-01-01

    Baited underwater video techniques are increasingly being utilised for assessing and monitoring demersal fishes because they are: 1) non extractive, 2) can be used to sample across multiple habitats and depths, 3) are cost effective, 4) sample a broader range of species than many other techniques, 5) and with greater statistical power. However, an examination of the literature demonstrates that a range of different bait types are being used. The use of different types of bait can create an additional source of variability in sampling programs. Coral reef fish assemblages at the Houtman Abrolhos Islands, Western Australia, were sampled using baited remote underwater stereo-video systems. One-hour stereo-video recordings were collected for four different bait treatments (pilchards, cat food, falafel mix and no bait (control)) from sites inside and outside a targeted fishery closure (TFC). In total, 5209 individuals from 132 fish species belonging to 41 families were recorded. There were significant differences in the fish assemblage structure and composition between baited and non-baited treatments (P<0.001), while no difference was observed with species richness. Samples baited with cat food and pilchards contained similar ingredients and were found to record similar components of the fish assemblage. There were no significant differences in the fish assemblages in areas open or closed to fishing, regardless of the bait used. Investigation of five targeted species indicated that the response to different types of bait was species-specific. For example, the relative abundance of Pagrus auratus was found to increase in areas protected from fishing, but only in samples baited with pilchards and cat food. The results indicate that the use of bait in conjunction with stereo-BRUVs is advantageous. On balance, the use of pilchards as a standardised bait for stereo-BRUVs deployments is justified for use along the mid-west coast of Western Australia.

  4. Spirit's View Beside 'Home Plate' on Sol 1823 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11971 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11971

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,823rd Martian day, or sol, of Spirit's surface mission (Feb. 17, 2009).

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The center of the view is toward the south-southwest.

    The rover had driven 7 meters (23 feet) eastward earlier on Sol 1823, part of maneuvering to get Spirit into a favorable position for climbing onto the low plateau called 'Home Plate.' However, after two driving attempts with negligible progress during the following three sols, the rover team changed its strategy for getting to destinations south of Home Plate. The team decided to drive Spirit at least partway around Home Plate, instead of ascending the northern edge and taking a shorter route across the top of the plateau.

    Layered rocks forming part of the northern edge of Home Plate can be seen near the center of the image. Rover wheel tracks are visible at the lower edge.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  5. New Record Five-Wheel Drive, Spirit's Sol 1856 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11962 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11962

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,856th Martian day, or sol, of Spirit's surface mission (March 23, 2009). The center of the view is toward the west-southwest.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 25.82 meters (84.7 feet) west-northwestward earlier on Sol 1856. This is the longest drive on Mars so far by a rover using only five wheels. Spirit lost the use of its right-front wheel in March 2006. Before Sol 1856, the farthest Spirit had covered in a single sol's five-wheel drive was 24.83 meters (81.5 feet), on Sol 1363 (Nov. 3, 2007).

    The Sol 1856 drive made progress on a route planned for taking Spirit around the western side of the low plateau called 'Home Plate.' A portion of the northwestern edge of Home Plate is prominent in the left quarter of this image, toward the south.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  6. A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors.

    PubMed

    Song, Yu; Nuske, Stephen; Scherer, Sebastian

    2016-12-22

    State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping. There are three main challenges for MAV state estimation: (1) it can deal with aggressive 6 DOF (Degree Of Freedom) motion; (2) it should be robust to intermittent GPS (Global Positioning System) (even GPS-denied) situations; (3) it should work well both for low- and high-altitude flight. In this paper, we present a state estimation technique by fusing long-range stereo visual odometry, GPS, barometric and IMU (Inertial Measurement Unit) measurements. The new estimation system has two main parts, a stochastic cloning EKF (Extended Kalman Filter) estimator that loosely fuses both absolute state measurements (GPS, barometer) and the relative state measurements (IMU, visual odometry), and is derived and discussed in detail. A long-range stereo visual odometry is proposed for high-altitude MAV odometry calculation by using both multi-view stereo triangulation and a multi-view stereo inverse depth filter. The odometry takes the EKF information (IMU integral) for robust camera pose tracking and image feature matching, and the stereo odometry output serves as the relative measurements for the update of the state estimation. Experimental results on a benchmark dataset and our real flight dataset show the effectiveness of the proposed state estimation system, especially for the aggressive, intermittent GPS and high-altitude MAV flight.

  7. Stereo matching algorithm based on double components model

    NASA Astrophysics Data System (ADS)

    Zhou, Xiao; Ou, Kejun; Zhao, Jianxin; Mou, Xingang

    2018-03-01

    The tiny wires are the great threat to the safety of the UAV flight. Because they have only several pixels isolated far from the background, while most of the existing stereo matching methods require a certain area of the support region to improve the robustness, or assume the depth dependence of the neighboring pixels to meet requirement of global or semi global optimization method. So there will be some false alarms even failures when images contains tiny wires. A new stereo matching algorithm is approved in the paper based on double components model. According to different texture types the input image is decomposed into two independent component images. One contains only sparse wire texture image and another contains all remaining parts. Different matching schemes are adopted for each component image pairs. Experiment proved that the algorithm can effectively calculate the depth image of complex scene of patrol UAV, which can detect tiny wires besides the large size objects. Compared with the current mainstream method it has obvious advantages.

  8. A stereo-vision hazard-detection algorithm to increase planetary lander autonomy

    NASA Astrophysics Data System (ADS)

    Woicke, Svenja; Mooij, Erwin

    2016-05-01

    For future landings on any celestial body, increasing the lander autonomy as well as decreasing risk are primary objectives. Both risk reduction and an increase in autonomy can be achieved by including hazard detection and avoidance in the guidance, navigation, and control loop. One of the main challenges in hazard detection and avoidance is the reconstruction of accurate elevation models, as well as slope and roughness maps. Multiple methods for acquiring the inputs for hazard maps are available. The main distinction can be made between active and passive methods. Passive methods (cameras) have budgetary advantages compared to active sensors (radar, light detection and ranging). However, it is necessary to proof that these methods deliver sufficiently good maps. Therefore, this paper discusses hazard detection using stereo vision. To facilitate a successful landing not more than 1% wrong detections (hazards that are not identified) are allowed. Based on a sensitivity analysis it was found that using a stereo set-up at a baseline of ≤ 2 m is feasible at altitudes of ≤ 200 m defining false positives of less than 1%. It was thus shown that stereo-based hazard detection is an effective means to decrease the landing risk and increase the lander autonomy. In conclusion, the proposed algorithm is a promising candidate for future landers.

  9. Full-frame, high-speed 3D shape and deformation measurements using stereo-digital image correlation and a single color high-speed camera

    NASA Astrophysics Data System (ADS)

    Yu, Liping; Pan, Bing

    2017-08-01

    Full-frame, high-speed 3D shape and deformation measurement using stereo-digital image correlation (stereo-DIC) technique and a single high-speed color camera is proposed. With the aid of a skillfully designed pseudo stereo-imaging apparatus, color images of a test object surface, composed of blue and red channel images from two different optical paths, are recorded by a high-speed color CMOS camera. The recorded color images can be separated into red and blue channel sub-images using a simple but effective color crosstalk correction method. These separated blue and red channel sub-images are processed by regular stereo-DIC method to retrieve full-field 3D shape and deformation on the test object surface. Compared with existing two-camera high-speed stereo-DIC or four-mirror-adapter-assisted singe-camera high-speed stereo-DIC, the proposed single-camera high-speed stereo-DIC technique offers prominent advantages of full-frame measurements using a single high-speed camera but without sacrificing its spatial resolution. Two real experiments, including shape measurement of a curved surface and vibration measurement of a Chinese double-side drum, demonstrated the effectiveness and accuracy of the proposed technique.

  10. The Colour and Stereo Surface Imaging System (CaSSIS) for the ExoMars Trace Gas Orbiter

    USGS Publications Warehouse

    Thomas, N.; Cremonese, G.; Ziethe, R.; Gerber, M.; Brändli, M.; Bruno, G.; Erismann, M.; Gambicorti, L.; Gerber, T.; Ghose, K.; Gruber, M.; Gubler, P.; Mischler, H.; Jost, J.; Piazza, D.; Pommerol, A.; Rieder, M.; Roloff, V.; Servonet, A.; Trottmann, W.; Uthaicharoenpong, T.; Zimmermann, C.; Vernani, D.; Johnson, M.; Pelò, E.; Weigel, T.; Viertl, J.; De Roux, N.; Lochmatter, P.; Sutter, G.; Casciello, A.; Hausner, T.; Ficai Veltroni, I.; Da Deppo, V.; Orleanski, P.; Nowosielski, W.; Zawistowski, T.; Szalai, S.; Sodor, B.; Tulyakov, S.; Troznai, G.; Banaskiewicz, M.; Bridges, J.C.; Byrne, S.; Debei, S.; El-Maarry, M. R.; Hauber, E.; Hansen, C.J.; Ivanov, A.; Keszthelyil, L.; Kirk, Randolph L.; Kuzmin, R.; Mangold, N.; Marinangeli, L.; Markiewicz, W. J.; Massironi, M.; McEwen, A.S.; Okubo, Chris H.; Tornabene, L.L.; Wajer, P.; Wray, J.J.

    2017-01-01

    The Colour and Stereo Surface Imaging System (CaSSIS) is the main imaging system onboard the European Space Agency’s ExoMars Trace Gas Orbiter (TGO) which was launched on 14 March 2016. CaSSIS is intended to acquire moderately high resolution (4.6 m/pixel) targeted images of Mars at a rate of 10–20 images per day from a roughly circular orbit 400 km above the surface. Each image can be acquired in up to four colours and stereo capability is foreseen by the use of a novel rotation mechanism. A typical product from one image acquisition will be a 9.5 km×∼45 km">9.5 km×∼45 km9.5 km×∼45 km swath in full colour and stereo in one over-flight of the target thereby reducing atmospheric influences inherent in stereo and colour products from previous high resolution imagers. This paper describes the instrument including several novel technical solutions required to achieve the scientific requirements.

  11. A study on low-cost, high-accuracy, and real-time stereo vision algorithms for UAV power line inspection

    NASA Astrophysics Data System (ADS)

    Wang, Hongyu; Zhang, Baomin; Zhao, Xun; Li, Cong; Lu, Cunyue

    2018-04-01

    Conventional stereo vision algorithms suffer from high levels of hardware resource utilization due to algorithm complexity, or poor levels of accuracy caused by inadequacies in the matching algorithm. To address these issues, we have proposed a stereo range-finding technique that produces an excellent balance between cost, matching accuracy and real-time performance, for power line inspection using UAV. This was achieved through the introduction of a special image preprocessing algorithm and a weighted local stereo matching algorithm, as well as the design of a corresponding hardware architecture. Stereo vision systems based on this technique have a lower level of resource usage and also a higher level of matching accuracy following hardware acceleration. To validate the effectiveness of our technique, a stereo vision system based on our improved algorithms were implemented using the Spartan 6 FPGA. In comparative experiments, it was shown that the system using the improved algorithms outperformed the system based on the unimproved algorithms, in terms of resource utilization and matching accuracy. In particular, Block RAM usage was reduced by 19%, and the improved system was also able to output range-finding data in real time.

  12. Dynamic Trajectory Extraction from Stereo Vision Using Fuzzy Clustering

    NASA Astrophysics Data System (ADS)

    Onishi, Masaki; Yoda, Ikushi

    In recent years, many human tracking researches have been proposed in order to analyze human dynamic trajectory. These researches are general technology applicable to various fields, such as customer purchase analysis in a shopping environment and safety control in a (railroad) crossing. In this paper, we present a new approach for tracking human positions by stereo image. We use the framework of two-stepped clustering with k-means method and fuzzy clustering to detect human regions. In the initial clustering, k-means method makes middle clusters from objective features extracted by stereo vision at high speed. In the last clustering, c-means fuzzy method cluster middle clusters based on attributes into human regions. Our proposed method can be correctly clustered by expressing ambiguity using fuzzy clustering, even when many people are close to each other. The validity of our technique was evaluated with the experiment of trajectories extraction of doctors and nurses in an emergency room of a hospital.

  13. Stereo Image Ranging For An Autonomous Robot Vision System

    NASA Astrophysics Data System (ADS)

    Holten, James R.; Rogers, Steven K.; Kabrisky, Matthew; Cross, Steven

    1985-12-01

    The principles of stereo vision for three-dimensional data acquisition are well-known and can be applied to the problem of an autonomous robot vehicle. Coincidental points in the two images are located and then the location of that point in a three-dimensional space can be calculated using the offset of the points and knowledge of the camera positions and geometry. This research investigates the application of artificial intelligence knowledge representation techniques as a means to apply heuristics to relieve the computational intensity of the low level image processing tasks. Specifically a new technique for image feature extraction is presented. This technique, the Queen Victoria Algorithm, uses formal language productions to process the image and characterize its features. These characterized features are then used for stereo image feature registration to obtain the required ranging information. The results can be used by an autonomous robot vision system for environmental modeling and path finding.

  14. [Usefulness of volume rendering stereo-movie in neurosurgical craniotomies].

    PubMed

    Fukunaga, Tateya; Mokudai, Toshihiko; Fukuoka, Masaaki; Maeda, Tomonori; Yamamoto, Kouji; Yamanaka, Kozue; Minakuchi, Kiyomi; Miyake, Hirohisa; Moriki, Akihito; Uchida, Yasufumi

    2007-12-20

    In recent years, the advancements in MR technology combined with the development of the multi-channel coil have resulted in substantially shortened inspection times. In addition, rapid improvement in functional performance in the workstation has produced a more simplified imaging-making process. Consequently, graphical images of intra-cranial lesions can be easily created. For example, the use of three-dimensional spoiled gradient echo (3D-SPGR) volume rendering (VR) after injection of a contrast medium is applied clinically as a preoperative reference image. Recently, improvements in 3D-SPGR VR high-resolution have enabled accurate surface images of the brain to be obtained. We used stereo-imaging created by weighted maximum intensity projection (Weighted MIP) to determine the skin incision line. Furthermore, the stereo imaging technique utilizing 3D-SPGR VR was actually used in cases presented here. The techniques we report here seemed to be very useful in the pre-operative simulation of neurosurgical craniotomy.

  15. Design and Implementation of a Novel Portable 360° Stereo Camera System with Low-Cost Action Cameras

    NASA Astrophysics Data System (ADS)

    Holdener, D.; Nebiker, S.; Blaser, S.

    2017-11-01

    The demand for capturing indoor spaces is rising with the digitalization trend in the construction industry. An efficient solution for measuring challenging indoor environments is mobile mapping. Image-based systems with 360° panoramic coverage allow a rapid data acquisition and can be processed to georeferenced 3D images hosted in cloud-based 3D geoinformation services. For the multiview stereo camera system presented in this paper, a 360° coverage is achieved with a layout consisting of five horizontal stereo image pairs in a circular arrangement. The design is implemented as a low-cost solution based on a 3D printed camera rig and action cameras with fisheye lenses. The fisheye stereo system is successfully calibrated with accuracies sufficient for the applied measurement task. A comparison of 3D distances with reference data delivers maximal deviations of 3 cm on typical distances in indoor space of 2-8 m. Also the automatic computation of coloured point clouds from the stereo pairs is demonstrated.

  16. HRSC: High resolution stereo camera

    USGS Publications Warehouse

    Neukum, G.; Jaumann, R.; Basilevsky, A.T.; Dumke, A.; Van Gasselt, S.; Giese, B.; Hauber, E.; Head, J. W.; Heipke, C.; Hoekzema, N.; Hoffmann, H.; Greeley, R.; Gwinner, K.; Kirk, R.; Markiewicz, W.; McCord, T.B.; Michael, G.; Muller, Jan-Peter; Murray, J.B.; Oberst, J.; Pinet, P.; Pischel, R.; Roatsch, T.; Scholten, F.; Willner, K.

    2009-01-01

    The High Resolution Stereo Camera (HRSC) on Mars Express has delivered a wealth of image data, amounting to over 2.5 TB from the start of the mapping phase in January 2004 to September 2008. In that time, more than a third of Mars was covered at a resolution of 10-20 m/pixel in stereo and colour. After five years in orbit, HRSC is still in excellent shape, and it could continue to operate for many more years. HRSC has proven its ability to close the gap between the low-resolution Viking image data and the high-resolution Mars Orbiter Camera images, leading to a global picture of the geological evolution of Mars that is now much clearer than ever before. Derived highest-resolution terrain model data have closed major gaps and provided an unprecedented insight into the shape of the surface, which is paramount not only for surface analysis and geological interpretation, but also for combination with and analysis of data from other instruments, as well as in planning for future missions. This chapter presents the scientific output from data analysis and highlevel data processing, complemented by a summary of how the experiment is conducted by the HRSC team members working in geoscience, atmospheric science, photogrammetry and spectrophotometry. Many of these contributions have been or will be published in peer-reviewed journals and special issues. They form a cross-section of the scientific output, either by summarising the new geoscientific picture of Mars provided by HRSC or by detailing some of the topics of data analysis concerning photogrammetry, cartography and spectral data analysis.

  17. 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.

  18. Time for a Change; Spirit's View on Sol 1843 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11973 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11973

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, full-circle view of the rover's surroundings during the 1,843rd Martian day, or sol, of Spirit's surface mission (March 10, 2009). South is in the middle. North is at both ends.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The rover had driven 36 centimeters downhill earlier on Sol 1854, but had not been able to get free of ruts in soft material that had become an obstacle to getting around the northeastern corner of the low plateau called 'Home Plate.'

    The Sol 1854 drive, following two others in the preceding four sols that also achieved little progress in the soft ground, prompted the rover team to switch to a plan of getting around Home Plate counterclockwise, instead of clockwise. The drive direction in subsequent sols was westward past the northern edge of Home Plate.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  19. A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors

    PubMed Central

    Song, Yu; Nuske, Stephen; Scherer, Sebastian

    2016-01-01

    State estimation is the most critical capability for MAV (Micro-Aerial Vehicle) localization, autonomous obstacle avoidance, robust flight control and 3D environmental mapping. There are three main challenges for MAV state estimation: (1) it can deal with aggressive 6 DOF (Degree Of Freedom) motion; (2) it should be robust to intermittent GPS (Global Positioning System) (even GPS-denied) situations; (3) it should work well both for low- and high-altitude flight. In this paper, we present a state estimation technique by fusing long-range stereo visual odometry, GPS, barometric and IMU (Inertial Measurement Unit) measurements. The new estimation system has two main parts, a stochastic cloning EKF (Extended Kalman Filter) estimator that loosely fuses both absolute state measurements (GPS, barometer) and the relative state measurements (IMU, visual odometry), and is derived and discussed in detail. A long-range stereo visual odometry is proposed for high-altitude MAV odometry calculation by using both multi-view stereo triangulation and a multi-view stereo inverse depth filter. The odometry takes the EKF information (IMU integral) for robust camera pose tracking and image feature matching, and the stereo odometry output serves as the relative measurements for the update of the state estimation. Experimental results on a benchmark dataset and our real flight dataset show the effectiveness of the proposed state estimation system, especially for the aggressive, intermittent GPS and high-altitude MAV flight. PMID:28025524

  20. Auto-converging stereo cameras for 3D robotic tele-operation

    NASA Astrophysics Data System (ADS)

    Edmondson, Richard; Aycock, Todd; Chenault, David

    2012-06-01

    Polaris Sensor Technologies has developed a Stereovision Upgrade Kit for TALON robot to provide enhanced depth perception to the operator. This kit previously required the TALON Operator Control Unit to be equipped with the optional touchscreen interface to allow for operator control of the camera convergence angle adjustment. This adjustment allowed for optimal camera convergence independent of the distance from the camera to the object being viewed. Polaris has recently improved the performance of the stereo camera by implementing an Automatic Convergence algorithm in a field programmable gate array in the camera assembly. This algorithm uses scene content to automatically adjust the camera convergence angle, freeing the operator to focus on the task rather than adjustment of the vision system. The autoconvergence capability has been demonstrated on both visible zoom cameras and longwave infrared microbolometer stereo pairs.

  1. Real-time stereo matching using orthogonal reliability-based dynamic programming.

    PubMed

    Gong, Minglun; Yang, Yee-Hong

    2007-03-01

    A novel algorithm is presented in this paper for estimating reliable stereo matches in real time. Based on the dynamic programming-based technique we previously proposed, the new algorithm can generate semi-dense disparity maps using as few as two dynamic programming passes. The iterative best path tracing process used in traditional dynamic programming is replaced by a local minimum searching process, making the algorithm suitable for parallel execution. Most computations are implemented on programmable graphics hardware, which improves the processing speed and makes real-time estimation possible. The experiments on the four new Middlebury stereo datasets show that, on an ATI Radeon X800 card, the presented algorithm can produce reliable matches for 60% approximately 80% of pixels at the rate of 10 approximately 20 frames per second. If needed, the algorithm can be configured for generating full density disparity maps.

  2. Effects of illumination differences on photometric stereo shape-and-albedo-from-shading for precision lunar surface reconstruction

    NASA Astrophysics Data System (ADS)

    Chung Liu, Wai; Wu, Bo; Wöhler, Christian

    2018-02-01

    Photoclinometric surface reconstruction techniques such as Shape-from-Shading (SfS) and Shape-and-Albedo-from-Shading (SAfS) retrieve topographic information of a surface on the basis of the reflectance information embedded in the image intensity of each pixel. SfS or SAfS techniques have been utilized to generate pixel-resolution digital elevation models (DEMs) of the Moon and other planetary bodies. Photometric stereo SAfS analyzes images under multiple illumination conditions to improve the robustness of reconstruction. In this case, the directional difference in illumination between the images is likely to affect the quality of the reconstruction result. In this study, we quantitatively investigate the effects of illumination differences on photometric stereo SAfS. Firstly, an algorithm for photometric stereo SAfS is developed, and then, an error model is derived to analyze the relationships between the azimuthal and zenith angles of illumination of the images and the reconstruction qualities. The developed algorithm and error model were verified with high-resolution images collected by the Narrow Angle Camera (NAC) of the Lunar Reconnaissance Orbiter Camera (LROC). Experimental analyses reveal that (1) the resulting error in photometric stereo SAfS depends on both the azimuthal and the zenith angles of illumination as well as the general intensity of the images and (2) the predictions from the proposed error model are consistent with the actual slope errors obtained by photometric stereo SAfS using the LROC NAC images. The proposed error model enriches the theory of photometric stereo SAfS and is of significance for optimized lunar surface reconstruction based on SAfS techniques.

  3. Photometric stereo endoscopy.

    PubMed

    Parot, Vicente; Lim, Daryl; González, Germán; Traverso, Giovanni; Nishioka, Norman S; Vakoc, Benjamin J; Durr, Nicholas J

    2013-07-01

    While color video endoscopy has enabled wide-field examination of the gastrointestinal tract, it often misses or incorrectly classifies lesions. Many of these missed lesions exhibit characteristic three-dimensional surface topographies. An endoscopic system that adds topographical measurements to conventional color imagery could therefore increase lesion detection and improve classification accuracy. We introduce photometric stereo endoscopy (PSE), a technique which allows high spatial frequency components of surface topography to be acquired simultaneously with conventional two-dimensional color imagery. We implement this technique in an endoscopic form factor and demonstrate that it can acquire the topography of small features with complex geometries and heterogeneous optical properties. PSE imaging of ex vivo human gastrointestinal tissue shows that surface topography measurements enable differentiation of abnormal shapes from surrounding normal tissue. Together, these results confirm that the topographical measurements can be obtained with relatively simple hardware in an endoscopic form factor, and suggest the potential of PSE to improve lesion detection and classification in gastrointestinal imaging.

  4. Photometric stereo endoscopy

    PubMed Central

    Parot, Vicente; Lim, Daryl; González, Germán; Traverso, Giovanni; Nishioka, Norman S.; Vakoc, Benjamin J.

    2013-01-01

    Abstract. While color video endoscopy has enabled wide-field examination of the gastrointestinal tract, it often misses or incorrectly classifies lesions. Many of these missed lesions exhibit characteristic three-dimensional surface topographies. An endoscopic system that adds topographical measurements to conventional color imagery could therefore increase lesion detection and improve classification accuracy. We introduce photometric stereo endoscopy (PSE), a technique which allows high spatial frequency components of surface topography to be acquired simultaneously with conventional two-dimensional color imagery. We implement this technique in an endoscopic form factor and demonstrate that it can acquire the topography of small features with complex geometries and heterogeneous optical properties. PSE imaging of ex vivo human gastrointestinal tissue shows that surface topography measurements enable differentiation of abnormal shapes from surrounding normal tissue. Together, these results confirm that the topographical measurements can be obtained with relatively simple hardware in an endoscopic form factor, and suggest the potential of PSE to improve lesion detection and classification in gastrointestinal imaging. PMID:23864015

  5. An automated, open-source (NASA Ames Stereo Pipeline) workflow for mass production of high-resolution DEMs from commercial stereo satellite imagery: Application to mountain glacies in the contiguous US

    NASA Astrophysics Data System (ADS)

    Shean, D. E.; Arendt, A. A.; Whorton, E.; Riedel, J. L.; O'Neel, S.; Fountain, A. G.; Joughin, I. R.

    2016-12-01

    We adapted the open source NASA Ames Stereo Pipeline (ASP) to generate digital elevation models (DEMs) and orthoimages from very-high-resolution (VHR) commercial imagery of the Earth. These modifications include support for rigorous and rational polynomial coefficient (RPC) sensor models, sensor geometry correction, bundle adjustment, point cloud co-registration, and significant improvements to the ASP code base. We outline an automated processing workflow for 0.5 m GSD DigitalGlobe WorldView-1/2/3 and GeoEye-1 along-track and cross-track stereo image data. Output DEM products are posted at 2, 8, and 32 m with direct geolocation accuracy of <5.0 m CE90/LE90. An automated iterative closest-point (ICP) co-registration tool reduces absolute vertical and horizontal error to <0.5­ m where appropriate ground-control data are available, with observed standard deviation of 0.1-0.5 m for overlapping, co-registered DEMs (n=14,17). While ASP can be used to process individual stereo pairs on a local workstation, the methods presented here were developed for large-scale batch processing in a high-performance computing environment. We have leveraged these resources to produce dense time series and regional mosaics for the Earth's ice sheets. We are now processing and analyzing all available 2008-2016 commercial stereo DEMs over glaciers and perennial snowfields in the contiguous US. We are using these records to study long-term, interannual, and seasonal volume change and glacier mass balance. This analysis will provide a new assessment of regional climate change, and will offer basin-scale analyses of snowpack evolution and snow/ice melt runoff for water resource applications.

  6. Stereo chromatic contrast sensitivity model to blue-yellow gratings.

    PubMed

    Yang, Jiachen; Lin, Yancong; Liu, Yun

    2016-03-07

    As a fundamental metric of human visual system (HVS), contrast sensitivity function (CSF) is typically measured by sinusoidal gratings at the detection of thresholds for psychophysically defined cardinal channels: luminance, red-green, and blue-yellow. Chromatic CSF, which is a quick and valid index to measure human visual performance and various retinal diseases in two-dimensional (2D) space, can not be directly applied into the measurement of human stereo visual performance. And no existing perception model considers the influence of chromatic CSF of inclined planes on depth perception in three-dimensional (3D) space. The main aim of this research is to extend traditional chromatic contrast sensitivity characteristics to 3D space and build a model applicable in 3D space, for example, strengthening stereo quality of 3D images. This research also attempts to build a vision model or method to check human visual characteristics of stereo blindness. In this paper, CRT screen was clockwise and anti-clockwise rotated respectively to form the inclined planes. Four inclined planes were selected to investigate human chromatic vision in 3D space and contrast threshold of each inclined plane was measured with 18 observers. Stimuli were isoluminant blue-yellow sinusoidal gratings. Horizontal spatial frequencies ranged from 0.05 to 5 c/d. Contrast sensitivity was calculated as the inverse function of the pooled cone contrast threshold. According to the relationship between spatial frequency of inclined plane and horizontal spatial frequency, the chromatic contrast sensitivity characteristics in 3D space have been modeled based on the experimental data. The results show that the proposed model can well predicted human chromatic contrast sensitivity characteristics in 3D space.

  7. SVM based colon polyps classifier in a wireless active stereo endoscope.

    PubMed

    Ayoub, J; Granado, B; Mhanna, Y; Romain, O

    2010-01-01

    This work focuses on the recognition of three-dimensional colon polyps captured by an active stereo vision sensor. The detection algorithm consists of SVM classifier trained on robust feature descriptors. The study is related to Cyclope, this prototype sensor allows real time 3D object reconstruction and continues to be optimized technically to improve its classification task by differentiation between hyperplastic and adenomatous polyps. Experimental results were encouraging and show correct classification rate of approximately 97%. The work contains detailed statistics about the detection rate and the computing complexity. Inspired by intensity histogram, the work shows a new approach that extracts a set of features based on depth histogram and combines stereo measurement with SVM classifiers to correctly classify benign and malignant polyps.

  8. Stereo matching using census cost over cross window and segmentation-based disparity refinement

    NASA Astrophysics Data System (ADS)

    Li, Qingwu; Ni, Jinyan; Ma, Yunpeng; Xu, Jinxin

    2018-03-01

    Stereo matching is a vital requirement for many applications, such as three-dimensional (3-D) reconstruction, robot navigation, object detection, and industrial measurement. To improve the practicability of stereo matching, a method using census cost over cross window and segmentation-based disparity refinement is proposed. First, a cross window is obtained using distance difference and intensity similarity in binocular images. Census cost over the cross window and color cost are combined as the matching cost, which is aggregated by the guided filter. Then, winner-takes-all strategy is used to calculate the initial disparities. Second, a graph-based segmentation method is combined with color and edge information to achieve moderate under-segmentation. The segmented regions are classified into reliable regions and unreliable regions by consistency checking. Finally, the two regions are optimized by plane fitting and propagation, respectively, to match the ambiguous pixels. The experimental results are on Middlebury Stereo Datasets, which show that the proposed method has good performance in occluded and discontinuous regions, and it obtains smoother disparity maps with a lower average matching error rate compared with other algorithms.

  9. A Time-of-Flight Method to Measure the Speed of Sound Using a Stereo Sound Card

    ERIC Educational Resources Information Center

    Carvalho, Carlos C.; dos Santos, J. M. B. Lopes; Marques, M. B.

    2008-01-01

    Most homes in developed countries have a sophisticated data acquisition board, namely the PC sound board. Designed to be able to reproduce CD-quality stereo sound, it must have a sampling rate of at least 44 kHz and have very accurate timing between the two stereo channels. With a very simple adaptation of a pair of regular PC microphones, a…

  10. When the Sun Gets in the Way: Stereo Science Observations on the Far Side of the Sun

    NASA Astrophysics Data System (ADS)

    Vourlidas, A.; Thompson, W. T.; Gurman, J. B.; Luhmann, J. G.; Curtis, D. W.; Schroeder, P. C.; Mewaldt, R. A.; Davis, A. J.; Wortman, K.; Russell, C. T.; Galvin, A. B.; Popecki, M.; Kistler, L. M.; Ellis, L.; Howard, R.; Rich, N.; Hutting, L.; Maksimovic, M.; Bale, S. D.; Goetz, K.

    2014-12-01

    With the two STEREO spacecraft on the opposite side of the Sun from Earth, pointing the high gain antenna at Earth means that it's also pointed very close to the Sun. This has resulted in unexpectedly high temperatures in the antenna feed horns on both spacecraft, and is forcing the mission operations team to take corrective action, starting in August 2014 for STEREO Ahead, and December 2014 for STEREO Behind. By off-pointing the antennas to use one of the lower power side lobes instead of the main lobe, the feed horn temperatures can be kept at a safe level while still allowing reliable communication with the spacecraft. However, the amount of telemetry that can be brought down will be highly reduced. Even so, significant science will still be possible from STEREO's unique position on the solar far side. We will discuss the science and space weather products that will be available from each STEREO instrument, when those products will be available, and how they will be used. Some data, including the regular space weather beacon products, will be brought down for an average of a few hours each day during the daily real-time passes, while the in situ and radio beacon data will be stored on the onboard recorder to provide a continuous 24-hour coverage for eventual downlink once the spacecraft is back to normal operations.

  11. Integrated Georeferencing of Stereo Image Sequences Captured with a Stereovision Mobile Mapping System - Approaches and Practical Results

    NASA Astrophysics Data System (ADS)

    Eugster, H.; Huber, F.; Nebiker, S.; Gisi, A.

    2012-07-01

    Stereovision based mobile mapping systems enable the efficient capturing of directly georeferenced stereo pairs. With today's camera and onboard storage technologies imagery can be captured at high data rates resulting in dense stereo sequences. These georeferenced stereo sequences provide a highly detailed and accurate digital representation of the roadside environment which builds the foundation for a wide range of 3d mapping applications and image-based geo web-services. Georeferenced stereo images are ideally suited for the 3d mapping of street furniture and visible infrastructure objects, pavement inspection, asset management tasks or image based change detection. As in most mobile mapping systems, the georeferencing of the mapping sensors and observations - in our case of the imaging sensors - normally relies on direct georeferencing based on INS/GNSS navigation sensors. However, in urban canyons the achievable direct georeferencing accuracy of the dynamically captured stereo image sequences is often insufficient or at least degraded. Furthermore, many of the mentioned application scenarios require homogeneous georeferencing accuracy within a local reference frame over the entire mapping perimeter. To achieve these demands georeferencing approaches are presented and cost efficient workflows are discussed which allows validating and updating the INS/GNSS based trajectory with independently estimated positions in cases of prolonged GNSS signal outages in order to increase the georeferencing accuracy up to the project requirements.

  12. Modeling Floods in Athabasca Valles, Mars, Using CTX Stereo Topography

    NASA Astrophysics Data System (ADS)

    Dundas, C. M.; Keszthelyi, L. P.; Denlinger, R. P.; Thomas, O. H.; Galuszka, D.; Hare, T. M.; Kirk, R. L.; Howington-Kraus, E.; Rosiek, M.

    2012-12-01

    Among the most remarkable landforms on Mars are the outflow channels, which suggest the occurrence of catastrophic water floods in the past. Athabasca Valles has long been thought to be the youngest of these channels [1-2], although it has recently become clear that the young crater age applies to a coating lava flow [3]. Simulations with a 2.5-dimensional flood model have provided insight into the details of flood dynamics but have also demonstrated that the Digital Elevation Model (DEM) from the Mars Orbiter Laser Altimeter (MOLA) Mission Experiment Gridded Data Records includes significant artifacts at this latitude at the scales relevant for flood modeling [4]. In order to obtain improved topography, we processed stereo images from the Context Camera (CTX) of the Mars Reconnaissance Orbiter (MRO) using methods developed for producing topographic models of the Moon with images from the Lunar Reconnaissance Orbiter Camera, a derivative of the CTX camera. Some work on flood modeling with CTX stereo has been published by [5], but we will present several advances, including corrections to the published CTX optical distortion model and improved methods to combine the stereo and MOLA data. The limitations of current methods are the accuracy of control to MOLA and the level of error introduced when the MRO spacecraft is not in a high-stability mode during stereo imaging, leading to jitter impacting the derived topography. Construction of a mosaic of multiple stereo pairs, controlled to MOLA, allows us to consider flow through the cluster of streamlined islands in the upper part of the channel [6], including what is suggested to be the best example of flood-formed subaqueous dunes on Mars [7]. We will present results from running a flood model [4, 8] through the high-resolution (100 m/post) DEM covering the streamlined islands and subaqueous dunes, using results from a lower-resolution model as a guide to the inflow. By considering a range of flow levels below estimated

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

    PubMed

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

    2017-08-09

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

  14. Search for eV sterile neutrinos at a nuclear reactor — the Stereo project

    NASA Astrophysics Data System (ADS)

    Haser, J.; Stereo Collaboration

    2016-05-01

    The re-analyses of the reference spectra of reactor antineutrinos together with a revised neutrino interaction cross section enlarged the absolute normalization of the predicted neutrino flux. The tension between previous reactor measurements and the new prediction is significant at 2.7 σ and is known as “reactor antineutrino anomaly”. In combination with other anomalies encountered in neutrino oscillation measurements, this observation revived speculations about the existence of a sterile neutrino in the eV mass range. Mixing of this light sterile neutrino with the active flavours would lead to a modification of the detected antineutrino flux. An oscillation pattern in energy and space could be resolved by a detector at a distance of few meters from a reactor core: the neutrino detector of the Stereo project will be located at about 10 m distance from the ILL research reactor in Grenoble, France. Lengthwise separated in six target cells filled with 2 m3 Gd-loaded liquid scintillator in total, the experiment will search for a position-dependent distortion in the energy spectrum.

  15. 3D reconstruction of the optic nerve head using stereo fundus images for computer-aided diagnosis of glaucoma

    NASA Astrophysics Data System (ADS)

    Tang, Li; Kwon, Young H.; Alward, Wallace L. M.; Greenlee, Emily C.; Lee, Kyungmoo; Garvin, Mona K.; Abràmoff, Michael D.

    2010-03-01

    The shape of the optic nerve head (ONH) is reconstructed automatically using stereo fundus color images by a robust stereo matching algorithm, which is needed for a quantitative estimate of the amount of nerve fiber loss for patients with glaucoma. Compared to natural scene stereo, fundus images are noisy because of the limits on illumination conditions and imperfections of the optics of the eye, posing challenges to conventional stereo matching approaches. In this paper, multi scale pixel feature vectors which are robust to noise are formulated using a combination of both pixel intensity and gradient features in scale space. Feature vectors associated with potential correspondences are compared with a disparity based matching score. The deep structures of the optic disc are reconstructed with a stack of disparity estimates in scale space. Optical coherence tomography (OCT) data was collected at the same time, and depth information from 3D segmentation was registered with the stereo fundus images to provide the ground truth for performance evaluation. In experiments, the proposed algorithm produces estimates for the shape of the ONH that are close to the OCT based shape, and it shows great potential to help computer-aided diagnosis of glaucoma and other related retinal diseases.

  16. 3D Stereo Data Visualization and Representation

    DTIC Science & Technology

    1994-09-01

    will see a stereo image" (29:219). See (28) and (32) for more detail. "• Lenticular Display - The idea is stimulated by the limitation of parallax...barriers to replace the slits with a cylindrical lenses. According to Bruce Lane, "a particularly valuable feature of lenticular is the multiple viewing...the object close to the optical axis and place the object close to the spherical mirror’s focus length. 48 " Astigmatism - Astigmatism is the

  17. Parallel-Processing Software for Correlating Stereo Images

    NASA Technical Reports Server (NTRS)

    Klimeck, Gerhard; Deen, Robert; Mcauley, Michael; DeJong, Eric

    2007-01-01

    A computer program implements parallel- processing algorithms for cor relating images of terrain acquired by stereoscopic pairs of digital stereo cameras on an exploratory robotic vehicle (e.g., a Mars rove r). Such correlations are used to create three-dimensional computatio nal models of the terrain for navigation. In this program, the scene viewed by the cameras is segmented into subimages. Each subimage is assigned to one of a number of central processing units (CPUs) opera ting simultaneously.

  18. Coronal hole evolution from multi-viewpoint data as input for a STEREO solar wind speed persistence model

    NASA Astrophysics Data System (ADS)

    Temmer, Manuela; Hinterreiter, Jürgen; Reiss, Martin A.

    2018-03-01

    We present a concept study of a solar wind forecasting method for Earth, based on persistence modeling from STEREO in situ measurements combined with multi-viewpoint EUV observational data. By comparing the fractional areas of coronal holes (CHs) extracted from EUV data of STEREO and SoHO/SDO, we perform an uncertainty assessment derived from changes in the CHs and apply those changes to the predicted solar wind speed profile at 1 AU. We evaluate the method for the time period 2008-2012, and compare the results to a persistence model based on ACE in situ measurements and to the STEREO persistence model without implementing the information on CH evolution. Compared to an ACE based persistence model, the performance of the STEREO persistence model which takes into account the evolution of CHs, is able to increase the number of correctly predicted high-speed streams by about 12%, and to decrease the number of missed streams by about 23%, and the number of false alarms by about 19%. However, the added information on CH evolution is not able to deliver more accurate speed values for the forecast than using the STEREO persistence model without CH information which performs better than an ACE based persistence model. Investigating the CH evolution between STEREO and Earth view for varying separation angles over ˜25-140° East of Earth, we derive some relation between expanding CHs and increasing solar wind speed, but a less clear relation for decaying CHs and decreasing solar wind speed. This fact most likely prevents the method from making more precise forecasts. The obtained results support a future L5 mission and show the importance and valuable contribution using multi-viewpoint data.

  19. Mapping snow depth in open alpine terrain from stereo satellite imagery

    NASA Astrophysics Data System (ADS)

    Marti, R.; Gascoin, S.; Berthier, E.; de Pinel, M.; Houet, T.; Laffly, D.

    2016-07-01

    To date, there is no definitive approach to map snow depth in mountainous areas from spaceborne sensors. Here, we examine the potential of very-high-resolution (VHR) optical stereo satellites to this purpose. Two triplets of 0.70 m resolution images were acquired by the Pléiades satellite over an open alpine catchment (14.5 km2) under snow-free and snow-covered conditions. The open-source software Ame's Stereo Pipeline (ASP) was used to match the stereo pairs without ground control points to generate raw photogrammetric clouds and to convert them into high-resolution digital elevation models (DEMs) at 1, 2, and 4 m resolutions. The DEM differences (dDEMs) were computed after 3-D coregistration, including a correction of a -0.48 m vertical bias. The bias-corrected dDEM maps were compared to 451 snow-probe measurements. The results show a decimetric accuracy and precision in the Pléiades-derived snow depths. The median of the residuals is -0.16 m, with a standard deviation (SD) of 0.58 m at a pixel size of 2 m. We compared the 2 m Pléiades dDEM to a 2 m dDEM that was based on a winged unmanned aircraft vehicle (UAV) photogrammetric survey that was performed on the same winter date over a portion of the catchment (3.1 km2). The UAV-derived snow depth map exhibits the same patterns as the Pléiades-derived snow map, with a median of -0.11 m and a SD of 0.62 m when compared to the snow-probe measurements. The Pléiades images benefit from a very broad radiometric range (12 bits), allowing a high correlation success rate over the snow-covered areas. This study demonstrates the value of VHR stereo satellite imagery to map snow depth in remote mountainous areas even when no field data are available.

  20. STEREO and Wind Observations of Intense Cyclotron Harmonic Waves at the Earth's Bow Shock and Inside the Magnetosheath

    NASA Technical Reports Server (NTRS)

    Breneman, A. W.; Cattell, C.

    2013-01-01

    We present the first observations of electron cyclotron harmonic waves at the Earth's bow shock from STEREO and Wind burst waveform captures. These waves are observed at magnetic field gradients at a variety of shock geometries ranging from quasi-parallel to nearly perpendicular along with whistler mode waves, ion acoustic waves, and electrostatic solitary waves. Large amplitude cyclotron harmonic waveforms are also observed in the magnetosheath in association with magnetic field gradients convected past the bow shock. Amplitudes of the cyclotron harmonic waves range from a few tens to more than 500 millivolts/meter peak-peak. A comparison between the short (15 meters) and long (100 meters) Wind spin plane antennas shows a similar response at low harmonics and a stronger response on the short antenna at higher harmonics. This indicates that wavelengths are not significantly larger than 100 meters, consistent with the electron cyclotron radius. Waveforms are broadband and polarizations are distinctively comma-shaped with significant power both perpendicular and parallel to the magnetic field. Harmonics tend to be more prominent in the perpendicular directions. These observations indicate that the waves consist of a combination of perpendicular Bernstein waves and field-aligned waves without harmonics. A likely source is the electron cyclotron drift instability which is a coupling between Bernstein and ion acoustic waves. These waves are the most common type of high-frequency wave seen by STEREO during bow shock crossings and magnetosheath traversals and our observations suggest that they are an important component of the high-frequency turbulent spectrum in these regions.

  1. Optimized stereo matching in binocular three-dimensional measurement system using structured light.

    PubMed

    Liu, Kun; Zhou, Changhe; Wei, Shengbin; Wang, Shaoqing; Fan, Xin; Ma, Jianyong

    2014-09-10

    In this paper, we develop an optimized stereo-matching method used in an active binocular three-dimensional measurement system. A traditional dense stereo-matching algorithm is time consuming due to a long search range and the high complexity of a similarity evaluation. We project a binary fringe pattern in combination with a series of N binary band limited patterns. In order to prune the search range, we execute an initial matching before exhaustive matching and evaluate a similarity measure using logical comparison instead of a complicated floating-point operation. Finally, an accurate point cloud can be obtained by triangulation methods and subpixel interpolation. The experiment results verify the computational efficiency and matching accuracy of the method.

  2. A multi-modal stereo microscope based on a spatial light modulator.

    PubMed

    Lee, M P; Gibson, G M; Bowman, R; Bernet, S; Ritsch-Marte, M; Phillips, D B; Padgett, M J

    2013-07-15

    Spatial Light Modulators (SLMs) can emulate the classic microscopy techniques, including differential interference (DIC) contrast and (spiral) phase contrast. Their programmability entails the benefit of flexibility or the option to multiplex images, for single-shot quantitative imaging or for simultaneous multi-plane imaging (depth-of-field multiplexing). We report the development of a microscope sharing many of the previously demonstrated capabilities, within a holographic implementation of a stereo microscope. Furthermore, we use the SLM to combine stereo microscopy with a refocusing filter and with a darkfield filter. The instrument is built around a custom inverted microscope and equipped with an SLM which gives various imaging modes laterally displaced on the same camera chip. In addition, there is a wide angle camera for visualisation of a larger region of the sample.

  3. Tracking Prominence Eruptions to 1 AU with STEREO Heliospheric Imaging

    NASA Astrophysics Data System (ADS)

    Wood, B. E.; Howard, R.; Linton, M.

    2015-12-01

    It is rare for prominence eruptions to be observable far from the Sun in the inner heliosphere, either in imaging or with in situ plasma instruments. Nevertheless, we here discuss two examples of particularly bright eruptions that are continuously trackable all the way to 1 AU by imagers on the Solar TErrestrial RElations Observatory (STEREO) spacecraft. The two events are from 2011 June 7 and 2012 August 31. Only these two examples of clear prominence eruptions observable this far from the Sun could be found in the STEREO 2007-2014 image database, consistent with the rarity of unambiguous cold prominence material being observed in situ at 1 AU. Full 3-D reconstructions are made of the coronal mass ejections (CMEs) that accompany the prominence eruptions. For the 2011 June event, a time-dependent 3-D reconstruction of the prominence structure is made using point-by-point triangulation, which unfortunately is not possible for the August event due to a poor viewing geometry. However, for the 2012 August event, shock normals computed from plasma measurements at STEREO-B and Wind using the shock jump conditions agree well with expectations from the image-based CME reconstruction. Unlike its accompanying CME, the 2011 June prominence exhibits little deceleration from the Sun to 1 AU, as a consequence moving upwards within the CME. Detailed analysis of the prominence's expansion reveals that deviation from self-similar expansion is never large, but close to the Sun the prominence expands somewhat more rapidly than self-similarity, with this effect decreasing with time.

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

    PubMed Central

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

    2011-01-01

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

  5. Deep 'Stone Soup' Trenching by Phoenix (Stereo)

    NASA Technical Reports Server (NTRS)

    2008-01-01

    Digging by NASA's Phoenix Mars Lander on Aug. 23, 2008, during the 88th sol (Martian day) since landing, reached a depth about three times greater than in any trench Phoenix has excavated. The deep trench, informally called 'Stone Soup' is at the borderline between two of the polygon-shaped hummocks that characterize the arctic plain where Phoenix landed.

    Stone Soup is in the center foreground of this stereo view, which appears three dimensional when seen through red-blue glasses. The view combines left-eye and right-eye images taken by the lander's Surface Stereo Imager on Sol 88 after the day's digging. The trench is about 25 centimeters (10 inches) wide and about 18 centimeters (7 inches) deep.

    When digging trenches near polygon centers, Phoenix has hit a layer of icy soil, as hard as concrete, about 5 centimeters or 2 inches beneath the ground surface. In the Stone Soup trench at a polygon margin, the digging has not yet hit an icy layer like that.

    Stone Soup is toward the left, or west, end of the robotic arm's work area on the north side of the lander.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  6. Stereo-Based Region-Growing using String Matching

    NASA Technical Reports Server (NTRS)

    Mandelbaum, Robert; Mintz, Max

    1995-01-01

    We present a novel stereo algorithm based on a coarse texture segmentation preprocessing phase. Matching is performed using a string comparison. Matching sub-strings correspond to matching sequences of textures. Inter-scanline clustering of matching sub-strings yields regions of matching texture. The shape of these regions yield information concerning object's height, width and azimuthal position relative to the camera pair. Hence, rather than the standard dense depth map, the output of this algorithm is a segmentation of objects in the scene. Such a format is useful for the integration of stereo with other sensor modalities on a mobile robotic platform. It is also useful for localization; the height and width of a detected object may be used for landmark recognition, while depth and relative azimuthal location determine pose. The algorithm does not rely on the monotonicity of order of image primitives. Occlusions, exposures, and foreshortening effects are not problematic. The algorithm can deal with certain types of transparencies. It is computationally efficient, and very amenable to parallel implementation. Further, the epipolar constraints may be relaxed to some small but significant degree. A version of the algorithm has been implemented and tested on various types of images. It performs best on random dot stereograms, on images with easily filtered backgrounds (as in synthetic images), and on real scenes with uncontrived backgrounds.

  7. 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.

  8. Combined application of electron backscatter diffraction and stereo-photogrammetry in fractography studies.

    PubMed

    Davies, P A; Randle, V

    2001-10-01

    The main aim of this paper is to report on recent experimental developments that have succeeded in combining electron back-scatter diffraction (EBSD) with stereo-photogrammetry, compared with two other methods for study of fracture surfaces, namely visual fractography analysis in the scanning electron microscope (SEM) and EBSD directly from facets. These approaches will be illustrated with data relating to the cleavage plane orientation analysis in a ferritic and C-Mn steel. It is demonstrated that the combined use of EBSD and stereo-photogrammetry represents a significant advance in the methodology for facet crystallography analysis. The results of point counting from fractograph characterization determined that the proportions of intergranular fracture in C-Mn and ferritic steels were 10.4% and 9.4%, respectively. The crystallographic orientation was determined directly from the fracture surface of a ferritic steel sample and produced an orientation distribution with a clear trend towards the [001] plane. A stereo-photogrammetry technique was validated using the known geometry of a Vickers hardness indent. The technique was then successfully employed to measure the macroscopic orientation of individual cleavage facets in the same reference frame as the EBSD measurements. Correlating the results of these measurements indicated that the actual crystallographic orientation of every cleavage facet identified in the steel specimens is [001].

  9. Opportunity's View After Long Drive on Sol 1770 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11791 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11791

    NASA's Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo, full-circle view of the rover's surroundings just after driving 104 meters (341 feet) on the 1,770th Martian day, or sol, of Opportunity's surface mission (January 15, 2009).

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    Tracks from the drive extend northward across dark-toned sand ripples and light-toned patches of exposed bedrock in the Meridiani Planum region of Mars. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches).

    Prior to the Sol 1770 drive, Opportunity had driven less than a meter since Sol 1713 (November 17, 2008), while it used the tools on its robotic arm first to examine a meteorite called 'Santorini' during weeks of restricted communication while the sun was nearly in line between Mars and Earth, then to examine bedrock and soil targets near Santorini.

    The rover's position after the Sol 1770 drive was about 1.1 kilometer (two-thirds of a mile) south southwest of Victoria Crater. Cumulative odometry was 13.72 kilometers (8.53 miles) since landing in January 2004, including 1.94 kilometers (1.21 miles) since climbing out of Victoria Crater on the west side of the crater on Sol 1634 (August 28, 2008).

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  10. Digital stereo photogrammetry for grain-scale monitoring of fluvial surfaces: Error evaluation and workflow optimisation

    NASA Astrophysics Data System (ADS)

    Bertin, Stephane; Friedrich, Heide; Delmas, Patrice; Chan, Edwin; Gimel'farb, Georgy

    2015-03-01

    Grain-scale monitoring of fluvial morphology is important for the evaluation of river system dynamics. Significant progress in remote sensing and computer performance allows rapid high-resolution data acquisition, however, applications in fluvial environments remain challenging. Even in a controlled environment, such as a laboratory, the extensive acquisition workflow is prone to the propagation of errors in digital elevation models (DEMs). This is valid for both of the common surface recording techniques: digital stereo photogrammetry and terrestrial laser scanning (TLS). The optimisation of the acquisition process, an effective way to reduce the occurrence of errors, is generally limited by the use of commercial software. Therefore, the removal of evident blunders during post processing is regarded as standard practice, although this may introduce new errors. This paper presents a detailed evaluation of a digital stereo-photogrammetric workflow developed for fluvial hydraulic applications. The introduced workflow is user-friendly and can be adapted to various close-range measurements: imagery is acquired with two Nikon D5100 cameras and processed using non-proprietary "on-the-job" calibration and dense scanline-based stereo matching algorithms. Novel ground truth evaluation studies were designed to identify the DEM errors, which resulted from a combination of calibration errors, inaccurate image rectifications and stereo-matching errors. To ensure optimum DEM quality, we show that systematic DEM errors must be minimised by ensuring a good distribution of control points throughout the image format during calibration. DEM quality is then largely dependent on the imagery utilised. We evaluated the open access multi-scale Retinex algorithm to facilitate the stereo matching, and quantified its influence on DEM quality. Occlusions, inherent to any roughness element, are still a major limiting factor to DEM accuracy. We show that a careful selection of the camera

  11. A hybrid multiview stereo algorithm for modeling urban scenes.

    PubMed

    Lafarge, Florent; Keriven, Renaud; Brédif, Mathieu; Vu, Hoang-Hiep

    2013-01-01

    We present an original multiview stereo reconstruction algorithm which allows the 3D-modeling of urban scenes as a combination of meshes and geometric primitives. The method provides a compact model while preserving details: Irregular elements such as statues and ornaments are described by meshes, whereas regular structures such as columns and walls are described by primitives (planes, spheres, cylinders, cones, and tori). We adopt a two-step strategy consisting first in segmenting the initial meshbased surface using a multilabel Markov Random Field-based model and second in sampling primitive and mesh components simultaneously on the obtained partition by a Jump-Diffusion process. The quality of a reconstruction is measured by a multi-object energy model which takes into account both photo-consistency and semantic considerations (i.e., geometry and shape layout). The segmentation and sampling steps are embedded into an iterative refinement procedure which provides an increasingly accurate hybrid representation. Experimental results on complex urban structures and large scenes are presented and compared to state-of-the-art multiview stereo meshing algorithms.

  12. Self calibration of the stereo vision system of the Chang'e-3 lunar rover based on the bundle block adjustment

    NASA Astrophysics Data System (ADS)

    Zhang, Shuo; Liu, Shaochuang; Ma, Youqing; Qi, Chen; Ma, Hao; Yang, Huan

    2017-06-01

    The Chang'e-3 was the first lunar soft landing probe of China. It was composed of the lander and the lunar rover. The Chang'e-3 successful landed in the northwest of the Mare Imbrium in December 14, 2013. The lunar rover completed the movement, imaging and geological survey after landing. The lunar rover equipped with a stereo vision system which was made up of the Navcam system, the mast mechanism and the inertial measurement unit (IMU). The Navcam system composed of two cameras with the fixed focal length. The mast mechanism was a robot with three revolute joints. The stereo vision system was used to determine the position of the lunar rover, generate the digital elevation models (DEM) of the surrounding region and plan the moving paths of the lunar rover. The stereo vision system must be calibrated before use. The control field could be built to calibrate the stereo vision system in the laboratory on the earth. However, the parameters of the stereo vision system would change after the launch, the orbital changes, the braking and the landing. Therefore, the stereo vision system should be self calibrated on the moon. An integrated self calibration method based on the bundle block adjustment is proposed in this paper. The bundle block adjustment uses each bundle of ray as the basic adjustment unit and the adjustment is implemented in the whole photogrammetric region. The stereo vision system can be self calibrated with the proposed method under the unknown lunar environment and all parameters can be estimated simultaneously. The experiment was conducted in the ground lunar simulation field. The proposed method was compared with other methods such as the CAHVOR method, the vanishing point method, the Denavit-Hartenberg method, the factorization method and the weighted least-squares method. The analyzed result proved that the accuracy of the proposed method was superior to those of other methods. Finally, the proposed method was practical used to self calibrate the

  13. SU-E-J-184: Stereo Time-Of-Flight System for Patient Positioning in Radiotherapy

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

    Wentz, T; Gilles, M; Visvikis, D

    2014-06-01

    Purpose: The objective of this work is to test the advantage of using the surface acquired by two stereo Time-of-Flight (ToF) cameras in comparison of the use of one camera only for patient positioning in radiotherapy. Methods: A first step consisted on validating the use of a stereo ToFcamera system for positioning management of a phantom mounted on a linear actuator producing very accurate and repeatable displacements. The displacements between two positions were computed from the surface point cloud acquired by either one or two cameras thanks to an iterative closest point algorithm. A second step consisted on determining themore » displacements on patient datasets, with two cameras fixed on the ceiling of the radiotherapy room. Measurements were done first on voluntary subject with fixed translations, then on patients during the normal clinical radiotherapy routine. Results: The phantom tests showed a major improvement in lateral and depth axis for motions above 10 mm when using the stereo-system instead of a unique camera (Fig1). Patient measurements validate these results with a mean real and measured displacement differences in the depth direction of 1.5 mm when using one camera and 0.9 mm when using two cameras (Fig2). In the lateral direction, a mean difference of 1 mm was obtained by the stereo-system instead of 3.2 mm. Along the longitudinal axis mean differences of 5.4 and 3.4 mm with one and two cameras respectively were noticed but these measurements were still inaccurate and globally underestimated in this direction as in the literature. Similar results were also found for patient subjects with a mean difference reduction of 35%, 7%, and 25% for the lateral, depth, and longitudinal displacement with the stereo-system. Conclusion: The addition of a second ToF-camera to determine patient displacement strongly improved patient repositioning results and therefore insures better radiation delivery.« less

  14. STEREO's Extreme UltraViolet Imager (EUVI)

    NASA Technical Reports Server (NTRS)

    2007-01-01

    At a pixel resolution of 2048x2048, the STEREO EUVI instrument provides views of the Sun in ultraviolet light that rivals the full-disk views of SOHO/EIT. This image is through the 171 Angstrom (ultraviolet) filter which is characteristic of iron ions (missing eight and nine electrons) at 1 million degrees. There is a short data gap in the latter half of the movie that creates a freeze and then jump in the data view. This is a movie of the Sun in 171 Angstrom ultraviolet light. The time frame is late January, 2007

  15. Considerations for the Use of STEREO -HI Data for Astronomical Studies

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

    Tappin, S. J., E-mail: james.tappin@stfc.ac.uk

    Recent refinements to the photometric calibrations of the Heliospheric Imagers (HI) on board the Solar TErrestrial RElations Observatory ( STEREO ) have revealed a number of subtle effects in the measurement of stellar signals with those instruments. These effects need to be considered in the interpretation of STEREO -HI data for astronomy. In this paper we present an analysis of these effects and how to compensate for them when using STEREO -HI data for astronomical studies. We determine how saturation of the HI CCD detectors affects the apparent count rates of stars after the on-board summing of pixels and exposures.more » Single-exposure calibration images are analyzed and compared with binned and summed science images to determine the influence of saturation on the science images. We also analyze how the on-board cosmic-ray scrubbing algorithm affects stellar images. We determine how this interacts with the variations of instrument pointing to affect measurements of stars. We find that saturation is a significant effect only for the brightest stars, and that its onset is gradual. We also find that degraded pointing stability, whether of the entire spacecraft or of the imagers, leads to reduced stellar count rates and also increased variation thereof through interaction with the on-board cosmic-ray scrubbing algorithm. We suggest ways in which these effects can be mitigated for astronomical studies and also suggest how the situation can be improved for future imagers.« less

  16. A Scanning Hartmann Focus Test for the EUVI Telescopes aboard STEREO

    NASA Technical Reports Server (NTRS)

    Ohl, R.; Antonille, S.; Aronstein, D.; Dean, B.; Delmont, M.; Eichord, W.; Frey, B.; Kubalak, D.; Wilson, M.; Redman, K.; hide

    2007-01-01

    The Solar TErrestrial RElations Observatory (STEREO), the third mission in NASA s Solar Terrestrial Probes program, was launched in 2006 on a two year mission to study solar phenomena like coronal mass ejections. STEREO consists of two nearly identical satellites, each carrying a suite of instruments that provide, among other data, simultaneous images of the Sun. One of these telescopes is the Extreme Ultraviolet Instrument (EUVI). There are two EUVI telescopes, one on each STEREO satellite (EUVI-A and EUVI-B). EUVI is a normal incidence, 98mm diameter, Ritchey-Chretien telescope designed to obtain wide field of view (approx.1deg) images of the Sun at short wavelengths (approx.20nm) using a CCD detector. The telescope entrance aperture is divided into four quadrants by a mask near the secondary mirror spider veins. A mechanism that rotates another mask allows only one of these sub-apertures to accept light from the Sun during an observation. The EUVI is thus four co-aligned, off-axis telescopes. Each off-axis segment on the primary and secondary mirrors has a different extreme ultraviolet coating stack. Furthermore, the aperture select mechanism is synchronized with a filter wheel mechanism near the CCD detector. The EUVI contains no focus mechanism. Models predict that the difference in on-orbit operating temperature and ambient clean room conditions yield a "best focus" difference between integration and operation of approx. 0.2mm.

  17. System Design, Calibration and Performance Analysis of a Novel 360° Stereo Panoramic Mobile Mapping System

    NASA Astrophysics Data System (ADS)

    Blaser, S.; Nebiker, S.; Cavegn, S.

    2017-05-01

    Image-based mobile mapping systems enable the efficient acquisition of georeferenced image sequences, which can later be exploited in cloud-based 3D geoinformation services. In order to provide a 360° coverage with accurate 3D measuring capabilities, we present a novel 360° stereo panoramic camera configuration. By using two 360° panorama cameras tilted forward and backward in combination with conventional forward and backward looking stereo camera systems, we achieve a full 360° multi-stereo coverage. We furthermore developed a fully operational new mobile mapping system based on our proposed approach, which fulfils our high accuracy requirements. We successfully implemented a rigorous sensor and system calibration procedure, which allows calibrating all stereo systems with a superior accuracy compared to that of previous work. Our study delivered absolute 3D point accuracies in the range of 4 to 6 cm and relative accuracies of 3D distances in the range of 1 to 3 cm. These results were achieved in a challenging urban area. Furthermore, we automatically reconstructed a 3D city model of our study area by employing all captured and georeferenced mobile mapping imagery. The result is a very high detailed and almost complete 3D city model of the street environment.

  18. Three-Dimensional Reconstruction from Single Image Base on Combination of CNN and Multi-Spectral Photometric Stereo.

    PubMed

    Lu, Liang; Qi, Lin; Luo, Yisong; Jiao, Hengchao; Dong, Junyu

    2018-03-02

    Multi-spectral photometric stereo can recover pixel-wise surface normal from a single RGB image. The difficulty lies in that the intensity in each channel is the tangle of illumination, albedo and camera response; thus, an initial estimate of the normal is required in optimization-based solutions. In this paper, we propose to make a rough depth estimation using the deep convolutional neural network (CNN) instead of using depth sensors or binocular stereo devices. Since high-resolution ground-truth data is expensive to obtain, we designed a network and trained it with rendered images of synthetic 3D objects. We use the model to predict initial normal of real-world objects and iteratively optimize the fine-scale geometry in the multi-spectral photometric stereo framework. The experimental results illustrate the improvement of the proposed method compared with existing methods.

  19. Three-Dimensional Reconstruction from Single Image Base on Combination of CNN and Multi-Spectral Photometric Stereo

    PubMed Central

    Lu, Liang; Qi, Lin; Luo, Yisong; Jiao, Hengchao; Dong, Junyu

    2018-01-01

    Multi-spectral photometric stereo can recover pixel-wise surface normal from a single RGB image. The difficulty lies in that the intensity in each channel is the tangle of illumination, albedo and camera response; thus, an initial estimate of the normal is required in optimization-based solutions. In this paper, we propose to make a rough depth estimation using the deep convolutional neural network (CNN) instead of using depth sensors or binocular stereo devices. Since high-resolution ground-truth data is expensive to obtain, we designed a network and trained it with rendered images of synthetic 3D objects. We use the model to predict initial normal of real-world objects and iteratively optimize the fine-scale geometry in the multi-spectral photometric stereo framework. The experimental results illustrate the improvement of the proposed method compared with existing methods. PMID:29498703

  20. The Plasma and Suprathermal Ion Composition (PLASTIC) Investigation on the STEREO Observatories

    NASA Astrophysics Data System (ADS)

    Galvin, A. B.; Kistler, L. M.; Popecki, M. A.; Farrugia, C. J.; Simunac, K. D. C.; Ellis, L.; Möbius, E.; Lee, M. A.; Boehm, M.; Carroll, J.; Crawshaw, A.; Conti, M.; Demaine, P.; Ellis, S.; Gaidos, J. A.; Googins, J.; Granoff, M.; Gustafson, A.; Heirtzler, D.; King, B.; Knauss, U.; Levasseur, J.; Longworth, S.; Singer, K.; Turco, S.; Vachon, P.; Vosbury, M.; Widholm, M.; Blush, L. M.; Karrer, R.; Bochsler, P.; Daoudi, H.; Etter, A.; Fischer, J.; Jost, J.; Opitz, A.; Sigrist, M.; Wurz, P.; Klecker, B.; Ertl, M.; Seidenschwang, E.; Wimmer-Schweingruber, R. F.; Koeten, M.; Thompson, B.; Steinfeld, D.

    2008-04-01

    The Plasma and Suprathermal Ion Composition (PLASTIC) investigation provides the in situ solar wind and low energy heliospheric ion measurements for the NASA Solar Terrestrial Relations Observatory Mission, which consists of two spacecraft (STEREO-A, STEREO-B). PLASTIC-A and PLASTIC-B are identical. Each PLASTIC is a time-of-flight/energy mass spectrometer designed to determine the elemental composition, ionic charge states, and bulk flow parameters of major solar wind ions in the mass range from hydrogen to iron. PLASTIC has nearly complete angular coverage in the ecliptic plane and an energy range from ˜0.3 to 80 keV/e, from which the distribution functions of suprathermal ions, including those ions created in pick-up and local shock acceleration processes, are also provided.

  1. Optical turbulence profiling with Stereo-SCIDAR for VLT and ELT

    NASA Astrophysics Data System (ADS)

    Osborn, J.; Wilson, R. W.; Sarazin, M.; Butterley, T.; Chacón, A.; Derie, F.; Farley, O. J. D.; Haubois, X.; Laidlaw, D.; LeLouarn, M.; Masciadri, E.; Milli, J.; Navarrete, J.; Townson, M. J.

    2018-04-01

    Knowledge of the Earth's atmospheric optical turbulence is critical for astronomical instrumentation. Not only does it enable performance verification and optimisation of existing systems but it is required for the design of future instruments. As a minimum this includes integrated astro-atmospheric parameters such as seeing, coherence time and isoplanatic angle, but for more sophisticated systems such as wide field adaptive optics enabled instrumentation the vertical structure of the turbulence is also required. Stereo-SCIDAR is a technique specifically designed to characterise the Earth's atmospheric turbulence with high altitude resolution and high sensitivity. Together with ESO, Durham University has commissioned a Stereo-SCIDAR instrument at Cerro Paranal, Chile, the site of the Very Large Telescope (VLT), and only 20 km from the site of the future Extremely Large Telescope (ELT). Here we provide results from the first 18 months of operation at ESO Paranal including instrument comparisons and atmospheric statistics. Based on a sample of 83 nights spread over 22 months covering all seasons, we find the median seeing to be 0.64" with 50% of the turbulence confined to an altitude below 2 km and 40% below 600 m. The median coherence time and isoplanatic angle are found as 4.18 ms and 1.75" respectively. A substantial campaign of inter-instrument comparison was also undertaken to assure the validity of the data. The Stereo-SCIDAR profiles (optical turbulence strength and velocity as a function of altitude) have been compared with the Surface-Layer SLODAR, MASS-DIMM and the ECMWF weather forecast model. The correlation coefficients are between 0.61 (isoplanatic angle) and 0.84 (seeing).

  2. Stereo-vision-based terrain mapping for off-road autonomous navigation

    NASA Astrophysics Data System (ADS)

    Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

    2009-05-01

    Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as nogo regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

  3. Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

    NASA Technical Reports Server (NTRS)

    Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

    2009-01-01

    Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

  4. Stereo vision techniques for telescience

    NASA Astrophysics Data System (ADS)

    Hewett, S.

    1990-02-01

    The Botanic Experiment is one of the pilot experiments in the Telescience Test Bed program at the ESTEC research and technology center of the European Space Agency. The aim of the Telescience Test Bed is to develop the techniques required by an experimenter using a ground based work station for remote control, monitoring, and modification of an experiment operating on a space platform. The purpose of the Botanic Experiment is to examine the growth of seedlings under various illumination conditions with a video camera from a number of viewpoints throughout the duration of the experiment. This paper describes the Botanic Experiment and the points addressed in developing a stereo vision software package to extract quantitative information about the seedlings from the recorded video images.

  5. Geo-Referenced Dynamic Pushbroom Stereo Mosaics for 3D and Moving Target Extraction - A New Geometric Approach

    DTIC Science & Technology

    2009-12-01

    facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . We use the fact that all the...a moving platform, we will have to naturally and effectively handle obvious motion parallax and object occlusions in order to be able to detect ...facilitating reliable stereo matching, occlusion handling, accurate 3D reconstruction and robust moving target detection . Based on the above two

  6. Investigation of 1 : 1,000 Scale Map Generation by Stereo Plotting Using Uav Images

    NASA Astrophysics Data System (ADS)

    Rhee, S.; Kim, T.

    2017-08-01

    Large scale maps and image mosaics are representative geospatial data that can be extracted from UAV images. Map drawing using UAV images can be performed either by creating orthoimages and digitizing them, or by stereo plotting. While maps generated by digitization may serve the need for geospatial data, many institutions and organizations require map drawing using stereoscopic vision on stereo plotting systems. However, there are several aspects to be checked for UAV images to be utilized for stereo plotting. The first aspect is the accuracy of exterior orientation parameters (EOPs) generated through automated bundle adjustment processes. It is well known that GPS and IMU sensors mounted on a UAV are not very accurate. It is necessary to adjust initial EOPs accurately using tie points. For this purpose, we have developed a photogrammetric incremental bundle adjustment procedure. The second aspect is unstable shooting conditions compared to aerial photographing. Unstable image acquisition may bring uneven stereo coverage, which will result in accuracy loss eventually. Oblique stereo pairs will create eye fatigue. The third aspect is small coverage of UAV images. This aspect will raise efficiency issue for stereo plotting of UAV images. More importantly, this aspect will make contour generation from UAV images very difficult. This paper will discuss effects relate to these three aspects. In this study, we tried to generate 1 : 1,000 scale map from the dataset using EOPs generated from software developed in-house. We evaluated Y-disparity of the tie points extracted automatically through the photogrammetric incremental bundle adjustment process. We could confirm that stereoscopic viewing is possible. Stereoscopic plotting work was carried out by a professional photogrammetrist. In order to analyse the accuracy of the map drawing using stereoscopic vision, we compared the horizontal and vertical position difference between adjacent models after drawing

  7. Spirit Near 'Stapledon' on Sol 1802 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11781 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11781

    NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this stereo, full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. South is at the center; north is at both ends.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches).

    Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica.

    The team laid plans to drive Spirit from

  8. Detection and 3d Modelling of Vehicles from Terrestrial Stereo Image Pairs

    NASA Astrophysics Data System (ADS)

    Coenen, M.; Rottensteiner, F.; Heipke, C.

    2017-05-01

    The detection and pose estimation of vehicles plays an important role for automated and autonomous moving objects e.g. in autonomous driving environments. We tackle that problem on the basis of street level stereo images, obtained from a moving vehicle. Processing every stereo pair individually, our approach is divided into two subsequent steps: the vehicle detection and the modelling step. For the detection, we make use of the 3D stereo information and incorporate geometric assumptions on vehicle inherent properties in a firstly applied generic 3D object detection. By combining our generic detection approach with a state of the art vehicle detector, we are able to achieve satisfying detection results with values for completeness and correctness up to more than 86%. By fitting an object specific vehicle model into the vehicle detections, we are able to reconstruct the vehicles in 3D and to derive pose estimations as well as shape parameters for each vehicle. To deal with the intra-class variability of vehicles, we make use of a deformable 3D active shape model learned from 3D CAD vehicle data in our model fitting approach. While we achieve encouraging values up to 67.2% for correct position estimations, we are facing larger problems concerning the orientation estimation. The evaluation is done by using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012).

  9. Stereo Orthogonal Axonometric Perspective for the Teaching of Descriptive Geometry

    ERIC Educational Resources Information Center

    Méxas, José Geraldo Franco; Guedes, Karla Bastos; Tavares, Ronaldo da Silva

    2015-01-01

    Purpose: The purpose of this paper is to present the development of a software for stereo visualization of geometric solids, applied to the teaching/learning of Descriptive Geometry. Design/methodology/approach: The paper presents the traditional method commonly used in computer graphic stereoscopic vision (implemented in C language) and the…

  10. Characteristics of stereo reproduction with parametric loudspeakers

    NASA Astrophysics Data System (ADS)

    Aoki, Shigeaki; Toba, Masayoshi; Tsujita, Norihisa

    2012-05-01

    A parametric loudspeaker utilizes nonlinearity of a medium and is known as a super-directivity loudspeaker. The parametric loudspeaker is one of the prominent applications of nonlinear ultrasonics. So far, the applications have been limited monaural reproduction sound system for public address in museum, station and street etc. In this paper, we discussed characteristics of stereo reproduction with two parametric loudspeakers by comparing with those with two ordinary dynamic loudspeakers. In subjective tests, three typical listening positions were selected to investigate the possibility of correct sound localization in a wide listening area. The binaural information was ILD (Interaural Level Difference) or ITD (Interaural Time Delay). The parametric loudspeaker was an equilateral hexagon. The inner and outer diameters were 99 and 112 mm, respectively. Signals were 500 Hz, 1 kHz, 2 kHz and 4 kHz pure tones and pink noise. Three young males listened to test signals 10 times in each listening condition. Subjective test results showed that listeners at the three typical listening positions perceived correct sound localization of all signals using the parametric loudspeakers. It was almost similar to those using the ordinary dynamic loudspeakers, however, except for the case of sinusoidal waves with ITD. It was determined the parametric loudspeaker could exclude the contradiction between the binaural information ILD and ITD that occurred in stereo reproduction with ordinary dynamic loudspeakers because the super directivity of parametric loudspeaker suppressed the cross talk components.

  11. Single-camera stereo-digital image correlation with a four-mirror adapter: optimized design and validation

    NASA Astrophysics Data System (ADS)

    Yu, Liping; Pan, Bing

    2016-12-01

    A low-cost, easy-to-implement but practical single-camera stereo-digital image correlation (DIC) system using a four-mirror adapter is established for accurate shape and three-dimensional (3D) deformation measurements. The mirrors assisted pseudo-stereo imaging system can convert a single camera into two virtual cameras, which view a specimen from different angles and record the surface images of the test object onto two halves of the camera sensor. To enable deformation measurement in non-laboratory conditions or extreme high temperature environments, an active imaging optical design, combining an actively illuminated monochromatic source with a coupled band-pass optical filter, is compactly integrated to the pseudo-stereo DIC system. The optical design, basic principles and implementation procedures of the established system for 3D profile and deformation measurements are described in detail. The effectiveness and accuracy of the established system are verified by measuring the profile of a regular cylinder surface and displacements of a translated planar plate. As an application example, the established system is used to determine the tensile strains and Poisson's ratio of a composite solid propellant specimen during stress relaxation test. Since the established single-camera stereo-DIC system only needs a single camera and presents strong robustness against variations in ambient light or the thermal radiation of a hot object, it demonstrates great potential in determining transient deformation in non-laboratory or high-temperature environments with the aid of a single high-speed camera.

  12. Shape and rotational elements of comet 67P/ Churyumov-Gerasimenko derived by stereo-photogrammetric analysis of OSIRIS NAC image data

    NASA Astrophysics Data System (ADS)

    Preusker, Frank; Scholten, Frank; Matz, Klaus-Dieter; Roatsch, Thomas; Willner, Konrad; Hviid, Stubbe; Knollenberg, Jörg; Kührt, Ekkehard; Sierks, Holger

    2015-04-01

    The European Space Agency's Rosetta spacecraft is equipped with the OSIRIS imaging system which consists of a wide-angle and a narrow-angle camera (WAC and NAC). After the approach phase, Rosetta was inserted into a descent trajectory of comet 67P/Churyumov-Gerasimenko (C-G) in early August 2014. Until early September, OSIRIS acquired several hundred NAC images of C-G's surface at different scales (from ~5 m/pixel during approach to ~0.9 m/pixel during descent). In that one month observation period, the surface was imaged several times within different mapping sequences. With the comet's rotation period of ~12.4 h and the low spacecraft velocity (< 1 m/s), the entire NAC dataset provides multiple NAC stereo coverage, adequate for stereo-photogrammetric (SPG) analysis towards the derivation of 3D surface models. We constrained the OSIRIS NAC images with our stereo requirements (15° < stereo angles < 45°, incidence angles <85°, emission angles <45°, differences in illumination < 10°, scale better than 5 m/pixel) and extracted about 220 NAC images that provide at least triple stereo image coverage for the entire illuminated surface in about 250 independent multi-stereo image combinations. For each image combination we determined tie points by multi-image matching in order to set-up a 3D control network and a dense surface point cloud for the precise reconstruction of C-G's shape. The control point network defines the input for a stereo-photogrammetric least squares adjustment. Based on the statistical analysis of adjustments we first refined C-G's rotational state (pole orientation and rotational period) and its behavior over time. Based upon this description of the orientation of C-G's body-fixed reference frame, we derived corrections for the nominal navigation data (pointing and position) within a final stereo-photogrammetric block adjustment where the mean 3D point accuracy of more than 100 million surface points has been improved from ~10 m to the sub

  13. 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.

  14. Railway clearance intrusion detection method with binocular stereo vision

    NASA Astrophysics Data System (ADS)

    Zhou, Xingfang; Guo, Baoqing; Wei, Wei

    2018-03-01

    In the stage of railway construction and operation, objects intruding railway clearance greatly threaten the safety of railway operation. Real-time intrusion detection is of great importance. For the shortcomings of depth insensitive and shadow interference of single image method, an intrusion detection method with binocular stereo vision is proposed to reconstruct the 3D scene for locating the objects and judging clearance intrusion. The binocular cameras are calibrated with Zhang Zhengyou's method. In order to improve the 3D reconstruction speed, a suspicious region is firstly determined by background difference method of a single camera's image sequences. The image rectification, stereo matching and 3D reconstruction process are only executed when there is a suspicious region. A transformation matrix from Camera Coordinate System(CCS) to Track Coordinate System(TCS) is computed with gauge constant and used to transfer the 3D point clouds into the TCS, then the 3D point clouds are used to calculate the object position and intrusion in TCS. The experiments in railway scene show that the position precision is better than 10mm. It is an effective way for clearance intrusion detection and can satisfy the requirement of railway application.

  15. Robust tracking of dexterous continuum robots: Fusing FBG shape sensing and stereo vision.

    PubMed

    Rumei Zhang; Hao Liu; Jianda Han

    2017-07-01

    Robust and efficient tracking of continuum robots is important for improving patient safety during space-confined minimally invasive surgery, however, it has been a particularly challenging task for researchers. In this paper, we present a novel tracking scheme by fusing fiber Bragg grating (FBG) shape sensing and stereo vision to estimate the position of continuum robots. Previous visual tracking easily suffers from the lack of robustness and leads to failure, while the FBG shape sensor can only reconstruct the local shape with integral cumulative error. The proposed fusion is anticipated to compensate for their shortcomings and improve the tracking accuracy. To verify its effectiveness, the robots' centerline is recognized by morphology operation and reconstructed by stereo matching algorithm. The shape obtained by FBG sensor is transformed into distal tip position with respect to the camera coordinate system through previously calibrated registration matrices. An experimental platform was set up and repeated tracking experiments were carried out. The accuracy estimated by averaging the absolute positioning errors between shape sensing and stereo vision is 0.67±0.65 mm, 0.41±0.25 mm, 0.72±0.43 mm for x, y and z, respectively. Results indicate that the proposed fusion is feasible and can be used for closed-loop control of continuum robots.

  16. Picking up Clues from the Discard Pile (Stereo)

    NASA Technical Reports Server (NTRS)

    2008-01-01

    As NASA's Phoenix Mars Lander excavates trenches, it also builds piles with most of the material scooped from the holes. The piles, like this one called 'Caterpillar,' provide researchers some information about the soil.

    On Aug. 24, 2008, during the late afternoon of the 88th Martian day after landing, Phoenix's Surface Stereo Imager took separate exposures through its left eye and right eye that have been combined into this stereo view. The image appears three dimensional when seen through red-blue glasses.

    This conical pile of soil is about 10 centimeters (4 inches) tall. The sources of material that the robotic arm has dropped onto the Caterpillar pile have included the 'Dodo' and ''Upper Cupboard' trenches and, more recently, the deeper 'Stone Soup' trench.

    Observations of the pile provide information, such as the slope of the cone and the textures of the soil, that helps scientists understand properties of material excavated from the trenches.

    For the Stone Soup trench in particular, which is about 18 centimeters (7 inches) deep, the bottom of the trench is in shadow and more difficult to observe than other trenches that Phoenix has dug. The Phoenix team obtained spectral clues about the composition of material from the bottom of Stone Soup by photographing Caterpillar through 15 different filters of the Surface Stereo Imager when the pile was covered in freshly excavated material from the trench.

    The spectral observation did not produce any sign of water-ice, just typical soil for the site. However, the bigger clumps do show a platy texture that could be consistent with elevated concentration of salts in the soil from deep in Stone Soup. The team chose that location as the source for a soil sample to be analyzed in the lander's wet chemistry laboratory, which can identify soluble salts in the soil.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA

  17. CMOS detectors: lessons learned during the STC stereo channel preflight calibration

    NASA Astrophysics Data System (ADS)

    Simioni, E.; De Sio, A.; Da Deppo, V.; Naletto, G.; Cremonese, G.

    2017-09-01

    The Stereo Camera (STC), mounted on-board the BepiColombo spacecraft, will acquire in push frame stereo mode the entire surface of Mercury. STC will provide the images for the global three-dimensional reconstruction of the surface of the innermost planet of the Solar System. The launch of BepiColombo is foreseen in 2018. STC has an innovative optical system configuration, which allows good optical performances with a mass and volume reduction of a factor two with respect to classical stereo camera approach. In such a telescope, two different optical paths inclined of +/-20°, with respect to the nadir direction, are merged together in a unique off axis path and focused on a single detector. The focal plane is equipped with a 2k x 2k hybrid Si-PIN detector, based on CMOS technology, combining low read-out noise, high radiation hardness, compactness, lack of parasitic light, capability of snapshot image acquisition and short exposure times (less than 1 ms) and small pixel size (10 μm). During the preflight calibration campaign of STC, some detector spurious effects have been noticed. Analyzing the images taken during the calibration phase, two different signals affecting the background level have been measured. These signals can reduce the detector dynamics down to a factor of 1/4th and they are not due to dark current, stray light or similar effects. In this work we will describe all the features of these unwilled effects, and the calibration procedures we developed to analyze them.

  18. Phoenix Lander on Mars (Stereo)

    NASA Technical Reports Server (NTRS)

    2007-01-01

    NASA's Phoenix Mars Lander monitors the atmosphere overhead and reaches out to the soil below in this stereo illustration of the spacecraft fully deployed on the surface of Mars. The image appears three-dimensional when viewed through red-green stereo glasses.

    Phoenix has been assembled and tested for launch in August 2007 from Cape Canaveral Air Force Station, Fla., and for landing in May or June 2008 on an arctic plain of far-northern Mars. The mission responds to evidence returned from NASA's Mars Odyssey orbiter in 2002 indicating that most high-latitude areas on Mars have frozen water mixed with soil within arm's reach of the surface.

    Phoenix will use a robotic arm to dig down to the expected icy layer. It will analyze scooped-up samples of the soil and ice for factors that will help scientists evaluate whether the subsurface environment at the site ever was, or may still be, a favorable habitat for microbial life. The instruments on Phoenix will also gather information to advance understanding about the history of the water in the icy layer. A weather station on the lander will conduct the first study Martian arctic weather from ground level.

    The vertical green line in this illustration shows how the weather station on Phoenix will use a laser beam from a lidar instrument to monitor dust and clouds in the atmosphere. The dark 'wings' to either side of the lander's main body are solar panels for providing electric power.

    The Phoenix mission is led by Principal Investigator Peter H. Smith of the University of Arizona, Tucson, with project management at NASA's Jet Propulsion Laboratory and development partnership with Lockheed Martin Space Systems, Denver. International contributions for Phoenix are provided by the Canadian Space Agency, the University of Neuchatel (Switzerland), the University of Copenhagen (Denmark), the Max Planck Institute (Germany) and the Finnish Meteorological institute. JPL is a division of the California

  19. Laser cutting of irregular shape object based on stereo vision laser galvanometric scanning system

    NASA Astrophysics Data System (ADS)

    Qi, Li; Zhang, Yixin; Wang, Shun; Tang, Zhiqiang; Yang, Huan; Zhang, Xuping

    2015-05-01

    Irregular shape objects with different 3-dimensional (3D) appearances are difficult to be shaped into customized uniform pattern by current laser machining approaches. A laser galvanometric scanning system (LGS) could be a potential candidate since it can easily achieve path-adjustable laser shaping. However, without knowing the actual 3D topography of the object, the processing result may still suffer from 3D shape distortion. It is desirable to have a versatile auxiliary tool that is capable of generating 3D-adjusted laser processing path by measuring the 3D geometry of those irregular shape objects. This paper proposed the stereo vision laser galvanometric scanning system (SLGS), which takes the advantages of both the stereo vision solution and conventional LGS system. The 3D geometry of the object obtained by the stereo cameras is used to guide the scanning galvanometers for 3D-shape-adjusted laser processing. In order to achieve precise visual-servoed laser fabrication, these two independent components are integrated through a system calibration method using plastic thin film target. The flexibility of SLGS has been experimentally demonstrated by cutting duck feathers for badminton shuttle manufacture.

  20. Optical turbulence profiling with Stereo-SCIDAR for VLT and ELT

    NASA Astrophysics Data System (ADS)

    Osborn, J.; Wilson, R. W.; Sarazin, M.; Butterley, T.; Chacón, A.; Derie, F.; Farley, O. J. D.; Haubois, X.; Laidlaw, D.; LeLouarn, M.; Masciadri, E.; Milli, J.; Navarrete, J.; Townson, M. J.

    2018-07-01

    Knowledge of the Earth's atmospheric optical turbulence is critical for astronomical instrumentation. Not only does it enable performance verification and optimization of the existing systems, but it is required for the design of future instruments. As a minimum this includes integrated astro-atmospheric parameters such as seeing, coherence time, and isoplanatic angle, but for more sophisticated systems such as wide-field adaptive optics enabled instrumentation the vertical structure of the turbulence is also required. Stereo-SCIDAR (Scintillation Detection and Ranging) is a technique specifically designed to characterize the Earth's atmospheric turbulence with high-altitude resolution and high sensitivity. Together with ESO (European Southern Observatory), Durham University has commissioned a Stereo-SCIDAR instrument at Cerro Paranal, Chile, the site of the Very Large Telescope (VLT), and only 20 km from the site of the future Extremely Large Telescope (ELT). Here we provide results from the first 18 months of operation at ESO Paranal including instrument comparisons and atmospheric statistics. Based on a sample of 83 nights spread over 22 months covering all seasons, we find the median seeing to be 0.64″ with 50 per cent of the turbulence confined to an altitude below 2 km and 40 per cent below 600 m. The median coherence time and isoplanatic angle are found as 4.18 ms and 1.75″, respectively. A substantial campaign of inter-instrument comparison was also undertaken to assure the validity of the data. The Stereo-SCIDAR profiles (optical turbulence strength and velocity as a function of altitude) have been compared with the Surface-Layer Slope Detection And Ranging, Multi-Aperture Scintillation Sensor-Differential Image Motion Monitor, and the European Centre for Medium Range Weather Forecasts model. The correlation coefficients are between 0.61 (isoplanatic angle) and 0.84 (seeing).

  1. Automated NMR structure determination of stereo-array isotope labeled ubiquitin from minimal sets of spectra using the SAIL-FLYA system.

    PubMed

    Ikeya, Teppei; Takeda, Mitsuhiro; Yoshida, Hitoshi; Terauchi, Tsutomu; Jee, Jun-Goo; Kainosho, Masatsune; Güntert, Peter

    2009-08-01

    Stereo-array isotope labeling (SAIL) has been combined with the fully automated NMR structure determination algorithm FLYA to determine the three-dimensional structure of the protein ubiquitin from different sets of input NMR spectra. SAIL provides a complete stereo- and regio-specific pattern of stable isotopes that results in sharper resonance lines and reduced signal overlap, without information loss. Here we show that as a result of the superior quality of the SAIL NMR spectra, reliable, fully automated analyses of the NMR spectra and structure calculations are possible using fewer input spectra than with conventional uniformly 13C/15N-labeled proteins. FLYA calculations with SAIL ubiquitin, using a single three-dimensional "through-bond" spectrum (and 2D HSQC spectra) in addition to the 13C-edited and 15N-edited NOESY spectra for conformational restraints, yielded structures with an accuracy of 0.83-1.15 A for the backbone RMSD to the conventionally determined solution structure of SAIL ubiquitin. NMR structures can thus be determined almost exclusively from the NOESY spectra that yield the conformational restraints, without the need to record many spectra only for determining intermediate, auxiliary data of the chemical shift assignments. The FLYA calculations for this report resulted in 252 ubiquitin structure bundles, obtained with different input data but identical structure calculation and refinement methods. These structures cover the entire range from highly accurate structures to seriously, but not trivially, wrong structures, and thus constitute a valuable database for the substantiation of structure validation methods.

  2. Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

    NASA Technical Reports Server (NTRS)

    Talukder, Ashit; Matthies, Larry

    2004-01-01

    Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

  3. Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

    NASA Technical Reports Server (NTRS)

    Talukder, Ashit; Matthies, Larry

    2004-01-01

    Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

  4. Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

    NASA Technical Reports Server (NTRS)

    Talukder, Ashit; Matthies, Larry

    2004-01-01

    Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

  5. Development of 3D online contact measurement system for intelligent manufacturing based on stereo vision

    NASA Astrophysics Data System (ADS)

    Li, Peng; Chong, Wenyan; Ma, Yongjun

    2017-10-01

    In order to avoid shortcomings of low efficiency and restricted measuring range exsited in traditional 3D on-line contact measurement method for workpiece size, the development of a novel 3D contact measurement system is introduced, which is designed for intelligent manufacturing based on stereo vision. The developed contact measurement system is characterized with an intergarted use of a handy probe, a binocular stereo vision system, and advanced measurement software.The handy probe consists of six track markers, a touch probe and the associated elcetronics. In the process of contact measurement, the hand probe can be located by the use of the stereo vision system and track markers, and 3D coordinates of a space point on the workpiece can be mearsured by calculating the tip position of a touch probe. With the flexibility of the hand probe, the orientation, range, density of the 3D contact measurenent can be adptable to different needs. Applications of the developed contact measurement system to high-precision measurement and rapid surface digitization are experimentally demonstrated.

  6. Wide baseline stereo matching based on double topological relationship consistency

    NASA Astrophysics Data System (ADS)

    Zou, Xiaohong; Liu, Bin; Song, Xiaoxue; Liu, Yang

    2009-07-01

    Stereo matching is one of the most important branches in computer vision. In this paper, an algorithm is proposed for wide-baseline stereo vision matching. Here, a novel scheme is presented called double topological relationship consistency (DCTR). The combination of double topological configuration includes the consistency of first topological relationship (CFTR) and the consistency of second topological relationship (CSTR). It not only sets up a more advanced model on matching, but discards mismatches by iteratively computing the fitness of the feature matches and overcomes many problems of traditional methods depending on the powerful invariance to changes in the scale, rotation or illumination across large view changes and even occlusions. Experimental examples are shown where the two cameras have been located in very different orientations. Also, epipolar geometry can be recovered using RANSAC by far the most widely method adopted possibly. By the method, we can obtain correspondences with high precision on wide baseline matching problems. Finally, the effectiveness and reliability of this method are demonstrated in wide-baseline experiments on the image pairs.

  7. A parallel stereo reconstruction algorithm with applications in entomology (APSRA)

    NASA Astrophysics Data System (ADS)

    Bhasin, Rajesh; Jang, Won Jun; Hart, John C.

    2012-03-01

    We propose a fast parallel algorithm for the reconstruction of 3-Dimensional point clouds of insects from binocular stereo image pairs using a hierarchical approach for disparity estimation. Entomologists study various features of insects to classify them, build their distribution maps, and discover genetic links between specimens among various other essential tasks. This information is important to the pesticide and the pharmaceutical industries among others. When considering the large collections of insects entomologists analyze, it becomes difficult to physically handle the entire collection and share the data with researchers across the world. With the method presented in our work, Entomologists can create an image database for their collections and use the 3D models for studying the shape and structure of the insects thus making it easier to maintain and share. Initial feedback shows that the reconstructed 3D models preserve the shape and size of the specimen. We further optimize our results to incorporate multiview stereo which produces better overall structure of the insects. Our main contribution is applying stereoscopic vision techniques to entomology to solve the problems faced by entomologists.

  8. MISR Stereo Imagery of Blue Mountain Fires in New South Wales, Australia

    Atmospheric Science Data Center

    2013-12-17

    article title:  MISR Stereo Imagery of Blue Mountain Fires in New South Wales, Australia   ... mile (2 kilometers). On this date, the winds were relatively light and the temperature was around 77 degrees Fahrenheit (25 degrees ...

  9. An overview of the stereo correlation and triangulation formulations used in DICe.

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

    Turner, Daniel Z.

    This document provides a detailed overview of the stereo correlation algorithm and triangulation formulation used in the Digital Image Correlation Engine (DICe) to triangulate three dimensional motion in space given the image coordinates and camera calibration parameters.

  10. Image matching for digital close-range stereo photogrammetry based on constraints of Delaunay triangulated network and epipolar-line

    NASA Astrophysics Data System (ADS)

    Zhang, K.; Sheng, Y. H.; Li, Y. Q.; Han, B.; Liang, Ch.; Sha, W.

    2006-10-01

    In the field of digital photogrammetry and computer vision, the determination of conjugate points in a stereo image pair, referred to as "image matching," is the critical step to realize automatic surveying and recognition. Traditional matching methods encounter some problems in the digital close-range stereo photogrammetry, because the change of gray-scale or texture is not obvious in the close-range stereo images. The main shortcoming of traditional matching methods is that geometric information of matching points is not fully used, which will lead to wrong matching results in regions with poor texture. To fully use the geometry and gray-scale information, a new stereo image matching algorithm is proposed in this paper considering the characteristics of digital close-range photogrammetry. Compared with the traditional matching method, the new algorithm has three improvements on image matching. Firstly, shape factor, fuzzy maths and gray-scale projection are introduced into the design of synthetical matching measure. Secondly, the topology connecting relations of matching points in Delaunay triangulated network and epipolar-line are used to decide matching order and narrow the searching scope of conjugate point of the matching point. Lastly, the theory of parameter adjustment with constraint is introduced into least square image matching to carry out subpixel level matching under epipolar-line constraint. The new algorithm is applied to actual stereo images of a building taken by digital close-range photogrammetric system. The experimental result shows that the algorithm has a higher matching speed and matching accuracy than pyramid image matching algorithm based on gray-scale correlation.

  11. Apollo 11 stereo view showing lump of surface powder with glassy material

    NASA Image and Video Library

    1969-07-20

    AS11-45-6704 (20 July 1969) --- An Apollo stereo view showing a close-up of a small lump of lunar surface powder about a half inch across, with a splash of a glassy material over it. It seems that a drop of molten material fell on it, splashed and froze. The exposure was made by the Apollo 11 35mm stereo close-up camera. The camera was specially developed to get the highest possible resolution of a small area. A three-inch square area is photographed with a flash illumination and at a fixed distance. The camera is mounted on a walking stick, and the astronauts use it by holding it up against the object to be photographed and pulling the trigger. The pictures are in color and give a stereo view, enabling the fine detail to be seen very clearly. The project is under the direction of Professor T. Gold of Cornell University and Dr. F. Pearce of NASA. The camera was designed and built by Eastman Kodak. Professor E. Purcell of Harvard University and Dr. E. Land of the Polaroid Corporation have contributed to the project. The pictures brought back from the moon by the Apollo 11 crew are of excellent quality and allow fine detail of the undisturbed lunar surface to be seen. Scientists hope to be able to deduce from them some of the processes that have taken place that have shaped and modified the surface.

  12. A novel method of robot location using RFID and stereo vision

    NASA Astrophysics Data System (ADS)

    Chen, Diansheng; Zhang, Guanxin; Li, Zhen

    2012-04-01

    This paper proposed a new global localization method for mobile robot based on RFID (Radio Frequency Identification Devices) and stereo vision, which makes the robot obtain global coordinates with good accuracy when quickly adapting to unfamiliar and new environment. This method uses RFID tags as artificial landmarks, the 3D coordinate of the tags under the global coordinate system is written in the IC memory. The robot can read it through RFID reader; meanwhile, using stereo vision, the 3D coordinate of the tags under the robot coordinate system is measured. Combined with the robot's attitude coordinate system transformation matrix from the pose measuring system, the translation of the robot coordinate system to the global coordinate system is obtained, which is also the coordinate of the robot's current location under the global coordinate system. The average error of our method is 0.11m in experience conducted in a 7m×7m lobby, the result is much more accurate than other location method.

  13. LiDAR Point Cloud and Stereo Image Point Cloud Fusion

    DTIC Science & Technology

    2013-09-01

    LiDAR point cloud (right) highlighting linear edge features ideal for automatic registration...point cloud (right) highlighting linear edge features ideal for automatic registration. Areas where topography is being derived, unfortunately, do...with the least amount of automatic correlation errors was used. The following graphic (Figure 12) shows the coverage of the WV1 stereo triplet as

  14. Structural and Biochemical Analyses of Regio- and Stereo-Specificities Observed in a Type II Polyketide Ketoreductase

    PubMed Central

    Javidpour, Pouya; Korman, Tyler Paz; Shakya, Gaurav; Tsai, Shiou-Chuan

    2011-01-01

    Type II polyketides include antibiotics such as tetracycline, and chemotherapeutics such as daunorubicin. Type II polyketides are biosynthesized by the type II polyketide synthase (PKS) that consists of 5 – 10 stand-alone domains. In many type II PKSs, the type II ketoreductase (KR) specifically reduce the C9-carbonyl group. How the type II KR achieves such a high regio-specificity, and the nature of stereo-specificity, are not well understood. Sequence alignment of KRs led to a hypothesis that a well-conserved 94-XGG-96 motif may be involved in controlling the stereochemistry. The stereo-specificity of single, double and triple mutant combinations of P94L, G95D and G96D were analyzed in vitro and in vivo for the actinorhodin KR (actKR). The P94L mutation is sufficient to change the stereospecificity of actKR. Binary and ternary crystal structures of both wild type and P94L actKR were solved. Together with assay results, docking simulations, and co-crystal structures, a model for stereochemical control is presented herein that elucidates how type II polyketides are introduced into the substrate pocket such that the C9-carbonyl can be reduced with high regio- and stereo-specificities. The molecular features of actKR important for regio- and stereo-specificities can potentially be applied to biosynthesize new polyketides via protein engineering that rationally controls polyketide ketoreduction. PMID:21506596

  15. Venus surface roughness and Magellan stereo data

    NASA Technical Reports Server (NTRS)

    Maurice, Kelly E.; Leberl, Franz W.; Norikane, L.; Hensley, Scott

    1994-01-01

    Presented are results of some studies to develop tools useful for the analysis of Venus surface shape and its roughness. Actual work was focused on Maxwell Montes. The analyses employ data acquired by means of NASA's Magellan satellite. The work is primarily concerned with deriving measurements of the Venusian surface using Magellan stereo SAR. Roughness was considered by means of a theoretical analyses based on digital elevation models (DEM's), on single Magellan radar images combined with radiometer data, and on the use of multiple overlapping Magellan radar images from cycles 1, 2, and 3, again combined with collateral radiometer data.

  16. Opportunity View During Exploration in 'Duck Bay,' Sols 1506-1510 (Stereo)

    NASA Technical Reports Server (NTRS)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11787 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11787

    NASA Mars Exploration Rover Opportunity used its navigation camera to take the images combined into this stereo, full-circle view of the rover's surroundings on the 1,506th through 1,510th Martian days, or sols, of Opportunity's mission on Mars (April 19-23, 2008). North is at the top.

    This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left.

    The site is within an alcove called 'Duck Bay' in the western portion of Victoria Crater. Victoria Crater is about 800 meters (half a mile) wide. Opportunity had descended into the crater at the top of Duck Bay 7 months earlier. By the time the rover acquired this view, it had examined rock layers inside the rim.

    Opportunity was headed for a closer look at the base of a promontory called 'Cape Verde,' the cliff at about the 2-o'clock position of this image, before leaving Victoria. The face of Cape Verde is about 6 meters (20 feet) tall. Just clockwise from Cape Verde is the main bowl of Victoria Crater, with sand dunes at the bottom. A promontory called 'Cabo Frio,' at the southern side of Duck Bay, stands near the 6-o'clock position of the image.

    This view is presented as a cylindrical-perspective projection with geometric seam correction.

  17. 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.

  18. Research of flaw image collecting and processing technology based on multi-baseline stereo imaging

    NASA Astrophysics Data System (ADS)

    Yao, Yong; Zhao, Jiguang; Pang, Xiaoyan

    2008-03-01

    Aiming at the practical situations such as accurate optimal design, complex algorithms and precise technical demands of gun bore flaw image collecting, the design frame of a 3-D image collecting and processing system based on multi-baseline stereo imaging was presented in this paper. This system mainly including computer, electrical control box, stepping motor and CCD camera and it can realize function of image collection, stereo matching, 3-D information reconstruction and after-treatments etc. Proved by theoretical analysis and experiment results, images collected by this system were precise and it can slake efficiently the uncertainty problem produced by universally veins or repeated veins. In the same time, this system has faster measure speed and upper measure precision.

  19. An on-line calibration algorithm for external parameters of visual system based on binocular stereo cameras

    NASA Astrophysics Data System (ADS)

    Wang, Liqiang; Liu, Zhen; Zhang, Zhonghua

    2014-11-01

    Stereo vision is the key in the visual measurement, robot vision, and autonomous navigation. Before performing the system of stereo vision, it needs to calibrate the intrinsic parameters for each camera and the external parameters of the system. In engineering, the intrinsic parameters remain unchanged after calibrating cameras, and the positional relationship between the cameras could be changed because of vibration, knocks and pressures in the vicinity of the railway or motor workshops. Especially for large baselines, even minute changes in translation or rotation can affect the epipolar geometry and scene triangulation to such a degree that visual system becomes disabled. A technology including both real-time examination and on-line recalibration for the external parameters of stereo system becomes particularly important. This paper presents an on-line method for checking and recalibrating the positional relationship between stereo cameras. In epipolar geometry, the external parameters of cameras can be obtained by factorization of the fundamental matrix. Thus, it offers a method to calculate the external camera parameters without any special targets. If the intrinsic camera parameters are known, the external parameters of system can be calculated via a number of random matched points. The process is: (i) estimating the fundamental matrix via the feature point correspondences; (ii) computing the essential matrix from the fundamental matrix; (iii) obtaining the external parameters by decomposition of the essential matrix. In the step of computing the fundamental matrix, the traditional methods are sensitive to noise and cannot ensure the estimation accuracy. We consider the feature distribution situation in the actual scene images and introduce a regional weighted normalization algorithm to improve accuracy of the fundamental matrix estimation. In contrast to traditional algorithms, experiments on simulated data prove that the method improves estimation

  20. Derivation of an optimal directivity pattern for sweet spot widening in stereo sound reproduction

    NASA Astrophysics Data System (ADS)

    Ródenas, Josep A.; Aarts, Ronald M.; Janssen, A. J. E. M.

    2003-01-01

    In this paper the correction of the degradation of the stereophonic illusion during sound reproduction due to off-center listening is investigated. The main idea is that the directivity pattern of a loudspeaker array should have a well-defined shape such that a good stereo reproduction is achieved in a large listening area. Therefore, a mathematical description to derive an optimal directivity pattern opt that achieves sweet spot widening in a large listening area for stereophonic sound applications is described. This optimal directivity pattern is based on parametrized time/intensity trading data coming from psycho-acoustic experiments within a wide listening area. After the study, the required digital FIR filters are determined by means of a least-squares optimization method for a given stereo base setup (two pair of drivers for the loudspeaker arrays and 2.5-m distance between loudspeakers), which radiate sound in a broad range of listening positions in accordance with the derived opt. Informal listening tests have shown that the opt worked as predicted by the theoretical simulations. They also demonstrated the correct central sound localization for speech and music for a number of listening positions. This application is referred to as ``Position-Independent (PI) stereo.''

  1. Derivation of an optimal directivity pattern for sweet spot widening in stereo sound reproduction.

    PubMed

    Ródenas, Josep A; Aarts, Ronald M; Janssen, A J E M

    2003-01-01

    In this paper the correction of the degradation of the stereophonic illusion during sound reproduction due to off-center listening is investigated. The main idea is that the directivity pattern of a loudspeaker array should have a well-defined shape such that a good stereo reproduction is achieved in a large listening area. Therefore, a mathematical description to derive an optimal directivity pattern l(opt) that achieves sweet spot widening in a large listening area for stereophonic sound applications is described. This optimal directivity pattern is based on parametrized time/intensity trading data coming from psycho-acoustic experiments within a wide listening area. After the study, the required digital FIR filters are determined by means of a least-squares optimization method for a given stereo base setup (two pair of drivers for the loudspeaker arrays and 2.5-m distance between loudspeakers), which radiate sound in a broad range of listening positions in accordance with the derived l(opt). Informal listening tests have shown that the l(opt) worked as predicted by the theoretical simulations. They also demonstrated the correct central sound localization for speech and music for a number of listening positions. This application is referred to as "Position-Independent (PI) stereo."

  2. A theory of photometric stereo for a class of diffuse non-Lambertian surfaces

    NASA Technical Reports Server (NTRS)

    Tagare, Hemant D.; Defigueiredo, Rui J. P.

    1991-01-01

    A theory of photometric stereo is proposed for a large class of non-Lambertian reflectance maps. The authors review the different reflectance maps proposed in the literature for modeling reflection from real-world surfaces. From this, they obtain a mathematical class of reflectance maps to which the maps belong. They show that three lights can be sufficient for a unique inversion of the photometric stereo equation for the entire class of reflectance maps. They also obtain a constraint on the positions of light sources for obtaining this solution. They investigate the sufficiency of three light sources to estimate the surface normal and the illuminant strength. The issue of completeness of reconstruction is addressed. They shown that if k lights are sufficient for a unique inversion, 2k lights are necessary for a complete inversion.

  3. Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

    DTIC Science & Technology

    2014-09-01

    inertial measurement sensors such as Achtelik et al .’s implemention of PTAM (parallel tracking and mapping) [15] with a barometric altimeter, stable flights...in indoor and outdoor environments are possible [1]. With a full vison- aided inertial navigation system (VINS), Li et al . have shown remarkable...avoidance on small UAVs. Stereo systems suffer from a similar speed issue, with most modern systems running at or below 30 Hz [8], [27]. Honegger et

  4. Bayes filter modification for drivability map estimation with observations from stereo vision

    NASA Astrophysics Data System (ADS)

    Panchenko, Aleksei; Prun, Viktor; Turchenkov, Dmitri

    2017-02-01

    Reconstruction of a drivability map for a moving vehicle is a well-known research topic in applied robotics. Here creating such a map for an autonomous truck on a generally planar surface containing separate obstacles is considered. The source of measurements for the truck is a calibrated pair of cameras. The stereo system detects and reconstructs several types of objects, such as road borders, other vehicles, pedestrians and general tall objects or highly saturated objects (e.g. road cone). For creating a robust mapping module we use a modification of Bayes filtering, which introduces some novel techniques for occupancy map update step. Specifically, our modified version becomes applicable to the presence of false positive measurement errors, stereo shading and obstacle occlusion. We implemented the technique and achieved real-time 15 FPS computations on an industrial shake proof PC. Our real world experiments show the positive effect of the filtering step.

  5. Apollo 12 stereo view of lunar surface upon which astronaut had stepped

    NASA Image and Video Library

    1969-11-20

    AS12-57-8448 (19-20 Nov. 1969) --- An Apollo 12 stereo view showing a three-inch square of the lunar surface upon which an astronaut had stepped. Taken during extravehicular activity of astronauts Charles Conrad Jr. and Alan L. Bean, the exposure of the boot imprint was made with an Apollo 35mm stereo close-up camera. The camera was developed to get the highest possible resolution of a small area. The three-inch square is photographed with a flash illumination and at a fixed distance. The camera is mounted on a walking stick, and the astronauts use it by holding it up against the object to be photographed and pulling the trigger. While astronauts Conrad and Bean descended in their Apollo 12 Lunar Module to explore the lunar surface, astronaut Richard F. Gordon Jr. remained with the Command and Service Modules in lunar orbit.

  6. Hemispherical Nature of EUV Shocks Revealed by SOHO, STEREO, and SDO Observations

    NASA Technical Reports Server (NTRS)

    Gopalswamy, Natchimuthuk; Nitta, N.; Akiyama, S.; Makela, P.; Yashiro, S.

    2011-01-01

    EUV wave transients associated with type II radio bursts are manifestation of CME-driven shocks in the solar corona. We use recent EUV wave observations from SOHO, STEREO, and SDO for a set of CMEs to show that the EUV transients have a spherical shape in the inner corona. We demonstrate this by showing that the radius of the EUV transient on the disk observed by one instrument is approximately equal to the height of the wave above the solar surface in an orthogonal view provided by another instrument. The study also shows that the CME-driven shocks often form very low in the corona at a heliocentric distance of 1.2 Rs, even smaller than the previous estimates from STEREO/CORl data (Gopalswamy et aI., 2009, Solar Phys. 259, 227). These results have important implications for the acceleration of solar energetic particles by CMEs

  7. Change detection on LOD 2 building models with very high resolution spaceborne stereo imagery

    NASA Astrophysics Data System (ADS)

    Qin, Rongjun

    2014-10-01

    Due to the fast development of the urban environment, the need for efficient maintenance and updating of 3D building models is ever increasing. Change detection is an essential step to spot the changed area for data (map/3D models) updating and urban monitoring. Traditional methods based on 2D images are no longer suitable for change detection in building scale, owing to the increased spectral variability of the building roofs and larger perspective distortion of the very high resolution (VHR) imagery. Change detection in 3D is increasingly being investigated using airborne laser scanning data or matched Digital Surface Models (DSM), but rare study has been conducted regarding to change detection on 3D city models with VHR images, which is more informative but meanwhile more complicated. This is due to the fact that the 3D models are abstracted geometric representation of the urban reality, while the VHR images record everything. In this paper, a novel method is proposed to detect changes directly on LOD (Level of Detail) 2 building models with VHR spaceborne stereo images from a different date, with particular focus on addressing the special characteristics of the 3D models. In the first step, the 3D building models are projected onto a raster grid, encoded with building object, terrain object, and planar faces. The DSM is extracted from the stereo imagery by hierarchical semi-global matching (SGM). In the second step, a multi-channel change indicator is extracted between the 3D models and stereo images, considering the inherent geometric consistency (IGC), height difference, and texture similarity for each planar face. Each channel of the indicator is then clustered with the Self-organizing Map (SOM), with "change", "non-change" and "uncertain change" status labeled through a voting strategy. The "uncertain changes" are then determined with a Markov Random Field (MRF) analysis considering the geometric relationship between faces. In the third step, buildings are

  8. Three-dimensional sensing methodology combining stereo vision and phase-measuring profilometry based on dynamic programming

    NASA Astrophysics Data System (ADS)

    Lee, Hyunki; Kim, Min Young; Moon, Jeon Il

    2017-12-01

    Phase measuring profilometry and moiré methodology have been widely applied to the three-dimensional shape measurement of target objects, because of their high measuring speed and accuracy. However, these methods suffer from inherent limitations called a correspondence problem, or 2π-ambiguity problem. Although a kind of sensing method to combine well-known stereo vision and phase measuring profilometry (PMP) technique simultaneously has been developed to overcome this problem, it still requires definite improvement for sensing speed and measurement accuracy. We propose a dynamic programming-based stereo PMP method to acquire more reliable depth information and in a relatively small time period. The proposed method efficiently fuses information from two stereo sensors in terms of phase and intensity simultaneously based on a newly defined cost function of dynamic programming. In addition, the important parameters are analyzed at the view point of the 2π-ambiguity problem and measurement accuracy. To analyze the influence of important hardware and software parameters related to the measurement performance and to verify its efficiency, accuracy, and sensing speed, a series of experimental tests were performed with various objects and sensor configurations.

  9. Visualization of the 3-D topography of the optic nerve head through a passive stereo vision model

    NASA Astrophysics Data System (ADS)

    Ramirez, Juan M.; Mitra, Sunanda; Morales, Jose

    1999-01-01

    This paper describes a system for surface recovery and visualization of the 3D topography of the optic nerve head, as support of early diagnosis and follow up to glaucoma. In stereo vision, depth information is obtained from triangulation of corresponding points in a pair of stereo images. In this paper, the use of the cepstrum transformation as a disparity measurement technique between corresponding windows of different block sizes is described. This measurement process is embedded within a coarse-to-fine depth-from-stereo algorithm, providing an initial range map with the depth information encoded as gray levels. These sparse depth data are processed through a cubic B-spline interpolation technique in order to obtain a smoother representation. This methodology is being especially refined to be used with medical images for clinical evaluation of some eye diseases such as open angle glaucoma, and is currently under testing for clinical evaluation and analysis of reproducibility and accuracy.

  10. Early detection of glaucoma using fully automated disparity analysis of the optic nerve head (ONH) from stereo fundus images

    NASA Astrophysics Data System (ADS)

    Sharma, Archie; Corona, Enrique; Mitra, Sunanda; Nutter, Brian S.

    2006-03-01

    Early detection of structural damage to the optic nerve head (ONH) is critical in diagnosis of glaucoma, because such glaucomatous damage precedes clinically identifiable visual loss. Early detection of glaucoma can prevent progression of the disease and consequent loss of vision. Traditional early detection techniques involve observing changes in the ONH through an ophthalmoscope. Stereo fundus photography is also routinely used to detect subtle changes in the ONH. However, clinical evaluation of stereo fundus photographs suffers from inter- and intra-subject variability. Even the Heidelberg Retina Tomograph (HRT) has not been found to be sufficiently sensitive for early detection. A semi-automated algorithm for quantitative representation of the optic disc and cup contours by computing accumulated disparities in the disc and cup regions from stereo fundus image pairs has already been developed using advanced digital image analysis methodologies. A 3-D visualization of the disc and cup is achieved assuming camera geometry. High correlation among computer-generated and manually segmented cup to disc ratios in a longitudinal study involving 159 stereo fundus image pairs has already been demonstrated. However, clinical usefulness of the proposed technique can only be tested by a fully automated algorithm. In this paper, we present a fully automated algorithm for segmentation of optic cup and disc contours from corresponding stereo disparity information. Because this technique does not involve human intervention, it eliminates subjective variability encountered in currently used clinical methods and provides ophthalmologists with a cost-effective and quantitative method for detection of ONH structural damage for early detection of glaucoma.

  11. Report on New Mission Concept Study: Stereo X-Ray Corona Imager Mission

    NASA Technical Reports Server (NTRS)

    Liewer, Paulett C.; Davis, John M.; DeJong, E. M.; Gary, G. Allen; Klimchuk, James A.; Reinert, R. P.

    1998-01-01

    Studies of the three-dimensional structure and dynamics of the solar corona have been severely limited by the constraint of single viewpoint observations. The Stereo X-Ray Coronal Imager (SXCI) mission will send a single instrument, an X-ray telescope, into deep space expressly to record stereoscopic images of the solar corona. The SXCI spacecraft will be inserted into a approximately 1 AU heliocentric orbit leading Earth by approximately 25 deg at the end of nine months. The SXCI X-ray telescope forms one element of a stereo pair, the second element being an identical X-ray telescope in Earth orbit placed there as part of the NOAA GOES program. X-ray emission is a powerful diagnostic of the corona and its magnetic fields, and three dimensional information on the coronal magnetic structure would be obtained by combining the data from the two X-ray telescopes. This information can be used to address the major solar physics questions of (1) what causes explosive coronal events such as coronal mass ejections (CMEs), eruptive flares and prominence eruptions and (2) what causes the transient heating of coronal loops. Stereoscopic views of the optically thin corona will resolve some ambiguities inherent in single line-of-sight observations. Triangulation gives 3D solar coordinates of features which can be seen in the simultaneous images from both telescopes. As part of this study, tools were developed for determining the 3D geometry of coronal features using triangulation. Advanced technologies for visualization and analysis of stereo images were tested. Results of mission and spacecraft studies are also reported.

  12. Stereo photo guide for estimating canopy fuel characteristics in conifer stands

    Treesearch

    Joe H. Scott; Elizabeth D. Reinhardt

    2005-01-01

    Stereo photographs, hemispherical photographs, and stand data are presented with associated biomass and canopy fuel characteristics for five Interior West conifer stands. Canopy bulk density, canopy base height, canopy biomass by component, available canopy fuel load, and vertical distribution of canopy fuel are presented for each plot at several stages of sampling,...

  13. Multiple pedestrian detection using IR LED stereo camera

    NASA Astrophysics Data System (ADS)

    Ling, Bo; Zeifman, Michael I.; Gibson, David R. P.

    2007-09-01

    As part of the U.S. Department of Transportations Intelligent Vehicle Initiative (IVI) program, the Federal Highway Administration (FHWA) is conducting R&D in vehicle safety and driver information systems. There is an increasing number of applications where pedestrian monitoring is of high importance. Visionbased pedestrian detection in outdoor scenes is still an open challenge. People dress in very different colors that sometimes blend with the background, wear hats or carry bags, and stand, walk and change directions unpredictably. The background is various, containing buildings, moving or parked cars, bicycles, street signs, signals, etc. Furthermore, existing pedestrian detection systems perform only during daytime, making it impossible to detect pedestrians at night. Under FHWA funding, we are developing a multi-pedestrian detection system using IR LED stereo camera. This system, without using any templates, detects the pedestrians through statistical pattern recognition utilizing 3D features extracted from the disparity map. A new IR LED stereo camera is being developed, which can help detect pedestrians during daytime and night time. Using the image differencing and denoising, we have also developed new methods to estimate the disparity map of pedestrians in near real time. Our system will have a hardware interface with the traffic controller through wireless communication. Once pedestrians are detected, traffic signals at the street intersections will change phases to alert the drivers of approaching vehicles. The initial test results using images collected at a street intersection show that our system can detect pedestrians in near real time.

  14. [Research on output and quality of Panax notoginseng and annual change characteristics of N, P and K nutrients of planting soil under stereo-cultivation].

    PubMed

    Huang, Chun-mei; Cui, Xiu-ming; Lan, Lei; Chen, Wei-dong; Wang, Cheng-xiao; Yang, Xiao-yan; Lu, Da-hui; Yang, Ye

    2015-08-01

    The output and agronomic characters of 3-year-old Panax notoginseng cultured under stereo structure (upper, middle and down layers) were investigated, and the annual change of N, P and K of its planting soil were also studied. Results showed that, compared with field cultured Panax notoginseng, growth vigour and output of stereo-cultivation were significantly lower. But the total production of the 3 layers was 1.6 times of field. The growth vigor and production of P. notoginseng was in the order of upper layer > middle layer > down layer. The content of ginsenoside in rhizome, root tuber and hair root of P. notoginseng was in the order of upper layer > field > middle layer > down layer. Organic matter content and pH of stereo-cultivation soil decreased with the prolonging of planting time, which with the same trend of yield. Organic matter content of stereo-cultivation soil was significantly higher than field, but the pH was significantly lower. Contents of total and available N, P and K in stereo-cultivation soil and field decreased with the prolonging of planting time. The content of N and P were in the order of upper layer > middle layer > yield > down layer, the content of K was in the order of upper layer > middle layer > down layer > yield. Compared with field, the proportion of N and P in the organ of underground (rhizome, root tuber and hair root) of upper layer were increased, while decreased in middle and down layers. Proportion of K in underground decreased significantly of the 3 layers. In conclusion, the agronomic characters and production of stereo-cultivation were significantly lower than that of yield. But the total production of the 3 layers were significantly higher than field of unit area. And the aim of improving land utilization efficiency was achieved. Nutritions in the soil of stereo-cultivation were enough to support the development of P. notoginseng, which was not the cause of weak growth and low production. The absorbing ability of P

  15. MISR Stereo Imaging Distinguishes Smoke from Cloud

    NASA Technical Reports Server (NTRS)

    2000-01-01

    These views of western Alaska were acquired by MISR on June 25, 2000 during Terra orbit 2775. The images cover an area of about 150 kilometers x 225 kilometers, and have been oriented with north to the left. The left image is from the vertical-viewing (nadir) camera, whereas the right image is a stereo 'anaglyph' that combines data from the forward-viewing 45-degree and 60-degree cameras. This image appears three-dimensional when viewed through red/blue glasses with the red filter over the left eye. It may help to darken the room lights when viewing the image on a computer screen.

    The Yukon River is seen wending its way from upper left to lower right. A forest fire in the Kaiyuh Mountains produced the long smoke plume that originates below and to the right of image center. In the nadir view, the high cirrus clouds at the top of the image and the smoke plume are similar in appearance, and the lack of vertical information makes them hard to differentiate. Viewing the righthand image with stereo glasses, on the other hand, demonstrates that the scene consists of several vertically-stratified layers, including the surface terrain, the smoke, some scattered cumulus clouds, and streaks of high, thin cirrus. This added dimensionality is one of the ways MISR data helps scientists identify and classify various components of terrestrial scenes.

    MISR was built and is managed by NASA's Jet Propulsion Laboratory, Pasadena, CA, for NASA's Office of Earth Science, Washington, DC. The Terra satellite is managed by NASA's Goddard Space Flight Center, Greenbelt, MD. JPL is a division of the California Institute of Technology.

  16. 3D Modeling of CMEs observed with STEREO

    NASA Astrophysics Data System (ADS)

    Bosman, E.; Bothmer, V.

    2012-04-01

    From January 2007 until end of 2010, 565 typical large-scale coronal mass ejections (CMEs) have been identified in the SECCHI/COR2 synoptic movies of the STEREO Mission. A subset comprising 114 CME events, selected based on the CME's brightness appearance in the SECCHI/COR2 images, has been modeled through the Graduated Cylindrical Shell (GCS) Model developed by Thernisien et al. (2006). This study presents an overview of the GCS forward-modeling results and an interpretation of the CME characteristics in relationship to their solar source region properties and solar cycle appearances.

  17. A scanning Hartmann focus test for the EUVI telescopes aboard STEREO

    NASA Astrophysics Data System (ADS)

    Ohl, R., IV; Antonille, S.; Aronstein, D.; Dean, B.; Delmont, M.; d'Entremont, J.; Eichhorn, W.; Frey, B.; Hynes, S.; Janssen, D.; Kubalak, D.; Redman, K.; Shiri, R.; Smith, J. S.; Thompson, P.; Wilson, M.

    2007-09-01

    The Solar TErrestrial RElations Observatory (STEREO), the third mission in NASA's Solar Terrestrial Probes program, was launched in 2006 on a two year mission to study solar phenomena. STEREO consists of two nearly identical satellites, each carrying an Extreme Ultraviolet Imager (EUVI) telescope as part of the Sun Earth Connection Coronal and Heliospheric Investigation instrument suite. EUVI is a normal incidence, 98mm diameter, Ritchey-Chrétien telescope designed to obtain wide field of view images of the Sun at short wavelengths (17.1-30.4nm) using a CCD detector. The telescope entrance aperture is divided into four quadrants by a mask near the secondary mirror spider veins. A mechanism that rotates another mask allows only one of these sub-apertures to accept light over an exposure. The EUVI contains no focus mechanism. Mechanical models predict a difference in telescope focus between ambient integration conditions and on-orbit operation. We describe an independent check of the ambient, ultraviolet, absolute focus setting of the EUVI telescopes after they were integrated with their respective spacecraft. A scanning Hartmann-like test design resulted from constraints imposed by the EUVI aperture select mechanism. This inexpensive test was simultaneously coordinated with other integration and test activities in a high-vibration, clean room environment. The total focus test error was required to be better than +/-0.05mm. We cover the alignment and test procedure, sources of statistical and systematic error, data reduction and analysis, and results using various algorithms for determining focus. The results are consistent with other tests of instrument focus alignment and indicate that the EUVI telescopes meet the ambient focus offset requirements. STEREO and the EUVI telescopes are functioning well on-orbit.

  18. A Scanning Hartmann Focus Test for the EUVI Telescopes aboard STEREO

    NASA Technical Reports Server (NTRS)

    Ohl, Ray; Antonille, Scott; Aronstein, Dave; Dean, Bruce; Eichhorn, Bil; Frey, Brad; Kubalak, Dave; Shiri, Ron; Smith, Scott; Wilson, Mark; hide

    2007-01-01

    The Solar TErrestrial RElations Observatory (STEREO), the third mission in NASA's Solar Terrestrial Probes program, was launched in 2006 on a two year mission to study solar phenomena. STEREO consists of two nearly identical satellites, each carrying an Extreme Ultraviolet Imager (EUVI) telescope as part of the Sun Earth Connection Coronal and Heliospheric Investigation instrument suite. EUVI is a normal incidence, 98mm diameter, Ritchey-Chretien telescope designed to obtain wide field of view images of the Sun at short wavelengths (17.1-30.4nm) using a CCD detector. The telescope entrance aperture is divided into four quadrants by a mask near the secondary mirror spider veins. A mechanism that rotates another mask allows only one of these sub-apertures to accept light over an exposure. The EUVI contains no focus mechanism. Mechanical models predict a difference in telescope focus between ambient integration conditions and on-orbit operation. We describe an independent check of the ambient, ultraviolet, absolute focus setting of the EUVI telescopes after they were integrated with their respective spacecraft. A scanning Hartmann-like test design resulted from constraints implied by the EUVI aperture select mechanism. This inexpensive test was simultaneously coordinated with other NASA integration and test activities in a high-vibration, clean room environment. The total focus test error was required to be better than +/-0.05 mm. We describe the alignment and test procedure, sources of statistical and systematic error, and then the focus determination results using various algorithms. The results are consistent with other tests of focus alignment and indicate that the EUVI telescopes meet the ambient focus offset requirements. STEREO is functioning well on-orbit and the EUVI telescopes meet their on-orbit image quality requirements.

  19. Stereo Images of Wind Tails Near Chimp

    NASA Technical Reports Server (NTRS)

    1997-01-01

    This stereo image pair of the rock 'Chimp' was taken by the Sojourner rover's front cameras on Sol 72 (September 15). Fine-scale texture on Chimp and other rocks is clearly visible. Wind tails, oriented from lower right to upper left, are seen next to small pebbles in the foreground. These were most likely produced by wind action.

    Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech).

  20. Surface Stereo Imager on Mars, Side View

    NASA Technical Reports Server (NTRS)

    2008-01-01

    This image is a view of NASA's Phoenix Mars Lander's Surface Stereo Imager (SSI) as seen by the lander's Robotic Arm Camera. This image was taken on the afternoon of the 116th Martian day, or sol, of the mission (September 22, 2008). The mast-mounted SSI, which provided the images used in the 360 degree panoramic view of Phoenix's landing site, is about 4 inches tall and 8 inches long.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  1. Developing stereo image based robot control system

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

    Suprijadi,; Pambudi, I. R.; Woran, M.

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based onmore » stereovision captures.« less

  2. Evaluation of off-road terrain with static stereo and monoscopic displays

    NASA Technical Reports Server (NTRS)

    Yorchak, John P.; Hartley, Craig S.

    1990-01-01

    The National Aeronautics and Space Administration is currently funding research into the design of a Mars rover vehicle. This unmanned rover will be used to explore a number of scientific and geologic sites on the Martian surface. Since the rover can not be driven from Earth in real-time, due to lengthy communication time delays, a locomotion strategy that optimizes vehicle range and minimizes potential risk must be developed. In order to assess the degree of on-board artificial intelligence (AI) required for a rover to carry out its' mission, researchers conducted an experiment to define a no AI baseline. In the experiment 24 subjects, divided into stereo and monoscopic groups, were shown video snapshots of four terrain scenes. The subjects' task was to choose a suitable path for the vehicle through each of the four scenes. Paths were scored based on distance travelled and hazard avoidance. Study results are presented with respect to: (1) risk versus range; (2) stereo versus monocular video; (3) vehicle camera height; and (4) camera field-of-view.

  3. Automatic Detection and Reproduction of Natural Head Position in Stereo-Photogrammetry.

    PubMed

    Hsung, Tai-Chiu; Lo, John; Li, Tik-Shun; Cheung, Lim-Kwong

    2015-01-01

    The aim of this study was to develop an automatic orientation calibration and reproduction method for recording the natural head position (NHP) in stereo-photogrammetry (SP). A board was used as the physical reference carrier for true verticals and NHP alignment mirror orientation. Orientation axes were detected and saved from the digital mesh model of the board. They were used for correcting the pitch, roll and yaw angles of the subsequent captures of patients' facial surfaces, which were obtained without any markings or sensors attached onto the patient. We tested the proposed method on two commercial active (3dMD) and passive (DI3D) SP devices. The reliability of the pitch, roll and yaw for the board placement were within ±0.039904°, ±0.081623°, and ±0.062320°; where standard deviations were 0.020234°, 0.045645° and 0.027211° respectively. Orientation-calibrated stereo-photogrammetry is the most accurate method (angulation deviation within ±0.1°) reported for complete NHP recording with insignificant clinical error.

  4. Automatic Detection and Reproduction of Natural Head Position in Stereo-Photogrammetry

    PubMed Central

    Hsung, Tai-Chiu; Lo, John; Li, Tik-Shun; Cheung, Lim-Kwong

    2015-01-01

    The aim of this study was to develop an automatic orientation calibration and reproduction method for recording the natural head position (NHP) in stereo-photogrammetry (SP). A board was used as the physical reference carrier for true verticals and NHP alignment mirror orientation. Orientation axes were detected and saved from the digital mesh model of the board. They were used for correcting the pitch, roll and yaw angles of the subsequent captures of patients’ facial surfaces, which were obtained without any markings or sensors attached onto the patient. We tested the proposed method on two commercial active (3dMD) and passive (DI3D) SP devices. The reliability of the pitch, roll and yaw for the board placement were within ±0.039904°, ±0.081623°, and ±0.062320°; where standard deviations were 0.020234°, 0.045645° and 0.027211° respectively. Conclusion: Orientation-calibrated stereo-photogrammetry is the most accurate method (angulation deviation within ±0.1°) reported for complete NHP recording with insignificant clinical error. PMID:26125616

  5. Ubiquitous Stereo Vision for Controlling Safety on Platforms in Railroad Station

    NASA Astrophysics Data System (ADS)

    Yoda, Ikushi; Hosotani, Daisuke; Sakaue, Katushiko

    Dozens of people are killed every year when they fall off of train platforms, making this an urgent issue to be addressed by the railroads, especially in the major cities. This concern prompted the present work that is now in progress to develop a Ubiquitous Stereo Vision based system for safety management at the edge of rail station platforms. In this approach, a series of stereo cameras are installed in a row on the ceiling that are pointed downward at the edge of the platform to monitor the disposition of people waiting for the train. The purpose of the system is to determine automatically and in real-time whether anyone or anything is in the danger zone at the very edge of the platform, whether anyone has actually fallen off the platform, or whether there is any sign of these things happening. The system could be configured to automatically switch over to a surveillance monitor or automatically connect to an emergency brake system in the event of trouble.

  6. Application of stereo x-ray photogrammetry (SRM) in the determination of absorbed dose values during intracavitary radiation therapy

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

    van Kleffens, H.J.; Star, W.M.

    1979-04-01

    The method of stereo x-ray photogrammetry is described, using a stereo x-ray comparator, as well as some clinical applications. The x-ray equipment consists of two x-ray tubes and a pneumatically driven cassette changer, developed to reduce effects of patient or organ motion between stero radiographs. The accuracy of the set-up is demonstated with measurements on a geometrical model and on a gelatine phantom containing radium needles. The clinical use is reported in determining dose rates to points of the intestinal wall during intracavitary radiotherapy of gynecological cancer. In a number of cases the stereo measurements have resulted in a changemore » in the application time or in the charge or position of the applicator, possibly preventing later complications, as a result of a high dose. Future applications for implant dosimetry (/sup 192/Ir, /sup 125/I) are suggested.« less

  7. 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

  8. New Topographic Maps of Io Using Voyager and Galileo Stereo Imaging and Photoclinometry

    NASA Astrophysics Data System (ADS)

    White, O. L.; Schenk, P. M.; Hoogenboom, T.

    2012-03-01

    Stereo and photoclinometry processing have been applied to Voyager and Galileo images of Io in order to derive regional- and local-scale topographic maps of 20% of the moon’s surface to date. We present initial mapping results.

  9. Collaborative learning using Internet2 and remote collections of stereo dissection images.

    PubMed

    Dev, Parvati; Srivastava, Sakti; Senger, Steven

    2006-04-01

    We have investigated collaborative learning of anatomy over Internet2, using an application called remote stereo viewer (RSV). This application offers a unique method of teaching anatomy, using high-resolution stereoscopic images, in a client-server architecture. Rotated sequences of stereo image pairs were produced by volumetric rendering of the Visible female and by dissecting and photographing a cadaveric hand. A client-server application (RSV) was created to provide access to these image sets, using a highly interactive interface. The RSV system was used to provide a "virtual anatomy" session for students in the Stanford Medical School Gross Anatomy course. The RSV application allows both independent and collaborative modes of viewing. The most appealing aspects of the RSV application were the capacity for stereoscopic viewing and the potential to access the content remotely within a flexible temporal framework. The RSV technology, used over Internet2, thus serves as an effective complement to traditional methods of teaching gross anatomy. (c) 2006 Wiley-Liss, Inc.

  10. STEREO Observations of Energetic Neutral Hydrogen Atoms during the 5 December 2006 Solar Flare

    NASA Technical Reports Server (NTRS)

    Mewaldt, R. A.; Leske, R. A.; Stone, E. C.; Barghouty, A. F.; Labrador, A. W.; Cohen, C. M. S.; Cummings, A. C.; Davis, A. J.; vonRosenvinge, T. T.; Wiedenbeck, M. E.

    2009-01-01

    We report the discovery of energetic neutral hydrogen atoms emitted during the X9 solar event of December 5, 2006. Beginning 1 hour following the onset of this E79 flare, the Low Energy Telescopes (LETs) on both the STEREO A and B spacecraft observed a sudden burst of 1.6 to 15 MeV protons beginning hours before the onset of the main solar energetic particle (SEP) event at Earth. More than 70% of these particles arrived from a longitude within 10 of the Sun, consistent with the measurement resolution. The derived emission profile at the Sun had onset and peak times remarkably similar to the GOES soft X-ray profile and continued for more than an hour. The observed arrival directions and energy spectrum argue strongly that the particle events less than 5 MeV were due to energetic neutral hydrogen atoms (ENAs). To our knowledge, this is the first reported observation of ENA emission from a solar flare/coronal mass ejection. Possible origins for the production of ENAs in a large solar event are considered. We conclude that the observed ENAs were most likely produced in the high corona and that charge-transfer reactions between accelerated protons and partially-stripped coronal ions are an important source of ENAs in solar events.

  11. Dsm Based Orientation of Large Stereo Satellite Image Blocks

    NASA Astrophysics Data System (ADS)

    d'Angelo, P.; Reinartz, P.

    2012-07-01

    High resolution stereo satellite imagery is well suited for the creation of digital surface models (DSM). A system for highly automated and operational DSM and orthoimage generation based on CARTOSAT-1 imagery is presented, with emphasis on fully automated georeferencing. The proposed system processes level-1 stereo scenes using the rational polynomial coefficients (RPC) universal sensor model. The RPC are derived from orbit and attitude information and have a much lower accuracy than the ground resolution of approximately 2.5 m. In order to use the images for orthorectification or DSM generation, an affine RPC correction is required. In this paper, GCP are automatically derived from lower resolution reference datasets (Landsat ETM+ Geocover and SRTM DSM). The traditional method of collecting the lateral position from a reference image and interpolating the corresponding height from the DEM ignores the higher lateral accuracy of the SRTM dataset. Our method avoids this drawback by using a RPC correction based on DSM alignment, resulting in improved geolocation of both DSM and ortho images. Scene based method and a bundle block adjustment based correction are developed and evaluated for a test site covering the nothern part of Italy, for which 405 Cartosat-1 Stereopairs are available. Both methods are tested against independent ground truth. Checks against this ground truth indicate a lateral error of 10 meters.

  12. A novel craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking

    NASA Astrophysics Data System (ADS)

    Yang, Xiaochen; Clements, Logan W.; Conley, Rebekah H.; Thompson, Reid C.; Dawant, Benoit M.; Miga, Michael I.

    2016-03-01

    Brain shift compensation using computer modeling strategies is an important research area in the field of image-guided neurosurgery (IGNS). One important source of available sparse data during surgery to drive these frameworks is deformation tracking of the visible cortical surface. Possible methods to measure intra-operative cortical displacement include laser range scanners (LRS), which typically complicate the clinical workflow, and reconstruction of cortical surfaces from stereo pairs acquired with the operating microscopes. In this work, we propose and demonstrate a craniotomy simulation device that permits simulating realistic cortical displacements designed to measure and validate the proposed intra-operative cortical shift measurement systems. The device permits 3D deformations of a mock cortical surface which consists of a membrane made of a Dragon Skin® high performance silicone rubber on which vascular patterns are drawn. We then use this device to validate our stereo pair-based surface reconstruction system by comparing landmark positions and displacements measured with our systems to those positions and displacements as measured by a stylus tracked by a commercial optical system. Our results show a 1mm average difference in localization error and a 1.2mm average difference in displacement measurement. These results suggest that our stereo-pair technique is accurate enough for estimating intra-operative displacements in near real-time without affecting the surgical workflow.

  13. 'Lyell' Panorama inside Victoria Crater (Stereo)

    NASA Technical Reports Server (NTRS)

    2008-01-01

    During four months prior to the fourth anniversary of its landing on Mars, NASA's Mars Exploration Rover Opportunity examined rocks inside an alcove called 'Duck Bay' in the western portion of Victoria Crater. The main body of the crater appears in the upper right of this stereo panorama, with the far side of the crater lying about 800 meters (half a mile) away. Bracketing that part of the view are two promontories on the crater's rim at either side of Duck Bay. They are 'Cape Verde,' about 6 meters (20 feet) tall, on the left, and 'Cabo Frio,' about 15 meters (50 feet) tall, on the right. The rest of the image, other than sky and portions of the rover, is ground within Duck Bay.

    Opportunity's targets of study during the last quarter of 2007 were rock layers within a band exposed around the interior of the crater, about 6 meters (20 feet) from the rim. Bright rocks within the band are visible in the foreground of the panorama. The rover science team assigned informal names to three subdivisions of the band: 'Steno,' 'Smith,' and 'Lyell.'

    This view incorporates many images taken by Opportunity's panoramic camera (Pancam) from the 1,332nd through 1,379th Martian days, or sols, of the mission (Oct. 23 to Dec. 11, 2007). It combines a stereo pair so that it appears three-dimensional when seen through blue-red glasses. Some visible patterns in dark and light tones are the result of combining frames that were affected by dust on the front sapphire window of the rover's camera.

    Opportunity landed on Jan. 25, 2004, Universal Time, (Jan. 24, Pacific Time) inside a much smaller crater about 6 kilometers (4 miles) north of Victoria Crater, to begin a surface mission designed to last 3 months and drive about 600 meters (0.4 mile).

  14. Dynamics of nanoparticules detected at 1 AU by S/WAVES onboard STEREO spacecraft

    NASA Astrophysics Data System (ADS)

    Belheouane, Soraya; Issautier, Karine; Meyer-Vernet, Nicole; Le Chat, Gaétan; Czechowski, Andrzej; Zaslavsky, Arnaud; Zouganelis, Yannis; Mann, Ingrid

    In order to interpret in detail the S/WAVES data on the interplanetary nanodust discovered by STEREO at 1 AU [Meyer-Vernet et al., 2009], we study the dynamics of nanoparticles in the inner interplanetary medium as well as the distribution of their velocities and directions of arrival, with a model based on [Czechowski and Mann, 2012]. We deduce the charges released by their impacts on the STEREO spacecraft at 1 AU and their dependence on the position of the spacecraft on their orbits. The model studies nanoparticles of size equal or smaller than about 70 nm, assumed to be created via collisional fragmentation of dust grains of larger size moving on keplerian orbits, and sublimation of dust, meteoroids and comets. The nanoparticles are released near the Sun with initial velocities close to keplerian, and mainly subjected to the Lorentz force calculated with a simple solar wind model. A part of the nanoparticles is accelerated to high speeds of the order of 300 km/s, thereby providing impact charges between 10(-14) and 10(-11) Cb [Belheouane, 2014] which enable them to be detected by S/WAVES, whereas another part is trapped within about 0.2 AU from the Sun. We discuss how the fluxes and direction of arrival at 1 AU are expected to change in function of the solar cycle. These results enable us to interpret in detail the STEREO/WAVES observations [Zaslavsky et al., 2012]; [Pantellini et al., 2013]; [Le Chat et al., 2013]. Belheouane, S. (2014). Nanoparticules dans le vent solaire, observations spatiales et theorie. PhD thesis, Pierre and Marie Curie University UPMC. Czechowski, A. and Mann, I. (2012). Nanodust Dynamics in Interplanetary Space, chapter Nanodust Dynamics in Interplanetary Space. Springer Berlin Heidelberg. Le Chat, G., Zaslavsky, A., Meyer-Vernet, N., Issautier, K., Belheouane, S., Pantellini, F., Maksimovic, M., Zouganelis, I., Bale, S., and Kasper, J. (2013). Interplanetary Nanodust Detection by the Solar Terrestrial Relations Observatory/WAVES Low

  15. High-frequency profile in adolescents and its relationship with the use of personal stereo devices.

    PubMed

    Silvestre, Renata Almeida Araújo; Ribas, Ângela; Hammerschmidt, Rogério; de Lacerda, Adriana Bender Moreira

    2016-01-01

    To analyze and correlate the audiometric findings of high frequencies (9-16 kHz) in adolescents with their hearing habits and attitudes, in order to prevent noise-induced hearing loss. This was a descriptive cross-sectional study, which included 125 adolescents in a sample of normal-hearing students, at a state school. The subjects performed high-frequency audiometry testing and answered a self-administered questionnaire addressing information on sound habits concerning the use of personal stereo devices. The sample was divided according to the exposure characteristics (time, duration, intensity, etc.) and the results were compared with the observed thresholds, through the difference in proportions test, chi-squared, Student's t-test, and ANOVA, all at a significance level of 0.05. Average high-frequency thresholds were registered below 15 dB HL and no significant correlation was found between high frequency audiometric findings and the degree of exposure. The prevalence of harmful sound habits due to the use of personal stereo devices is high in the adolescent population, but there was no correlation between exposure to high sound pressure levels through personal stereos and the high-frequency thresholds in this population. Copyright © 2016 Sociedade Brasileira de Pediatria. Published by Elsevier Editora Ltda. All rights reserved.

  16. Efficient hybrid monocular-stereo approach to on-board video-based traffic sign detection and tracking

    NASA Astrophysics Data System (ADS)

    Marinas, Javier; Salgado, Luis; Arróspide, Jon; Camplani, Massimo

    2012-01-01

    In this paper we propose an innovative method for the automatic detection and tracking of road traffic signs using an onboard stereo camera. It involves a combination of monocular and stereo analysis strategies to increase the reliability of the detections such that it can boost the performance of any traffic sign recognition scheme. Firstly, an adaptive color and appearance based detection is applied at single camera level to generate a set of traffic sign hypotheses. In turn, stereo information allows for sparse 3D reconstruction of potential traffic signs through a SURF-based matching strategy. Namely, the plane that best fits the cloud of 3D points traced back from feature matches is estimated using a RANSAC based approach to improve robustness to outliers. Temporal consistency of the 3D information is ensured through a Kalman-based tracking stage. This also allows for the generation of a predicted 3D traffic sign model, which is in turn used to enhance the previously mentioned color-based detector through a feedback loop, thus improving detection accuracy. The proposed solution has been tested with real sequences under several illumination conditions and in both urban areas and highways, achieving very high detection rates in challenging environments, including rapid motion and significant perspective distortion.

  17. a Uav-Based Low-Cost Stereo Camera System for Archaeological Surveys - Experiences from Doliche (turkey)

    NASA Astrophysics Data System (ADS)

    Haubeck, K.; Prinz, T.

    2013-08-01

    The use of Unmanned Aerial Vehicles (UAVs) for surveying archaeological sites is becoming more and more common due to their advantages in rapidity of data acquisition, cost-efficiency and flexibility. One possible usage is the documentation and visualization of historic geo-structures and -objects using UAV-attached digital small frame cameras. These monoscopic cameras offer the possibility to obtain close-range aerial photographs, but - under the condition that an accurate nadir-waypoint flight is not possible due to choppy or windy weather conditions - at the same time implicate the problem that two single aerial images not always meet the required overlap to use them for 3D photogrammetric purposes. In this paper, we present an attempt to replace the monoscopic camera with a calibrated low-cost stereo camera that takes two pictures from a slightly different angle at the same time. Our results show that such a geometrically predefined stereo image pair can be used for photogrammetric purposes e.g. the creation of digital terrain models (DTMs) and orthophotos or the 3D extraction of single geo-objects. Because of the limited geometric photobase of the applied stereo camera and the resulting base-height ratio the accuracy of the DTM however directly depends on the UAV flight altitude.

  18. Development of 3D Image Measurement System and Stereo-matching Method, and Its Archeological Measurement

    NASA Astrophysics Data System (ADS)

    Kochi, Nobuo; Ito, Tadayuki; Kitamura, Kazuo; Kaneko, Syun'ichi

    The three dimensional measurement & modeling system with digital cameras on PC is now making progress and its need and hope is increasingly felt in terrestrial (close-range) photogrammetry for such sectors as cultural heritage preservation, architecture, civil engineering, manufacturing, measurement etc. Therefore, we have developed a system to improve the accuracy of stereo-matching, which is the very core of 3D measurement. As for stereo-matching method, in order to minimize the mismatching and to be robust in geometric distortions, occlusion, as well as brightness change, we invented Coarse-to-Fine Strategy Method by integrating OCM (Orientation Code Matching) with LSM (Least Squares Matching). Thus this system could attain the accuracy of 0.26mm, when we experimented on a mannequin. And when we actually experimented on the archeological ruins in Greece and Turkey, the accuracy was within the range of 1cm, compared with their blue-print plan. Besides, formally workers used to take at least 1.5 month for this kind of survey operation with the existing method, but now workers need only 3 or 4 days. Thus, its practicality and efficiency was confirmed. This paper demonstrates our new system of 3D measurement and stereo-matching with some concrete examples as its practical application.

  19. The Effect of Shadow Area on Sgm Algorithm and Disparity Map Refinement from High Resolution Satellite Stereo Images

    NASA Astrophysics Data System (ADS)

    Tatar, N.; Saadatseresht, M.; Arefi, H.

    2017-09-01

    Semi Global Matching (SGM) algorithm is known as a high performance and reliable stereo matching algorithm in photogrammetry community. However, there are some challenges using this algorithm especially for high resolution satellite stereo images over urban areas and images with shadow areas. As it can be seen, unfortunately the SGM algorithm computes highly noisy disparity values for shadow areas around the tall neighborhood buildings due to mismatching in these lower entropy areas. In this paper, a new method is developed to refine the disparity map in shadow areas. The method is based on the integration of potential of panchromatic and multispectral image data to detect shadow areas in object level. In addition, a RANSAC plane fitting and morphological filtering are employed to refine the disparity map. The results on a stereo pair of GeoEye-1 captured over Qom city in Iran, shows a significant increase in the rate of matched pixels compared to standard SGM algorithm.

  20. Stereo-based Collision Avoidance System for Urban Traffic

    NASA Astrophysics Data System (ADS)

    Moriya, Takashi; Ishikawa, Naoto; Sasaki, Kazuyuki; Nakajima, Masato

    2002-11-01

    Numerous car accidents occur on urban road. However, researches done so far on driving assistance are subjecting highways whose environment is relatively simple and easy to handle, and new approach for urban settings is required. Our purpose is to extend its support to the following conditions in city traffic: the presence of obstacles such as pedestrians and telephone poles; the lane mark is not always drawn on a road; drivers may lack the sense of awareness of the lane mark. We propose a collision avoidance system, which can be applied to both highways and urban traffic environment. In our system, stereo cameras are set in front of a vehicle and the captured images are processed through a computer. We create a Projected Disparity Map (PDM) from stereo image pair, which is a disparity histogram taken along ordinate direction of obtained disparity image. When there is an obstacle in front, we can detect it by finding a peak appeared in the PDM. With a speed meter and a steering sensor, the stop distance and the radius of curvature of the self-vehicle are calculated, in order to set the observation-required area, which does not depend on lane marks, within a PDM. A danger level will be computed from the distance and the relative speed to the closest approaching object detected within the observation-required area. The method has been tested in urban traffic scenes and has shown to be effective for judging dangerous situation, and gives proper alarm to a driver.

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

    NASA Astrophysics Data System (ADS)

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

    2018-03-01

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

  2. Explaining Polarization Reversals in STEREO Wave Data

    NASA Technical Reports Server (NTRS)

    Breneman, A.; Cattell, C.; Wygant, J.; Kersten, K.; Wilson, L, B., III; Dai, L.; Colpitts, C.; Kellogg, P. J.; Goetz, K.; Paradise, A.

    2012-01-01

    Recently Breneman et al. reported observations of large amplitude lightning and transmitter whistler mode waves from two STEREO passes through the inner radiation belt (L<2). Hodograms of the electric field in the plane transverse to the magnetic field showed that the transmitter waves underwent periodic polarization reversals. Specifically, their polarization would cycle through a pattern of right-hand to linear to left-hand polarization at a rate of roughly 200 Hz. The lightning whistlers were observed to be left-hand polarized at frequencies greater than the lower hybrid frequency and less than the transmitter frequency (21.4 kHz) and right-hand polarized otherwise. Only righthand polarized waves in the inner radiation belt should exist in the frequency range of the whistler mode and these reversals were not explained in the previous paper. We show, with a combination of observations and simulated wave superposition, that these polarization reversals are due to the beating of an incident electromagnetic whistler mode wave at 21.4 kHz and linearly polarized, symmetric lower hybrid sidebands Doppler-shifted from the incident wave by +/-200 Hz. The existence of the lower hybrid waves is consistent with the parametric decay mechanism of Lee and Kuo whereby an incident whistler mode wave decays into symmetric, short wavelength lower hybrid waves and a purely growing (zero-frequency) mode. Like the lower hybrid waves, the purely growing mode is Doppler-shifted by 200 Hz as observed on STEREO. This decay mechanism in the upper ionosphere has been previously reported at equatorial latitudes and is thought to have a direct connection with explosive spread F enhancements. As such it may represent another dissipation mechanism of VLF wave energy in the ionosphere and may help to explain a deficit of observed lightning and transmitter energy in the inner radiation belts as reported by Starks et al.

  3. MISR Sees the Sierra Nevadas in Stereo

    NASA Technical Reports Server (NTRS)

    2000-01-01

    These MISR images of the Sierra Nevada mountains near the California-Nevada border were acquired on August 12, 2000 during Terra orbit 3472. On the left is an image from the vertical-viewing (nadir) camera. On the right is a stereo 'anaglyph' created using the nadir and 45.6-degree forward-viewing cameras, providing a three-dimensional view of the scene when viewed with red/blue glasses. The red filter should be placed over your left eye. To facilitate the stereo viewing, the images have been oriented with north toward the left.

    Some prominent features are Mono Lake, in the center of the images; Walker Lake, to its left; and Lake Tahoe, near the lower left. This view of the Sierra Nevadas includes Yosemite, Kings Canyon, and Sequoia National Parks. Mount Whitney, the highest peak in the contiguous 48 states (elev. 14,495 feet), is visible near the righthand edge. Above it (to the east), the Owens Valley shows up prominently between the Sierra Nevada and Inyo ranges.

    Precipitation falling as rain or snow on the Sierras feeds numerous rivers flowing southwestward into the San Joaquin Valley. The abundant fields of this productive agricultural area can be seen along the lower right; a large number of reservoirs that supply water for crop irrigation are apparent in the western foothills of the Sierras. Urban areas in the valley appear as gray patches; among the California cities that are visible are Fresno, Merced, and Modesto.

    MISR was built and is managed by NASA's Jet Propulsion Laboratory, Pasadena, CA, for NASA's Office of Earth Science, Washington, DC. The Terra satellite is managed by NASA's Goddard Space Flight Center, Greenbelt, MD. JPL is a division of the California Institute of Technology.

  4. Topview stereo: combining vehicle-mounted wide-angle cameras to a distance sensor array

    NASA Astrophysics Data System (ADS)

    Houben, Sebastian

    2015-03-01

    The variety of vehicle-mounted sensors in order to fulfill a growing number of driver assistance tasks has become a substantial factor in automobile manufacturing cost. We present a stereo distance method exploiting the overlapping field of view of a multi-camera fisheye surround view system, as they are used for near-range vehicle surveillance tasks, e.g. in parking maneuvers. Hence, we aim at creating a new input signal from sensors that are already installed. Particular properties of wide-angle cameras (e.g. hanging resolution) demand an adaptation of the image processing pipeline to several problems that do not arise in classical stereo vision performed with cameras carefully designed for this purpose. We introduce the algorithms for rectification, correspondence analysis, and regularization of the disparity image, discuss reasons and avoidance of the shown caveats, and present first results on a prototype topview setup.

  5. Graph-based surface reconstruction from stereo pairs using image segmentation

    NASA Astrophysics Data System (ADS)

    Bleyer, Michael; Gelautz, Margrit

    2005-01-01

    This paper describes a novel stereo matching algorithm for epipolar rectified images. The method applies colour segmentation on the reference image. The use of segmentation makes the algorithm capable of handling large untextured regions, estimating precise depth boundaries and propagating disparity information to occluded regions, which are challenging tasks for conventional stereo methods. We model disparity inside a segment by a planar equation. Initial disparity segments are clustered to form a set of disparity layers, which are planar surfaces that are likely to occur in the scene. Assignments of segments to disparity layers are then derived by minimization of a global cost function via a robust optimization technique that employs graph cuts. The cost function is defined on the pixel level, as well as on the segment level. While the pixel level measures the data similarity based on the current disparity map and detects occlusions symmetrically in both views, the segment level propagates the segmentation information and incorporates a smoothness term. New planar models are then generated based on the disparity layers' spatial extents. Results obtained for benchmark and self-recorded image pairs indicate that the proposed method is able to compete with the best-performing state-of-the-art algorithms.

  6. Coordinate expression of AOS genes and JA accumulation: JA is not required for initiation of closing layer in wound healing tubers

    USDA-ARS?s Scientific Manuscript database

    Wounding induces a series of coordinated physiological responses essential for protection and healing of the damaged tissue. Wound-induced formation of jasmonic acid (JA) is important in defense responses in leaves, but comparatively little is known about the induction of JA biosynthesis and its ro...

  7. Three-Dimensional Properties of Coronal Mass Ejections from STEREO/SECCHI Observations

    NASA Astrophysics Data System (ADS)

    Bosman, E.; Bothmer, V.; Nisticò, G.; Vourlidas, A.; Howard, R. A.; Davies, J. A.

    2012-11-01

    We identify 565 coronal mass ejections (CMEs) between January 2007 and December 2010 in observations from the twin STEREO/SECCHI/COR2 coronagraphs aboard the STEREO mission. Our list is in full agreement with the corresponding SOHO/LASCO CME Catalog (http://cdaw.gsfc.nasa.gov/CME_list/) for events with angular widths of 45∘ and up. The monthly event rates behave similarly to sunspot rates showing a three- to fourfold rise between September 2009 and March 2010. We select 51 events with well-defined white-light structure and model them as three-dimensional (3D) flux ropes using a forward-modeling technique developed by Thernisien, Howard and Vourlidas (Astrophys. J. 652, 763 - 773, 2006). We derive their 3D properties and identify their source regions. We find that the majority of the CME flux ropes (82 %) lie within 30∘ of the solar equator. Also, 82 % of the events are displaced from their source region, to a lower latitude, by 25∘ or less. These findings provide strong support for the deflection of CMEs towards the solar equator reported in earlier observations, e.g. by Cremades and Bothmer ( Astron. Astrophys. 422, 307 - 322, 2004).

  8. 3D road marking reconstruction from street-level calibrated stereo pairs

    NASA Astrophysics Data System (ADS)

    Soheilian, Bahman; Paparoditis, Nicolas; Boldo, Didier

    This paper presents an automatic approach to road marking reconstruction using stereo pairs acquired by a mobile mapping system in a dense urban area. Two types of road markings were studied: zebra crossings (crosswalks) and dashed lines. These two types of road markings consist of strips having known shape and size. These geometric specifications are used to constrain the recognition of strips. In both cases (i.e. zebra crossings and dashed lines), the reconstruction method consists of three main steps. The first step extracts edge points from the left and right images of a stereo pair and computes 3D linked edges using a matching process. The second step comprises a filtering process that uses the known geometric specifications of road marking objects. The goal is to preserve linked edges that can plausibly belong to road markings and to filter others out. The final step uses the remaining linked edges to fit a theoretical model to the data. The method developed has been used for processing a large number of images. Road markings are successfully and precisely reconstructed in dense urban areas under real traffic conditions.

  9. CME Simulations with Boundary Conditions Derived from Multiple Viewpoints of STEREO

    NASA Astrophysics Data System (ADS)

    Singh, T.; Yalim, M. S.; Pogorelov, N. V.

    2017-12-01

    Coronal Mass Ejections (CMEs) are major drivers of extreme space weather conditions, which is a matter of huge concern for our modern technologically dependent society. Development of numerical approaches that would reproduce CME propagation through the interplanetary space is an important step towards our capability to predict CME arrival time at Earth and their geo-effectiveness. It is also important that CMEs are propagating through a realistic, data-driven background solar wind (SW). In this study, we use a version of the flux-rope-driven Gibson-Low (GL) model to simulate CMEs. We derive inner boundary conditions for the GL flux rope model using the Graduate Cylindrical Shell (GCS) method. This method uses viewpoints from STEREO A and B, and SOHO/LASCO coronagraphs to determine the size and orientation of a CME flux rope as it starts to erupt from Sun. A flux rope created this way is inserted into an SDO/HMI vector magnetogram driven SW background obtained with the Multi-Scale Fluid-Kinetic Simulation Suite (MS-FLUKSS). Numerical results are compared with STEREO, SDO/AIA and SOHO/LASCO observations in particular in terms of the CME speed, acceleration and magnetic field structure.

  10. Evaluation of a Stereo Music Preprocessing Scheme for Cochlear Implant Users.

    PubMed

    Buyens, Wim; van Dijk, Bas; Moonen, Marc; Wouters, Jan

    2018-01-01

    Although for most cochlear implant (CI) users good speech understanding is reached (at least in quiet environments), the perception and the appraisal of music are generally unsatisfactory. The improvement in music appraisal was evaluated in CI participants by using a stereo music preprocessing scheme implemented on a take-home device, in a comfortable listening environment. The preprocessing allowed adjusting the balance among vocals/bass/drums and other instruments, and was evaluated for different genres of music. The correlation between the preferred settings and the participants' speech and pitch detection performance was investigated. During the initial visit preceding the take-home test, the participants' speech-in-noise perception and pitch detection performance were measured, and a questionnaire about their music involvement was completed. The take-home device was provided, including the stereo music preprocessing scheme and seven playlists with six songs each. The participants were asked to adjust the balance by means of a turning wheel to make the music sound most enjoyable, and to repeat this three times for all songs. Twelve postlingually deafened CI users participated in the study. The data were collected by means of a take-home device, which preserved all the preferred settings for the different songs. Statistical analysis was done with a Friedman test (with post hoc Wilcoxon signed-rank test) to check the effect of "Genre." The correlations were investigated with Pearson's and Spearman's correlation coefficients. All participants preferred a balance significantly different from the original balance. Differences across participants were observed which could not be explained by perceptual abilities. An effect of "Genre" was found, showing significantly smaller preferred deviation from the original balance for Golden Oldies compared to the other genres. The stereo music preprocessing scheme showed an improvement in music appraisal with complex music and

  11. Viking image processing. [digital stereo imagery and computer mosaicking

    NASA Technical Reports Server (NTRS)

    Green, W. B.

    1977-01-01

    The paper discusses the camera systems capable of recording black and white and color imagery developed for the Viking Lander imaging experiment. Each Viking Lander image consisted of a matrix of numbers with 512 rows and an arbitrary number of columns up to a maximum of about 9,000. Various techniques were used in the processing of the Viking Lander images, including: (1) digital geometric transformation, (2) the processing of stereo imagery to produce three-dimensional terrain maps, and (3) computer mosaicking of distinct processed images. A series of Viking Lander images is included.

  12. Principles of Timekeeping for the NEAR and STEREO Spacecraft

    NASA Technical Reports Server (NTRS)

    Cooper, Stanley B.; Wolff, J. (Technical Monitor)

    2001-01-01

    This paper discusses the details of the inherently different timekeeping systems for two interplanetary missions, the NEAR Shoemaker mission to orbit the near-Earth asteroid 433 Eros and the STEREO (Solar Terrestrial Relations Observatory) mission to study and characterize solar coronal mass ejections. It also reveals the surprising dichotomy between two major categories of spacecraft timekeeping systems with respect to the relationship between spacecraft clock resolution and accuracy. The paper is written in a tutorial style so that it can be easily used as a reference for designing or analyzing spacecraft timekeeping systems.

  13. A STEREO Survey of Magnetic Cloud Coronal Mass Ejections Observed at Earth in 2008–2012

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

    Wood, Brian E.; Wu, Chin-Chun; Howard, Russell A.

    We identify coronal mass ejections (CMEs) associated with magnetic clouds (MCs) observed near Earth by the Wind spacecraft from 2008 to mid-2012, a time period when the two STEREO spacecraft were well positioned to study Earth-directed CMEs. We find 31 out of 48 Wind MCs during this period can be clearly connected with a CME that is trackable in STEREO imagery all the way from the Sun to near 1 au. For these events, we perform full 3D reconstructions of the CME structure and kinematics, assuming a flux rope (FR) morphology for the CME shape, considering the full complement ofmore » STEREO and SOHO imaging constraints. We find that the FR orientations and sizes inferred from imaging are not well correlated with MC orientations and sizes inferred from the Wind data. However, velocities within the MC region are reproduced reasonably well by the image-based reconstruction. Our kinematic measurements are used to provide simple prescriptions for predicting CME arrival times at Earth, provided for a range of distances from the Sun where CME velocity measurements might be made. Finally, we discuss the differences in the morphology and kinematics of CME FRs associated with different surface phenomena (flares, filament eruptions, or no surface activity).« less

  14. STEREO OBSERVATIONS OF FAST MAGNETOSONIC WAVES IN THE EXTENDED SOLAR CORONA ASSOCIATED WITH EIT/EUV WAVES

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

    Kwon, Ryun-Young; Ofman, Leon; Kramar, Maxim

    2013-03-20

    We report white-light observations of a fast magnetosonic wave associated with a coronal mass ejection observed by STEREO/SECCHI/COR1 inner coronagraphs on 2011 August 4. The wave front is observed in the form of density compression passing through various coronal regions such as quiet/active corona, coronal holes, and streamers. Together with measured electron densities determined with STEREO COR1 and Extreme UltraViolet Imager (EUVI) data, we use our kinematic measurements of the wave front to calculate coronal magnetic fields and find that the measured speeds are consistent with characteristic fast magnetosonic speeds in the corona. In addition, the wave front turns outmore » to be the upper coronal counterpart of the EIT wave observed by STEREO EUVI traveling against the solar coronal disk; moreover, stationary fronts of the EIT wave are found to be located at the footpoints of deflected streamers and boundaries of coronal holes, after the wave front in the upper solar corona passes through open magnetic field lines in the streamers. Our findings suggest that the observed EIT wave should be in fact a fast magnetosonic shock/wave traveling in the inhomogeneous solar corona, as part of the fast magnetosonic wave propagating in the extended solar corona.« less

  15. Precise visual navigation using multi-stereo vision and landmark matching

    NASA Astrophysics Data System (ADS)

    Zhu, Zhiwei; Oskiper, Taragay; Samarasekera, Supun; Kumar, Rakesh

    2007-04-01

    Traditional vision-based navigation system often drifts over time during navigation. In this paper, we propose a set of techniques which greatly reduce the long term drift and also improve its robustness to many failure conditions. In our approach, two pairs of stereo cameras are integrated to form a forward/backward multi-stereo camera system. As a result, the Field-Of-View of the system is extended significantly to capture more natural landmarks from the scene. This helps to increase the pose estimation accuracy as well as reduce the failure situations. Secondly, a global landmark matching technique is used to recognize the previously visited locations during navigation. Using the matched landmarks, a pose correction technique is used to eliminate the accumulated navigation drift. Finally, in order to further improve the robustness of the system, measurements from low-cost Inertial Measurement Unit (IMU) and Global Positioning System (GPS) sensors are integrated with the visual odometry in an extended Kalman Filtering framework. Our system is significantly more accurate and robust than previously published techniques (1~5% localization error) over long-distance navigation both indoors and outdoors. Real world experiments on a human worn system show that the location can be estimated within 1 meter over 500 meters (around 0.1% localization error averagely) without the use of GPS information.

  16. A broad-spectrum, efficient and nontransgenic approach to control plant viruses by application of salicylic acid and jasmonic acid.

    PubMed

    Shang, Jing; Xi, De-Hui; Xu, Fei; Wang, Shao-Dong; Cao, Sen; Xu, Mo-Yun; Zhao, Ping-Ping; Wang, Jian-Hui; Jia, Shu-Dan; Zhang, Zhong-Wei; Yuan, Shu; Lin, Hong-Hui

    2011-02-01

    Plant viruses cause many diseases that lead to significant economic losses. However, most of the approaches to control plant viruses, including transgenic processes or drugs are plant-species-limited or virus-species-limited, and not very effective. We introduce an application of jasmonic acid (JA) and salicylic acid (SA), a broad-spectrum, efficient and nontransgenic method, to improve plant resistance to RNA viruses. Applying 0.06 mM JA and then 0.1 mM SA 24 h later, enhanced resistance to Cucumber mosaic virus (CMV), Tobacco mosaic virus (TMV) and Turnip crinkle virus (TCV) in Arabidopsis, tobacco, tomato and hot pepper. The inhibition efficiency to virus replication usually achieved up to 80-90%. The putative molecular mechanism was investigated. Some possible factors affecting the synergism of JA and SA have been defined, including WRKY53, WRKY70, PDF1.2, MPK4, MPK2, MPK3, MPK5, MPK12, MPK14, MKK1, MKK2, and MKK6. All genes involving in the synergism of JA and SA were investigated. This approach is safe to human beings and environmentally friendly and shows potential as a strong tool for crop protection against plant viruses.

  17. Investigating the Importance of Stereo Displays for Helicopter Landing Simulation

    DTIC Science & Technology

    2016-08-11

    visualization. The two instances of X Plane® were implemented using two separate PCs, each incorporating Intel i7 processors and Nvidia Quadro K4200... Nvidia GeForce GTX 680 graphics card was used to administer the stereo acuity and fusion range tests. The tests were displayed on an Asus VG278HE 3D...monitor with 1920x1080 pixels that was compatible with Nvidia 3D Vision2 and that used active shutter glasses. At a 1-m viewing distance, the

  18. Synthesis, structural characterization and biological activity of two diastereomeric JA-Ile macrolactones.

    PubMed

    Jimenez-Aleman, Guillermo H; Machado, Ricardo A R; Görls, Helmar; Baldwin, Ian T; Boland, Wilhelm

    2015-06-07

    Jasmonates are phytohormones involved in a wide range of plant processes, including growth, development, senescence, and defense. Jasmonoyl-L-isoleucine (JA-Ile, 2), an amino acid conjugate of jasmonic acid (JA, 1), has been identified as a bioactive endogenous jasmonate. However, JA-Ile (2) analogues trigger different responses in the plant. ω-Hydroxylation of the pentenyl side chain leads to the inactive 12-OH-JA-Ile (3) acting as a “stop” signal. On the other hand, a lactone derivative of 12-OH-JA (5) (jasmine ketolactone, JKL) occurs in nature, although with no known biological function. Inspired by the chemical structure of JKL (6) and in order to further explore the potential biological activities of 12-modified JA-Ile derivatives, we synthesized two macrolactones (JA-Ile-lactones (4a) and (4b)) derived from 12-OH-JA-Ile (3). The biological activity of (4a) and (4b) was tested for their ability to elicit nicotine production, a well-known jasmonate dependent secondary metabolite. Both macrolactones showed strong biological activity, inducing nicotine accumulation to a similar extent as methyl jasmonate does in Nicotiana attenuata leaves. Surprisingly, the highest nicotine contents were found in plants treated with the JA-Ile-lactone (4b), which has (3S,7S) configuration at the cyclopentanone not known from natural jasmonates. Macrolactone (4a) is a valuable standard to explore for its occurrence in nature.

  19. An application of the MPP to the interactive manipulation of stereo images of digital terrain models

    NASA Technical Reports Server (NTRS)

    Pol, Sanjay; Mcallister, David; Davis, Edward

    1987-01-01

    Massively Parallel Processor algorithms were developed for the interactive manipulation of flat shaded digital terrain models defined over grids. The emphasis is on real time manipulation of stereo images. Standard graphics transformations are applied to a 128 x 128 grid of elevations followed by shading and a perspective projection to produce the right eye image. The surface is then rendered using a simple painter's algorithm for hidden surface removal. The left eye image is produced by rotating the surface 6 degs about the viewer's y axis followed by a perspective projection and rendering of the image as described above. The left and right eye images are then presented on a graphics device using standard stereo technology. Performance evaluations and comparisons are presented.

  20. Terminator disparity contributes to stereo matching for eye movements and perception.

    PubMed

    Quaia, Christian; Optican, Lance M; Cumming, Bruce G

    2013-11-27

    In the context of motion detection, the endings (or terminators) of 1-D features can be detected as 2-D features, affecting the perceived direction of motion of the 1-D features (the barber-pole illusion) and the direction of tracking eye movements. In the realm of binocular disparity processing, an equivalent role for the disparity of terminators has not been established. Here we explore the stereo analogy of the barber-pole stimulus, applying disparity to a 1-D noise stimulus seen through an elongated, zero-disparity, aperture. We found that, in human subjects, these stimuli induce robust short-latency reflexive vergence eye movements, initially in the direction orthogonal to the 1-D features, but shortly thereafter in the direction predicted by the disparity of the terminators. In addition, these same stimuli induce vivid depth percepts, which can only be attributed to the disparity of line terminators. When the 1-D noise patterns are given opposite contrast in the two eyes (anticorrelation), both components of the vergence response reverse sign. Finally, terminators drive vergence even when the aperture is defined by a texture (as opposed to a contrast) boundary. These findings prove that terminators contribute to stereo matching, and constrain the type of neuronal mechanisms that might be responsible for the detection of terminator disparity.

  1. FPGA Implementation of Stereo Disparity with High Throughput for Mobility Applications

    NASA Technical Reports Server (NTRS)

    Villalpando, Carlos Y.; Morfopolous, Arin; Matthies, Larry; Goldberg, Steven

    2011-01-01

    High speed stereo vision can allow unmanned robotic systems to navigate safely in unstructured terrain, but the computational cost can exceed the capacity of typical embedded CPUs. In this paper, we describe an end-to-end stereo computation co-processing system optimized for fast throughput that has been implemented on a single Virtex 4 LX160 FPGA. This system is capable of operating on images from a 1024 x 768 3CCD (true RGB) camera pair at 15 Hz. Data enters the FPGA directly from the cameras via Camera Link and is rectified, pre-filtered and converted into a disparity image all within the FPGA, incurring no CPU load. Once complete, a rectified image and the final disparity image are read out over the PCI bus, for a bandwidth cost of 68 MB/sec. Within the FPGA there are 4 distinct algorithms: Camera Link capture, Bilinear rectification, Bilateral subtraction pre-filtering and the Sum of Absolute Difference (SAD) disparity. Each module will be described in brief along with the data flow and control logic for the system. The system has been successfully fielded upon the Carnegie Mellon University's National Robotics Engineering Center (NREC) Crusher system during extensive field trials in 2007 and 2008 and is being implemented for other surface mobility systems at JPL.

  2. BOOTSTRAPPING THE CORONAL MAGNETIC FIELD WITH STEREO: UNIPOLAR POTENTIAL FIELD MODELING

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

    Aschwanden, Markus J.; Sandman, Anne W., E-mail: aschwanden@lmsal.co

    We investigate the recently quantified misalignment of {alpha}{sub mis} {approx} 20{sup 0}-40{sup 0} between the three-dimensional geometry of stereoscopically triangulated coronal loops observed with STEREO/EUVI (in four active regions (ARs)) and theoretical (potential or nonlinear force-free) magnetic field models extrapolated from photospheric magnetograms. We develop an efficient method of bootstrapping the coronal magnetic field by forward fitting a parameterized potential field model to the STEREO-observed loops. The potential field model consists of a number of unipolar magnetic charges that are parameterized by decomposing a photospheric magnetogram from the Michelson Doppler Imager. The forward-fitting method yields a best-fit magnetic field modelmore » with a reduced misalignment of {alpha}{sub PF} {approx} 13{sup 0}-20{sup 0}. We also evaluate stereoscopic measurement errors and find a contribution of {alpha}{sub SE} {approx} 7{sup 0}-12{sup 0}, which constrains the residual misalignment to {alpha}{sub NP} {approx} 11{sup 0}-17{sup 0}, which is likely due to the nonpotentiality of the ARs. The residual misalignment angle, {alpha}{sub NP}, of the potential field due to nonpotentiality is found to correlate with the soft X-ray flux of the AR, which implies a relationship between electric currents and plasma heating.« less

  3. The Impact of Stereo Display on Student Understanding of Phases of the Moon

    ERIC Educational Resources Information Center

    Cid, Ximena C.; Lopez, Ramon E.

    2010-01-01

    Understanding lunar phases requires three-dimensional information about the relative positions of the Moon, Earth, and Sun, thus using a stereo display in instruction might improve student comprehension of lunar phases or other topics in basic astronomy. We conducted a laboratory (15 sections) on phases of the Moon as part of the introductory…

  4. Miniature photometric stereo system for textile surface structure reconstruction

    NASA Astrophysics Data System (ADS)

    Gorpas, Dimitris; Kampouris, Christos; Malassiotis, Sotiris

    2013-04-01

    In this work a miniature photometric stereo system is presented, targeting the three-dimensional structural reconstruction of various fabric types. This is a supportive module to a robot system, attempting to solve the well known "laundry problem". The miniature device has been designed for mounting onto the robot gripper. It is composed of a low-cost off-the-shelf camera, operating in macro mode, and eight light emitting diodes. The synchronization between image acquisition and lighting direction is controlled by an Arduino Nano board and software triggering. The ambient light has been addressed by a cylindrical enclosure. The direction of illumination is recovered by locating the reflection or the brightest point on a mirror sphere, while a flatfielding process compensates for the non-uniform illumination. For the evaluation of this prototype, the classical photometric stereo methodology has been used. The preliminary results on a large number of textiles are very promising for the successful integration of the miniature module to the robot system. The required interaction with the robot is implemented through the estimation of the Brenner's focus measure. This metric successfully assesses the focus quality with reduced time requirements in comparison to other well accepted focus metrics. Besides the targeting application, the small size of the developed system makes it a very promising candidate for applications with space restrictions, like the quality control in industrial production lines or object recognition based on structural information and in applications where easiness in operation and light-weight are required, like those in the Biomedical field, and especially in dermatology.

  5. Stereo-hologram in discrete depth of field (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Lee, Kwanghoon; Park, Min-Chul

    2017-05-01

    In holographic space, continuous object space can be divided as several discrete spaces satisfied each of same depth of field (DoF). In the environment of wearable device using holography, specially, this concept can be applied to macroscopy filed in contrast of the field of microscopy. Since the former has not need to high depth resolution because perceiving power of eye in human visual system, it can distinguish clearly among the objects in depth space, has lower than optical power of microscopic field. Therefore continuous but discrete depth of field (DDoF) for whole object space can present the number of planes included sampled space considered its DoF. Each DoF plane has to consider the occlusion among the object's areas in its region to show the occluded phenomenon inducing by the visual axis around the eye field of view. It makes natural scene in recognition process even though the combined discontinuous DoF regions are altered to the continuous object space. Thus DDoF pull out the advantages such as saving consuming time of the calculation process making the hologram and the reconstruction. This approach deals mainly the properties of several factors required in stereo hologram HMD such as stereoscopic DoF according to the convergence, least number of DDoFs planes in normal visual circumstance (within to 10,000mm), the efficiency of saving time for taking whole holographic process under the our method compared to the existing. Consequently this approach would be applied directly to the stereo-hologram HMD field to embody a real-time holographic imaging.

  6. Application of Stereo PIV on a Supersonic Parachute Model

    NASA Technical Reports Server (NTRS)

    Wernet, Mark P.; Locke, Randy J.; Wroblewski, Adam; Sengupta, Anita

    2009-01-01

    The Mars Science Laboratory (MSL) is the next step in NASA's Mars Exploration Program, currently scheduled for 2011. The spacecraft's descent into the Martian atmosphere will be slowed from Mach 2 to subsonic speeds via a large parachute system with final landing under propulsive control. A Disk-Band-Gap (DBG) parachute will be used on MSL similar to the designs that have been used on previous missions, however; the DBG parachute used by MSL will be larger (21.5 m) than in any of the previous missions due to the weight of the payload and landing site requirements. The MSL parachute will also deploy at higher Mach number (M 2) than previous parachutes, which can lead to instabilities in canopy performance. Both the increased size of the DBG above previous demonstrated configurations and deployment at higher Mach numbers add uncertainty to the deployment, structural integrity and performance of the parachute. In order to verify the performance of the DBG on MSL, experimental testing, including acquisition of Stereo Particle Imaging Velocimetry (PIV) measurements were required for validating CFD predictions of the parachute performance. A rigid model of the DBG parachute was tested in the 10x10 foot wind tunnel at GRC. Prior to the MSL tests, a PIV system had never been used in the 10x10 wind tunnel. In this paper we discuss some of the technical challenges overcome in implementing a Stereo PIV system with a 750x400 mm field-of-view in the 10x10 wind tunnel facility and results from the MSL hardshell canopy tests.

  7. Ames Stereo Pipeline for Operation IceBridge

    NASA Astrophysics Data System (ADS)

    Beyer, R. A.; Alexandrov, O.; McMichael, S.; Fong, T.

    2017-12-01

    We are using the NASA Ames Stereo Pipeline to process Operation IceBridge Digital Mapping System (DMS) images into terrain models and to align them with the simultaneously acquired LIDAR data (ATM and LVIS). The expected outcome is to create a contiguous, high resolution terrain model for each flight that Operation IceBridge has flown during its eight year history of Arctic and Antarctic flights. There are some existing terrain models in the NSIDC repository that cover 2011 and 2012 (out of the total period of 2009 to 2017), which were made with the Agisoft Photoscan commercial software. Our open-source stereo suite has been verified to create terrains of similar quality. The total number of images we expect to process is around 5 million. There are numerous challenges with these data: accurate determination and refinement of camera pose when the images were acquired based on data logged during the flights and/or using information from existing orthoimages, aligning terrains with little or no features, images containing clouds, JPEG artifacts in input imagery, inconsistencies in how data was acquired/archived over the entire period, not fully reliable camera calibration files, and the sheer amount of data. We will create the majority of terrain models at 40 cm/pixel with a vertical precision of 10 to 20 cm. In some circumstances when the aircraft was flying higher than usual, those values will get coarser. We will create orthoimages at 10 cm/pixel (with the same caveat that some flights are at higher altitudes). These will differ from existing orthoimages by using the underlying terrain we generate rather than some pre-existing very low-resolution terrain model that may differ significantly from what is on the ground at the time of IceBridge acquisition.The results of this massive processing will be submitted to the NSIDC so that cryosphere researchers will be able to use these data for their investigations.

  8. Endogenous Bioactive Jasmonate Is Composed of a Set of (+)-7-iso-JA-Amino Acid Conjugates1

    PubMed Central

    Li, Suhua; Li, Yuwen; Chen, Juan; Yang, Mai; Tong, Jianhua; Xiao, Langtao; Nan, Fajun; Xie, Daoxin

    2016-01-01

    Jasmonates (JAs) regulate a wide range of plant defense and development processes. The bioactive JA is perceived by its receptor COI1 to trigger the degradation of JASMONATE ZIM-DOMAIN (JAZ) proteins and subsequently derepress the JAZ-repressed transcription factors for activation of expression of JA-responsive genes. So far, (+)-7-iso-JA-l-Ile has been the only identified endogenous bioactive JA molecule. Here, we designed coronafacic acid (CFA) conjugates with all the amino acids (CFA-AA) to mimic the JA amino acid conjugates, and revealed that (+)-7-iso-JA-Leu, (+)-7-iso-JA-Val, (+)-7-iso-JA-Met, and (+)-7-iso-JA-Ala are new endogenous bioactive JA molecules. Furthermore, our studies uncover the general characteristics for all the bioactive JA molecules, and provide a new strategy to synthetically generate novel active JA molecules. PMID:27756820

  9. STRESS - STEREO TRansiting Exoplanet and Stellar Survey

    NASA Astrophysics Data System (ADS)

    Sangaralingam, Vinothini; Stevens, Ian R.; Spreckley, Steve; Debosscher, Jonas

    2010-02-01

    The Heliospheric Imager (HI) instruments on board the two STEREO (Solar TErrestrial RElations Observatory) spacecraft provides an excellent opportunity for space based stellar photometry. The HI instruments provide a wide area coverage (20° × 20° for the two HI-1 instruments and 70° × 70° for the two HI-2 instruments) and long continuous periods of observations (20 days and 70 days respectively). Using HI-1A which has a pass band of 6500Å to 7500Å and a cadence of 40 minutes, we have gathered photometric information for more than a million stars brighter than 12th magnitude for a period of two years. Here we present some early results from this study on a range of variable stars and the future prospects for the data.

  10. Surface Stereo Imager on Mars, Face-On

    NASA Technical Reports Server (NTRS)

    2008-01-01

    This image is a view of NASA's Phoenix Mars Lander's Surface Stereo Imager (SSI) as seen by the lander's Robotic Arm Camera. This image was taken on the afternoon of the 116th Martian day, or sol, of the mission (September 22, 2008). The mast-mounted SSI, which provided the images used in the 360 degree panoramic view of Phoenix's landing site, is about 4 inches tall and 8 inches long. The two 'eyes' of the SSI seen in this image can take photos to create three-dimensional views of the landing site.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  11. Statistical analysis of data and modeling of Nanodust measured by STEREO/WAVES at 1AU

    NASA Astrophysics Data System (ADS)

    Belheouane, S.; Zaslavsky, A.; Meyer-Vernet, N.; Issautier, K.; Czechowski, A.; Mann, I.; Le Chat, G.; Zouganelis, I.; Maksimovic, M.

    2012-12-01

    We study the flux of dust particles of nanometer size measured at 1AU by the S/WAVES instrument aboard the twin STEREO spacecraft. When they impact the spacecraft at very high speed, these nanodust particles, first detected by Meyer-Vernet et al. (2009), generate plasma clouds and produce voltage pulses measured by the electric antennas. The Time Domain Sampler (TDS) of the radio and plasma instrument produces temporal windows containing several pulses. We perform a statistical study of the distribution of pulse amplitudes and arrival times in the measuring window during the 2007-2012 period. We interpret the results using simulations of the dynamics of nanodust in the solar wind based on the model of Czechowski and Mann (2010). We also investigate the variations of nanodust fluxes while STEREO rotates about the sunward axis (Roll) ; this reveals that some directions are privilegied.

  12. Imaging Techniques for Dense 3D reconstruction of Swimming Aquatic Life using Multi-view Stereo

    NASA Astrophysics Data System (ADS)

    Daily, David; Kiser, Jillian; McQueen, Sarah

    2016-11-01

    Understanding the movement characteristics of how various species of fish swim is an important step to uncovering how they propel themselves through the water. Previous methods have focused on profile capture methods or sparse 3D manual feature point tracking. This research uses an array of 30 cameras to automatically track hundreds of points on a fish as they swim in 3D using multi-view stereo. Blacktip sharks, sting rays, puffer fish, turtles and more were imaged in collaboration with the National Aquarium in Baltimore, Maryland using the multi-view stereo technique. The processes for data collection, camera synchronization, feature point extraction, 3D reconstruction, 3D alignment, biological considerations, and lessons learned will be presented. Preliminary results of the 3D reconstructions will be shown and future research into mathematically characterizing various bio-locomotive maneuvers will be discussed.

  13. Stereo optical guidance system for control of industrial robots

    NASA Technical Reports Server (NTRS)

    Powell, Bradley W. (Inventor); Rodgers, Mike H. (Inventor)

    1992-01-01

    A device for the generation of basic electrical signals which are supplied to a computerized processing complex for the operation of industrial robots. The system includes a stereo mirror arrangement for the projection of views from opposite sides of a visible indicia formed on a workpiece. The views are projected onto independent halves of the retina of a single camera. The camera retina is of the CCD (charge-coupled-device) type and is therefore capable of providing signals in response to the image projected thereupon. These signals are then processed for control of industrial robots or similar devices.

  14. Molecular evidence of stereo-specific lactoferrin dimers in solution.

    PubMed

    Persson, Björn A; Lund, Mikael; Forsman, Jan; Chatterton, Dereck E W; Akesson, Torbjörn

    2010-10-01

    Gathering experimental evidence suggests that bovine as well as human lactoferrin self-associate in aqueous solution. Still, a molecular level explanation is unavailable. Using force field based molecular modeling of the protein-protein interaction free energy we demonstrate (1) that lactoferrin forms highly stereo-specific dimers at neutral pH and (2) that the self-association is driven by a high charge complementarity across the contact surface of the proteins. Our theoretical predictions of dimer formation are verified by electrophoretic mobility and N-terminal sequence analysis on bovine lactoferrin. 2010 Elsevier B.V. All rights reserved.

  15. Television monitor field shifter and an opto-electronic method for obtaining a stereo image of optimal depth resolution and reduced depth distortion on a single screen

    NASA Technical Reports Server (NTRS)

    Diner, Daniel B. (Inventor)

    1989-01-01

    A method and apparatus is developed for obtaining a stereo image with reduced depth distortion and optimum depth resolution. Static and dynamic depth distortion and depth resolution tradeoff is provided. Cameras obtaining the images for a stereo view are converged at a convergence point behind the object to be presented in the image, and the collection-surface-to-object distance, the camera separation distance, and the focal lengths of zoom lenses for the cameras are all increased. Doubling the distances cuts the static depth distortion in half while maintaining image size and depth resolution. Dynamic depth distortion is minimized by panning a stereo view-collecting camera system about a circle which passes through the convergence point and the camera's first nodal points. Horizontal field shifting of the television fields on a television monitor brings both the monitor and the stereo views within the viewer's limit of binocular fusion.

  16. Building Change Detection in Very High Resolution Satellite Stereo Image Time Series

    NASA Astrophysics Data System (ADS)

    Tian, J.; Qin, R.; Cerra, D.; Reinartz, P.

    2016-06-01

    There is an increasing demand for robust methods on urban sprawl monitoring. The steadily increasing number of high resolution and multi-view sensors allows producing datasets with high temporal and spatial resolution; however, less effort has been dedicated to employ very high resolution (VHR) satellite image time series (SITS) to monitor the changes in buildings with higher accuracy. In addition, these VHR data are often acquired from different sensors. The objective of this research is to propose a robust time-series data analysis method for VHR stereo imagery. Firstly, the spatial-temporal information of the stereo imagery and the Digital Surface Models (DSMs) generated from them are combined, and building probability maps (BPM) are calculated for all acquisition dates. In the second step, an object-based change analysis is performed based on the derivative features of the BPM sets. The change consistence between object-level and pixel-level are checked to remove any outlier pixels. Results are assessed on six pairs of VHR satellite images acquired within a time span of 7 years. The evaluation results have proved the efficiency of the proposed method.

  17. Performance Evaluation and Software Design for EVA Robotic Assistant Stereo Vision Heads

    NASA Technical Reports Server (NTRS)

    DiPaolo, Daniel

    2003-01-01

    The purpose of this project was to aid the EVA Robotic Assistant project by evaluating and designing the necessary interfaces for two stereo vision heads - the TracLabs Biclops pan-tilt-verge head, and the Helpmate Zebra pan-tilt-verge head. The first half of the project consisted of designing the necessary software interface so that the other modules of the EVA Robotic Assistant had proper access to all of the functionalities offered by each of the stereovision heads. This half took most of the project time, due to a lack of ready-made CORBA drivers for either of the heads. Once this was overcome, the evaluation stage of the project began. The second half of the project was to take these interfaces and to evaluate each of the stereo vision heads in terms of usefulness to the project. In the key project areas such as stability and reliability, the Zebra pan-tilt-verge head came out on top. However, the Biclops did have many more advantages over the Zebra, such as: lower power consumption, faster communications, and a simpler, cleaner API. Overall, the Biclops pan-tilt-verge head outperformed the Zebra pan-tilt-verge head.

  18. Extracting Semantic Building Models from Aerial Stereo Images and Conversion to Citygml

    NASA Astrophysics Data System (ADS)

    Sengul, A.

    2012-07-01

    The collection of geographic data is of primary importance for the creation and maintenance of a GIS. Traditionally the acquisition of 3D information has been the task of photogrammetry using aerial stereo images. Digital photogrammetric systems employ sophisticated software to extract digital terrain models or to plot 3D objects. The demand for 3D city models leads to new applications and new standards. City Geography Mark-up Language (CityGML), a concept for modelling and exchange of 3D city and landscape models, defines the classes and relations for the most relevant topographic objects in cities and regional models with respect to their geometrical, topological, semantically and topological properties. It now is increasingly accepted, since it fulfils the prerequisites required e.g. for risk analysis, urban planning, and simulations. There is a need to include existing 3D information derived from photogrammetric processes in CityGML databases. In order to filling the gap, this paper reports on a framework transferring data plotted by Erdas LPS and Stereo Analyst for ArcGIS software to CityGML using Safe Software's Feature Manupulate Engine (FME)

  19. Enhancement of Stereo Imagery by Artificial Texture Projection Generated Using a LIDAR

    NASA Astrophysics Data System (ADS)

    Veitch-Michaelis, Joshua; Muller, Jan-Peter; Walton, David; Storey, Jonathan; Foster, Michael; Crutchley, Benjamin

    2016-06-01

    Passive stereo imaging is capable of producing dense 3D data, but image matching algorithms generally perform poorly on images with large regions of homogenous texture due to ambiguous match costs. Stereo systems can be augmented with an additional light source that can project some form of unique texture onto surfaces in the scene. Methods include structured light, laser projection through diffractive optical elements, data projectors and laser speckle. Pattern projection using lasers has the advantage of producing images with a high signal to noise ratio. We have investigated the use of a scanning visible-beam LIDAR to simultaneously provide enhanced texture within the scene and to provide additional opportunities for data fusion in unmatched regions. The use of a LIDAR rather than a laser alone allows us to generate highly accurate ground truth data sets by scanning the scene at high resolution. This is necessary for evaluating different pattern projection schemes. Results from LIDAR generated random dots are presented and compared to other texture projection techniques. Finally, we investigate the use of image texture analysis to intelligently project texture where it is required while exploiting the texture available in the ambient light image.

  20. When Dijkstra Meets Vanishing Point: A Stereo Vision Approach for Road Detection.

    PubMed

    Zhang, Yigong; Su, Yingna; Yang, Jian; Ponce, Jean; Kong, Hui

    2018-05-01

    In this paper, we propose a vanishing-point constrained Dijkstra road model for road detection in a stereo-vision paradigm. First, the stereo-camera is used to generate the u- and v-disparity maps of road image, from which the horizon can be extracted. With the horizon and ground region constraints, we can robustly locate the vanishing point of road region. Second, a weighted graph is constructed using all pixels of the image, and the detected vanishing point is treated as the source node of the graph. By computing a vanishing-point constrained Dijkstra minimum-cost map, where both disparity and gradient of gray image are used to calculate cost between two neighbor pixels, the problem of detecting road borders in image is transformed into that of finding two shortest paths that originate from the vanishing point to two pixels in the last row of image. The proposed approach has been implemented and tested over 2600 grayscale images of different road scenes in the KITTI data set. The experimental results demonstrate that this training-free approach can detect horizon, vanishing point, and road regions very accurately and robustly. It can achieve promising performance.

  1. Characteristics of EUV Coronal Jets Observed with STEREO/SECCHI

    NASA Astrophysics Data System (ADS)

    Nisticò, G.; Bothmer, V.; Patsourakos, S.; Zimbardo, G.

    2009-10-01

    In this paper we present the first comprehensive statistical study of EUV coronal jets observed with the SECCHI (Sun Earth Connection Coronal and Heliospheric Investigation) imaging suites of the two STEREO spacecraft. A catalogue of 79 polar jets is presented, identified from simultaneous EUV and white-light coronagraph observations, taken during the time period March 2007 to April 2008, when solar activity was at a minimum. The twin spacecraft angular separation increased during this time interval from 2 to 48 degrees. The appearances of the coronal jets were always correlated with underlying small-scale chromospheric bright points. A basic characterization of the morphology and identification of the presence of helical structure were established with respect to recently proposed models for their origin and temporal evolution. Though each jet appeared morphologically similar in the coronagraph field of view, in the sense of a narrow collimated outward flow of matter, at the source region in the low corona the jet showed different characteristics, which may correspond to different magnetic structures. A classification of the events with respect to previous jet studies shows that amongst the 79 events there were 37 Eiffel tower-type jet events, commonly interpreted as a small-scale (˜35 arc sec) magnetic bipole reconnecting with the ambient unipolar open coronal magnetic fields at its loop tops, and 12 lambda-type jet events commonly interpreted as reconnection with the ambient field happening at the bipole footpoints. Five events were termed micro-CME-type jet events because they resembled the classical coronal mass ejections (CMEs) but on much smaller scales. The remaining 25 cases could not be uniquely classified. Thirty-one of the total number of events exhibited a helical magnetic field structure, indicative for a torsional motion of the jet around its axis of propagation. A few jets are also found in equatorial coronal holes. In this study we present sample

  2. Four dimensional observations of clouds from geosynchronous orbit using stereo display and measurement techniques on an interactive information processing system

    NASA Technical Reports Server (NTRS)

    Hasler, A. F.; Desjardins, M.; Shenk, W. E.

    1979-01-01

    Simultaneous Geosynchronous Operational Environmental Satellite (GOES) 1 km resolution visible image pairs can provide quantitative three dimensional measurements of clouds. These data have great potential for severe storms research and as a basic parameter measurement source for other areas of meteorology (e.g. climate). These stereo cloud height measurements are not subject to the errors and ambiguities caused by unknown cloud emissivity and temperature profiles that are associated with infrared techniques. This effort describes the display and measurement of stereo data using digital processing techniques.

  3. Stereo photo series for quantifying cerrado fuels in Central Brazil—volume I.

    Treesearch

    R.D. Ottmar; R.E. Vihnanek; H.S. Miranda; M.N. Sata; S.M. Andrade

    2001-01-01

    The first volume of the Cerrado photo series is a collection of sites that represent a range of physiognomic forms of the Cerrado in central Brazil including campo limpo, campo sujo, cerrado ralo, cerrado sensu stricto, and cerrado denso. Sites include wide-angle and stereo pair photographs supplemented with information on living and dead fuels,...

  4. Layers of 'Cabo Frio' in 'Victoria Crater' (Stereo)

    NASA Technical Reports Server (NTRS)

    2006-01-01

    This view of 'Victoria crater' is looking southeast from 'Duck Bay' towards the dramatic promontory called 'Cabo Frio.' The small crater in the right foreground, informally known as 'Sputnik,' is about 20 meters (about 65 feet) away from the rover, the tip of the spectacular, layered, Cabo Frio promontory itself is about 200 meters (about 650 feet) away from the rover, and the exposed rock layers are about 15 meters (about 50 feet) tall. This is a red-blue stereo anaglyph generated from images taken by the panoramic camera (Pancam) on NASA's Mars Exploration Rover Opportunity during the rover's 952nd sol, or Martian day, (Sept. 28, 2006) using the camera's 430-nanometer filters.

  5. Layers of 'Cape Verde' in 'Victoria Crater' (Stereo)

    NASA Technical Reports Server (NTRS)

    2006-01-01

    This view of Victoria crater is looking north from 'Duck Bay' towards the dramatic promontory called 'Cape Verde.' The dramatic cliff of layered rocks is about 50 meters (about 165 feet) away from the rover and is about 6 meters (about 20 feet) tall. The taller promontory beyond that is about 100 meters (about 325 feet) away, and the vista beyond that extends away for more than 400 meters (about 1300 feet) into the distance. This is a red-blue stereo anaglyph generated from images taken by the panoramic camera (Pancam) on NASA's Mars Exploration Rover Opportunity during the rover's 952nd sol, or Martian day, (Sept. 28, 2006) using the camera's 430-nanometer filters.

  6. The Impact of 3D Stacking and Technology Scaling on the Power and Area of Stereo Matching Processors.

    PubMed

    Ok, Seung-Ho; Lee, Yong-Hwan; Shim, Jae Hoon; Lim, Sung Kyu; Moon, Byungin

    2017-02-22

    Recently, stereo matching processors have been adopted in real-time embedded systems such as intelligent robots and autonomous vehicles, which require minimal hardware resources and low power consumption. Meanwhile, thanks to the through-silicon via (TSV), three-dimensional (3D) stacking technology has emerged as a practical solution to achieving the desired requirements of a high-performance circuit. In this paper, we present the benefits of 3D stacking and process technology scaling on stereo matching processors. We implemented 2-tier 3D-stacked stereo matching processors with GlobalFoundries 130-nm and Nangate 45-nm process design kits and compare them with their two-dimensional (2D) counterparts to identify comprehensive design benefits. In addition, we examine the findings from various analyses to identify the power benefits of 3D-stacked integrated circuit (IC) and device technology advancements. From experiments, we observe that the proposed 3D-stacked ICs, compared to their 2D IC counterparts, obtain 43% area, 13% power, and 14% wire length reductions. In addition, we present a logic partitioning method suitable for a pipeline-based hardware architecture that minimizes the use of TSVs.

  7. The Impact of 3D Stacking and Technology Scaling on the Power and Area of Stereo Matching Processors

    PubMed Central

    Ok, Seung-Ho; Lee, Yong-Hwan; Shim, Jae Hoon; Lim, Sung Kyu; Moon, Byungin

    2017-01-01

    Recently, stereo matching processors have been adopted in real-time embedded systems such as intelligent robots and autonomous vehicles, which require minimal hardware resources and low power consumption. Meanwhile, thanks to the through-silicon via (TSV), three-dimensional (3D) stacking technology has emerged as a practical solution to achieving the desired requirements of a high-performance circuit. In this paper, we present the benefits of 3D stacking and process technology scaling on stereo matching processors. We implemented 2-tier 3D-stacked stereo matching processors with GlobalFoundries 130-nm and Nangate 45-nm process design kits and compare them with their two-dimensional (2D) counterparts to identify comprehensive design benefits. In addition, we examine the findings from various analyses to identify the power benefits of 3D-stacked integrated circuit (IC) and device technology advancements. From experiments, we observe that the proposed 3D-stacked ICs, compared to their 2D IC counterparts, obtain 43% area, 13% power, and 14% wire length reductions. In addition, we present a logic partitioning method suitable for a pipeline-based hardware architecture that minimizes the use of TSVs. PMID:28241437

  8. Stereo camera based virtual cane system with identifiable distance tactile feedback for the blind.

    PubMed

    Kim, Donghun; Kim, Kwangtaek; Lee, Sangyoun

    2014-06-13

    In this paper, we propose a new haptic-assisted virtual cane system operated by a simple finger pointing gesture. The system is developed by two stages: development of visual information delivery assistant (VIDA) with a stereo camera and adding a tactile feedback interface with dual actuators for guidance and distance feedbacks. In the first stage, user's pointing finger is automatically detected using color and disparity data from stereo images and then a 3D pointing direction of the finger is estimated with its geometric and textural features. Finally, any object within the estimated pointing trajectory in 3D space is detected and the distance is then estimated in real time. For the second stage, identifiable tactile signals are designed through a series of identification experiments, and an identifiable tactile feedback interface is developed and integrated into the VIDA system. Our approach differs in that navigation guidance is provided by a simple finger pointing gesture and tactile distance feedbacks are perfectly identifiable to the blind.

  9. Error Analysis in a Stereo Vision-Based Pedestrian Detection Sensor for Collision Avoidance Applications

    PubMed Central

    Llorca, David F.; Sotelo, Miguel A.; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M.

    2010-01-01

    This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance. PMID:22319323

  10. Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications.

    PubMed

    Llorca, David F; Sotelo, Miguel A; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M

    2010-01-01

    This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance.

  11. Stereo Camera Based Virtual Cane System with Identifiable Distance Tactile Feedback for the Blind

    PubMed Central

    Kim, Donghun; Kim, Kwangtaek; Lee, Sangyoun

    2014-01-01

    In this paper, we propose a new haptic-assisted virtual cane system operated by a simple finger pointing gesture. The system is developed by two stages: development of visual information delivery assistant (VIDA) with a stereo camera and adding a tactile feedback interface with dual actuators for guidance and distance feedbacks. In the first stage, user's pointing finger is automatically detected using color and disparity data from stereo images and then a 3D pointing direction of the finger is estimated with its geometric and textural features. Finally, any object within the estimated pointing trajectory in 3D space is detected and the distance is then estimated in real time. For the second stage, identifiable tactile signals are designed through a series of identification experiments, and an identifiable tactile feedback interface is developed and integrated into the VIDA system. Our approach differs in that navigation guidance is provided by a simple finger pointing gesture and tactile distance feedbacks are perfectly identifiable to the blind. PMID:24932864

  12. The perception of ego-motion change in environments with varying depth: Interaction of stereo and optic flow.

    PubMed

    Ott, Florian; Pohl, Ladina; Halfmann, Marc; Hardiess, Gregor; Mallot, Hanspeter A

    2016-07-01

    When estimating ego-motion in environments (e.g., tunnels, streets) with varying depth, human subjects confuse ego-acceleration with environment narrowing and ego-deceleration with environment widening. Festl, Recktenwald, Yuan, and Mallot (2012) demonstrated that in nonstereoscopic viewing conditions, this happens despite the fact that retinal measurements of acceleration rate-a variable related to tau-dot-should allow veridical perception. Here we address the question of whether additional depth cues (specifically binocular stereo, object occlusion, or constant average object size) help break the confusion between narrowing and acceleration. Using a forced-choice paradigm, the confusion is shown to persist even if unambiguous stereo information is provided. The confusion can also be demonstrated in an adjustment task in which subjects were asked to keep a constant speed in a tunnel with varying diameter: Subjects increased speed in widening sections and decreased speed in narrowing sections even though stereoscopic depth information was provided. If object-based depth information (stereo, occlusion, constant average object size) is added, the confusion between narrowing and acceleration still remains but may be slightly reduced. All experiments are consistent with a simple matched filter algorithm for ego-motion detection, neglecting both parallactic and stereoscopic depth information, but leave open the possibility of cue combination at a later stage.

  13. Robust stereo matching with trinary cross color census and triple image-based refinements

    NASA Astrophysics Data System (ADS)

    Chang, Ting-An; Lu, Xiao; Yang, Jar-Ferr

    2017-12-01

    For future 3D TV broadcasting systems and navigation applications, it is necessary to have accurate stereo matching which could precisely estimate depth map from two distanced cameras. In this paper, we first suggest a trinary cross color (TCC) census transform, which can help to achieve accurate disparity raw matching cost with low computational cost. The two-pass cost aggregation (TPCA) is formed to compute the aggregation cost, then the disparity map can be obtained by a range winner-take-all (RWTA) process and a white hole filling procedure. To further enhance the accuracy performance, a range left-right checking (RLRC) method is proposed to classify the results as correct, mismatched, or occluded pixels. Then, the image-based refinements for the mismatched and occluded pixels are proposed to refine the classified errors. Finally, the image-based cross voting and a median filter are employed to complete the fine depth estimation. Experimental results show that the proposed semi-global stereo matching system achieves considerably accurate disparity maps with reasonable computation cost.

  14. Comparison of Stereo-PIV and Plenoptic-PIV Measurements on the Wake of a Cylinder in NASA Ground Test Facilities.

    NASA Technical Reports Server (NTRS)

    Fahringer, Timothy W.; Thurow, Brian S.; Humphreys, William M., Jr.; Bartram, Scott M.

    2017-01-01

    A series of comparison experiments have been performed using a single-camera plenoptic PIV measurement system to ascertain the systems performance capabilities in terms of suitability for use in NASA ground test facilities. A proof-of-concept demonstration was performed in the Langley Advanced Measurements and Data Systems Branch 13-inch (33- cm) Subsonic Tunnel to examine the wake of a series of cylinders at a Reynolds number of 2500. Accompanying the plenoptic-PIV measurements were an ensemble of complementary stereo-PIV measurements. The stereo-PIV measurements were used as a truth measurement to assess the ability of the plenoptic-PIV system to capture relevant 3D/3C flow field features in the cylinder wake. Six individual tests were conducted as part of the test campaign using three different cylinder diameters mounted in two orientations in the tunnel test section. This work presents a comparison of measurements with the cylinders mounted horizontally (generating a 2D flow field in the x-y plane). Results show that in general the plenoptic-PIV measurements match those produced by the stereo-PIV system. However, discrepancies were observed in extracted pro les of the fuctuating velocity components. It is speculated that spatial smoothing of the vector fields in the stereo-PIV system could account for the observed differences. Nevertheless, the plenoptic-PIV system performed extremely well at capturing the flow field features of interest and can be considered a viable alternative to traditional PIV systems in smaller NASA ground test facilities with limited optical access.

  15. Reanalyzing Inferred High Energy Ionic Charge States for Solar Energetic Particle Events with ACE and STEREO

    NASA Astrophysics Data System (ADS)

    Labrador, A. W.; Sollitt, L. S.; Cohen, C.; Cummings, A. C.; Leske, R. A.; Mason, G. M.; Mewaldt, R. A.; Stone, E. C.; von Rosenvinge, T. T.; Wiedenbeck, M. E.

    2017-12-01

    We have estimated mean high-energy ionic charge states of solar energetic particles (SEPs) using the Sollitt et al. (2008) method. The method applies to abundant elements (e.g. N, O, Ne, Mg, Si, and Fe) in SEP events at the energy ranges covered by the STEREO/LET instrument (e.g. 2.7-70 MeV/nuc for Fe) and the ACE/SIS instrument (e.g. 11-168 MeV/nuc for Fe). The method starts by fitting SEP time-intensity profiles during the decay phase of a given, large SEP event in order to obtain energy-dependent decay times. The mean charge state for each element is estimated from the relationship between the energy dependence of its decay times to that for selected calibration references. For simultaneous estimates among multiple elements, we assume a common rigidity dependence across all elements. Earlier calculations by Sollitt et al. incorporated helium time intensity profile fits with an assumed charge state of 2. Subsequent analysis dropped helium as a reference element, for simplicity, but we have recently reincorporated He for calibration, from either STEREO/LET or ACE/SIS data, combined with C as an additional reference element with an assumed mean charge state of 5.9. For this presentation, we will present validation of the reanalysis using data from the 8 March 2012 SEP event in ACE data and the 28 September 2012 event in STEREO data. We will also introduce additional low-energy He from publicly available ACE/ULEIS and STEREO/SIT data, which should further constrain the charge state calibration. Better charge state calibration could yield more robust convergence to physical solutions for SEP events for which this method has not previously yielded results. Therefore, we will also present analysis for additional SEP events from 2005 to 2017, and we will investigate conditions for which this method yields or does not yield charge states.

  16. Assessing Fish and Motile Fauna around Offshore Windfarms Using Stereo Baited Video

    PubMed Central

    Griffin, Ross A.; Robinson, Gary J.; West, Ashley; Gloyne-Phillips, Ian T.; Unsworth, Richard K. F.

    2016-01-01

    There remains limited knowledge of how offshore windfarm developments influence fish assemblages, particularly at a local scale around the turbine structures. Considering the existing levels of anthropogenic pressures on coastal fish populations it is becoming increasingly important for developers and environmental regulators to gain a more comprehensive understanding of the factors influencing fish assemblages. Improving our ability to assess such fish populations in close proximity to structures will assist in increasing this knowledge. In the present study we provide the first trial use of Baited Remote Underwater Stereo-Video systems (stereo BRUVs) for the quantification of motile fauna in close proximity to offshore wind turbines. The study was conducted in the Irish Sea and finds the technique to be a viable means of assessing the motile fauna of such environments. The present study found a mixture of species including bottom dwellers, motile crustaceans and large predatory fish. The majority of taxa observed were found to be immature individuals with few adult individuals recorded. The most abundant species were the angular crab (Goneplax rhomboides) and the small-spotted catshark (Scyliorhinus canicula). Of note in this study was the generally low abundance and diversity of taxa recorded across all samples, we hypothesise that this reflects the generally poor state of the local fauna of the Irish Sea. The faunal assemblages sampled in close proximity to turbines were observed to alter with increasing distance from the structure, species more characteristic of hard bottom environments were in abundance at the turbines (e.g. Homarus gammarus, Cancer pagarus, Scyliorhinus spp.) and those further away more characteristic of soft bottoms (e.g. Norwegian Lobster). This study highlights the need for the environmental impacts of offshore renewables on motile fauna to be assessed using targeted and appropriate tools. Stereo BRUVs provide one of those tools, but like

  17. STEREO Observations of Waves in the Ramp Regions of Interplanetary Shocks

    NASA Astrophysics Data System (ADS)

    Cohen, Z.; Breneman, A. W.; Cattell, C. A.; Davis, L.; Grul, P.; Kersten, K.; Wilson, L. B., III

    2017-12-01

    Determining the role of plasma waves in providing energy dissipation at shock waves is of long-standing interest. Interplanetary (IP) shocks serve as a large database of low Mach number shocks. We examine electric field waveforms captured by the Time Domain Sampler (TDS) on the STEREO spacecraft during the ramps of IP shocks, with emphasis on captures lasting 2.1 seconds. Previous work has used captures of shorter duration (66 and 131 ms on STEREO, and 17 ms on WIND), which allowed for observation of waves with maximum (minimum) frequencies of 125 kHz (15 Hz), 62.5 kHz (8 Hz), and 60 kHz (59 Hz), respectively. The maximum frequencies are comparable to 2-8 times the plasma frequency in the solar wind, enabling observation of Langmuir waves, ion acoustic, and some whistler-mode waves. The 2 second captures resolve lower frequencies ( few Hz), which allows us to analyze packet structure of the whistler-mode waves and some ion acoustic waves. The longer capture time also improves the resolvability of simultaneous wave modes and of waves with frequencies on the order of 10s of Hz. Langmuir waves, however, cannot be identified at this sampling rate, since the plasma frequency is usually higher than 3.9 kHz. IP shocks are identified from multiple databases (Helsinki heliospheric shock database at http://ipshocks.fi, and the STEREO level 3 shock database at ftp://stereoftp.nascom.nasa.gov/pub/ins_data/impact/level3/). Our analysis focuses on TDS captures in shock ramp regions, with ramp durations determined from magnetic field data taken at 8 Hz. Software is used to identify multiple wave modes in any given capture and classify waves as Langmuir, ion acoustic, whistler, lower hybrid, electron cyclotron drift instability, or electrostatic solitary waves. Relevant frequencies are determined from density and magnetic field data collected in situ. Preliminary results suggest that large amplitude (≥ 5 mV/m) ion acoustic waves are most prevalent in the ramp, in agreement with

  18. Topomapping of Mars with HRSC images, ISIS, and a commercial stereo workstation

    NASA Astrophysics Data System (ADS)

    Kirk, R. L.; Howington-Kraus, E.; Galuszka, D.; Redding, B.; Hare, T. M.

    HRSC on Mars Express [1] is the first camera designed specifically for stereo imaging to be used in mapping a planet other than the Earth. Nine detectors view the planet through a single lens to obtain four-band color coverage and stereo images at 3 to 5 distinct angles in a single pass over the target. The short interval between acquisition of the images ensures that changes that could interfere with stereo matching are minimized. The resolution of the nadir channel is 12.5 m at periapsis, poorer at higher points in the elliptical orbit. The stereo channels are typically operated at 2x coarser resolution and the color channels at 4x or 8x. Since the commencement of operations in January 2004, approximately 58% of Mars has been imaged at nadir resolutions better than 50 m/pixel. This coverage is expected to increase significantly during the recently approved extended mission of Mars Express, giving the HRSC dataset enormous potential for regional and even global mapping. Systematic processing of the HRSC images is carried out at the German Aerospace Center (DLR) in Berlin. Preliminary digital topographic models (DTMs) at 200 m/post resolution and orthorectified image products are produced in near-realtime for all orbits, by using the VICAR software system [2]. The tradeoff of universal coverage but limited DTM resolution makes these products optimal for many but not all research studies. Experiments on adaptive processing with the same software, for a limited number of orbits, have allowed DTMs of higher resolution (down to 50 m/post) to be produced [3]. In addition, numerous Co-Investigators on the HRSC team (including ourselves) are actively researching techniques to improve on the standard products, by such methods as bundle adjustment, alternate approaches to stereo DTM generation, and refinement of DTMs by photoclinometry (shape-from-shading) [4]. The HRSC team is conducting a systematic comparison of these alternative processing approaches by arranging for

  19. CMEs in the Heliosphere: I. A Statistical Analysis of the Observational Properties of CMEs Detected in the Heliosphere from 2007 to 2017 by STEREO/HI-1

    NASA Astrophysics Data System (ADS)

    Harrison, R. A.; Davies, J. A.; Barnes, D.; Byrne, J. P.; Perry, C. H.; Bothmer, V.; Eastwood, J. P.; Gallagher, P. T.; Kilpua, E. K. J.; Möstl, C.; Rodriguez, L.; Rouillard, A. P.; Odstrčil, D.

    2018-05-01

    We present a statistical analysis of coronal mass ejections (CMEs) imaged by the Heliospheric Imager (HI) instruments on board NASA's twin-spacecraft STEREO mission between April 2007 and August 2017 for STEREO-A and between April 2007 and September 2014 for STEREO-B. The analysis exploits a catalogue that was generated within the FP7 HELCATS project. Here, we focus on the observational characteristics of CMEs imaged in the heliosphere by the inner (HI-1) cameras, while following papers will present analyses of CME propagation through the entire HI fields of view. More specifically, in this paper we present distributions of the basic observational parameters - namely occurrence frequency, central position angle (PA) and PA span - derived from nearly 2000 detections of CMEs in the heliosphere by HI-1 on STEREO-A or STEREO-B from the minimum between Solar Cycles 23 and 24 to the maximum of Cycle 24; STEREO-A analysis includes a further 158 CME detections from the descending phase of Cycle 24, by which time communication with STEREO-B had been lost. We compare heliospheric CME characteristics with properties of CMEs observed at coronal altitudes, and with sunspot number. As expected, heliospheric CME rates correlate with sunspot number, and are not inconsistent with coronal rates once instrumental factors/differences in cataloguing philosophy are considered. As well as being more abundant, heliospheric CMEs, like their coronal counterparts, tend to be wider during solar maximum. Our results confirm previous coronagraph analyses suggesting that CME launch sites do not simply migrate to higher latitudes with increasing solar activity. At solar minimum, CMEs tend to be launched from equatorial latitudes, while at maximum, CMEs appear to be launched over a much wider latitude range; this has implications for understanding the CME/solar source association. Our analysis provides some supporting evidence for the systematic dragging of CMEs to lower latitude as they propagate

  20. Stereo particle image velocimetry set up for measurements in the wake of scaled wind turbines

    NASA Astrophysics Data System (ADS)

    Campanardi, Gabriele; Grassi, Donato; Zanotti, Alex; Nanos, Emmanouil M.; Campagnolo, Filippo; Croce, Alessandro; Bottasso, Carlo L.

    2017-08-01

    Stereo particle image velocimetry measurements were carried out in the boundary layer test section of Politecnico di Milano large wind tunnel to survey the wake of a scaled wind turbine model designed and developed by Technische Universität München. The stereo PIV instrumentation was set up to survey the three velocity components on cross-flow planes at different longitudinal locations. The area of investigation covered the entire extent of the wind turbines wake that was scanned by the use of two separate traversing systems for both the laser and the cameras. Such instrumentation set up enabled to gain rapidly high quality results suitable to characterise the behaviour of the flow field in the wake of the scaled wind turbine. This would be very useful for the evaluation of the performance of wind farm control methodologies based on wake redirection and for the validation of CFD tools.

  1. CME Research and Space Weather Support for the SECCHI Experiments on the STEREO Mission

    DTIC Science & Technology

    2014-01-14

    Corbett, ed., Cambridge Univ. Press (2010) Kahler, S.W. and D. F. Webb, "Tracking Nonradial Motions and Azimuthal Expansions of Interplanetary CME...Imaging and In-situ Data from LASCO, STEREO and SMEI", Bull. AAS, 41(2), p. 855, 2009. Kahler S. and D. Webb, "Tracking Nonradial Motions and

  2. Bifocal Stereo for Multipath Person Re-Identification

    NASA Astrophysics Data System (ADS)

    Blott, G.; Heipke, C.

    2017-11-01

    This work presents an approach for the task of person re-identification by exploiting bifocal stereo cameras. Present monocular person re-identification approaches show a decreasing working distance, when increasing the image resolution to obtain a higher reidentification performance. We propose a novel 3D multipath bifocal approach, containing a rectilinear lens with larger focal length for long range distances and a fish eye lens of a smaller focal length for the near range. The person re-identification performance is at least on par with 2D re-identification approaches but the working distance of the approach is increased and on average 10% more re-identification performance can be achieved in the overlapping field of view compared to a single camera. In addition, the 3D information is exploited from the overlapping field of view to solve potential 2D ambiguities.

  3. Stereo View of Phoenix Test Sample Site

    NASA Technical Reports Server (NTRS)

    2008-01-01

    This anaglyph image, acquired by NASA's Phoenix Lander's Surface Stereo Imager on Sol 7, the seventh day of the mission (June 1, 2008), shows a stereoscopic 3D view of the so-called 'Knave of Hearts' first-dig test area to the north of the lander. The Robotic Arm's scraping blade left a small horizontal depression above where the sample was taken.

    Scientists speculate that white material in the depression left by the dig could represent ice or salts that precipitated into the soil. This material is likely the same white material observed in the sample in the Robotic Arm's scoop.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  4. Terminator Disparity Contributes to Stereo Matching for Eye Movements and Perception

    PubMed Central

    Optican, Lance M.; Cumming, Bruce G.

    2013-01-01

    In the context of motion detection, the endings (or terminators) of 1-D features can be detected as 2-D features, affecting the perceived direction of motion of the 1-D features (the barber-pole illusion) and the direction of tracking eye movements. In the realm of binocular disparity processing, an equivalent role for the disparity of terminators has not been established. Here we explore the stereo analogy of the barber-pole stimulus, applying disparity to a 1-D noise stimulus seen through an elongated, zero-disparity, aperture. We found that, in human subjects, these stimuli induce robust short-latency reflexive vergence eye movements, initially in the direction orthogonal to the 1-D features, but shortly thereafter in the direction predicted by the disparity of the terminators. In addition, these same stimuli induce vivid depth percepts, which can only be attributed to the disparity of line terminators. When the 1-D noise patterns are given opposite contrast in the two eyes (anticorrelation), both components of the vergence response reverse sign. Finally, terminators drive vergence even when the aperture is defined by a texture (as opposed to a contrast) boundary. These findings prove that terminators contribute to stereo matching, and constrain the type of neuronal mechanisms that might be responsible for the detection of terminator disparity. PMID:24285893

  5. Virtual-stereo fringe reflection technique for specular free-form surface testing

    NASA Astrophysics Data System (ADS)

    Ma, Suodong; Li, Bo

    2016-11-01

    Due to their excellent ability to improve the performance of optical systems, free-form optics have attracted extensive interest in many fields, e.g. optical design of astronomical telescopes, laser beam expanders, spectral imagers, etc. However, compared with traditional simple ones, testing for such kind of optics is usually more complex and difficult which has been being a big barrier for the manufacture and the application of these optics. Fortunately, owing to the rapid development of electronic devices and computer vision technology, fringe reflection technique (FRT) with advantages of simple system structure, high measurement accuracy and large dynamic range is becoming a powerful tool for specular free-form surface testing. In order to obtain absolute surface shape distributions of test objects, two or more cameras are often required in the conventional FRT which makes the system structure more complex and the measurement cost much higher. Furthermore, high precision synchronization between each camera is also a troublesome issue. To overcome the aforementioned drawback, a virtual-stereo FRT for specular free-form surface testing is put forward in this paper. It is able to achieve absolute profiles with the help of only one single biprism and a camera meanwhile avoiding the problems of stereo FRT based on binocular or multi-ocular cameras. Preliminary experimental results demonstrate the feasibility of the proposed technique.

  6. STEREO/SECCHI Stereoscopic Observations Constraining the Initiation of Polar Coronal Jets

    NASA Technical Reports Server (NTRS)

    Patsourakos, S.; Pariat, E.; Vourlidas, A.; Antiochos, S. K.; Wuelser, J. P.

    2008-01-01

    We report on the first stereoscopic observations of polar coronal jets made by the EUVI/SECCHI imagers on board the twin STEREO spacecraft. The significantly separated viewpoints (approximately 11 degrees ) allowed us to infer the 3D dynamics and morphology of a well-defined EUV coronal jet for the first time. Triangulations of the jet's location in simultaneous image pairs led to the true 3D position and thereby its kinematics. Initially the jet ascends slowly at approximately equal to 10-20 kilometers per second and then, after an apparent 'jump' takes place, it accelerates impulsively to velocities exceeding 300 kilometers per second with accelerations exceeding the solar gravity. Helical structure is the most important geometrical feature of the jet which shows evidence of untwisting. The jet structure appears strikingly different from each of the two STEREO viewpoints: face-on in the one viewpoint and edge-on in the other. This provides conclusive evidence that the observed helical structure is real and is not resulting from possible projection effects of single viewpoint observations. The clear demonstration of twisted structure in polar jets compares favorably with synthetic images from a recent MHD simulation of jets invoking magnetic untwisting as their driving mechanism. Therefore, the latter can be considered as a viable mechanism for the initiation of polar jets.

  7. Micro air vehicle autonomous obstacle avoidance from stereo-vision

    NASA Astrophysics Data System (ADS)

    Brockers, Roland; Kuwata, Yoshiaki; Weiss, Stephan; Matthies, Lawrence

    2014-06-01

    We introduce a new approach for on-board autonomous obstacle avoidance for micro air vehicles flying outdoors in close proximity to structure. Our approach uses inverse-range, polar-perspective stereo-disparity maps for obstacle detection and representation, and deploys a closed-loop RRT planner that considers flight dynamics for trajectory generation. While motion planning is executed in 3D space, we reduce collision checking to a fast z-buffer-like operation in disparity space, which allows for significant speed-up compared to full 3d methods. Evaluations in simulation illustrate the robustness of our approach, whereas real world flights under tree canopy demonstrate the potential of the approach.

  8. Quantitative evaluation of three advanced laparoscopic viewing technologies: a stereo endoscope, an image projection display, and a TFT display.

    PubMed

    Wentink, M; Jakimowicz, J J; Vos, L M; Meijer, D W; Wieringa, P A

    2002-08-01

    Compared to open surgery, minimally invasive surgery (MIS) relies heavily on advanced technology, such as endoscopic viewing systems and innovative instruments. The aim of the study was to objectively compare three technologically advanced laparoscopic viewing systems with the standard viewing system currently used in most Dutch hospitals. We evaluated the following advanced laparoscopic viewing systems: a Thin Film Transistor (TFT) display, a stereo endoscope, and an image projection display. The standard viewing system was comprised of a monocular endoscope and a high-resolution monitor. Task completion time served as the measure of performance. Eight surgeons with laparoscopic experience participated in the experiment. The average task time was significantly greater (p <0.05) with the stereo viewing system than with the standard viewing system. The average task times with the TFT display and the image projection display did not differ significantly from the standard viewing system. Although the stereo viewing system promises improved depth perception and the TFT and image projection displays are supposed to improve hand-eye coordination, none of these systems provided better task performance than the standard viewing system in this pelvi-trainer experiment.

  9. Multiocular image sensor with on-chip beam-splitter and inner meta-micro-lens for single-main-lens stereo camera.

    PubMed

    Koyama, Shinzo; Onozawa, Kazutoshi; Tanaka, Keisuke; Saito, Shigeru; Kourkouss, Sahim Mohamed; Kato, Yoshihisa

    2016-08-08

    We developed multiocular 1/3-inch 2.75-μm-pixel-size 2.1M- pixel image sensors by co-design of both on-chip beam-splitter and 100-nm-width 800-nm-depth patterned inner meta-micro-lens for single-main-lens stereo camera systems. A camera with the multiocular image sensor can capture horizontally one-dimensional light filed by both the on-chip beam-splitter horizontally dividing ray according to incident angle, and the inner meta-micro-lens collecting the divided ray into pixel with small optical loss. Cross-talks between adjacent light field images of a fabricated binocular image sensor and of a quad-ocular image sensor are as low as 6% and 7% respectively. With the selection of two images from one-dimensional light filed images, a selective baseline for stereo vision is realized to view close objects with single-main-lens. In addition, by adding multiple light field images with different ratios, baseline distance can be tuned within an aperture of a main lens. We suggest the electrically selective or tunable baseline stereo vision to reduce 3D fatigue of viewers.

  10. STEREO observations of HD90386 (RX Sex): a δ-Scuti or a hybrid star?

    NASA Astrophysics Data System (ADS)

    Ozuyar, D.; Stevens, I. R.; Whittaker, G.; Sangaralingam, V.

    2016-04-01

    HD90386 is a rarely studied bright A2V type δ Scuti star (V = 6.66 mag). It displays short-term light curve variations which are originated due to either a beating phenomenon or a non-periodic variation. In this paper, we presented high-precision photometric data of HD90386 taken by the STEREO satellite between 2007 and 2011 to shed light on its internal structure and evolution stage. From the frequency analysis of the four-year data, we detected that HD90386 had at least six different frequencies between 1 and 15 c d-1. The most dominant frequencies were found at around 10.25258 c d-1 (A ∼ 1.92 mmag) and 12.40076 c d-1 (A ∼ 0.61 mmag). Based on the ratio between these frequencies, the star was considered as an overtone pulsator. The variation in pulsation period over 35 years was calculated to be dP/Pdt = 5.39(2) x 10-3 yr-1. Other variabilities at around 1.0 c d-1 in the amplitude spectrum of HD90386 were also discussed. In order to explain these variabilities, possible rotational effects and γ Dor type variations were focused. Consequently, depending on the rotation velocity of HD90386, we speculated that these changes might be related to γ Dor type high-order g-modes shifted to the higher frequencies and that HD90386 might be a hybrid star.

  11. On Weibull's Spectrum of Nonrelativistic Energetic Particles at IP Shocks: Observations and Theoretical Interpretation

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

    Pallocchia, G.; Laurenza, M.; Consolini, G.

    2017-03-10

    Some interplanetary shocks are associated with short-term and sharp particle flux enhancements near the shock front. Such intensity enhancements, known as shock-spike events (SSEs), represent a class of relatively energetic phenomena as they may extend to energies of some tens of MeV or even beyond. Here we present an SSE case study in order to shed light on the nature of the particle acceleration involved in this kind of event. Our observations refer to an SSE registered on 2011 October 3 at 22:23 UT, by STEREO B instrumentation when, at a heliocentric distance of 1.08 au, the spacecraft was sweptmore » by a perpendicular shock moving away from the Sun. The main finding from the data analysis is that a Weibull distribution represents a good fitting function to the measured particle spectrum over the energy range from 0.1 to 30 MeV. To interpret such an observational result, we provide a theoretical derivation of the Weibull spectrum in the framework of the acceleration by “killed” stochastic processes exhibiting power-law growth in time of the velocity expectation, such as the classical Fermi process. We find an overall coherence between the experimental values of the Weibull spectrum parameters and their physical meaning within the above scenario. Hence, our approach based on the Weibull distribution proves to be useful for understanding SSEs. With regard to the present event, we also provide an alternative explanation of the Weibull spectrum in terms of shock-surfing acceleration.« less

  12. Practical low-cost stereo head-mounted display

    NASA Astrophysics Data System (ADS)

    Pausch, Randy; Dwivedi, Pramod; Long, Allan C., Jr.

    1991-08-01

    A high-resolution head-mounted display has been developed from substantially cheaper components than previous systems. Monochrome displays provide 720 by 280 monochrome pixels to each eye in a one-inch-square region positioned approximately one inch from each eye. The display hardware is the Private Eye, manufactured by Reflection Technologies, Inc. The tracking system uses the Polhemus Isotrak, providing (x,y,z, azimuth, elevation and roll) information on the user''s head position and orientation 60 times per second. In combination with a modified Nintendo Power Glove, this system provides a full-functionality virtual reality/simulation system. Using two host 80386 computers, real-time wire frame images can be produced. Other virtual reality systems require roughly 250,000 in hardware, while this one requires only 5,000. Stereo is particularly useful for this system because shading or occlusion cannot be used as depth cues.

  13. Predicting Long-Range Traversability from Short-Range Stereo-Derived Geometry

    NASA Technical Reports Server (NTRS)

    Turmon, Michael; Tang, Benyang; Howard, Andrew; Brjaracharya, Max

    2010-01-01

    Based only on its appearance in imagery, this program uses close-range 3D terrain analysis to produce training data sufficient to estimate the traversability of terrain beyond 3D sensing range. This approach is called learning from stereo (LFS). In effect, the software transfers knowledge from middle distances, where 3D geometry provides training cues, into the far field where only appearance is available. This is a viable approach because the same obstacle classes, and sometimes the same obstacles, are typically present in the mid-field and the farfield. Learning thus extends the effective look-ahead distance of the sensors.

  14. Performance evaluation of stereo endoscopic imaging system incorporating TFT-LCD.

    PubMed

    Song, C-G; Park, S-K

    2005-01-01

    This paper presents a 3D endoscopic video system designed to improve visualization and enhance the ability of the surgeon to perform delicate endoscopic surgery. In a comparison of the polarized and electric shutter-type stereo imaging systems, the former was found to be superior in terms of both accuracy and speed for knot-tying and for the loop pass test. The results of our experiments show that the proposed 3D endoscopic system has a sufficiently wide viewing angle and zone for multi-viewing, and that it provides better image quality and more stable optical performance compared with the electric shutter-type.

  15. The robot's eyes - Stereo vision system for automated scene analysis

    NASA Technical Reports Server (NTRS)

    Williams, D. S.

    1977-01-01

    Attention is given to the robot stereo vision system which maintains the image produced by solid-state detector television cameras in a dynamic random access memory called RAPID. The imaging hardware consists of sensors (two solid-state image arrays using a charge injection technique), a video-rate analog-to-digital converter, the RAPID memory, and various types of computer-controlled displays, and preprocessing equipment (for reflexive actions, processing aids, and object detection). The software is aimed at locating objects and transversibility. An object-tracking algorithm is discussed and it is noted that tracking speed is in the 50-75 pixels/s range.

  16. Characterization of Stereo Vision Performance for Roving at the Lunar Poles

    NASA Technical Reports Server (NTRS)

    Wong, Uland; Nefian, Ara; Edwards, Larry; Furlong, Michael; Bouyssounouse, Xavier; To, Vinh; Deans, Matthew; Cannon, Howard; Fong, Terry

    2016-01-01

    Surface rover operations at the polar regions of airless bodies, particularly the Moon, are of particular interest to future NASA science missions such as Resource Prospector (RP). Polar optical conditions present challenges to conventional imaging techniques, with repercussions to driving, safeguarding and science. High dynamic range, long cast shadows, opposition and white out conditions are all significant factors in appearance. RP is currently undertaking an effort to characterize stereo vision performance in polar conditions through physical laboratory experimentation with regolith simulants, obstacle distributions and oblique lighting.

  17. Online Stereo 3D Simulation in Studying the Spherical Pendulum in Conservative Force Field

    ERIC Educational Resources Information Center

    Zabunov, Svetoslav S.

    2013-01-01

    The current paper aims at presenting a modern e-learning method and tool that is utilized in teaching physics in the universities. An online stereo 3D simulation is used for e-learning mechanics and specifically the teaching of spherical pendulum as part of the General Physics course for students in the universities. This approach was realized on…

  18. X-ray and optical stereo-based 3D sensor fusion system for image-guided neurosurgery.

    PubMed

    Kim, Duk Nyeon; Chae, You Seong; Kim, Min Young

    2016-04-01

    In neurosurgery, an image-guided operation is performed to confirm that the surgical instruments reach the exact lesion position. Among the multiple imaging modalities, an X-ray fluoroscope mounted on C- or O-arm is widely used for monitoring the position of surgical instruments and the target position of the patient. However, frequently used fluoroscopy can result in relatively high radiation doses, particularly for complex interventional procedures. The proposed system can reduce radiation exposure and provide the accurate three-dimensional (3D) position information of surgical instruments and the target position. X-ray and optical stereo vision systems have been proposed for the C- or O-arm. Two subsystems have same optical axis and are calibrated simultaneously. This provides easy augmentation of the camera image and the X-ray image. Further, the 3D measurement of both systems can be defined in a common coordinate space. The proposed dual stereoscopic imaging system is designed and implemented for mounting on an O-arm. The calibration error of the 3D coordinates of the optical stereo and X-ray stereo is within 0.1 mm in terms of the mean and the standard deviation. Further, image augmentation with the camera image and the X-ray image using an artificial skull phantom is achieved. As the developed dual stereoscopic imaging system provides 3D coordinates of the point of interest in both optical images and fluoroscopic images, it can be used by surgeons to confirm the position of surgical instruments in a 3D space with minimum radiation exposure and to verify whether the instruments reach the surgical target observed in fluoroscopic images.

  19. Sedna Planitia (Right Member of a Synthetic Stereo Pair)

    NASA Technical Reports Server (NTRS)

    1992-01-01

    This perspective view of Venus, generated by computer from Magellan data and color-coded with emissivity, shows part of the lowland plains in Sedna Planitia. Circular depressions with associated fracture patterns, called 'coronae', are apparently unique to the lowlands of Venus, and tend to occur in linear clusters along the planet's major tectonic belts, as seen in this image. Coronae differ greatly in size and detailed morphology: the central depression may or may not lie below the surrounding plains, and may or may not be surrounded by a raised rim or a moat outside the rim. Coronae are thought to be caused by localized 'hot spot' magmatic activity in Venus' subsurface. Intrusion of magma into the crust first pushes up the surface, after which cooling and contraction create the central depression and generate a pattern of concentric fractures. In some cases, lava may be extruded onto the surface, as seen here as bright flows in the foreground. This image is the right member of a synthetic stereo pair; the other image is PIA00313. To view the region in stereo, download the two images, arrange them side by side on the screen or in hardcopy, and view this image with the right eye and the other with the left. For best viewing, use a stereoscope or size the images so that their width is close to the interpupillary distance, about 6.6 cm (2.6 inches). Magellan MIDR quadrangle* containing this image: C1- 45N011. Image resolution (m): 225. Size of region shown (E-W x N-S, in km): 1900 x 120 at front edge. Range of emissivities from violet to red: 0.82 -- 0.88. Vertical exaggeration: 20. Azimuth of viewpoint (deg clockwise from East): 13. Elevation of viewpoint (km): 300. *Quadrangle name indicates approximate center latitude (N=north, S=south) and center longitude (East).

  20. Sedna Planitia (Left Member of a Synthetic Stereo Pair)

    NASA Technical Reports Server (NTRS)

    1992-01-01

    This perspective view of Venus, generated by computer from Magellan data and color-coded with emissivity, shows part of the lowland plains in Sedna Planitia. Circular depressions with associated fracture patterns, called 'coronae', are apparently unique to the lowlands of Venus, and tend to occur in linear clusters along the planet's major tectonic belts, as seen in this image. Coronae differ greatly in size and detailed morphology: the central depression may or may not lie below the surrounding plains, and may or may not be surrounded by a raised rim or a moat outside the rim. Coronae are thought to be caused by localized 'hot spot' magmatic activity in Venus' subsurface. Intrusion of magma into the crust first pushes up the surface, after which cooling and contraction create the central depression and generate a pattern of concentric fractures. In some cases, lava may be extruded onto the surface, as seen here as bright flows in the foreground. This image is the left member of a synthetic stereo pair; the other image is PIA00314. To view the region in stereo, download the two images, arrange them side by side on the screen or in hardcopy, and view this image with the left eye and the other with the right. For best viewing, use a stereoscope or size the images so that their width is close to the interpupillary distance, about 6.6 cm (2.6 inches). Magellan MIDR quadrangle* containing this image: C1-45N011. Image resolution (m): 225. Size of region shown (E-W x N-S, in km): 1900 x 120 at front edge. Range of emissivities from violet to red: 0.82 -- 0.88. Vertical exaggeration: 20. Azimuth of viewpoint (deg clockwise from East): 13. Elevation of viewpoint (km): 300. *Quadrangle name indicates approximate center latitude (N=north, S=south) and center longitude (East).

  1. Robust surface reconstruction by design-guided SEM photometric stereo

    NASA Astrophysics Data System (ADS)

    Miyamoto, Atsushi; Matsuse, Hiroki; Koutaki, Gou

    2017-04-01

    We present a novel approach that addresses the blind reconstruction problem in scanning electron microscope (SEM) photometric stereo for complicated semiconductor patterns to be measured. In our previous work, we developed a bootstrapping de-shadowing and self-calibration (BDS) method, which automatically calibrates the parameter of the gradient measurement formulas and resolves shadowing errors for estimating an accurate three-dimensional (3D) shape and underlying shadowless images. Experimental results on 3D surface reconstruction demonstrated the significance of the BDS method for simple shapes, such as an isolated line pattern. However, we found that complicated shapes, such as line-and-space (L&S) and multilayered patterns, produce deformed and inaccurate measurement results. This problem is due to brightness fluctuations in the SEM images, which are mainly caused by the energy fluctuations of the primary electron beam, variations in the electronic expanse inside a specimen, and electrical charging of specimens. Despite these being essential difficulties encountered in SEM photometric stereo, it is difficult to model accurately all the complicated physical phenomena of electronic behavior. We improved the robustness of the surface reconstruction in order to deal with these practical difficulties with complicated shapes. Here, design data are useful clues as to the pattern layout and layer information of integrated semiconductors. We used the design data as a guide of the measured shape and incorporated a geometrical constraint term to evaluate the difference between the measured and designed shapes into the objective function of the BDS method. Because the true shape does not necessarily correspond to the designed one, we use an iterative scheme to develop proper guide patterns and a 3D surface that provides both a less distorted and more accurate 3D shape after convergence. Extensive experiments on real image data demonstrate the robustness and effectiveness

  2. Comparison on testability of visual acuity, stereo acuity and colour vision tests between children with learning disabilities and children without learning disabilities in government primary schools

    PubMed Central

    Abu Bakar, Nurul Farhana; Chen, Ai-Hong

    2014-01-01

    Context: Children with learning disabilities might have difficulties to communicate effectively and give reliable responses as required in various visual function testing procedures. Aims: The purpose of this study was to compare the testability of visual acuity using the modified Early Treatment Diabetic Retinopathy Study (ETDRS) and Cambridge Crowding Cards, stereo acuity using Lang Stereo test II and Butterfly stereo tests and colour perception using Colour Vision Test Made Easy (CVTME) and Ishihara's Test for Colour Deficiency (Ishihara Test) between children in mainstream classes and children with learning disabilities in special education classes in government primary schools. Materials and Methods: A total of 100 primary school children (50 children from mainstream classes and 50 children from special education classes) matched in age were recruited in this cross-sectional comparative study. The testability was determined by the percentage of children who were able to give reliable respond as required by the respective tests. ‘Unable to test’ was defined as inappropriate response or uncooperative despite best efforts of the screener. Results: The testability of the modified ETDRS, Butterfly stereo test and Ishihara test for respective visual function tests were found lower among children in special education classes (P < 0.001) but not in Cambridge Crowding Cards, Lang Stereo test II and CVTME. Conclusion: Non verbal or “matching” approaches were found to be more superior in testing visual functions in children with learning disabilities. Modifications of vision testing procedures are essential for children with learning disabilities. PMID:24008790

  3. Comparison on testability of visual acuity, stereo acuity and colour vision tests between children with learning disabilities and children without learning disabilities in government primary schools.

    PubMed

    Abu Bakar, Nurul Farhana; Chen, Ai-Hong

    2014-02-01

    Children with learning disabilities might have difficulties to communicate effectively and give reliable responses as required in various visual function testing procedures. The purpose of this study was to compare the testability of visual acuity using the modified Early Treatment Diabetic Retinopathy Study (ETDRS) and Cambridge Crowding Cards, stereo acuity using Lang Stereo test II and Butterfly stereo tests and colour perception using Colour Vision Test Made Easy (CVTME) and Ishihara's Test for Colour Deficiency (Ishihara Test) between children in mainstream classes and children with learning disabilities in special education classes in government primary schools. A total of 100 primary school children (50 children from mainstream classes and 50 children from special education classes) matched in age were recruited in this cross-sectional comparative study. The testability was determined by the percentage of children who were able to give reliable respond as required by the respective tests. 'Unable to test' was defined as inappropriate response or uncooperative despite best efforts of the screener. The testability of the modified ETDRS, Butterfly stereo test and Ishihara test for respective visual function tests were found lower among children in special education classes ( P < 0.001) but not in Cambridge Crowding Cards, Lang Stereo test II and CVTME. Non verbal or "matching" approaches were found to be more superior in testing visual functions in children with learning disabilities. Modifications of vision testing procedures are essential for children with learning disabilities.

  4. Crater Relaxation and Stereo Imaging of the Icy Satellites of Jupiter and Saturn

    NASA Astrophysics Data System (ADS)

    Phillips, C. B.; Beyer, R. A.; Nimmo, F.; Roberts, J. H.; Robuchon, G.

    2010-12-01

    Crater relaxation has been used as a probe of subsurface temperature structure for over thirty years, both on terrestrial bodies and icy satellites. We are developing and testing two independent methods for processing stereo pairs to produce digital elevation models, to address how crater relaxation depends on crater diameter, geographic location, and stratigraphic position on the icy satellites of Jupiter and Saturn. Our topographic profiles will then serve as input into two numerical models, one viscous and one viscoelastic, to allow us to probe the subsurface thermal profiles and relaxation histories of these satellites. We are constructing stereo topography from Galileo and Cassini image pairs using the NASA Ames Stereo Pipeline (Moratto et al. 2010), an automated stereogrammetry tool designed for processing planetary imagery captured from orbiting and landed robotic explorers on other planets. We will also be using the commercial program SOCET SET from BAE Systems (Miller and Walker 1993; 1995). Qualitatively, it is clear that there are large spatial variations in the degree of crater relaxation among Jupiter’s and Saturn’s satellites. However, our use of stereo topography will allow quantitative measures of crater relaxation (e.g. depth:diameter ratio or equivalent) to be derived. Such measures are essential to derive quantitative estimates of the heat fluxes responsible for this relaxation. Estimating how surface heat flux has varied with time provides critical constraints on satellite thermal (and orbital) evolution. Craters undergo viscous relaxation over time at a rate that depends on the temperature gradient and crater scale. We are investigating how the near-surface satellite heat flux varied in time and space, based on our crater relaxation observations. Once we have crater profiles from our DEMs, we use them as input to two theoretical approaches: a relatively simple (viscous) numerical model in which time-varying heat fluxes can be included, and

  5. Interplanetary shocks, Plasma waves and turbulence, Kinetic waves and instabilities, STEREO spacecraft

    NASA Astrophysics Data System (ADS)

    Cohen, Z.; Breneman, A. W.; Cattell, C. A.; Davis, L.; Grul, P.; Kersten, K.; Wilson, L. B., III

    2017-12-01

    Determining the role of plasma waves in providing energy dissipation at shock waves is of long-standing interest. Interplanetary (IP) shocks serve as a large database of low Mach number shocks. We examine electric field waveforms captured by the Time Domain Sampler (TDS) on the STEREO spacecraft during the ramps of IP shocks, with emphasis on captures lasting 2.1 seconds. Previous work has used captures of shorter duration (66 and 131 ms on STEREO, and 17 ms on WIND), which allowed for observation of waves with maximum (minimum) frequencies of 125 kHz (15 Hz), 62.5 kHz (8 Hz), and 60 kHz (59 Hz), respectively. The maximum frequencies are comparable to 2-8 times the plasma frequency in the solar wind, enabling observation of Langmuir waves, ion acoustic, and some whistler-mode waves. The 2 second captures resolve lower frequencies ( few Hz), which allows us to analyze packet structure of the whistler-mode waves and some ion acoustic waves. The longer capture time also improves the resolvability of simultaneous wave modes and of waves with frequencies on the order of 10s of Hz. Langmuir waves, however, cannot be identified at this sampling rate, since the plasma frequency is usually higher than 3.9 kHz. IP shocks are identified from multiple databases (Helsinki heliospheric shock database at http://ipshocks.fi, and the STEREO level 3 shock database at ftp://stereoftp.nascom.nasa.gov/pub/ins_data/impact/level3/). Our analysis focuses on TDS captures in shock ramp regions, with ramp durations determined from magnetic field data taken at 8 Hz. Software is used to identify multiple wave modes in any given capture and classify waves as Langmuir, ion acoustic, whistler, lower hybrid, electron cyclotron drift instability, or electrostatic solitary waves. Relevant frequencies are determined from density and magnetic field data collected in situ. Preliminary results suggest that large amplitude (∼ 5 mV/m) ion acoustic waves are most prevalent in the ramp, in agreement with

  6. Tracking Topographic Changes from Multitemporal Stereo Images, Application to the Nili Patera Dune Field

    NASA Astrophysics Data System (ADS)

    Avouac, J.; Ayoub, F.; Bridges, N. T.; Leprince, S.; Lucas, A.

    2012-12-01

    The High Resolution Imaging Science Experiment (HiRISE) in orbit around Mars provides images with a nominal ground resolution of 25cm. Its agility allows imaging a same scene with stereo view angles thus allowing for for Digital elevation Model (DEM) extraction through stereo-photogrammetry. This dataset thus offers an exceptional opportunity to measure the topography with high precision and track its eventual evolution with time. In this presentation, we will discuss how multi-temporal acquisitions of HiRISE images of the Nili Patera dune field allow tracking ripples migration, assess sand fluxes and dunes activity. We investigated in particular the use of multi-temporal DEMs to monitor the migration and morphologic evolution of the dune field. We present here the methodology used and the various challenges that must be overcome to best exploit the multi-temporal images. Two DEMs were extracted from two stereo images pairs acquired 390 earth days apart in 2010-2011 using SOCET SET photogrammetry software, with a 1m post-spacing and a vertical accuracy of few tens of centimeters. Prior to comparison the DEMs registration, which was not precise enough out of SOCET-SET, was improved by wrapping the second DEM onto the first one using the bedrock only as a support for registration. The vertical registration residual was estimated at around 40cm RMSE and is mostly due to CCD misalignment and uncorrected spacecraft attitudes. Changes of elevation over time are usually determined from DEMs differentiation: provided that DEMs are perfectly registered and sampled on the same grid, this approach readily quantifies erosion and deposition processes. As the dunes have moved horizontally, they are not physically aligned anymore in the DEMs, and their morphologic evolution cannot be recovered easily from differentiating the DEMs. In this particular setting the topographic evolution is best recovered from correlation of the DEMs. We measure that the fastest dunes have migrated by

  7. Segmentation of stereo terrain images

    NASA Astrophysics Data System (ADS)

    George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

    2000-06-01

    We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

  8. Automated determination of cup-to-disc ratio for classification of glaucomatous and normal eyes on stereo retinal fundus images

    NASA Astrophysics Data System (ADS)

    Muramatsu, Chisako; Nakagawa, Toshiaki; Sawada, Akira; Hatanaka, Yuji; Yamamoto, Tetsuya; Fujita, Hiroshi

    2011-09-01

    Early diagnosis of glaucoma, which is the second leading cause of blindness in the world, can halt or slow the progression of the disease. We propose an automated method for analyzing the optic disc and measuring the cup-to-disc ratio (CDR) on stereo retinal fundus images to improve ophthalmologists' diagnostic efficiency and potentially reduce the variation on the CDR measurement. The method was developed using 80 retinal fundus image pairs, including 25 glaucomatous, and 55 nonglaucomatous eyes, obtained at our institution. A disc region was segmented using the active contour method with the brightness and edge information. The segmentation of a cup region was performed using a depth map of the optic disc, which was reconstructed on the basis of the stereo disparity. The CDRs were measured and compared with those determined using the manual segmentation results by an expert ophthalmologist. The method was applied to a new database which consisted of 98 stereo image pairs including 60 and 30 pairs with and without signs of glaucoma, respectively. Using the CDRs, an area under the receiver operating characteristic curve of 0.90 was obtained for classification of the glaucomatous and nonglaucomatous eyes. The result indicates potential usefulness of the automated determination of CDRs for the diagnosis of glaucoma.

  9. Crater Morphometry and Crater Degradation on Mercury: Mercury Laser Altimeter (MLA) Measurements and Comparison to Stereo-DTM Derived Results

    NASA Technical Reports Server (NTRS)

    Leight, C.; Fassett, C. I.; Crowley, M. C.; Dyar, M. D.

    2017-01-01

    Two types of measurements of Mercury's surface topography were obtained by the MESSENGER (MErcury Surface Space ENvironment, GEochemisty and Ranging) spacecraft: laser ranging data from Mercury Laser Altimeter (MLA) [1], and stereo imagery from the Mercury Dual Imaging System (MDIS) camera [e.g., 2, 3]. MLA data provide precise and accurate elevation meaurements, but with sparse spatial sampling except at the highest northern latitudes. Digital terrain models (DTMs) from MDIS have superior resolution but with less vertical accuracy, limited approximately to the pixel resolution of the original images (in the case of [3], 15-75 m). Last year [4], we reported topographic measurements of craters in the D=2.5 to 5 km diameter range from stereo images and suggested that craters on Mercury degrade more quickly than on the Moon (by a factor of up to approximately 10×). However, we listed several alternative explanations for this finding, including the hypothesis that the lower depth/diameter ratios we observe might be a result of the resolution and accuracy of the stereo DTMs. Thus, additional measurements were undertaken using MLA data to examine the morphometry of craters in this diameter range and assess whether the faster crater degradation rates proposed to occur on Mercury is robust.

  10. Dependence of the Peak Fluxes of Solar Energetic Particles on CME 3D Parameters from STEREO and SOHO

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

    Park, Jinhye; Moon, Y.-J.; Lee, Harim, E-mail: jinhye@khu.ac.kr

    We investigate the relationships between the peak fluxes of 18 solar energetic particle (SEP) events and associated coronal mass ejection (CME) 3D parameters (speed, angular width, and separation angle) obtained from SOHO , and STEREO-A / B for the period from 2010 August to 2013 June. We apply the STEREO CME Analysis Tool (StereoCAT) to the SEP-associated CMEs to obtain 3D speeds and 3D angular widths. The separation angles are determined as the longitudinal angles between flaring regions and magnetic footpoints of the spacecraft, which are calculated by the assumption of a Parker spiral field. The main results are asmore » follows. (1) We find that the dependence of the SEP peak fluxes on CME 3D speed from multiple spacecraft is similar to that on CME 2D speed. (2) There is a positive correlation between SEP peak flux and 3D angular width from multiple spacecraft, which is much more evident than the relationship between SEP peak flux and 2D angular width. (3) There is a noticeable anti-correlation ( r = −0.62) between SEP peak flux and separation angle. (4) The multiple-regression method between SEP peak fluxes and CME 3D parameters shows that the longitudinal separation angle is the most important parameter, and the CME 3D speed is secondary on SEP peak flux.« less

  11. Resolution enhancement of tri-stereo remote sensing images by super resolution methods

    NASA Astrophysics Data System (ADS)

    Tuna, Caglayan; Akoguz, Alper; Unal, Gozde; Sertel, Elif

    2016-10-01

    Super resolution (SR) refers to generation of a High Resolution (HR) image from a decimated, blurred, low-resolution (LR) image set, which can be either a single frame or multi-frame that contains a collection of several images acquired from slightly different views of the same observation area. In this study, we propose a novel application of tri-stereo Remote Sensing (RS) satellite images to the super resolution problem. Since the tri-stereo RS images of the same observation area are acquired from three different viewing angles along the flight path of the satellite, these RS images are properly suited to a SR application. We first estimate registration between the chosen reference LR image and other LR images to calculate the sub pixel shifts among the LR images. Then, the warping, blurring and down sampling matrix operators are created as sparse matrices to avoid high memory and computational requirements, which would otherwise make the RS-SR solution impractical. Finally, the overall system matrix, which is constructed based on the obtained operator matrices is used to obtain the estimate HR image in one step in each iteration of the SR algorithm. Both the Laplacian and total variation regularizers are incorporated separately into our algorithm and the results are presented to demonstrate an improved quantitative performance against the standard interpolation method as well as improved qualitative results due expert evaluations.

  12. Error analysis in stereo vision for location measurement of 3D point

    NASA Astrophysics Data System (ADS)

    Li, Yunting; Zhang, Jun; Tian, Jinwen

    2015-12-01

    Location measurement of 3D point in stereo vision is subjected to different sources of uncertainty that propagate to the final result. For current methods of error analysis, most of them are based on ideal intersection model to calculate the uncertainty region of point location via intersecting two fields of view of pixel that may produce loose bounds. Besides, only a few of sources of error such as pixel error or camera position are taken into account in the process of analysis. In this paper we present a straightforward and available method to estimate the location error that is taken most of source of error into account. We summed up and simplified all the input errors to five parameters by rotation transformation. Then we use the fast algorithm of midpoint method to deduce the mathematical relationships between target point and the parameters. Thus, the expectations and covariance matrix of 3D point location would be obtained, which can constitute the uncertainty region of point location. Afterwards, we turned back to the error propagation of the primitive input errors in the stereo system and throughout the whole analysis process from primitive input errors to localization error. Our method has the same level of computational complexity as the state-of-the-art method. Finally, extensive experiments are performed to verify the performance of our methods.

  13. Development and Long-Term Verification of Stereo Vision Sensor System for Controlling Safety at Railroad Crossing

    NASA Astrophysics Data System (ADS)

    Hosotani, Daisuke; Yoda, Ikushi; Hishiyama, Yoshiyuki; Sakaue, Katsuhiko

    Many people are involved in accidents every year at railroad crossings, but there is no suitable sensor for detecting pedestrians. We are therefore developing a ubiquitous stereo vision based system for ensuring safety at railroad crossings. In this system, stereo cameras are installed at the corners and are pointed toward the center of the railroad crossing to monitor the passage of people. The system determines automatically and in real-time whether anyone or anything is inside the railroad crossing, and whether anyone remains in the crossing. The system can be configured to automatically switch over to a surveillance monitor or automatically connect to an emergency brake system in the event of trouble. We have developed an original stereovision device and installed the remote controlled experimental system applied human detection algorithm in the commercial railroad crossing. Then we store and analyze image data and tracking data throughout two years for standardization of system requirement specification.

  14. The planetary hydraulics analysis based on a multi-resolution stereo DTMs and LISFLOOD-FP model: Case study in Mars

    NASA Astrophysics Data System (ADS)

    Kim, J.; Schumann, G.; Neal, J. C.; Lin, S.

    2013-12-01

    Earth is the only planet possessing an active hydrological system based on H2O circulation. However, after Mariner 9 discovered fluvial channels on Mars with similar features to Earth, it became clear that some solid planets and satellites once had water flows or pseudo hydrological systems of other liquids. After liquid water was identified as the agent of ancient martian fluvial activities, the valley and channels on the martian surface were investigated by a number of remote sensing and in-suit measurements. Among all available data sets, the stereo DTM and ortho from various successful orbital sensor, such as High Resolution Stereo Camera (HRSC), Context Camera (CTX), and High Resolution Imaging Science Experiment (HiRISE), are being most widely used to trace the origin and consequences of martian hydrological channels. However, geomorphological analysis, with stereo DTM and ortho images over fluvial areas, has some limitations, and so a quantitative modeling method utilizing various spatial resolution DTMs is required. Thus in this study we tested the application of hydraulics analysis with multi-resolution martian DTMs, constructed in line with Kim and Muller's (2009) approach. An advanced LISFLOOD-FP model (Bates et al., 2010), which simulates in-channel dynamic wave behavior by solving 2D shallow water equations without advection, was introduced to conduct a high accuracy simulation together with 150-1.2m DTMs over test sites including Athabasca and Bahram valles. For application to a martian surface, technically the acceleration of gravity in LISFLOOD-FP was reduced to the martian value of 3.71 m s-2 and the Manning's n value (friction), the only free parameter in the model, was adjusted for martian gravity by scaling it. The approach employing multi-resolution stereo DTMs and LISFLOOD-FP was superior compared with the other research cases using a single DTM source for hydraulics analysis. HRSC DTMs, covering 50-150m resolutions was used to trace rough

  15. Block Adjustment and Image Matching of WORLDVIEW-3 Stereo Pairs and Accuracy Evaluation

    NASA Astrophysics Data System (ADS)

    Zuo, C.; Xiao, X.; Hou, Q.; Li, B.

    2018-05-01

    WorldView-3, as a high-resolution commercial earth observation satellite, which is launched by Digital Global, provides panchromatic imagery of 0.31 m resolution. The positioning accuracy is less than 3.5 meter CE90 without ground control, which can use for large scale topographic mapping. This paper presented the block adjustment for WorldView-3 based on RPC model and achieved the accuracy of 1 : 2000 scale topographic mapping with few control points. On the base of stereo orientation result, this paper applied two kinds of image matching algorithm for DSM extraction: LQM and SGM. Finally, this paper compared the accuracy of the point cloud generated by the two image matching methods with the reference data which was acquired by an airborne laser scanner. The results showed that the RPC adjustment model of WorldView-3 image with small number of GCPs could satisfy the requirement of Chinese Surveying and Mapping regulations for 1 : 2000 scale topographic maps. And the point cloud result obtained through WorldView-3 stereo image matching had higher elevation accuracy, the RMS error of elevation for bare ground area is 0.45 m, while for buildings the accuracy can almost reach 1 meter.

  16. People Detection by a Mobile Robot Using Stereo Vision in Dynamic Indoor Environments

    NASA Astrophysics Data System (ADS)

    Méndez-Polanco, José Alberto; Muñoz-Meléndez, Angélica; Morales, Eduardo F.

    People detection and tracking is a key issue for social robot design and effective human robot interaction. This paper addresses the problem of detecting people with a mobile robot using a stereo camera. People detection using mobile robots is a difficult task because in real world scenarios it is common to find: unpredictable motion of people, dynamic environments, and different degrees of human body occlusion. Additionally, we cannot expect people to cooperate with the robot to perform its task. In our people detection method, first, an object segmentation method that uses the distance information provided by a stereo camera is used to separate people from the background. The segmentation method proposed in this work takes into account human body proportions to segment people and provides a first estimation of people location. After segmentation, an adaptive contour people model based on people distance to the robot is used to calculate a probability of detecting people. Finally, people are detected merging the probabilities of the contour people model and by evaluating evidence over time by applying a Bayesian scheme. We present experiments on detection of standing and sitting people, as well as people in frontal and side view with a mobile robot in real world scenarios.

  17. Automatic Generation of High Quality DSM Based on IRS-P5 Cartosat-1 Stereo Data

    NASA Astrophysics Data System (ADS)

    d'Angelo, Pablo; Uttenthaler, Andreas; Carl, Sebastian; Barner, Frithjof; Reinartz, Peter

    2010-12-01

    IRS-P5 Cartosat-1 high resolution stereo satellite imagery is well suited for the creation of digital surface models (DSM). A system for highly automated and operational DSM and orthoimage generation based on IRS-P5 Cartosat-1 imagery is presented, with an emphasis on automated processing and product quality. The proposed system processes IRS-P5 level-1 stereo scenes using the rational polynomial coefficients (RPC) universal sensor model. The described method uses an RPC correction based on DSM alignment instead of using reference images with a lower lateral accuracy, this results in improved geolocation of the DSMs and orthoimages. Following RPC correction, highly detailed DSMs with 5 m grid spacing are derived using Semiglobal Matching. The proposed method is part of an operational Cartosat-1 processor for the generation of a high resolution DSM. Evaluation of 18 scenes against independent ground truth measurements indicates a mean lateral error (CE90) of 6.7 meters and a mean vertical accuracy (LE90) of 5.1 meters.

  18. First stereo video dataset with ground truth for remote car pose estimation using satellite markers

    NASA Astrophysics Data System (ADS)

    Gil, Gustavo; Savino, Giovanni; Pierini, Marco

    2018-04-01

    Leading causes of PTW (Powered Two-Wheeler) crashes and near misses in urban areas are on the part of a failure or delayed prediction of the changing trajectories of other vehicles. Regrettably, misperception from both car drivers and motorcycle riders results in fatal or serious consequences for riders. Intelligent vehicles could provide early warning about possible collisions, helping to avoid the crash. There is evidence that stereo cameras can be used for estimating the heading angle of other vehicles, which is key to anticipate their imminent location, but there is limited heading ground truth data available in the public domain. Consequently, we employed a marker-based technique for creating ground truth of car pose and create a dataset∗ for computer vision benchmarking purposes. This dataset of a moving vehicle collected from a static mounted stereo camera is a simplification of a complex and dynamic reality, which serves as a test bed for car pose estimation algorithms. The dataset contains the accurate pose of the moving obstacle, and realistic imagery including texture-less and non-lambertian surfaces (e.g. reflectance and transparency).

  19. Longest time series of glacier mass changes in the Himalaya based on stereo imagery

    NASA Astrophysics Data System (ADS)

    Bolch, T.; Pieczonka, T.; Benn, D. I.

    2010-12-01

    Mass loss of Himalayan glaciers has wide-ranging consequences such as declining water resources, sea level rise and an increasing risk of glacial lake outburst floods (GLOFs). The assessment of the regional and global impact of glacier changes in the Himalaya is, however, hampered by a lack of mass balance data for most of the range. Multi-temporal digital terrain models (DTMs) allow glacier mass balance to be calculated since the availability of stereo imagery. Here we present the longest time series of mass changes in the Himalaya and show the high value of early stereo spy imagery such as Corona (years 1962 and 1970) aerial images and recent high resolution satellite data (Cartosat-1) to calculate a time series of glacier changes south of Mt. Everest, Nepal. We reveal that the glaciers are significantly losing mass with an increasing rate since at least ~1970, despite thick debris cover. The specific mass loss is 0.32 ± 0.08 m w.e. a-1, however, not higher than the global average. The spatial patterns of surface lowering can be explained by variations in debris-cover thickness, glacier velocity, and ice melt due to exposed ice cliffs and ponds.

  20. Stereo- and regio-selective one-pot synthesis of triazole-based unnatural amino acids and β- amino triazoles

    EPA Science Inventory

    Synthesis of triazole based unnatural amino acids and β-amino triazole has been described via stereo and regioselective one-pot multi-component reaction of sulfamidates, sodium azide, and alkynes under MW conditions. The developed method is applicable to a broad substrate scope a...