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Sample records for hierarchical stereo matching

  1. Hierarchical Stereo Matching in Two-Scale Space for Cyber-Physical System.

    Science.gov (United States)

    Choi, Eunah; Lee, Sangyoon; Hong, Hyunki

    2017-07-21

    Dense disparity map estimation from a high-resolution stereo image is a very difficult problem in terms of both matching accuracy and computation efficiency. Thus, an exhaustive disparity search at full resolution is required. In general, examining more pixels in the stereo view results in more ambiguous correspondences. When a high-resolution image is down-sampled, the high-frequency components of the fine-scaled image are at risk of disappearing in the coarse-resolution image. Furthermore, if erroneous disparity estimates caused by missing high-frequency components are propagated across scale space, ultimately, false disparity estimates are obtained. To solve these problems, we introduce an efficient hierarchical stereo matching method in two-scale space. This method applies disparity estimation to the reduced-resolution image, and the disparity result is then up-sampled to the original resolution. The disparity estimation values of the high-frequency (or edge component) regions of the full-resolution image are combined with the up-sampled disparity results. In this study, we extracted the high-frequency areas from the scale-space representation by using difference of Gaussian (DoG) or found edge components, using a Canny operator. Then, edge-aware disparity propagation was used to refine the disparity map. The experimental results show that the proposed algorithm outperforms previous methods.

  2. Hierarchical Stereo Matching in Two-Scale Space for Cyber-Physical System

    Directory of Open Access Journals (Sweden)

    Eunah Choi

    2017-07-01

    Full Text Available Dense disparity map estimation from a high-resolution stereo image is a very difficult problem in terms of both matching accuracy and computation efficiency. Thus, an exhaustive disparity search at full resolution is required. In general, examining more pixels in the stereo view results in more ambiguous correspondences. When a high-resolution image is down-sampled, the high-frequency components of the fine-scaled image are at risk of disappearing in the coarse-resolution image. Furthermore, if erroneous disparity estimates caused by missing high-frequency components are propagated across scale space, ultimately, false disparity estimates are obtained. To solve these problems, we introduce an efficient hierarchical stereo matching method in two-scale space. This method applies disparity estimation to the reduced-resolution image, and the disparity result is then up-sampled to the original resolution. The disparity estimation values of the high-frequency (or edge component regions of the full-resolution image are combined with the up-sampled disparity results. In this study, we extracted the high-frequency areas from the scale-space representation by using difference of Gaussian (DoG or found edge components, using a Canny operator. Then, edge-aware disparity propagation was used to refine the disparity map. The experimental results show that the proposed algorithm outperforms previous methods.

  3. Approaches for Stereo Matching

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    Takouhi Ozanian

    1995-04-01

    Full Text Available This review focuses on the last decade's development of the computational stereopsis for recovering three-dimensional information. The main components of the stereo analysis are exposed: image acquisition and camera modeling, feature selection, feature matching and disparity interpretation. A brief survey is given of the well known feature selection approaches and the estimation parameters for this selection are mentioned. The difficulties in identifying correspondent locations in the two images are explained. Methods as to how effectively to constrain the search for correct solution of the correspondence problem are discussed, as are strategies for the whole matching process. Reasons for the occurrence of matching errors are considered. Some recently proposed approaches, employing new ideas in the modeling of stereo matching in terms of energy minimization, are described. Acknowledging the importance of computation time for real-time applications, special attention is paid to parallelism as a way to achieve the required level of performance. The development of trinocular stereo analysis as an alternative to the conventional binocular one, is described. Finally a classification based on the test images for verification of the stereo matching algorithms, is supplied.

  4. Photometric invariant stereo matching method

    National Research Council Canada - National Science Library

    Gu, Feifei; Zhao, Hong; Zhou, Xiang; Li, Jinjun; Bu, Penghui; Zhao, Zixin

    2015-01-01

    A robust stereo matching method based on a comprehensive mathematical model for color formation process is proposed to estimate the disparity map of stereo images with noise and photometric variations...

  5. Sparse window local stereo matching

    NARCIS (Netherlands)

    Damjanovic, S.; van der Heijden, Ferdinand; Spreeuwers, Lieuwe Jan

    2011-01-01

    We propose a new local algorithm for dense stereo matching of gray images. This algorithm is a hybrid of the pixel based and the window based matching approach; it uses a subset of pixels from the large window for matching. Our algorithm does not suffer from the common pitfalls of the window based

  6. Stereo matching using Hebbian learning.

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    Pajares, G; Cruz, J M; Lopez-Orozco, J A

    1999-01-01

    This paper presents an approach to the local stereo matching problem using edge segments as features with several attributes. We have verified that the differences in attributes for the true matches cluster in a cloud around a center. The correspondence is established on the basis of the minimum distance criterion, computing the Mahalanobis distance between the difference of the attributes for a current pair of features and the cluster center (similarity constraint). We introduce a learning strategy based on the Hebbian Learning to get the best cluster center. A comparative analysis among methods without learning and with other learning strategies is illustrated.

  7. Matching Cost Filtering for Dense Stereo Correspondence

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    Yimin Lin

    2013-01-01

    Full Text Available Dense stereo correspondence enabling reconstruction of depth information in a scene is of great importance in the field of computer vision. Recently, some local solutions based on matching cost filtering with an edge-preserving filter have been proved to be capable of achieving more accuracy than global approaches. Unfortunately, the computational complexity of these algorithms is quadratically related to the window size used to aggregate the matching costs. The recent trend has been to pursue higher accuracy with greater efficiency in execution. Therefore, this paper proposes a new cost-aggregation module to compute the matching responses for all the image pixels at a set of sampling points generated by a hierarchical clustering algorithm. The complexity of this implementation is linear both in the number of image pixels and the number of clusters. Experimental results demonstrate that the proposed algorithm outperforms state-of-the-art local methods in terms of both accuracy and speed. Moreover, performance tests indicate that parameters such as the height of the hierarchical binary tree and the spatial and range standard deviations have a significant influence on time consumption and the accuracy of disparity maps.

  8. Semiglobal Matching Results on the Isprs Stereo Matching Benchmark

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    d'Angelo, P.; Reinartz, P.

    2011-09-01

    Digital surface models can be efficiently generated with automatic image matching from optical stereo images. The Working Group 4 of Commission I on "Geometric and Radiometric Modelling of Optical Spaceborne Sensors" provides a matching benchmark dataset with several stereo data sets from high and very high resolution space borne stereo sensors at http://www.commission1.isprs.org/wg4/ . The selected regions are in Catalonia, Spain, and include three test areas, covering city areas, rural areas and forests in flat and medium undulated terrain as well as steep mountainous terrain. In this paper, digital surface models (DSM) are derived from the Cartosat-1 and Worldview-1 datasets using Semiglobal Matching. The resulting DSM are evaluated against the first pulse returns of the LIDAR reference dataset provided by the Institut Cartogr`afic de Catalunya (ICC), using robust accuracy measures.

  9. Disparity Map Generation from Illumination Variant Stereo Images Using Efficient Hierarchical Dynamic Programming

    Directory of Open Access Journals (Sweden)

    Viral H. Borisagar

    2014-01-01

    Full Text Available A novel hierarchical stereo matching algorithm is presented which gives disparity map as output from illumination variant stereo pair. Illumination difference between two stereo images can lead to undesirable output. Stereo image pair often experience illumination variations due to many factors like real and practical situation, spatially and temporally separated camera positions, environmental illumination fluctuation, and the change in the strength or position of the light sources. Window matching and dynamic programming techniques are employed for disparity map estimation. Good quality disparity map is obtained with the optimized path. Homomorphic filtering is used as a preprocessing step to lessen illumination variation between the stereo images. Anisotropic diffusion is used to refine disparity map to give high quality disparity map as a final output. The robust performance of the proposed approach is suitable for real life circumstances where there will be always illumination variation between the images. The matching is carried out in a sequence of images representing the same scene, however in different resolutions. The hierarchical approach adopted decreases the computation time of the stereo matching problem. This algorithm can be helpful in applications like robot navigation, extraction of information from aerial surveys, 3D scene reconstruction, and military and security applications. Similarity measure SAD is often sensitive to illumination variation. It produces unacceptable disparity map results for illumination variant left and right images. Experimental results show that our proposed algorithm produces quality disparity maps for both wide range of illumination variant and invariant stereo image pair.

  10. Disparity map generation from illumination variant stereo images using efficient hierarchical dynamic programming.

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    Borisagar, Viral H; Zaveri, Mukesh A

    2014-01-01

    A novel hierarchical stereo matching algorithm is presented which gives disparity map as output from illumination variant stereo pair. Illumination difference between two stereo images can lead to undesirable output. Stereo image pair often experience illumination variations due to many factors like real and practical situation, spatially and temporally separated camera positions, environmental illumination fluctuation, and the change in the strength or position of the light sources. Window matching and dynamic programming techniques are employed for disparity map estimation. Good quality disparity map is obtained with the optimized path. Homomorphic filtering is used as a preprocessing step to lessen illumination variation between the stereo images. Anisotropic diffusion is used to refine disparity map to give high quality disparity map as a final output. The robust performance of the proposed approach is suitable for real life circumstances where there will be always illumination variation between the images. The matching is carried out in a sequence of images representing the same scene, however in different resolutions. The hierarchical approach adopted decreases the computation time of the stereo matching problem. This algorithm can be helpful in applications like robot navigation, extraction of information from aerial surveys, 3D scene reconstruction, and military and security applications. Similarity measure SAD is often sensitive to illumination variation. It produces unacceptable disparity map results for illumination variant left and right images. Experimental results show that our proposed algorithm produces quality disparity maps for both wide range of illumination variant and invariant stereo image pair.

  11. Alternative confidence measure for local matching stereo algorithms

    CSIR Research Space (South Africa)

    Ndhlovu, T

    2009-11-01

    Full Text Available The authors present a confidence measure applied to individual disparity estimates in local matching stereo correspondence algorithms. It aims at identifying textureless areas, where most local matching algorithms fail. The confidence measure works...

  12. Stereo matching using neighboring system constructed with MST

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    Li, Ran; Cao, Zhiguo; Zhang, Qian; Xiao, Yang; Xian, Ke

    2017-06-01

    Stereo matching is a hot topic in computer vision, while stereo matching in large textureless regions and slanted planes are still challenging problems. We propose a novel stereo matching algorithm to handle the problems. We novelly utilizes minimum spanning tree (MST) to construct a new superpixel-based neighboring system. The neighboring system is used to improve the matching performance in textureless regions. Then we apply the new neighboring system to the stereo matching problem, which uses the superpixel as the matching primitive. The use of the new neighboring system is efficient and effective. We compare our method with 4 popular methods. Experiments on Middlebury dataset show that our method can achieve good matching results. Especially, our method obtains more accurate disparity in textureless regions while maintaining a comparable performance of matching in slanted planes.

  13. Global stereo matching algorithm based on disparity range estimation

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    Li, Jing; Zhao, Hong; Gu, Feifei

    2017-09-01

    The global stereo matching algorithms are of high accuracy for the estimation of disparity map, but the time-consuming in the optimization process still faces a curse, especially for the image pairs with high resolution and large baseline setting. To improve the computational efficiency of the global algorithms, a disparity range estimation scheme for the global stereo matching is proposed to estimate the disparity map of rectified stereo images in this paper. The projective geometry in a parallel binocular stereo vision is investigated to reveal a relationship between two disparities at each pixel in the rectified stereo images with different baselines, which can be used to quickly obtain a predicted disparity map in a long baseline setting estimated by that in the small one. Then, the drastically reduced disparity ranges at each pixel under a long baseline setting can be determined by the predicted disparity map. Furthermore, the disparity range estimation scheme is introduced into the graph cuts with expansion moves to estimate the precise disparity map, which can greatly save the cost of computing without loss of accuracy in the stereo matching, especially for the dense global stereo matching, compared to the traditional algorithm. Experimental results with the Middlebury stereo datasets are presented to demonstrate the validity and efficiency of the proposed algorithm.

  14. Fast unambiguous stereo matching using reliability-based dynamic programming.

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    Gong, Minglun; Yang, Yee-Hong

    2005-06-01

    An efficient unambiguous stereo matching technique is presented in this paper. Our main contribution is to introduce a new reliability measure to dynamic programming approaches in general. For stereo vision application, the reliability of a proposed match on a scanline is defined as the cost difference between the globally best disparity assignment that includes the match and the globally best assignment that does not include the match. A reliability-based dynamic programming algorithm is derived accordingly, which can selectively assign disparities to pixels when the corresponding reliabilities exceed a given threshold. The experimental results show that the new approach can produce dense (> 70 percent of the unoccluded pixels) and reliable (error rate < 0.5 percent) matches efficiently (< 0.2 sec on a 2GHz P4) for the four Middlebury stereo data sets.

  15. Binocular stereo vision system based on phase matching

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    Liu, Huixian; Huang, Shujun; Gao, Nan; Zhang, Zonghua

    2016-11-01

    Binocular stereo vision is an efficient way for three dimensional (3D) profile measurement and has broad applications. Image acquisition, camera calibration, stereo matching, and 3D reconstruction are four main steps. Among them, stereo matching is the most important step that has a significant impact on the final result. In this paper, a new stereo matching technique is proposed to combine the absolute fringe order and the unwrapped phase of every pixel. Different from traditional phase matching method, sinusoidal fringe in two perpendicular directions are projected. It can be realized through the following three steps. Firstly, colored sinusoidal fringe in both horizontal (red fringe) and vertical (blue fringe) are projected on the object to be measured, and captured by two cameras synchronously. The absolute fringe order and the unwrapped phase of each pixel along the two directions are calculated based on the optimum three-fringe numbers selection method. Then, based on the absolute fringe order of the left and right phase maps, stereo matching method is presented. In this process, the same absolute fringe orders in both horizontal and vertical directions are searched to find the corresponding point. Based on this technique, as many as possible pairs of homologous points between two cameras are found to improve the precision of the measurement result. Finally, a 3D measuring system is set up and the 3D reconstruction results are shown. The experimental results show that the proposed method can meet the requirements of high precision for industrial measurements.

  16. An efficient approach for stereo matching of planar objects in stereo-digital image correlation

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    Shao, Xinxing; Chen, Zhenning; Dai, Xiangjun; He, Xiaoyuan

    2017-08-01

    In many standard mechanical tests and in all two-dimensional digital image correlation (2D-DIC) applications, the surfaces of specimens to be measured are planar. For the special case of planar surfaces, in this paper an efficient approach for stereo matching was proposed to further improve the computation efficiency of stereo-DIC. The proposed stereo matching method utilizes the characteristic of planar objects that the projection transformation functions between left and right images are the same for all matched subsets and can be expressed by eight parameters. In each pair of images, four discrete points were matched to calculate the projection transformation matrix, and then the stereo matching of all other points could be accomplished based on the calculated projection transformation matrix in an easy and efficient way. Both simulations and experimental results demonstrated that the proposed method is feasible and effective and the computational speed is about 20 times faster than that of traditional method. Based on the proposed method, real-time stereo-DIC with a higher frame rate and more points should be achieved.

  17. Stereo matching based on census transformation of image gradients

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    Stentoumis, C.; Grammatikopoulos, L.; Kalisperakis, I.; Karras, G.; Petsa, E.

    2015-05-01

    Although multiple-view matching provides certain significant advantages regarding accuracy, occlusion handling and radiometric fidelity, stereo-matching remains indispensable for a variety of applications; these involve cases when image acquisition requires fixed geometry and limited number of images or speed. Such instances include robotics, autonomous navigation, reconstruction from a limited number of aerial/satellite images, industrial inspection and augmented reality through smart-phones. As a consequence, stereo-matching is a continuously evolving research field with growing variety of applicable scenarios. In this work a novel multi-purpose cost for stereo-matching is proposed, based on census transformation on image gradients and evaluated within a local matching scheme. It is demonstrated that when the census transformation is applied on gradients the invariance of the cost function to changes in illumination (non-linear) is significantly strengthened. The calculated cost values are aggregated through adaptive support regions, based both on cross-skeletons and basic rectangular windows. The matching algorithm is tuned for the parameters in each case. The described matching cost has been evaluated on the Middlebury stereo-vision 2006 datasets, which include changes in illumination and exposure. The tests verify that the census transformation on image gradients indeed results in a more robust cost function, regardless of aggregation strategy.

  18. Obstacle detection by stereo vision of fast correlation matching

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    Jeon, Seung Hoon; Kim, Byung Kook [Korea Advanced Inst. of Science and Technology, Taejon (Korea, Republic of)

    1997-03-01

    Mobile robot navigation needs acquiring positions of obstacles in real time. A common method for performing this sensing is through stereo vision. In this paper, indoor images are acquired by binocular vision, which contains various shapes of obstacles. From these stereo image data, in order to obtain distances to obstacles, we must deal with the correspondence problem, or get the region in the other image corresponding to the projection of the same surface region. We present an improved correlation matching method enhancing the speed of arbitrary obstacle detection. The results are faster, simple matching, robustness to noise, and improvement of precision. Experimental results under actual surroundings are presented to reveal the performance. (author).

  19. Dense Stereo Matching Method Based on Local Affine Model.

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    Li, Jie; Shi, Wenxuan; Deng, Dexiang; Jia, Wenyan; Sun, Mingui

    2013-07-01

    A new method for constructing an accurate disparity space image and performing an efficient cost aggregation in stereo matching based on local affine model is proposed in this paper. The key algorithm includes a new self-adapting dissimilarity measurement used for calculating the matching cost and a local affine model used in cost aggregation stage. Different from the traditional region-based methods, which try to change the matching window size or to calculate an adaptive weight to do the aggregation, the proposed method focuses on obtaining the efficient and accurate local affine model to aggregate the cost volume while preserving the disparity discontinuity. Moreover, the local affine model can be extended to the color space. Experimental results demonstrate that the proposed method is able to provide subpixel precision disparity maps compared with some state-of-the-art stereo matching methods.

  20. Stereo Matching Based on Immune Neural Network in Abdomen Reconstruction

    Directory of Open Access Journals (Sweden)

    Huan Liu

    2015-01-01

    Full Text Available Stereo feature matching is a technique that finds an optimal match in two images from the same entity in the three-dimensional world. The stereo correspondence problem is formulated as an optimization task where an energy function, which represents the constraints on the solution, is to be minimized. A novel intelligent biological network (Bio-Net, which involves the human B-T cells immune system into neural network, is proposed in this study in order to learn the robust relationship between the input feature points and the output matched points. A model from input-output data (left reference point-right target point is established. In the experiments, the abdomen reconstructions for different-shape mannequins are then performed by means of the proposed method. The final results are compared and analyzed, which demonstrate that the proposed approach greatly outperforms the single neural network and the conventional matching algorithm in precise. Particularly, as far as time cost and efficiency, the proposed method exhibits its significant promising and potential for improvement. Hence, it is entirely considered as an effective and feasible alternative option for stereo matching.

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

    Science.gov (United States)

    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.

  2. Cellular neural networks for the stereo matching problem

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Dipt. Innovazione; Zanela, A. [Rome Univ. `La Sapienza` (Italy). Dipt. di Fisica

    1997-03-01

    The applicability of the Cellular Neural Network (CNN) paradigm to the problem of recovering information on the tridimensional structure of the environment is investigated. The approach proposed is the stereo matching of video images. The starting point of this work is the Zhou-Chellappa neural network implementation for the same problem. The CNN based system we present here yields the same results as the previous approach, but without the many existing drawbacks.

  3. Using Fuzzy Logic to Enhance Stereo Matching in Multiresolution Images

    Directory of Open Access Journals (Sweden)

    Marcos D. Medeiros

    2010-01-01

    Full Text Available Stereo matching is an open problem in Computer Vision, for which local features are extracted to identify corresponding points in pairs of images. The results are heavily dependent on the initial steps. We apply image decomposition in multiresolution levels, for reducing the search space, computational time, and errors. We propose a solution to the problem of how deep (coarse should the stereo measures start, trading between error minimization and time consumption, by starting stereo calculation at varying resolution levels, for each pixel, according to fuzzy decisions. Our heuristic enhances the overall execution time since it only employs deeper resolution levels when strictly necessary. It also reduces errors because it measures similarity between windows with enough details. We also compare our algorithm with a very fast multi-resolution approach, and one based on fuzzy logic. Our algorithm performs faster and/or better than all those approaches, becoming, thus, a good candidate for robotic vision applications. We also discuss the system architecture that efficiently implements our solution.

  4. Robust algorithm for point matching in uncalibrated stereo vision systems

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    Marcelo Ricardo Stemmer

    2005-02-01

    Full Text Available This article introduces a new point matching algorithm for stereo images. The cameras used for capturing the image do not need to be calibrated. The only requirement is the existence of a set of segmented corners in each image. In order to execute the point matching, the algorithm starts by applying non-parametric techniques to the pair of images and a set of candidate matches is selected. After that, the reliability of each point is calculated based on a proposed equation. Finally, the fundamental matrix of the system is estimated and the epipolar restriction is used to eliminate outliers. Tests made on real images demonstrate the viability of the proposed method.

  5. Feature Augmentation for Learning Confidence Measure in Stereo Matching.

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    Kim, Sunok; Min, Dongbo; Kim, Seungryong; Sohn, Kwanghoon

    2017-09-08

    Confidence estimation is essential for refining stereo matching results through a post-processing step. This problem has recently been studied using a learning-based approach, which demonstrates a substantial improvement on conventional simple non-learning based methods. However, the formulation of learning-based methods that individually estimates the confidence of each pixel disregards spatial coherency that might exist in the confidence map, thus providing a limited performance under challenging conditions. Our key observation is that the confidence features and resulting confidence maps are smoothly varying in the spatial domain, and highly correlated within the local regions of an image. We present a new approach that imposes spatial consistency on the confidence estimation. Specifically, a set of robust confidence features is extracted from each superpixel decomposed using the Gaussian mixture model (GMM), and then these features are concatenated with pixel-level confidence features. The features are then enhanced through adaptive filtering in the feature domain. In addition, the resulting confidence map, estimated using the confidence features with a random regression forest, is further improved through K-nearest neighbor (K-NN) based aggregation scheme on both pixel-and superpixel-level. To validate the proposed confidence estimation scheme, we employ cost modulation or ground control points (GCPs) based optimization in stereo matching. Experimental results demonstrate that the proposed method outperforms state-of-the-art approaches on various benchmarks including challenging outdoor scenes.

  6. a Local Adaptive Approach for Dense Stereo Matching in Architectural Scene Reconstruction

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    Stentoumis, C.; Grammatikopoulos, L.; Kalisperakis, I.; Petsa, E.; Karras, G.

    2013-02-01

    In recent years, a demand for 3D models of various scales and precisions has been growing for a wide range of applications; among them, cultural heritage recording is a particularly important and challenging field. We outline an automatic 3D reconstruction pipeline, mainly focusing on dense stereo-matching which relies on a hierarchical, local optimization scheme. Our matching framework consists of a combination of robust cost measures, extracted via an intuitive cost aggregation support area and set within a coarse-tofine strategy. The cost function is formulated by combining three individual costs: a cost computed on an extended census transformation of the images; the absolute difference cost, taking into account information from colour channels; and a cost based on the principal image derivatives. An efficient adaptive method of aggregating matching cost for each pixel is then applied, relying on linearly expanded cross skeleton support regions. Aggregated cost is smoothed via a 3D Gaussian function. Finally, a simple "winnertakes- all" approach extracts the disparity value with minimum cost. This keeps algorithmic complexity and system computational requirements acceptably low for high resolution images (or real-time applications), when compared to complex matching functions of global formulations. The stereo algorithm adopts a hierarchical scheme to accommodate high-resolution images and complex scenes. In a last step, a robust post-processing work-flow is applied to enhance the disparity map and, consequently, the geometric quality of the reconstructed scene. Successful results from our implementation, which combines pre-existing algorithms and novel considerations, are presented and evaluated on the Middlebury platform.

  7. Robust, Efficient Depth Reconstruction With Hierarchical Confidence-Based Matching.

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    Sun, Li; Chen, Ke; Song, Mingli; Tao, Dacheng; Chen, Gang; Chen, Chun

    2017-07-01

    In recent years, taking photos and capturing videos with mobile devices have become increasingly popular. Emerging applications based on the depth reconstruction technique have been developed, such as Google lens blur. However, depth reconstruction is difficult due to occlusions, non-diffuse surfaces, repetitive patterns, and textureless surfaces, and it has become more difficult due to the unstable image quality and uncontrolled scene condition in the mobile setting. In this paper, we present a novel hierarchical framework with multi-view confidence-based matching for robust, efficient depth reconstruction in uncontrolled scenes. Particularly, the proposed framework combines local cost aggregation with global cost optimization in a complementary manner that increases efficiency and accuracy. A depth map is efficiently obtained in a coarse-to-fine manner by using an image pyramid. Moreover, confidence maps are computed to robustly fuse multi-view matching cues, and to constrain the stereo matching on a finer scale. The proposed framework has been evaluated with challenging indoor and outdoor scenes, and has achieved robust and efficient depth reconstruction.

  8. Superpixel-based graph cuts for accurate stereo matching

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    Feng, Liting; Qin, Kaihuai

    2017-06-01

    Estimating the surface normal vector and disparity of a pixel simultaneously, also known as three-dimensional label method, has been widely used in recent continuous stereo matching problem to achieve sub-pixel accuracy. However, due to the infinite label space, it’s extremely hard to assign each pixel an appropriate label. In this paper, we present an accurate and efficient algorithm, integrating patchmatch with graph cuts, to approach this critical computational problem. Besides, to get robust and precise matching cost, we use a convolutional neural network to learn a similarity measure on small image patches. Compared with other MRF related methods, our method has several advantages: its sub-modular property ensures a sub-problem optimality which is easy to perform in parallel; graph cuts can simultaneously update multiple pixels, avoiding local minima caused by sequential optimizers like belief propagation; it uses segmentation results for better local expansion move; local propagation and randomization can easily generate the initial solution without using external methods. Middlebury experiments show that our method can get higher accuracy than other MRF-based algorithms.

  9. Automatic relative RPC image model bias compensation through hierarchical image matching for improving DEM quality

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    Noh, Myoung-Jong; Howat, Ian M.

    2018-02-01

    The quality and efficiency of automated Digital Elevation Model (DEM) extraction from stereoscopic satellite imagery is critically dependent on the accuracy of the sensor model used for co-locating pixels between stereo-pair images. In the absence of ground control or manual tie point selection, errors in the sensor models must be compensated with increased matching search-spaces, increasing both the computation time and the likelihood of spurious matches. Here we present an algorithm for automatically determining and compensating the relative bias in Rational Polynomial Coefficients (RPCs) between stereo-pairs utilizing hierarchical, sub-pixel image matching in object space. We demonstrate the algorithm using a suite of image stereo-pairs from multiple satellites over a range stereo-photogrammetrically challenging polar terrains. Besides providing a validation of the effectiveness of the algorithm for improving DEM quality, experiments with prescribed sensor model errors yield insight into the dependence of DEM characteristics and quality on relative sensor model bias. This algorithm is included in the Surface Extraction through TIN-based Search-space Minimization (SETSM) DEM extraction software package, which is the primary software used for the U.S. National Science Foundation ArcticDEM and Reference Elevation Model of Antarctica (REMA) products.

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

    Directory of Open Access Journals (Sweden)

    Antonio Bandera

    2011-07-01

    Full Text Available 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.

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

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    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.

  12. Slanted support window-based stereo matching for surface reconstruction of microscopic samples.

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    Baghaie, Ahmadreza; Zhang, Chi; Bakhshinejad, Ali; Owen, Heather A; Chao, Hongyang; D'Souza, Roshan M; Yu, Zeyun

    2017-12-01

    This work is to address the limitations of 2D Scanning Electron Microscopy (SEM) micrographs in providing 3D topographical information necessary for various types of analysis in biological and biomedical sciences as well as mechanical and material engineering by investigating modern stereo vision methodologies for 3D surface reconstruction of microscopic samples. To achieve this, micrograph pairs of the microscopic samples are acquired by utilizing an SEM equipped with motor controlled specimen stage capable of precise translational, rotational movements and tilting of the specimen stage. After pre-processing of the micrographs by SIFT feature detection/description followed by RANSAC for matching outlier removal and stereo rectification, a dense stereo matching methodology is utilized which takes advantage of slanted support window formulation for sub-pixel accuracy stereo matching of the input images. This results in a dense disparity map which is used to determine the true depth/elevation of individual surface points. This is a major improvement in comparison to previous matching methodologies which require additional post-processing refinement steps to reduce the negative effects of discrete disparity assignment or the blurring artifacts in near the edge regions. The provided results are great representatives of the superior performance of the slanted support window assumption employed here for surface reconstruction of microscopic samples. Copyright © 2017 Elsevier Ltd. All rights reserved.

  13. A Novel Image Representation via Local Frequency Analysis for Illumination Invariant Stereo Matching.

    Science.gov (United States)

    Mouats, Tarek; Aouf, Nabil; Richardson, Mark A

    2015-09-01

    In this paper, we propose a novel image representation approach to tackle illumination variations in stereo matching problems. Images are mapped using their Fourier transforms which are convolved with a set of monogenic filters. Frequency analysis is carried out at different scales to account for most image content. The phase congruency and the local weighted mean phase angle are then computed over all the scales. The original image is transformed into a new representation using these two mappings. This representation is invariant to illumination and contrast variations. More importantly, it is generic and can be used with most sparse as well as dense stereo matching algorithms. In addition, sequential feature matching or tracking can also benefit from our approach in varying radiometric conditions. We demonstrate the improvements introduced with our image mappings on well-established data sets in the literature as well as on our own experimental scenarios that include high dynamic range imagery. The experiments include both dense and sparse stereo and sequential matching algorithms where the latter is considered in the very challenging visual odometry framework.

  14. A cross-scale constrained dynamic programming algorithm for stereo matching

    Science.gov (United States)

    Cheng, Sipei; Da, Feipeng; Yu, Jian; Huang, Yuan; Gai, Shaoyan

    2017-06-01

    Stereo matching is an important and hot research topic in computer vision. In order to solve the well-known streaking effects of dynamic programming, and reduce the mismatch points on edges, discontinuous and textureless regions, we propose a cross-scale constrained dynamic programming algorithm for stereo matching. The algorithm involves both image pyramid model and Gaussian scale space to operate a coarse-to-fine dynamic programming on multi-scale cost volumes. For the purpose of improving the disparity accuracy in textureless region, a cross-scale regularized constraint is added to ensure the cost consistency, the computational burden is reduced by using the disparity estimation from lower scale operation to seed the search on the larger image. Both synthetic and real scene experimental results show our algorithm can effectively reduce the mismatch in textureless regions.

  15. A Matlab-Based Testbed for Integration, Evaluation and Comparison of Heterogeneous Stereo Vision Matching Algorithms

    Directory of Open Access Journals (Sweden)

    Raul Correal

    2016-11-01

    Full Text Available Stereo matching is a heavily researched area with a prolific published literature and a broad spectrum of heterogeneous algorithms available in diverse programming languages. This paper presents a Matlab-based testbed that aims to centralize and standardize this variety of both current and prospective stereo matching approaches. The proposed testbed aims to facilitate the application of stereo-based methods to real situations. It allows for configuring and executing algorithms, as well as comparing results, in a fast, easy and friendly setting. Algorithms can be combined so that a series of processes can be chained and executed consecutively, using the output of a process as input for the next; some additional filtering and image processing techniques have been included within the testbed for this purpose. A use case is included to illustrate how these processes are sequenced and its effect on the results for real applications. The testbed has been conceived as a collaborative and incremental open-source project, where its code is accessible and modifiable, with the objective of receiving contributions and releasing future versions to include new algorithms and features. It is currently available online for the research community.

  16. Hierarchical structural matching algorithms for registration of aerospace images

    Science.gov (United States)

    Lutsiv, Vadim R.; Malyshev, Igor A.; Potapov, Alexey

    2004-02-01

    The aim of investigation was developing the image registration algorithms dealing with the aerial and cosmic pictures taken in different seasons from differing view points, or formed by differing kinds of sensors (visible, IR, SAR). The task could not be solved using the traditional correlation based approaches, thus we chose the structural juxtaposition of the stable specific details of pictures as the general image matching technique. Structural matching was usually applied in the expert systems where the rather reliable results were based on the target specific algorithms, but our algorithms deal with the aerospace photographs of arbitrary contents for which the application specific approaches could not be used. The chosen form of structural descriptions should provide distinguishing between the similar simple elements in the huge multitudes of image contours, thus the descriptions were made hierarchical: we grouped the contour elements belonging to the separate compact image regions. The structural matching was carried out in two levels: matching the simple elements of every group in the first image with the ones of every group in the second image; matching the groups as the wholes. The top-down links were used to enhance the lower level matching using the higher level matching results.

  17. Robust stereo matching with trinary cross color census and triple image-based refinements

    Science.gov (United States)

    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.

  18. A fast stereo matching algorithm for 3D reconstruction of internal organs in laparoscopic surgery

    Science.gov (United States)

    Okada, Yoshimichi; Koishi, Takeshi; Ushiki, Suguru; Nakaguchi, Toshiya; Tsumura, Norimichi; Miyake, Yoichi

    2008-03-01

    We propose a fast stereo matching algorithm for 3D reconstruction of internal organs using a stereoscopic laparoscope. Stoyanov et al. have proposed a technique for recovering the 3D depth of internal organs from images taken by a stereoscopic laparoscope. In their technique, the dense stereo correspondence is solved by registration of the entire image. However, the computational cost is very high because registration of the entire image requires multidimensional optimization. In this paper, we propose a new algorithm based on a local area registration method that requires only low-dimensional optimization for reduction of computational cost. We evaluated the computational cost of the proposed algorithm using a stereoscopic laparoscope. We also evaluated the accuracy of the proposed algorithm using three types of images of abdominal models taken by a 3D laser scanner. In the matching step, the size of the template used to calculate the correlation coefficient, on which the computational cost is strongly dependent, was reduced by a factor of 16 as compared with the conventional algorithm. On the other hand, the average depth errors were 4.68 mm, 7.18 mm, and 7.44 mm respectively, and accuracy was approximately as same as the conventional algorithm.

  19. A Nonlocal Method with Modified Initial Cost and Multiple Weight for Stereo Matching

    Directory of Open Access Journals (Sweden)

    Shenyong Gao

    2017-01-01

    Full Text Available This paper presents a new nonlocal cost aggregation method for stereo matching. The minimum spanning tree (MST employs color difference as the sole component to build the weight function, which often leads to failure in achieving satisfactory results in some boundary regions with similar color distributions. In this paper, a modified initial cost is used. The erroneous pixels are often caused by two pixels from object and background, which have similar color distribution. And then inner color correlation is employed as a new component of the weight function, which is determined to effectively eliminate them. Besides, the segmentation method of the tree structure is also improved. Thus, a more robust and reasonable tree structure is developed. The proposed method was tested on Middlebury datasets. As can be expected, experimental results show that the proposed method outperforms the classical nonlocal methods.

  20. Finger tracking for hand-held device interface using profile-matching stereo vision

    Science.gov (United States)

    Chang, Yung-Ping; Lee, Dah-Jye; Moore, Jason; Desai, Alok; Tippetts, Beau

    2013-01-01

    Hundreds of millions of people use hand-held devices frequently and control them by touching the screen with their fingers. If this method of operation is being used by people who are driving, the probability of deaths and accidents occurring substantially increases. With a non-contact control interface, people do not need to touch the screen. As a result, people will not need to pay as much attention to their phones and thus drive more safely than they would otherwise. This interface can be achieved with real-time stereovision. A novel Intensity Profile Shape-Matching Algorithm is able to obtain 3-D information from a pair of stereo images in real time. While this algorithm does have a trade-off between accuracy and processing speed, the result of this algorithm proves the accuracy is sufficient for the practical use of recognizing human poses and finger movement tracking. By choosing an interval of disparity, an object at a certain distance range can be segmented. In other words, we detect the object by its distance to the cameras. The advantage of this profile shape-matching algorithm is that detection of correspondences relies on the shape of profile and not on intensity values, which are subjected to lighting variations. Based on the resulting 3-D information, the movement of fingers in space from a specific distance can be determined. Finger location and movement can then be analyzed for non-contact control of hand-held devices.

  1. The Impact of 3D Stacking and Technology Scaling on the Power and Area of Stereo Matching Processors

    Science.gov (United States)

    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

  2. The Impact of 3D Stacking and Technology Scaling on the Power and Area of Stereo Matching Processors

    Directory of Open Access Journals (Sweden)

    Seung-Ho Ok

    2017-02-01

    Full Text Available 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.

  3. The Impact of 3D Stacking and Technology Scaling on the Power and Area of Stereo Matching Processors.

    Science.gov (United States)

    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.

  4. A stereo matching model observer for stereoscopic viewing of 3D medical images

    Science.gov (United States)

    Wen, Gezheng; Markey, Mia K.; Muralidlhar, Gautam S.

    2014-03-01

    Stereoscopic viewing of 3D medical imaging data has the potential to increase the detection of abnormalities. We present a new stereo model observer inspired by the characteristics of stereopsis in human vision. Given a stereo pair of images of an object (i.e., left and right images separated by a small displacement), the model observer rst nds the corresponding points between the two views, and then fuses them together to create a 2D cyclopean view. Assuming that the cyclopean view has extracted most of the 3D information presented in the stereo pair, a channelized Hotelling observer (CHO) can be utilized to make decisions. We conduct a simulation study that attempts to mimic the detection of breast lesions on stereoscopic viewing of breast tomosynthesis projection images. We render voxel datasets that contain random 3D power-law noise to model normal breast tissues with various breast densities. 3D Gaussian signal is added to some of the datasets to model the presence of a breast lesion. By changing the separation angle between the two views, multiple stereo pairs of projection images are generated for each voxel dataset. The performance of the model is evaluated in terms of the accuracy of binary decisions on the presence of the simulated lesions.

  5. Multi-View Stereo Matching Based on Self-Adaptive Patch and Image Grouping for Multiple Unmanned Aerial Vehicle Imagery

    Directory of Open Access Journals (Sweden)

    Xiongwu Xiao

    2016-01-01

    Full Text Available Robust and rapid image dense matching is the key to large-scale three-dimensional (3D reconstruction for multiple Unmanned Aerial Vehicle (UAV images. However, the following problems must be addressed: (1 the amount of UAV image data is very large, but ordinary computer memory is limited; (2 the patch-based multi-view stereo-matching algorithm (PMVS does not work well for narrow-baseline cases, and its computing efficiency is relatively low, and thus, it is difficult to meet the UAV photogrammetry’s requirements of convenience and speed. This paper proposes an Image-grouping and Self-Adaptive Patch-based Multi-View Stereo-matching algorithm (IG-SAPMVS for multiple UAV imagery. First, multiple UAV images were grouped reasonably by a certain grouping strategy. Second, image dense matching was performed in each group and included three processes. (1 Initial feature-matching consists of two steps: The first was feature point detection and matching, which made some improvements to PMVS, according to the characteristics of UAV imagery. The second was edge point detection and matching, which aimed to control matching propagation during the expansion process; (2 The second process was matching propagation based on the self-adaptive patch. Initial patches were built that were centered by the obtained 3D seed points, and these were repeatedly expanded. The patches were prevented from crossing the discontinuous terrain by using the edge constraint, and the extent size and shape of the patches could automatically adapt to the terrain relief; (3 The third process was filtering the erroneous matching points. Taken the overlap problem between each group of 3D dense point clouds into account, the matching results were merged into a whole. Experiments conducted on three sets of typical UAV images with different texture features demonstrate that the proposed algorithm can address a large amount of UAV image data almost without computer memory restrictions, and

  6. 3D range-gated super-resolution imaging based on stereo matching for moving platforms and targets

    Science.gov (United States)

    Sun, Liang; Wang, Xinwei; Zhou, Yan

    2017-11-01

    3D range-gated superresolution imaging is a novel 3D reconstruction technique for target detection and recognition with good real-time performance. However, for moving targets or platforms such as airborne, shipborne, remote operated vehicle and autonomous vehicle, 3D reconstruction has a large error or failure. In order to overcome this drawback, we propose a method of stereo matching for 3D range-gated superresolution reconstruction algorithm. In experiment, the target is a doll of Mario with a height of 38cm at the location of 34m, and we obtain two successive frame images of the Mario. To confirm our method is effective, we transform the original images with translation, rotation, scale and perspective, respectively. The experimental result shows that our method has a good result of 3D reconstruction for moving targets or platforms.

  7. Using temporal seeding to constrain the disparity search range in stereo matching

    CSIR Research Space (South Africa)

    Ndhlovu, T

    2011-11-01

    Full Text Available are then tracked to a successive left image of the sequence and by using the previously calculated disparity estimates, the disparity search range is constrained. Errors between the local-matching and the temporal seeding algorithms are analysed. Results show...

  8. Shape-based human detection and segmentation via hierarchical part-template matching.

    Science.gov (United States)

    Lin, Zhe; Davis, Larry S

    2010-04-01

    We propose a shape-based, hierarchical part-template matching approach to simultaneous human detection and segmentation combining local part-based and global shape-template-based schemes. The approach relies on the key idea of matching a part-template tree to images hierarchically to detect humans and estimate their poses. For learning a generic human detector, a pose-adaptive feature computation scheme is developed based on a tree matching approach. Instead of traditional concatenation-style image location-based feature encoding, we extract features adaptively in the context of human poses and train a kernel-SVM classifier to separate human/nonhuman patterns. Specifically, the features are collected in the local context of poses by tracing around the estimated shape boundaries. We also introduce an approach to multiple occluded human detection and segmentation based on an iterative occlusion compensation scheme. The output of our learned generic human detector can be used as an initial set of human hypotheses for the iterative optimization. We evaluate our approaches on three public pedestrian data sets (INRIA, MIT-CBCL, and USC-B) and two crowded sequences from Caviar Benchmark and Munich Airport data sets.

  9. Hierarchical Matching of Uncertain Building Models with Oblique View Airborne IR Image Sequences

    Science.gov (United States)

    Iwaszczuk, D.; Hoegner, L.; Schmitt, M.; Stilla, U.

    2012-07-01

    Thermal building textures can be used for detection of damaged and weak spots in the building structure. These textures can be extracted from airborne infrared (IR) image sequences by projecting the 3D building model into the images. However, the direct georeferencing is often not sufficiently accurate and the projected 3D model does not match the structures in the image. Thus we present a technique with the main goal to find the best fit between the existing 3D building model and the IR image sequence. For this purpose we developed a hierarchical approach consisting of two working stages. In the first stage we correct exterior orientation via line based matching. In the adjustment we consider both uncertainties: the ones of the model and the ones of the image. In the second stage we match each edge separately in its closest surrounding. Thanks to this approach a better fit between the 3D building model and the IR image was found. The originally unmodeled roof overlap was reconstructed.

  10. Hierarchical 3D structural matching in aerospace photographs and indoor scenes

    Science.gov (United States)

    Lutsiv, Vadim; Potapov, Alexey; Novikova, Tatiana; Lapina, Nina

    2005-05-01

    The investigation presented in this article continues our long-term efforts directed towards the automatic structural matching of aerospace photographs. An efficient target independent hierarchical structural matching tool was described in our previous paper, which, however, was aimed mostly for the analysis of 2D scenes. It applied the same geometric transformation model to the whole area of image, thus it was nice for the space photographs taken from rather high orbits, but it often failed in the cases when the sensors were positioned near the 3D scenes being observed. Different transformation models should be applied to different parts of images in the last case, and finding a correct separation of image into the areas of homogeneous geometric transformations was the main problem. Now we succeeded in separating the images of scenes into the surfaces of different objects on the base of their textural and spectral features, thus we have got a possibility of separate matching the sub-images corresponding to such objects applying different transformation model to each such sub-image. Some additional limitations were used in the course of such separation and matching. In particular, the a priory assumptions were applied in different cases about the possible geometry of scenes, rules of illumination and shadowing, thus the aerospace photographs, indoor scenes, or images of aircrafts were analyzed in slightly differing ways. However the additional limitations applied could be considered as very general and are worth to be used in a wide sphere of practical tasks. The automatic image analysis was successful in all considered practical cases.

  11. Hierarchical alignment of breast DCE-MR images by groupwise registration and robust feature matching.

    Science.gov (United States)

    Kim, Minjeong; Wu, Guorong; Shen, Dinggang

    2012-01-01

    Dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI) shows high sensitivity in detecting breast cancer. However, its performance could be affected by patient motion during the imaging. To overcome this problem, it is necessary to correct patient motion by deformable registration, before using the DCE-MRI to detect breast cancer. However, deformable registration of DCE-MR images is challenging due to the dramatic contrast change over time (especially between the precontrast and postcontrast images). Most existing methods typically register each postcontrast image onto the precontrast image independently, without considering the dynamic contrast change after agent uptake. This could lead to the inconsistency among the aligned postcontrast images in the precontrast image space, which will eventually result in worse performance in cancer detection. In this paper, the authors present a novel hierarchical registration framework to address this problem. First, the authors propose a hierarchical registration framework to deploy the groupwise registration for simultaneous registration of all postcontrast images onto their group-mean image and further aligning the group-mean image of postcontrast images onto the precontrast image space for final alignment of all precontrast and postcontrast images. In this way, the postcontrast images (with similar intensity patterns) can be jointly aligned onto the precontrast image for increasing their overall consistency after registration. Second, in order to improve the registration between the precontrast image and the group-mean image of the postcontrast images, the authors propose using the contrast-invariant attribute vectors to guide the robust feature matching during the registration. Our proposed hierarchical registration framework has been comprehensively evaluated and compared with affine registration and widely used deformable registration methods in both pairwise and groupwise registration formulation. The

  12. Hyper thin 3D edge measurement of honeycomb core structures based on the triangular camera-projector layout & phase-based stereo matching.

    Science.gov (United States)

    Jiang, Hongzhi; Zhao, Huijie; Li, Xudong; Quan, Chenggen

    2016-03-07

    We propose a novel hyper thin 3D edge measurement technique to measure the profile of 3D outer envelope of honeycomb core structures. The width of the edges of the honeycomb core is less than 0.1 mm. We introduce a triangular layout design consisting of two cameras and one projector to measure hyper thin 3D edges and eliminate data interference from the walls. A phase-shifting algorithm and the multi-frequency heterodyne phase-unwrapping principle are applied for phase retrievals on edges. A new stereo matching method based on phase mapping and epipolar constraint is presented to solve correspondence searching on the edges and remove false matches resulting in 3D outliers. Experimental results demonstrate the effectiveness of the proposed method for measuring the 3D profile of honeycomb core structures.

  13. Shadow-Based Hierarchical Matching for the Automatic Registration of Airborne LiDAR Data and Space Imagery

    Directory of Open Access Journals (Sweden)

    Alireza Safdarinezhad

    2016-06-01

    Full Text Available The automatic registration of LiDAR data and optical images, which are heterogeneous data sources, has been a major research challenge in recent years. In this paper, a novel hierarchical method is proposed in which the least amount of interaction of a skilled operator is required. Thereby, two shadow extraction schemes, one from LiDAR and the other from high-resolution satellite images, were used, and the obtained 2D shadow maps were then considered as prospective matching entities. Taken as the base, the reconstructed LiDAR shadows were transformed to image shadows using a four-step hierarchical method starting from a coarse 2D registration model and leading to a fine 3D registration model. In the first step, a general matching was performed in the frequency domain that yielded a rough 2D similarity model that related the LiDAR and image shadow masks. This model was further improved by modeling and compensating for the local geometric distortions that existed between the two heterogeneous data sources. In the third step, shadow masks, which were organized as segmented matched patches, were the subjects of a coinciding procedure that resulted in a coarse 3D registration model. In the last hierarchical step, that model was ultimately reinforced via a precise matching between the LiDAR and image edges. The evaluation results, which were conducted on six datasets and from different relative and absolute aspects, demonstrated the efficiency of the proposed method, which had a very promising accuracy on the order of one pixel.

  14. A Stochastic Approach to Stereo Vision

    National Research Council Canada - National Science Library

    Barnard, Stephen T

    1986-01-01

    A stochastic optimization approach to stereo matching is presented. Unlike conventional correlation matching and feature matching, the approach provides a dense array of disparities, eliminating the need for interpolation...

  15. Two-Sided Matching in Hierarchical Organizations-An Application for the Assignment of Military Personnel

    Science.gov (United States)

    2011-06-01

    sorority rush Barron and Várdy (2004) Recommended use of two-sided matching for International Monetary Fund Economist Program Teo et al. (2001...placement of personnel into articling positions in Canadian law firms and sororities (Mongell & Roth, 1991). There have also been a number of cases... Sorority rush as a two-sided matching mechanism. American Economic Review, 81(3), 441–464. Murphy, J. A., Samaranayake, H., Honig, J. A., Lawson, T. J

  16. Hierarchical Dynamics of Ecological Communities: Do Scales of Space and Time Match?

    Science.gov (United States)

    Angeler, David G.; Göthe, Emma; Johnson, Richard K.

    2013-01-01

    Theory posits that community dynamics organize at distinct hierarchical scales of space and time, and that the spatial and temporal patterns at each scale are commensurate. Here we use time series modeling to investigate fluctuation frequencies of species groups within invertebrate metacommunities in 26 boreal lakes over a 20-year period, and variance partitioning analysis to study whether species groups with different fluctuation patterns show spatial signals that are commensurate with the scale-specific fluctuation patterns identified. We identified two groups of invertebrates representing hierarchically organized temporal dynamics: one species group showed temporal variability at decadal scales (slow patterns of change), whilst another group showed fluctuations at 3 to 5-year intervals (faster change). This pattern was consistently found across all lakes studied. A spatial signal was evident in the slow but not faster-changing species groups. As expected, the spatial signal for the slow-changing group coincided with broad-scale spatial patterns that could be explained with historical biogeography (ecoregion delineation, and dispersal limitation assessed through a dispersal trait analysis). In addition to spatial factors, the slow-changing groups correlated with environmental variables, supporting the conjecture that boreal lakes are undergoing environmental change. Taken together our results suggest that regionally distinct sets of taxa, separated by biogeographical boundaries, responded similarly to broad-scale environmental change. Not only does our approach allow testing theory about hierarchically structured space-time patterns; more generally, it allows assessing the relative role of the ability of communities to track environmental change and dispersal constraints limiting community structure and biodiversity at macroecological scales. PMID:23874905

  17. Computational Stereo

    National Research Council Canada - National Science Library

    Barnard, Stephen T; Fischler, Martin A

    1982-01-01

    Perception of depth is a central problem in machine vision. Stereo is an attractive technique for depth perception because compared to monocular techniques, it leads to more direct, unambiguous, and quantitative depth measurements...

  18. Near real-time stereo vision system

    Science.gov (United States)

    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.

  19. Stereo Hysteresis Revisited

    Directory of Open Access Journals (Sweden)

    Christopher Tyler

    2012-05-01

    Full Text Available One of the most fascinating phenomena in stereopsis is the profound hysteresis effect reported by Fender and Julesz (1967, in which the depth percept persisted with increasing disparity long past the point at which depth was recovered with decreasing disparity. To control retinal disparity without vergence eye movements, they stabilized the stimuli on the retinas with an eye tracker. I now report that stereo hysteresis can be observed directly in printed stereograms simply by rotating the image. As the stereo image rotates, the horizontal disparities rotate to become vertical, then horizontal with inverted sign, and then vertical again before returning to the original orientation. The depth shows an interesting popout effect, almost as though the depth was turning on and off rapidly, despite the inherently sinusoidal change in the horizontal disparity vector. This stimulus was generated electronically in a circular format so that the random-dot field could be dynamically replaced, eliminating any cue to cyclorotation. Noise density was scaled with eccentricity to fade out the stimulus near fixation. For both the invariant and the dynamic noise, profound hysteresis of several seconds delay was found in six observers. This was far longer than the reaction time to respond to changes in disparity, which was less than a second. Purely horizontal modulation of disparity to match the horizontal vector component of the disparity rotation did not show the popout effect, which thus seems to be a function of the interaction between horizontal and vertical disparities and may be attributable to depth interpolation processes.

  20. A Portable Stereo Vision System for Whole Body Surface Imaging.

    Science.gov (United States)

    Yu, Wurong; Xu, Bugao

    2010-04-01

    This paper presents a whole body surface imaging system based on stereo vision technology. We have adopted a compact and economical configuration which involves only four stereo units to image the frontal and rear sides of the body. The success of the system depends on a stereo matching process that can effectively segment the body from the background in addition to recovering sufficient geometric details. For this purpose, we have developed a novel sub-pixel, dense stereo matching algorithm which includes two major phases. In the first phase, the foreground is accurately segmented with the help of a predefined virtual interface in the disparity space image, and a coarse disparity map is generated with block matching. In the second phase, local least squares matching is performed in combination with global optimization within a regularization framework, so as to ensure both accuracy and reliability. Our experimental results show that the system can realistically capture smooth and natural whole body shapes with high accuracy.

  1. Stereo Painting Display Devices

    Science.gov (United States)

    Shafer, David

    1982-06-01

    The Spanish Surrealist artist Salvador Dali has recently perfected the art of producing two paintings which are stereo pairs. Each painting is separately quite remarkable, presenting a subject with the vivid realism and clarity for which Dali is famous. Due to the surrealistic themes of Dali's art, however, the subjects preser.ted with such naturalism only exist in his imagination. Despite this considerable obstacle to producing stereo art, Dali has managed to paint stereo pairs that display subtle differences of coloring and lighting, in addition to the essential perspective differences. These stereo paintings require a display method that will allow the viewer to experience stereo fusion, but which will not degrade the high quality of the art work. This paper gives a review of several display methods that seem promising in terms of economy, size, adjustability, and image quality.

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

    Science.gov (United States)

    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.

  3. JAVA Stereo Display Toolkit

    Science.gov (United States)

    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.

  4. Full window stereo.

    Science.gov (United States)

    Rodriguez, R; Chinea, G; Lopez, N; Vriend, G

    1999-01-01

    Visualisation is the bioinformaticist's most important tool for the study of macromolecules, and being able to see molecules in stereo is a crucial aspect. Stereo vision is based on the principle that each eye is presented with the best possible image of what it would have seen if the object was really there in 3D. The simplest approach to stereo vision is to display the right eye picture on the right half of the screen and the left eye picture on the left half while using a mirror system to ensure that each eye sees what it is supposed to see. More expensive workstations use hardware to alternately display the left and right eye pictures while synchronously blocking the transparency in the right or left lens of the special glasses worn by the user. We present here some simple software that uses inexpensive hardware, originally designed for the computer game industry, to make full screen stereo available on Linux-based PCs. The quality of the stereo vision is similar to the top-of-the-line graphics workstations that are capable of quad-buffering. This stereo option has been incorporated in the XII based version of WHAT IF (Vriend, G. J. Mol. Graphics 1990, 8, 52-56), but the stereo source code is freely available and can easily be incorporated in other visualization packages.

  5. Stereo Vision Inside Tire

    Science.gov (United States)

    2015-08-21

    1 Stereo Vision Inside Tire P.S. Els C.M. Becker University of Pretoria W911NF-14-1-0590 Final... Stereo Vision Inside Tire 5a. CONTRACT NUMBER W911NF-14-1-0590 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Prof PS Els CM...on the development of a stereo vision system that can be mounted inside a rolling tire, known as T2-CAM for Tire-Terrain CAMera. The T2-CAM system

  6. Stereo vision and strabismus.

    Science.gov (United States)

    Read, J C A

    2015-02-01

    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.

  7. Stereo images from space

    Science.gov (United States)

    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

  8. Change detection on LOD 2 building models with very high resolution spaceborne stereo imagery

    Science.gov (United States)

    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

  9. Multilayer segmentation of stereo image using webcam

    Science.gov (United States)

    Velswamy, Rajasekar; Sellappan, Selvarajan; Sengottaiyan, Karthiprem

    2012-04-01

    This paper presents a multilayer segmentation of stereo images with reference to the displacement in the left and right images. A stereo image is given as left and right components, the corresponding matching is found by drawing random parallel lines in x-axis making the y-axis as constant. The edges is found in both the right and left images with its pixel position. The number of edges found in two components is noted down. Then the edge values are clustered with respect to the deviation found in the matching correspondence. The rough distance is calculated using the deviation clusters. The number of clusters represents the number of layers of the segmentation. Once the layers are determined the whole image is segmented with zero crossing by taking the displacement as the layer parameter. The algorithm is implemented and tested for single and multiple objects with various distances in feet.

  10. Local Surface Reconstruction from MER images using Stereo Workstation

    Science.gov (United States)

    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

  11. Stereo-Based Visual Odometry for Autonomous Robot Navigation

    Directory of Open Access Journals (Sweden)

    Ioannis Kostavelis

    2016-02-01

    Full Text Available Mobile robots should possess accurate self-localization capabilities in order to be successfully deployed in their environment. A solution to this challenge may be derived from visual odometry (VO, which is responsible for estimating the robot's pose by analysing a sequence of images. The present paper proposes an accurate, computationally-efficient VO algorithm relying solely on stereo vision images as inputs. The contribution of this work is twofold. Firstly, it suggests a non-iterative outlier detection technique capable of efficiently discarding the outliers of matched features. Secondly, it introduces a hierarchical motion estimation approach that produces refinements to the global position and orientation for each successive step. Moreover, for each subordinate module of the proposed VO algorithm, custom non-iterative solutions have been adopted. The accuracy of the proposed system has been evaluated and compared with competent VO methods along DGPS-assessed benchmark routes. Experimental results of relevance to rough terrain routes, including both simulated and real outdoors data, exhibit remarkable accuracy, with positioning errors lower than 2%.

  12. A quantitative evaluation of confidence measures for stereo vision.

    Science.gov (United States)

    Hu, Xiaoyan; Mordohai, Philippos

    2012-11-01

    We present an extensive evaluation of 17 confidence measures for stereo matching that compares the most widely used measures as well as several novel techniques proposed here. We begin by categorizing these methods according to which aspects of stereo cost estimation they take into account and then assess their strengths and weaknesses. The evaluation is conducted using a winner-take-all framework on binocular and multibaseline datasets with ground truth. It measures the capability of each confidence method to rank depth estimates according to their likelihood for being correct, to detect occluded pixels, and to generate low-error depth maps by selecting among multiple hypotheses for each pixel. Our work was motivated by the observation that such an evaluation is missing from the rapidly maturing stereo literature and that our findings would be helpful to researchers in binocular and multiview stereo.

  13. Panoramic stereo sphere vision

    Science.gov (United States)

    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.

  14. The STEREO Mission

    CERN Document Server

    2008-01-01

    The STEREO mission uses twin heliospheric orbiters to track solar disturbances from their initiation to 1 AU. This book documents the mission, its objectives, the spacecraft that execute it and the instruments that provide the measurements, both remote sensing and in situ. This mission promises to unlock many of the mysteries of how the Sun produces what has become to be known as space weather.

  15. Robust 3-Dimensional Object Recognition using Stereo Vision and Geometric Hashing

    NARCIS (Netherlands)

    van Dijck, H.A.L.; Korsten, Maarten J.; van der Heijden, Ferdinand

    1996-01-01

    We propose a technique that combines geometric hashing with stereo vision. The idea is to use the robustness of geometric hashing to spurious data to overcome the correspondence problem, while the stereo vision setup enables direct model matching using the 3-D object models. Furthermore, because the

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

    Science.gov (United States)

    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.

  17. Stereo-panoramic Data

    KAUST Repository

    Cutchin, Steve

    2013-03-07

    Systems and methods for automatically generating three-dimensional panoramic images for use in various virtual reality settings are disclosed. One embodiment of the system includes a stereo camera capture device (SCD), a programmable camera controller (PCC) that rotates, orients, and controls the SCD, a robotic maneuvering platform (RMP), and a path and adaptation controller (PAC). In that embodiment, the PAC determines the movement of the system based on an original desired path and input gathered from the SCD during an image capture process.

  18. Robust feature estimation by non-rigid hierarchical image registration and its application in disparity measurement

    Science.gov (United States)

    Badshah, Amir; Choudhry, Aadil Jaleel; Ullah, Shan

    2017-03-01

    Industries are moving towards automation in order to increase productivity and ensure quality. Variety of electronic and electromagnetic systems are being employed to assist human operator in fast and accurate quality inspection of products. Majority of these systems are equipped with cameras and rely on diverse image processing algorithms. Information is lost in 2D image, therefore acquiring accurate 3D data from 2D images is an open issue. FAST, SURF and SIFT are well-known spatial domain techniques for features extraction and henceforth image registration to find correspondence between images. The efficiency of these methods is measured in terms of the number of perfect matches found. A novel fast and robust technique for stereo-image processing is proposed. It is based on non-rigid registration using modified normalized phase correlation. The proposed method registers two images in hierarchical fashion using quad-tree structure. The registration process works through global to local level resulting in robust matches even in presence of blur and noise. The computed matches can further be utilized to determine disparity and depth for industrial product inspection. The same can be used in driver assistance systems. The preliminary tests on Middlebury dataset produced satisfactory results. The execution time for a 413 x 370 stereo-pair is 500ms approximately on a low cost DSP.

  19. Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

    OpenAIRE

    Barry, Andrew J.; Tedrake, Russ

    2014-01-01

    We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile ARM processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single depth. By using an onboard IMU and state-estimator, we can recover the position of obstacles at all other depths, building and updating a local depth-map at framerate. Here, we describe both the algorithm and our implementation on a high-speed, sma...

  20. Stereo Vision-Based High Dynamic Range Imaging Using Differently-Exposed Image Pair.

    Science.gov (United States)

    Park, Won-Jae; Ji, Seo-Won; Kang, Seok-Jae; Jung, Seung-Won; Ko, Sung-Jea

    2017-06-22

    In this paper, a high dynamic range (HDR) imaging method based on the stereo vision system is presented. The proposed method uses differently exposed low dynamic range (LDR) images captured from a stereo camera. The stereo LDR images are first converted to initial stereo HDR images using the inverse camera response function estimated from the LDR images. However, due to the limited dynamic range of the stereo LDR camera, the radiance values in under/over-exposed regions of the initial main-view (MV) HDR image can be lost. To restore these radiance values, the proposed stereo matching and hole-filling algorithms are applied to the stereo HDR images. Specifically, the auxiliary-view (AV) HDR image is warped by using the estimated disparity between initial the stereo HDR images and then effective hole-filling is applied to the warped AV HDR image. To reconstruct the final MV HDR, the warped and hole-filled AV HDR image is fused with the initial MV HDR image using the weight map. The experimental results demonstrate objectively and subjectively that the proposed stereo HDR imaging method provides better performance compared to the conventional method.

  1. Stereo Vision-Based High Dynamic Range Imaging Using Differently-Exposed Image Pair

    Directory of Open Access Journals (Sweden)

    Won-Jae Park

    2017-06-01

    Full Text Available In this paper, a high dynamic range (HDR imaging method based on the stereo vision system is presented. The proposed method uses differently exposed low dynamic range (LDR images captured from a stereo camera. The stereo LDR images are first converted to initial stereo HDR images using the inverse camera response function estimated from the LDR images. However, due to the limited dynamic range of the stereo LDR camera, the radiance values in under/over-exposed regions of the initial main-view (MV HDR image can be lost. To restore these radiance values, the proposed stereo matching and hole-filling algorithms are applied to the stereo HDR images. Specifically, the auxiliary-view (AV HDR image is warped by using the estimated disparity between initial the stereo HDR images and then effective hole-filling is applied to the warped AV HDR image. To reconstruct the final MV HDR, the warped and hole-filled AV HDR image is fused with the initial MV HDR image using the weight map. The experimental results demonstrate objectively and subjectively that the proposed stereo HDR imaging method provides better performance compared to the conventional method.

  2. Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

    Directory of Open Access Journals (Sweden)

    Hao Sun

    2013-06-01

    Full Text Available Detection and tracking surrounding moving obstacles such as vehicles and pedestrians are crucial for the safety of mobile robotics and autonomous vehicles. This is especially the case in urban driving scenarios. This paper presents a novel framework for surrounding moving obstacles detection using binocular stereo vision. The contributions of our work are threefold. Firstly, a multiview feature matching scheme is presented for simultaneous stereo correspondence and motion correspondence searching. Secondly, the multiview geometry constraint derived from the relative camera positions in pairs of consecutive stereo views is exploited for surrounding moving obstacles detection. Thirdly, an adaptive particle filter is proposed for tracking of multiple moving obstacles in surrounding areas. Experimental results from real-world driving sequences demonstrate the effectiveness and robustness of the proposed framework.

  3. Semi-Global Matching in Object Space

    Science.gov (United States)

    Bethmann, F.; Luhmann, T.

    2015-03-01

    Semi-Global Matching (SGM) is a widespread algorithm for image matching which is used for very different applications, ranging from real-time applications (e.g. for generating 3D data for driver assistance systems) to aerial image matching. Originally developed for stereo-image matching, several extensions have been proposed to use more than two images within the matching process (multi-baseline matching, multi-view stereo). These extensions still perform the image matching in (rectified) stereo images and combine the pairwise results afterwards to create the final solution. This paper proposes an alternative approach which is suitable for the introduction of an arbitrary number of images into the matching process and utilizes image matching by using non-rectified images. The new method differs from the original SGM method mainly in two aspects: Firstly, the cost calculation is formulated in object space within a dense voxel raster by using the grey (or colour) values of all images instead of pairwise cost calculation in image space. Secondly, the semi-global (path-wise) minimization process is transferred into object space as well, so that the result of semi-global optimization leads to index maps (instead of disparity maps) which directly indicate the 3D positions of the best matches. Altogether, this yields to an essential simplification of the matching process compared to multi-view stereo (MVS) approaches. After a description of the new method, results achieved from two different datasets (close-range and aerial) are presented and discussed.

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

    Directory of Open Access Journals (Sweden)

    C. Jepping

    2014-06-01

    Full Text Available 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.

  5. Probability analysis of position errors using uncooled IR stereo camera

    Science.gov (United States)

    Oh, Jun Ho; Lee, Sang Hwa; Lee, Boo Hwan; Park, Jong-Il

    2016-05-01

    This paper analyzes the random phenomenon of 3D positions when tracking moving objects using the infrared (IR) stereo camera, and proposes a probability model of 3D positions. The proposed probability model integrates two random error phenomena. One is the pixel quantization error which is caused by discrete sampling pixels in estimating disparity values of stereo camera. The other is the timing jitter which results from the irregular acquisition-timing in the uncooled IR cameras. This paper derives a probability distribution function by combining jitter model with pixel quantization error. To verify the proposed probability function of 3D positions, the experiments on tracking fast moving objects are performed using IR stereo camera system. The 3D depths of moving object are estimated by stereo matching, and be compared with the ground truth obtained by laser scanner system. According to the experiments, the 3D depths of moving object are estimated within the statistically reliable range which is well derived by the proposed probability distribution. It is expected that the proposed probability model of 3D positions can be applied to various IR stereo camera systems that deal with fast moving objects.

  6. Object tracking with stereo vision

    Science.gov (United States)

    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.

  7. Sharpness enhancement of stereo images using binocular just-noticeable difference.

    Science.gov (United States)

    Jung, Seung-Won; Jeong, Jae-Yun; Ko, Sung-Jea

    2012-03-01

    In this paper, we propose a new sharpness enhancement algorithm for stereo images. Although the stereo image and its applications are becoming increasingly prevalent, there has been very limited research on specialized image enhancement solutions for stereo images. Recently, a binocular just-noticeable-difference (BJND) model that describes the sensitivity of the human visual system to luminance changes in stereo images has been presented. We introduce a novel application of the BJND model for the sharpness enhancement of stereo images. To this end, an overenhancement problem in the sharpness enhancement of stereo images is newly addressed, and an efficient solution for reducing the overenhancement is proposed. The solution is found within an optimization framework with additional constraint terms to suppress the unnecessary increase in luminance values. In addition, the reliability of the BJND model is taken into account by estimating the accuracy of stereo matching. Experimental results demonstrate that the proposed algorithm can provide sharpness-enhanced stereo images without producing excessive distortion.

  8. A Specific Encoding Scheme for Genetic Stereo Correspondence Searching: Application to Obstacle Detection

    Directory of Open Access Journals (Sweden)

    Hazem Issa

    2003-02-01

    Full Text Available Stereo correspondence is one of the most active research areas in computer vision. It consists in identifying features in two or more stereo images that are generated by the same physical feature in the three-dimensional space. In our approach, the matching problem is first turned into an optimization task where a fitness function, representing the constraints on the solution, is to be minimized. The optimization process is then performed by means of a genetic algorithm with a new encoding scheme. Experimental results are presented to demonstrate the robustness and the reliability of the proposed approach for obstacle detection in front of a vehicle using linear stereo vision.

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

    Science.gov (United States)

    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. Neural architectures for stereo vision.

    Science.gov (United States)

    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.

  11. GPU-based real-time trinocular stereo vision

    Science.gov (United States)

    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.

  12. Hierarchical photocatalysts.

    Science.gov (United States)

    Li, Xin; Yu, Jiaguo; Jaroniec, Mietek

    2016-05-07

    As a green and sustainable technology, semiconductor-based heterogeneous photocatalysis has received much attention in the last few decades because it has potential to solve both energy and environmental problems. To achieve efficient photocatalysts, various hierarchical semiconductors have been designed and fabricated at the micro/nanometer scale in recent years. This review presents a critical appraisal of fabrication methods, growth mechanisms and applications of advanced hierarchical photocatalysts. Especially, the different synthesis strategies such as two-step templating, in situ template-sacrificial dissolution, self-templating method, in situ template-free assembly, chemically induced self-transformation and post-synthesis treatment are highlighted. Finally, some important applications including photocatalytic degradation of pollutants, photocatalytic H2 production and photocatalytic CO2 reduction are reviewed. A thorough assessment of the progress made in photocatalysis may open new opportunities in designing highly effective hierarchical photocatalysts for advanced applications ranging from thermal catalysis, separation and purification processes to solar cells.

  13. Hearing damage by personal stereo

    DEFF Research Database (Denmark)

    Hammershøi, Dorte; Ordoñez, Rodrigo Pizarro; Reuter, Karen

    2006-01-01

    -distortion music is produced by minimal devices. In this paper, the existing literature on effects of personal stereo systems is reviewed, incl. studies of exposure levels, and effects on hearing. Generally, it is found that the levels being used is of concern, which in one study [Acustica?Acta Acustica, 82 (1996...

  14. Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

    Science.gov (United States)

    Owens, Ken; Matthies, Larry

    2000-01-01

    One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 micrometer cooled FLIR, 8-12 micrometer cooled FLIR, 8-12 micrometer uncooled FLIR, and image intensifiers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blur and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo III program for nighttime autonomous mobility.

  15. Robust active stereo vision using Kullback-Leibler divergence.

    Science.gov (United States)

    Wang, Yongchang; Liu, Kai; Hao, Qi; Wang, Xianwang; Lau, Daniel L; Hassebrook, Laurence G

    2012-03-01

    Active stereo vision is a method of 3D surface scanning involving the projecting and capturing of a series of light patterns where depth is derived from correspondences between the observed and projected patterns. In contrast, passive stereo vision reveals depth through correspondences between textured images from two or more cameras. By employing a projector, active stereo vision systems find correspondences between two or more cameras, without ambiguity, independent of object texture. In this paper, we present a hybrid 3D reconstruction framework that supplements projected pattern correspondence matching with texture information. The proposed scheme consists of using projected pattern data to derive initial correspondences across cameras and then using texture data to eliminate ambiguities. Pattern modulation data are then used to estimate error models from which Kullback-Leibler divergence refinement is applied to reduce misregistration errors. Using only a small number of patterns, the presented approach reduces measurement errors versus traditional structured light and phase matching methodologies while being insensitive to gamma distortion, projector flickering, and secondary reflections. Experimental results demonstrate these advantages in terms of enhanced 3D reconstruction performance in the presence of noise, deterministic distortions, and conditions of texture and depth contrast.

  16. Connectionist model-based stereo vision for telerobotics

    Science.gov (United States)

    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.

  17. Stereo Disparity through Cost Aggregation with Guided Filter

    Directory of Open Access Journals (Sweden)

    Pauline Tan

    2014-10-01

    Full Text Available Estimating the depth, or equivalently the disparity, of a stereo scene is a challenging problem in computer vision. The method proposed by Rhemann et al. in 2011 is based on a filtering of the cost volume, which gives for each pixel and for each hypothesized disparity a cost derived from pixel-by-pixel comparison. The filtering is performed by the guided filter proposed by He et al. in 2010. It computes a weighted local average of the costs. The weights are such that similar pixels tend to have similar costs. Eventually, a winner-take-all strategy selects the disparity with the minimal cost for each pixel. Non-consistent labels according to left-right consistency are rejected; a densification step can then be launched to fill the disparity map. The method can be used to solve other labeling problems (optical flow, segmentation but this article focuses on the stereo matching problem.

  18. Hierarchical XP

    OpenAIRE

    Jacobi, Carsten; Rumpe, Bernhard

    2014-01-01

    XP is a light-weight methodology suited particularly for small-sized teams that develop software which has only vague or rapidly changing requirements. The discipline of systems engineering knows it as approach of incremental system change or also of "muddling through". In this paper, we introduce three well known methods of reorganizing companies, namely, the holistic approach, the incremental approach, and the hierarchical approach. We show similarities between software engineering methods ...

  19. Stereo Cameras for Clouds (STEREOCAM) Instrument Handbook

    Energy Technology Data Exchange (ETDEWEB)

    Romps, David [Univ. of California, Berkeley, CA (United States); Oktem, Rusen [Univ. of California, Berkeley, CA (United States)

    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 to 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.

  20. Stereo Pinhole Camera: Assembly and experimental activities

    OpenAIRE

    Santos, Gilmário Barbosa; Departamento de Ciência da Computação, Universidade do Estado de Santa Catarina, Joinville; Cunha, Sidney Pinto; Centro de Tecnologia da Informação Renato Archer, Campinas

    2015-01-01

    This work describes the assembling of a stereo pinhole camera for capturing stereo-pairs of images and proposes experimental activities with it. A pinhole camera can be as sophisticated as you want, or so simple that it could be handcrafted with practically recyclable materials. This paper describes the practical use of the pinhole camera throughout history and currently. Aspects of optics and geometry involved in the building of the stereo pinhole camera are presented with illustrations. Fur...

  1. Multi-image semi-global matching in object space

    Science.gov (United States)

    Bethmann, F.; Luhmann, T.

    2015-05-01

    Semi-Global Matching (SGM) is a widespread algorithm for image matching which is used for very different applications, ranging from real-time applications (e.g. for generating 3D data for driver assistance systems) to aerial image matching. Originally developed for stereo-image matching, several extensions have been proposed to use more than two images within the matching process (multi-baseline matching, multi-view stereo). These extensions still perform the image matching in (rectified) stereo images and combine the pairwise results afterwards to create the final solution. This paper proposes an alternative approach which is suitable for the introduction of an arbitrary number of images into the matching process and utilizes image matching by using non-rectified images. The new method differs from the original SGM method mainly in two aspects: Firstly, the cost calculation is formulated in object space within a dense voxel raster by using the grey (or colour) values of all images instead of pairwise cost calculation in image space. Secondly, the semi-global (path-wise) minimization process is transferred into object space as well, so that the result of semi-global optimization leads to index maps (instead of disparity maps) which directly indicate the 3D positions of the best matches. Altogether, this yields to an essential simplification of the matching process compared to multi-view stereo (MVS) approaches. After a description of the new method, results achieved from two different datasets (close-range and aerial) are presented and discussed.

  2. Robust and accurate multi-view reconstruction by prioritized matching

    DEFF Research Database (Denmark)

    Ylimaki, Markus; Kannala, Juho; Holappa, Jukka

    2012-01-01

    This paper proposes a prioritized matching approach for finding corresponding points in multiple calibrated images for multi-view stereo reconstruction. The approach takes a sparse set of seed matches between pairs of views as input and then propagates the seeds to neighboring regions by using...... a prioritized matching method which expands the most promising seeds first. The output of the method is a three-dimensional point cloud. Unlike previous correspondence growing approaches our method allows to use the best-first matching principle in the generic multi-view stereo setting with arbitrary number...

  3. Stereo Pair: Patagonia, Argentina

    Science.gov (United States)

    2000-01-01

    This view of northern Patagonia, near El Cain, Argentina shows complexly eroded volcanic terrain, with basalt mesas, sinkholes, landslide debris, playas, and relatively few integrated drainage channels. Surrounding this site (but also extending far to the east) is a broad plateau capped by basalt, the Meseta de Somuncura. Here, near the western edge of the plateau, erosion has broken through the basalt cap in a variety of ways. On the mesas, water-filled sinkholes (lower left) are most likely the result of the collapse of old lava tubes. Along the edges of the mesas (several locations) the basalt seems to be sliding away from the plateau in a series of slices. Water erosion by overland flow is also evident, particularly in canyons where vegetation blankets the drainage channels (green patterns, bottom of image). However, overland water flow does not extend very far at any location. This entire site drains to local playas, some of which are seen here (blue). While the water can reach the playas and then evaporate, what becomes of the eroded rock debris? Wind might excavate some of the finer eroded debris, but the fate of much of the missing bedrock remains mysterious.This cross-eyed stereoscopic image pair was generated using topographic data from the Shuttle Radar Topography Mission, combined with an enhanced Landsat 7 satellite color image. The topography data are used to create two differing perspectives of a single image, one perspective for each eye. In doing so, each point in the image is shifted slightly, depending on its elevation. When stereoscopically merged, the result is a vertically exaggerated view of the Earth's surface in its full three dimensions.Landsat satellites have provided visible light and infrared images of the Earth continuously since 1972. SRTM topographic data match the 30-meter (99-foot) spatial resolution of most Landsat images and provide a valuable complement for studying the historic and growing Landsat data archive. The Landsat 7

  4. Electronics for the STEREO experiment

    Science.gov (United States)

    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.

  5. Stereo 3-D Vision in Teaching Physics

    Science.gov (United States)

    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…

  6. Application of structural methods for stereo depth map improvement

    Science.gov (United States)

    Malashin, Roman; Peterson, Maxim; Lutsiv, Vadim

    2013-05-01

    The paper describes an approach to integrating the structural methods in correlation algorithms for dense depth map construction from a stereo pair. The main idea is to modify the matrix of correlation energy according to the result of structural analysis. The modified matrix forces the Graph Cuts and SGM optimization functions to build a 3D surface through the depths of structural elements that are more reliable than individual pixels. In some cases, significant improvements were achieved. A technique for measuring the disparity range via local features matching is considered.

  7. Matching theory

    CERN Document Server

    Plummer, MD

    1986-01-01

    This study of matching theory deals with bipartite matching, network flows, and presents fundamental results for the non-bipartite case. It goes on to study elementary bipartite graphs and elementary graphs in general. Further discussed are 2-matchings, general matching problems as linear programs, the Edmonds Matching Algorithm (and other algorithmic approaches), f-factors and vertex packing.

  8. A parallel stereo reconstruction algorithm with applications in entomology (APSRA)

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    Chien-Lun Hou

    2011-02-01

    Full Text Available 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.

  10. Development of a stereo vision measurement system for a 3D three-axial pneumatic parallel mechanism robot arm.

    Science.gov (United States)

    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.

  11. Stereo vision enhances the learning of a catching skill

    NARCIS (Netherlands)

    Mazyn, L.; Lenoir, M.; Montagne, G.; Delaey, C; Savelsbergh, G.J.P.

    2007-01-01

    The aim of this study was to investigate the contribution of stereo vision to the acquisition of a natural interception task. Poor catchers with good (N = 8; Stereo+) and weak (N = 6; Stereo-) stereo vision participated in an intensive training program spread over 2 weeks, during which they caught

  12. The Effect of Shadow Area on Sgm Algorithm and Disparity Map Refinement from High Resolution Satellite Stereo Images

    Science.gov (United States)

    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.

  13. Opportunity at 'Cook Islands' (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11854 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11854 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 1,825th Martian day, or sol, of Opportunity's surface mission (March 12, 2009). 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 rover had driven half a meter (1.5 feet) earlier on Sol 1825 to fine-tune its location for placing its robotic arm onto an exposed patch of outcrop including a target area informally called 'Cook Islands.' On the preceding sol, Opportunity turned around to drive frontwards and then drove 4.5 meters (15 feet) toward this outcrop. The tracks from the SOl 1824 drive are visible near the center of this view at about the 11 o'clock position. For scale, the distance between the parallel wheel tracks is about 1 meter (about 40 inches). Opportunity had previously been driving backward as a strategy to redistribute lubrication in a wheel drawing more electrical current than usual. The outcrop exposure that includes 'Cook Islands' is visible just below the center of the image. 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. Three-dimensional displays and stereo vision.

    Science.gov (United States)

    Westheimer, Gerald

    2011-08-07

    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.

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

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  18. A Multi-Model Stereo Similarity Function Based on Monogenic Signal Analysis in Poisson Scale Space

    Directory of Open Access Journals (Sweden)

    Jinjun Li

    2011-01-01

    Full Text Available A stereo similarity function based on local multi-model monogenic image feature descriptors (LMFD is proposed to match interest points and estimate disparity map for stereo images. Local multi-model monogenic image features include local orientation and instantaneous phase of the gray monogenic signal, local color phase of the color monogenic signal, and local mean colors in the multiscale color monogenic signal framework. The gray monogenic signal, which is the extension of analytic signal to gray level image using Dirac operator and Laplace equation, consists of local amplitude, local orientation, and instantaneous phase of 2D image signal. The color monogenic signal is the extension of monogenic signal to color image based on Clifford algebras. The local color phase can be estimated by computing geometric product between the color monogenic signal and a unit reference vector in RGB color space. Experiment results on the synthetic and natural stereo images show the performance of the proposed approach.

  19. Experimental dem Extraction from Aster Stereo Pairs and 3d Registration Based on Icesat Laser Altimetry Data in Upstream Area of Lambert Glacier, Antarctica

    Science.gov (United States)

    Hai, G.; Xie, H.; Chen, J.; Chen, L.; Li, R.; Tong, X.

    2017-09-01

    DEM Extraction from ASTER stereo pairs and three-dimensional registration by reference to ICESat laser altimetry data are carried out in upstream area of Lambert Glacier, East Antarctica. Since the study area is located in inland of East Antarctica where few textures exist, registration between DEM and ICESat data is performed. Firstly, the ASTER DEM generation is based on rational function model (RFM) and the procedure includes: a) rational polynomial coefficient (RPC) computation from ASTER metadata, b) L1A image product de-noise and destriping, c) local histogram equalization and matching, d) artificial collection of tie points and bundle adjustment, and e) coarse-to-fine hierarchical matching of five levels and grid matching. The matching results are filtered semi-automatically. Hereafter, DEM is interpolated using spline method with ground points converted from matching points. Secondly, the generated ASTER DEM is registered to ICESat data in three-dimensional space after Least-squares rigid transformation using singular value decomposition (SVD). The process is stated as: a) correspondence selection of terrain feature points from ICESat and DEM profiles, b) rigid transformation of generated ASTER DEM using selected feature correspondences based on least squares technique. The registration shows a good result that the elevation difference between DEM and ICESat data is low with a mean value less than 2 meters and the standard deviation around 7 meters. This DEM is generated and specially registered in Antarctic typical region without obvious ground rock control points and serves as true terrain input for further radar altimetry simulation.

  20. Improved seam carving for stereo image resizing

    National Research Council Canada - National Science Library

    Yue, Bin; Hou, Chun-ping; Zhou, Yuan

    2013-01-01

    .... We extended seam carving algorithm to stereo images. The novelty of our method is that important objects are determined by jointly considering the intensities of gradients and visual fusion area...

  1. Static stereo vision depth distortions in teleoperation

    Science.gov (United States)

    Diner, D. B.; Von Sydow, M.

    1988-01-01

    A major problem in high-precision teleoperation is the high-resolution presentation of depth information. Stereo television has so far proved to be only a partial solution, due to an inherent trade-off among depth resolution, depth distortion and the alignment of the stereo image pair. Converged cameras can guarantee image alignment but suffer significant depth distortion when configured for high depth resolution. Moving the stereo camera rig to scan the work space further distorts depth. The 'dynamic' (camera-motion induced) depth distortion problem was solved by Diner and Von Sydow (1987), who have quantified the 'static' (camera-configuration induced) depth distortion. In this paper, a stereo image presentation technique which yields aligned images, high depth resolution and low depth distortion is demonstrated, thus solving the trade-off problem.

  2. Stereo 3D spatial phase diagrams

    Energy Technology Data Exchange (ETDEWEB)

    Kang, Jinwu, E-mail: kangjw@tsinghua.edu.cn; Liu, Baicheng, E-mail: liubc@tsinghua.edu.cn

    2016-07-15

    Phase diagrams serve as the fundamental guidance in materials science and engineering. Binary P-T-X (pressure–temperature–composition) and multi-component phase diagrams are of complex spatial geometry, which brings difficulty for understanding. The authors constructed 3D stereo binary P-T-X, typical ternary and some quaternary phase diagrams. A phase diagram construction algorithm based on the calculated phase reaction data in PandaT was developed. And the 3D stereo phase diagram of Al-Cu-Mg ternary system is presented. These phase diagrams can be illustrated by wireframe, surface, solid or their mixture, isotherms and isopleths can be generated. All of these can be displayed by the three typical display ways: electronic shutter, polarization and anaglyph (for example red-cyan glasses). Especially, they can be printed out with 3D stereo effect on paper, and watched by the aid of anaglyph glasses, which makes 3D stereo book of phase diagrams come to reality. Compared with the traditional illustration way, the front of phase diagrams protrude from the screen and the back stretches far behind of the screen under 3D stereo display, the spatial structure can be clearly and immediately perceived. These 3D stereo phase diagrams are useful in teaching and research. - Highlights: • Stereo 3D phase diagram database was constructed, including binary P-T-X, ternary, some quaternary and real ternary systems. • The phase diagrams can be watched by active shutter or polarized or anaglyph glasses. • The print phase diagrams retains 3D stereo effect which can be achieved by the aid of anaglyph glasses.

  3. Low Obstacle Detection Using Stereo Vision

    Science.gov (United States)

    2016-10-09

    clouds and keeps the model assumptions to a minimum. To evaluate the algorithm , a new stereo dataset is provided and made available online. We present...vehicles and ground robots, the detection of obstacles is an essential element for higher-level tasks such as navigation and path planning . The problem...OVERVIEW OF THE ALGORITHM The proposed algorithm relies on three inputs: (i) A dense 3D point cloud from a stereo-vision system calculated with Efficient

  4. Matching theory

    CERN Document Server

    Lovász, László

    2009-01-01

    This book surveys matching theory, with an emphasis on connections with other areas of mathematics and on the role matching theory has played, and continues to play, in the development of some of these areas. Besides basic results on the existence of matchings and on the matching structure of graphs, the impact of matching theory is discussed by providing crucial special cases and nontrivial examples on matroid theory, algorithms, and polyhedral combinatorics. The new Appendix outlines how the theory and applications of matching theory have continued to develop since the book was first publish

  5. PHOTOMETRIC STEREO SHAPE-AND-ALBEDO-FROM-SHADING FOR PIXEL-LEVEL RESOLUTION LUNAR SURFACE RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    W. C. Liu

    2017-07-01

    Full Text Available Shape and Albedo from Shading (SAfS techniques recover pixel-wise surface details based on the relationship between terrain slopes, illumination and imaging geometry, and the energy response (i.e., image intensity captured by the sensing system. Multiple images with different illumination geometries (i.e., photometric stereo can provide better SAfS surface reconstruction due to the increase in observations. Photometric stereo SAfS is suitable for detailed surface reconstruction of the Moon and other extra-terrestrial bodies due to the availability of photometric stereo and the less complex surface reflecting properties (i.e., albedo of the target bodies as compared to the Earth. Considering only one photometric stereo pair (i.e., two images, pixel-variant albedo is still a major obstacle to satisfactory reconstruction and it needs to be regulated by the SAfS algorithm. The illumination directional difference between the two images also becomes an important factor affecting the reconstruction quality. This paper presents a photometric stereo SAfS algorithm for pixel-level resolution lunar surface reconstruction. The algorithm includes a hierarchical optimization architecture for handling pixel-variant albedo and improving performance. With the use of Lunar Reconnaissance Orbiter Camera - Narrow Angle Camera (LROC NAC photometric stereo images, the reconstructed topography (i.e., the DEM is compared with the DEM produced independently by photogrammetric methods. This paper also addresses the effect of illumination directional difference in between one photometric stereo pair on the reconstruction quality of the proposed algorithm by both mathematical and experimental analysis. In this case, LROC NAC images under multiple illumination directions are utilized by the proposed algorithm for experimental comparison. The mathematical derivation suggests an illumination azimuthal difference of 90 degrees between two images is recommended to achieve

  6. Photometric Stereo Shape-And for Pixel-Level Resolution Lunar Surface Reconstruction

    Science.gov (United States)

    Liu, W. C.; Wu, B.

    2017-07-01

    Shape and Albedo from Shading (SAfS) techniques recover pixel-wise surface details based on the relationship between terrain slopes, illumination and imaging geometry, and the energy response (i.e., image intensity) captured by the sensing system. Multiple images with different illumination geometries (i.e., photometric stereo) can provide better SAfS surface reconstruction due to the increase in observations. Photometric stereo SAfS is suitable for detailed surface reconstruction of the Moon and other extra-terrestrial bodies due to the availability of photometric stereo and the less complex surface reflecting properties (i.e., albedo) of the target bodies as compared to the Earth. Considering only one photometric stereo pair (i.e., two images), pixel-variant albedo is still a major obstacle to satisfactory reconstruction and it needs to be regulated by the SAfS algorithm. The illumination directional difference between the two images also becomes an important factor affecting the reconstruction quality. This paper presents a photometric stereo SAfS algorithm for pixel-level resolution lunar surface reconstruction. The algorithm includes a hierarchical optimization architecture for handling pixel-variant albedo and improving performance. With the use of Lunar Reconnaissance Orbiter Camera - Narrow Angle Camera (LROC NAC) photometric stereo images, the reconstructed topography (i.e., the DEM) is compared with the DEM produced independently by photogrammetric methods. This paper also addresses the effect of illumination directional difference in between one photometric stereo pair on the reconstruction quality of the proposed algorithm by both mathematical and experimental analysis. In this case, LROC NAC images under multiple illumination directions are utilized by the proposed algorithm for experimental comparison. The mathematical derivation suggests an illumination azimuthal difference of 90 degrees between two images is recommended to achieve minimal error in

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

    Science.gov (United States)

    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

  8. STEREO interplanetary shocks and foreshocks

    Energy Technology Data Exchange (ETDEWEB)

    Blanco-Cano, X. [Instituto de Geofisica, UNAM, CU, Coyoacan 04510 DF (Mexico); Kajdic, P. [IRAP-University of Toulouse, CNRS, Toulouse (France); Aguilar-Rodriguez, E. [Instituto de Geofisica, UNAM, Morelia (Mexico); Russell, C. T. [ESS and IGPP, University of California, Los Angeles, 603 Charles Young Drive, Los Angeles, CA 90095 (United States); Jian, L. K. [NASA Goddard Space Flight Center, Greenbelt, MD and University of Maryland, College Park, MD (United States); Luhmann, J. G. [SSL, University of California Berkeley (United States)

    2013-06-13

    We use STEREO data to study shocks driven by stream interactions and the waves associated with them. During the years of the extended solar minimum 2007-2010, stream interaction shocks have Mach numbers between 1.1-3.8 and {theta}{sub Bn}{approx}20-86 Degree-Sign . We find a variety of waves, including whistlers and low frequency fluctuations. Upstream whistler waves may be generated at the shock and upstream ultra low frequency (ULF) waves can be driven locally by ion instabilities. The downstream wave spectra can be formed by both, locally generated perturbations, and shock transmitted waves. We find that many quasiperpendicular shocks can be accompanied by ULF wave and ion foreshocks, which is in contrast to Earth's bow shock. Fluctuations downstream of quasi-parallel shocks tend to have larger amplitudes than waves downstream of quasi-perpendicular shocks. Proton foreshocks of shocks driven by stream interactions have extensions dr {<=}0.05 AU. This is smaller than foreshock extensions for ICME driven shocks. The difference in foreshock extensions is related to the fact that ICME driven shocks are formed closer to the Sun and therefore begin to accelerate particles very early in their existence, while stream interaction shocks form at {approx}1 AU and have been producing suprathermal particles for a shorter time.

  9. Pengukuran Jarak Berbasiskan Stereo Vision

    Directory of Open Access Journals (Sweden)

    Iman Herwidiana Kartowisastro

    2010-12-01

    Full Text Available Measuring distance from an object can be conducted in a variety of ways, including by making use of distance measuring sensors such as ultrasonic sensors, or using the approach based vision system. This last mode has advantages in terms of flexibility, namely a monitored object has relatively no restrictions characteristic of the materials used at the same time it also has its own difficulties associated with object orientation and state of the room where the object is located. To overcome this problem, so this study examines the possibility of using stereo vision to measure the distance to an object. The system was developed starting from image extraction, information extraction characteristics of the objects contained in the image and visual distance measurement process with 2 separate cameras placed in a distance of 70 cm. The measurement object can be in the range of 50 cm - 130 cm with a percentage error of 5:53%. Lighting conditions (homogeneity and intensity has a great influence on the accuracy of the measurement results. 

  10. On the use of orientation filters for 3D reconstruction in event-driven stereo vision.

    Science.gov (United States)

    Camuñas-Mesa, Luis A; Serrano-Gotarredona, Teresa; Ieng, Sio H; Benosman, Ryad B; Linares-Barranco, Bernabe

    2014-01-01

    The recently developed Dynamic Vision Sensors (DVS) sense visual information asynchronously and code it into trains of events with sub-micro second temporal resolution. This high temporal precision makes the output of these sensors especially suited for dynamic 3D visual reconstruction, by matching corresponding events generated by two different sensors in a stereo setup. This paper explores the use of Gabor filters to extract information about the orientation of the object edges that produce the events, therefore increasing the number of constraints applied to the matching algorithm. This strategy provides more reliably matched pairs of events, improving the final 3D reconstruction.

  11. REGION BASED FOREST CHANGE DETECTION FROM CARTOSAT-1 STEREO IMAGERY

    Directory of Open Access Journals (Sweden)

    J. Tian

    2012-09-01

    Full Text Available Tree height is a fundamental parameter for describing the forest situation and changes. The latest development of automatic Digital Surface Model (DSM generation techniques allows new approaches of forest change detection from satellite stereo imagery. This paper shows how DSMs can support the change detection in forest area. A novel region based forest change detection method is proposed using single-channel CARTOSAT-1 stereo imagery. In the first step, DSMs from two dates are generated based on automatic matching technology. After co-registration and normalising by using LiDAR data, the mean-shift segmentation is applied to the original pan images, and the images of both dates are classified to forest and non-forest areas by analysing their histograms and height differences. In the second step, a rough forest change detection map is generated based on the comparison of the two forest map. Then the GLCM texture from the nDSM and the Cartosat-1 images of the resulting regions are analyzed and compared, the real changes are extracted by SVM based classification.

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

    Science.gov (United States)

    2015-03-01

    employ stereo vision systems to enhance the capability for refueling manned aircraft. This research examines the use of stereo vision for precision...4 2.1 Stereo Vision ...25 2.4.4 Stereo Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 III

  13. Restoration of degraded images using stereo vision

    Science.gov (United States)

    Hernández-Beltrán, José Enrique; Díaz-Ramírez, Victor H.; Juarez-Salazar, Rigoberto

    2017-08-01

    Image restoration consists in retrieving an original image by processing captured images of a scene which are degraded by noise, blurring or optical scattering. Commonly restoration algorithms utilize a single monocular image of the observed scene by assuming a known degradation model. In this approach, valuable information of the three dimensional scene is discarded. This work presents a locally-adaptive algorithm for image restoration by employing stereo vision. The proposed algorithm utilizes information of a three-dimensional scene as well as local image statistics to improve the quality of a single restored image by processing pairs of stereo images. Computer simulations results obtained with the proposed algorithm are analyzed and discussed in terms of objective metrics by processing stereo images degraded by optical scattering.

  14. The potential risk of personal stereo players

    DEFF Research Database (Denmark)

    Hammershøi, Dorte; Ordoñez, Rodrigo Pizarro; Reuter, Karen

    2010-01-01

    The technological development within personal stereo systems, such as MP3 players, e. g. iPods, has changed music listening habits from home entertainment to everyday and everywhere use. The technology has developed considerably, since the introduction of cassette players and CD walkmen. High......-level low-distortion music is produced by minimal devices which can play for long periods. In this paper, the existing literature on effects of personal stereo systems is reviewed, incl. studies of exposure levels, and effects on hearing. Generally, it is found that the levels being used are of concern......, which in one study is demonstrated to relate to the specific use in situations with high levels of background noise. Another study demonstrates that the effect of using personal stereo is comparable to that of being exposed to noise in industry. The results are discussed in view of the measurement...

  15. Merged Shape from Shading and Shape from Stereo for Planetary Topographic Mapping

    Science.gov (United States)

    Tyler, Laurence; Cook, Tony; Barnes, Dave; Parr, Gerhard; Kirk, Randolph

    2014-05-01

    Digital Elevation Models (DEMs) of the Moon and Mars have traditionally been produced from stereo imagery from orbit, or from the surface landers or rovers. One core component of image-based DEM generation is stereo matching to find correspondences between images taken from different viewpoints. Stereo matchers that rely mostly on textural features in the images can fail to find enough matched points in areas lacking in contrast or surface texture. This can lead to blank or topographically noisy areas in resulting DEMs. Fine depth detail may also be lacking due to limited precision and quantisation of the pixel matching process. Shape from shading (SFS), a two dimensional version of photoclinometry, utilizes the properties of light reflecting off surfaces to build up localised slope maps, which can subsequently be combined to extract topography. This works especially well on homogeneous surfaces and can recover fine detail. However the cartographic accuracy can be affected by changes in brightness due to differences in surface material, albedo and light scattering properties, and also by the presence of shadows. We describe here experimental research for the Planetary Robotics Vision Data Exploitation EU FP7 project (PRoViDE) into using stereo generated depth maps in conjunction with SFS to recover both coarse and fine detail of planetary surface DEMs. Our Large Deformation Optimisation Shape From Shading (LDOSFS) algorithm uses image data, illumination, viewing geometry and camera parameters to produce a DEM. A stereo-derived depth map can be used as an initial seed if available. The software uses separate Bidirectional Reflectance Distribution Function (BRDF) and SFS modules for iterative processing and to make the code more portable for future development. Three BRDF models are currently implemented: Lambertian, Blinn-Phong, and Oren-Nayar. A version of the Hapke reflectance function, which is more appropriate for planetary surfaces, is under development

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

    Directory of Open Access Journals (Sweden)

    Zhangwei Chen

    2013-03-01

    Full Text Available 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.

  17. SAD-based stereo vision machine on a System-on-Programmable-Chip (SoPC).

    Science.gov (United States)

    Zhang, Xiang; Chen, Zhangwei

    2013-03-04

    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.

  18. Epipolar constraint of single-camera mirror binocular stereo vision systems

    Science.gov (United States)

    Chai, Xinghua; Zhou, Fuqiang; Chen, Xin

    2017-08-01

    Virtual binocular sensors, composed of a camera and catoptric mirrors, have become popular among machine vision researchers, owing to their high flexibility and compactness. Usually, the tested target is projected onto a camera at different reflection times, and feature matching is performed using one image. To establish the geometric principles of the feature-matching process of a mirror binocular stereo vision system, we proposed a single-camera model with the epipolar constraint for matching the mirrored features. The constraint between the image coordinates of the real target and its mirror reflection is determined, which can be used to eliminate nonmatching points in the feature-matching process of a mirror binocular system. To validate the epipolar constraint model and to evaluate its performance in practical applications, we performed realistic matching experiments and analysis using a mirror binocular stereo vision system. Our results demonstrate the feasibility of the proposed model, suggesting a method for considerable improvement of efficacy of the process for matching mirrored features.

  19. A Photometric Stereo Using Re-Projected Images for Active Stereo Vision System

    Directory of Open Access Journals (Sweden)

    Keonhwa Jung

    2017-10-01

    Full Text Available In optical 3D shape measurement, stereo vision with structured light can measure 3D scan data with high accuracy and is used in many applications, but fine surface detail is difficult to obtain. On the other hand, photometric stereo can capture surface details but has disadvantages, in that its 3D data accuracy drops and it requires multiple light sources. When the two measurement methods are combined, more accurate 3D scan data and detailed surface features can be obtained at the same time. In this paper, we present a 3D optical measurement technique that uses re-projection of images to implement photometric stereo without an external light source. 3D scan data is enhanced by combining normal vector from this photometric stereo method, and the result is evaluated with the ground truth.

  20. Stereoselectivity in metallocene-catalyzed coordination polymerization of renewable methylene butyrolactones: From stereo-random to stereo-perfect polymers

    KAUST Repository

    Chen, Xia

    2012-05-02

    Coordination polymerization of renewable α-methylene-γ-(methyl) butyrolactones by chiral C 2-symmetric zirconocene catalysts produces stereo-random, highly stereo-regular, or perfectly stereo-regular polymers, depending on the monomer and catalyst structures. Computational studies yield a fundamental understanding of the stereocontrol mechanism governing these new polymerization reactions mediated by chiral metallocenium catalysts. © 2012 American Chemical Society.

  1. Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces

    DEFF Research Database (Denmark)

    Buch, Anders Glent; Kraft, Dirk; Kämäräinen, Joni-Kristian

    2013-01-01

    We present a system for detecting the pose of rigid objects using texture and contour information. From a stereo image view of a scene, a sparse hierarchical scene representation is reconstructed using an early cognitive vision system. We define an object model in terms of a simple context...... descriptor of the contour and texture features to provide a sparse, yet descriptive object representation. Using our descriptors, we do a search in the correspondence space to perform outlier removal and compute the object pose. We perform an extensive evaluation of our approach with stereo images...

  2. Multi-hypothesis distributed stereo video coding

    DEFF Research Database (Denmark)

    Salmistraro, Matteo; Zamarin, Marco; Forchhammer, Søren

    2013-01-01

    Distributed Video Coding (DVC) is a video coding paradigm that exploits the source statistics at the decoder based on the availability of the Side Information (SI). Stereo sequences are constituted by two views to give the user an illusion of depth. In this paper, we present a DVC decoder...

  3. The potential risk of personal stereo players

    DEFF Research Database (Denmark)

    Hammershøi, Dorte; Ordoñez, Rodrigo Pizarro; Reuter, Karen

    2010-01-01

    The technological development within personal stereo systems,such as MP3 players, e. g. iPods, has changed music listening habits from home entertainment to everyday and everywhere use. The technology has developed considerably, since the introduction of cassette players and CD walkmen. High-leve...

  4. Artistic Stereo Imaging by Edge Preserving Smoothing

    NARCIS (Netherlands)

    Papari, Giuseppe; Campisi, Patrizio; Callet, Patrick Le; Petkov, Nicolai

    2009-01-01

    Stereo imaging is an important area of image and video processing, with exploding progress in the last decades. An open issue in this field is the understanding of the conditions under which the straightforward application of a given image processing operator to both the left and right image of a

  5. System for clinical photometric stereo endoscopy

    Science.gov (United States)

    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.

  6. Matching methods evaluation framework for stereoscopic breast x-ray images.

    Science.gov (United States)

    Rousson, Johanna; Naudin, Mathieu; Marchessoux, Cédric

    2016-01-01

    Three-dimensional (3-D) imaging has been intensively studied in the past few decades. Depth information is an important added value of 3-D systems over two-dimensional systems. Special focuses were devoted to the development of stereo matching methods for the generation of disparity maps (i.e., depth information within a 3-D scene). Dedicated frameworks were designed to evaluate and rank the performance of different stereo matching methods but never considering x-ray medical images. Yet, 3-D x-ray acquisition systems and 3-D medical displays have already been introduced into the diagnostic market. To access the depth information within x-ray stereoscopic images, computing accurate disparity maps is essential. We aimed at developing a framework dedicated to x-ray stereoscopic breast images used to evaluate and rank several stereo matching methods. A multiresolution pyramid optimization approach was integrated to the framework to increase the accuracy and the efficiency of the stereo matching techniques. Finally, a metric was designed to score the results of the stereo matching compared with the ground truth. Eight methods were evaluated and four of them [locally scaled sum of absolute differences (LSAD), zero mean sum of absolute differences, zero mean sum of squared differences, and locally scaled mean sum of squared differences] appeared to perform equally good with an average error score of 0.04 (0 is the perfect matching). LSAD was selected for generating the disparity maps.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  9. 3D pose estimation of large and complicated workpieces based on binocular stereo vision.

    Science.gov (United States)

    Luo, Zhifeng; Zhang, Ke; Wang, Zhigang; Zheng, Jian; Chen, Yixin

    2017-08-20

    A binocular stereo vision method is proposed for automatically locating the position and posture of workpieces, which is especially important when processing large, complicated structures, for example, the laser hardening and laser cladding of automotive die. First, a binocular stereo vision positioning system was designed and modeled, from which a method of background subtraction was proposed to extract the edge line of the foreground area. Furthermore, the intersection point of the workpiece contour line was taken as the characteristic point of the workpiece, and an algorithm that combines epipolar constraint with gray value similarity was proposed to quickly and accurately realize the feature points matching. Finally, experiments show that the workpiece can be positioned accurately, and that the precision of position recognition could be controlled within ±0.5  mm when the camera was 1 m away from the workpiece, meeting the requirement of robot processing.

  10. A novel registration method for image-guided neurosurgery system based on stereo vision.

    Science.gov (United States)

    An, Yong; Wang, Manning; Song, Zhijian

    2015-01-01

    This study presents a novel spatial registration method of Image-guided neurosurgery system (IGNS) based on stereo-vision. Images of the patient's head are captured by a video camera, which is calibrated and tracked by an optical tracking system. Then, a set of sparse facial data points are reconstructed from them by stereo vision in the patient space. Surface matching method is utilized to register the reconstructed sparse points and the facial surface reconstructed from preoperative images of the patient. Simulation experiments verified the feasibility of the proposed method. The proposed method it is a new low-cost and easy-to-use spatial registration method for IGNS, with good prospects for clinical application.

  11. Catalysis with hierarchical zeolites

    DEFF Research Database (Denmark)

    Holm, Martin Spangsberg; Taarning, Esben; Egeblad, Kresten

    2011-01-01

    topic. Until now, the main reason for developing hierarchical zeolites has been to achieve heterogeneous catalysts with improved performance but this particular facet has not yet been reviewed in detail. Thus, the present paper summaries and categorizes the catalytic studies utilizing hierarchical...

  12. [Stereo Vision Deterioration by Artificially Induced Aniseikonia].

    Science.gov (United States)

    Veselý, P; Synek, S

    Main purpose of this study was to evaluate effect of aniseikonia on the stereo vision. We had together 90 subjects without eye pathology with or without habitual correction. Five of them were excluded due to important anisometropia or bad visual acuity (V stereo test. The level for stereoscopy vision was set bellow 60 arc seconds. This criterion was not achieved naturally by 6 subjects, so final number of all cases was 316 (100 %). As a whole 48 subjects (15.2 %) fail after using the test with size lens on OD 1, 3 or 5 %. All 268 cases (84.8 %) had not impaired stereoscopy parallax with size lens over chosen critical level. size lens, anisometropia, aniseikonia, heterophoria, stereoscopy vision.

  13. Depth from Edge and Intensity Based Stereo.

    Science.gov (United States)

    1982-09-01

    something similar for a machine (be the similarity in mechanism or effect). ,1 1.1 The Stereopsi. Process in Man .4 In the course of primate ...Dorr ain • restrictions An understanding of its domain of intended use and an analysis of its performance capabilities will give us insight into a stereo...providing for the interpretation of cei: ain edges as being spurious or obscured, is both unrealistic and unacceptable - there will always be edges which

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

    Science.gov (United States)

    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. Opportunity's Surroundings on Sol 1798 (Stereo)

    Science.gov (United States)

    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.

  16. Automatic Matching of High Resolution Satellite Images Based on RFM

    Directory of Open Access Journals (Sweden)

    JI Shunping

    2016-02-01

    Full Text Available A matching method for high resolution satellite images based on RFM is presented.Firstly,the RFM parameters are used to predict the initial parallax of corresponding points and the prediction accuracy is analyzed.Secondly,the approximate epipolar equation is constructed based on projection tracking and its accuracy is analyzed.Thirdly,approximate 1D image matching is executed on pyramid images and least square matching on base images.At last RANSAC is imbedded to eliminate mis-matching points and matching results are obtained.Test results verified the method more robust and with higher matching rate,compared to 2D gray correlation method and the popular SIFT matching method,and the method preferably solved the question of high resolution satellite image matching with different stereo model,different time and large rotation images.

  17. Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study.

    Science.gov (United States)

    Suenaga, Hideyuki; Tran, Huy Hoang; Liao, Hongen; Masamune, Ken; Dohi, Takeyoshi; Hoshi, Kazuto; Takato, Tsuyoshi

    2015-11-02

    This study evaluated the use of an augmented reality navigation system that provides a markerless registration system using stereo vision in oral and maxillofacial surgery. A feasibility study was performed on a subject, wherein a stereo camera was used for tracking and markerless registration. The computed tomography data obtained from the volunteer was used to create an integral videography image and a 3-dimensional rapid prototype model of the jaw. The overlay of the subject's anatomic site and its 3D-IV image were displayed in real space using a 3D-AR display. Extraction of characteristic points and teeth matching were done using parallax images from two stereo cameras for patient-image registration. Accurate registration of the volunteer's anatomy with IV stereoscopic images via image matching was done using the fully automated markerless system, which recognized the incisal edges of the teeth and captured information pertaining to their position with an average target registration error of stereo vision, which, combined with AR, could have significant clinical applications.

  18. Stereo Vision: The Haves and Have-Nots

    Directory of Open Access Journals (Sweden)

    Robert F. Hess

    2015-07-01

    Full Text Available Animals with front facing eyes benefit from a substantial overlap in the visual fields of each eye, and devote specialized brain processes to using the horizontal spatial disparities produced as a result of viewing the same object with two laterally placed eyes, to derived depth or 3-D stereo information. This provides the advantage to break the camouflage of objects in front of similarly textured background and improves hand eye coordination for grasping objects close at hand. It is widely thought that about 5% of the population have a lazy eye and lack stereo vision, so it is often supposed that most of the population (95% have good stereo abilities. We show that this is not the case; 68% have good to excellent stereo (the haves and 32% have moderate to poor stereo (the have-nots. Why so many people lack good 3-D stereo vision is unclear but it is likely to be neural and reversible.

  19. Age is highly associated with stereo blindness among surgeons

    DEFF Research Database (Denmark)

    Fergo, Charlotte; Burcharth, Jakob; Pommergaard, Hans-Christian

    2016-01-01

    BACKGROUND: The prevalence of stereo blindness in the general population varies greatly within a range of 1-30 %. Stereo vision adds an extra dimension to aid depth perception and gives a binocular advantage in task completion. Lack of depth perception may lower surgical performance, potentially...... affecting surgical outcome. 3D laparoscopy offers stereoscopic vision of the operative field to improve depth perception and is being introduced to several surgical specialties; however, a normal stereo vision is a prerequisite. The aim of this study was to establish the prevalence of stereo blindness among...... of having any vision anomaly in need for correction (OR 4; CI 1.4-11.4; P = 0.010) were significantly associated with stereo blindness. CONCLUSION: Approximately one in ten medical doctors in general surgery, gynecology, and urology were stereo blind with an increasing prevalence with age. This is relevant...

  20. Stereo vision enhances the learning of a catching skill.

    Science.gov (United States)

    Mazyn, Liesbeth I N; Lenoir, Matthieu; Montagne, Gilles; Delaey, Christophe; Savelsbergh, Geert J P

    2007-06-01

    The aim of this study was to investigate the contribution of stereo vision to the acquisition of a natural interception task. Poor catchers with good (N = 8; Stereo+) and weak (N = 6; Stereo-) stereo vision participated in an intensive training program spread over 2 weeks, during which they caught over 1,400 tennis balls in a pre-post-retention design. While the Stereo+ group improved from a catching percentage of 18% to 59%, catchers in the Stereo- group did not significantly improve (from 10 to 31%), this progress being indifferent from a control group (N = 9) that did not practice at all. These results indicate that the development and use of of compensatory cues for depth perception in people with weak stereopsis is insufficient to successfully deal with interceptions under high temporal constraints, and that this disadvantage cannot be fully attenuated by specific and intensive training.

  1. Stereo Vision: The Haves and Have-Nots.

    Science.gov (United States)

    Hess, Robert F; To, Long; Zhou, Jiawei; Wang, Guangyu; Cooperstock, Jeremy R

    2015-06-01

    Animals with front facing eyes benefit from a substantial overlap in the visual fields of each eye, and devote specialized brain processes to using the horizontal spatial disparities produced as a result of viewing the same object with two laterally placed eyes, to derived depth or 3-D stereo information. This provides the advantage to break the camouflage of objects in front of similarly textured background and improves hand eye coordination for grasping objects close at hand. It is widely thought that about 5% of the population have a lazy eye and lack stereo vision, so it is often supposed that most of the population (95%) have good stereo abilities. We show that this is not the case; 68% have good to excellent stereo (the haves) and 32% have moderate to poor stereo (the have-nots). Why so many people lack good 3-D stereo vision is unclear but it is likely to be neural and reversible.

  2. Stereo uparivanje iz video isječka

    OpenAIRE

    Lelas, Marko; Pribanić, Tomislav

    2016-01-01

    Ovim radom predstavljena je nova metoda stereo uparivanja temeljena na kombinaciji aktivnog i pasivnog stereo pristupa. Rekonstruirana scena skenirana je laserskom linijom, dok se par stereo kamera koristi za akviziciju video isječka. Svaki slikovni element rekonstruirane scene skeniran je laserskom linijom u određenom trenutku stoga su profili intenziteta svjetline u vremenskoj domeni izrazito korelirani za slikovne elemente lijeve i desne kamere koji odgovaraju istom slikovnom element rekon...

  3. Calibration of a Stereo Radiation Detection Camera Using Planar Homography

    Directory of Open Access Journals (Sweden)

    Seung-Hae Baek

    2016-01-01

    Full Text Available This paper proposes a calibration technique of a stereo gamma detection camera. Calibration of the internal and external parameters of a stereo vision camera is a well-known research problem in the computer vision society. However, few or no stereo calibration has been investigated in the radiation measurement research. Since no visual information can be obtained from a stereo radiation camera, it is impossible to use a general stereo calibration algorithm directly. In this paper, we develop a hybrid-type stereo system which is equipped with both radiation and vision cameras. To calibrate the stereo radiation cameras, stereo images of a calibration pattern captured from the vision cameras are transformed in the view of the radiation cameras. The homography transformation is calibrated based on the geometric relationship between visual and radiation camera coordinates. The accuracy of the stereo parameters of the radiation camera is analyzed by distance measurements to both visual light and gamma sources. The experimental results show that the measurement error is about 3%.

  4. Introduction into Hierarchical Matrices

    KAUST Repository

    Litvinenko, Alexander

    2013-12-05

    Hierarchical matrices allow us to reduce computational storage and cost from cubic to almost linear. This technique can be applied for solving PDEs, integral equations, matrix equations and approximation of large covariance and precision matrices.

  5. Programming with Hierarchical Maps

    DEFF Research Database (Denmark)

    Ørbæk, Peter

    This report desribes the hierarchical maps used as a central data structure in the Corundum framework. We describe its most prominent features, ague for its usefulness and briefly describe some of the software prototypes implemented using the technology....

  6. Micromechanics of hierarchical materials

    DEFF Research Database (Denmark)

    Mishnaevsky, Leon, Jr.

    2012-01-01

    A short overview of micromechanical models of hierarchical materials (hybrid composites, biomaterials, fractal materials, etc.) is given. Several examples of the modeling of strength and damage in hierarchical materials are summarized, among them, 3D FE model of hybrid composites...... with nanoengineered matrix, fiber bundle model of UD composites with hierarchically clustered fibers and 3D multilevel model of wood considered as a gradient, cellular material with layered composite cell walls. The main areas of research in micromechanics of hierarchical materials are identified, among them......, the investigations of the effects of load redistribution between reinforcing elements at different scale levels, of the possibilities to control different material properties and to ensure synergy of strengthening effects at different scale levels and using the nanoreinforcement effects. The main future directions...

  7. Pancam Peek into 'Victoria Crater' (Stereo)

    Science.gov (United States)

    2006-01-01

    [figure removed for brevity, see original site] Left-eye view of a stereo pair for PIA08776 [figure removed for brevity, see original site] Right-eye view of a stereo pair for PIA08776 A drive of about 60 meters (about 200 feet) on the 943rd Martian day, or sol, of Opportunity's exploration of Mars' Meridiani Planum region (Sept. 18, 2006) brought the NASA rover to within about 50 meters (about 160 feet) of the rim of 'Victoria Crater.' This crater has been the mission's long-term destination for the past 21 Earth months. Opportunity reached a location from which the cameras on top of the rover's mast could begin to see into the interior of Victoria. This stereo anaglyph was made from frames taken on sol 943 by the panoramic camera (Pancam) to offer a three-dimensional view when seen through red-blue glasses. It shows the upper portion of interior crater walls facing toward Opportunity from up to about 850 meters (half a mile) away. The amount of vertical relief visible at the top of the interior walls from this angle is about 15 meters (about 50 feet). The exposures were taken through a Pancam filter selecting wavelengths centered on 750 nanometers. Victoria Crater is about five times wider than 'Endurance Crater,' which Opportunity spent six months examining in 2004, and about 40 times wider than 'Eagle Crater,' where Opportunity first landed. The great lure of Victoria is the expectation that a thick stack of geological layers will be exposed in the crater walls, potentially several times the thickness that was previously studied at Endurance and therefore, potentially preserving several times the historical record.

  8. STEREO Superior Solar Conjunction Mission Phase

    Science.gov (United States)

    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.

  9. Implementation of the Canny Edge Detection algorithm for a stereo vision system

    Energy Technology Data Exchange (ETDEWEB)

    Wang, J.R.; Davis, T.A.; Lee, G.K. [North Carolina State Univ., Raleigh, NC (United States)

    1996-12-31

    There exists many applications in which three-dimensional information is necessary. For example, in manufacturing systems, parts inspection may require the extraction of three-dimensional information from two-dimensional images, through the use of a stereo vision system. In medical applications, one may wish to reconstruct a three-dimensional image of a human organ from two or more transducer images. An important component of three-dimensional reconstruction is edge detection, whereby an image boundary is separated from background, for further processing. In this paper, a modification of the Canny Edge Detection approach is suggested to extract an image from a cluttered background. The resulting cleaned image can then be sent to the image matching, interpolation and inverse perspective transformation blocks to reconstruct the 3-D scene. A brief discussion of the stereo vision system that has been developed at the Mars Mission Research Center (MMRC) is also presented. Results of a version of Canny Edge Detection algorithm show promise as an accurate edge extractor which may be used in the edge-pixel based binocular stereo vision system.

  10. The research on binocular stereo video imaging and display system based on low-light CMOS

    Science.gov (United States)

    Xie, Ruobing; Li, Li; Jin, Weiqi; Guo, Hong

    2015-10-01

    It is prevalent for the low-light night-vision helmet to equip the binocular viewer with image intensifiers. Such equipment can not only acquire night vision ability, but also obtain the sense of stereo vision to achieve better perception and understanding of the visual field. However, since the image intensifier is for direct-observation, it is difficult to apply the modern image processing technology. As a result, developing digital video technology in night vision is of great significance. In this paper, we design a low-light night-vision helmet with digital imaging device. It consists of three parts: a set of two low-illumination CMOS cameras, a binocular OLED micro display and an image processing PCB. Stereopsis is achieved through the binocular OLED micro display. We choose Speed-Up Robust Feature (SURF) algorithm for image registration. Based on the image matching information and the cameras' calibration parameters, disparity can be calculated in real-time. We then elaborately derive the constraints of binocular stereo display. The sense of stereo vision can be obtained by dynamically adjusting the content of the binocular OLED micro display. There is sufficient space for function extensions in our system. The performance of this low-light night-vision helmet can be further enhanced in combination with The HDR technology and image fusion technology, etc.

  11. Optimization-based non-cooperative spacecraft pose estimation using stereo cameras during proximity operations.

    Science.gov (United States)

    Zhang, Limin; Zhu, Feng; Hao, Yingming; Pan, Wang

    2017-05-20

    Pose estimation for spacecraft is widely recognized as an important technology for space applications. Many space missions require accurate relative pose between the chaser and the target spacecraft. Stereo-vision is a usual mean to estimate the pose of non-cooperative targets during proximity operations. However, the uncertainty of stereo-vision measurement is still an outstanding issue that needs to be solved. With binocular structure and the geometric structure of the object, we present a robust pose estimation method for non-cooperative spacecraft. Because the solar panel can provide strict geometry constraints, our approach takes the corner points of which as features. After stereo matching, an optimization-based method is proposed to estimate the relative pose between the two spacecraft. Simulation results show that our method improves the precision and robustness of pose estimation. Our system improves the performance with maximum 3D localization error less than 5% and relative rotation angle error less than 1°. Our laboratory experiments further validate the method.

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

    Science.gov (United States)

    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.

  13. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    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 on stereovision captures.

  14. SENTINEL-1 Image Matching Using Strong Scatters

    Science.gov (United States)

    Ghannadi, M. A.; Saadatseresht, M.; Motagh, M.

    2015-12-01

    The availability of new radar spaceborne sensors offers new interesting potentialities for the geomatics application: spatial and temporal change detection, generation of Digital Elevation Model(DEM) using radargrametry and interferometry. Since the start of the sentinel-1 mission to take images from different regions all over the world, the ability to use these images in variety domains has been treasured. This paper suggests a method for image matching using strong scatters. all the experiments are done on sentinel-1 stereo images from Jam, Bushehr, Iran.

  15. 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.

    Science.gov (United States)

    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 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.

  16. 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

    Directory of Open Access Journals (Sweden)

    Nurul Farhana Abu Bakar

    2014-01-01

    Full Text Available 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.

  17. Owls see in stereo much like humans do

    NARCIS (Netherlands)

    Willigen, R.F. van der

    2011-01-01

    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

  18. A new benchmark for stereo-based pedestrian detection

    NARCIS (Netherlands)

    Keller, C.G.; Enzweiler, M.; Gavrila, D.M.

    2011-01-01

    Pedestrian detection is a rapidly evolving area in the intelligent vehicles domain. Stereo vision is an attractive sensor for this purpose. But unlike for monocular vision, there are no realistic, large scale benchmarks available for stereo-based pedestrian detection, to provide a common point of

  19. Active Stereo and Motion Vision for Vehicle Navigation

    National Research Council Canada - National Science Library

    Nishihara, H

    1998-01-01

    .... We believe that this development model will rapidly take hold over the coming years. This report also presents a brief review of stereo performance characteristics relevant to the UGV mobility application. Several new techniques for enhancing stereo performance, including soft surface detection and disparity gradient compensation, are described.

  20. Stereo acuity and visual acuity in head-mounted displays

    NARCIS (Netherlands)

    Kooi, F.L.; Mosch, M.

    2006-01-01

    We have determined how the stereo acuity and visual acuity with Helmet Mounted Displays (HMD’s) depend on the HMD’s spatial resolution. We measured stereo acuity and visual acuity on 6 subjects for three types of HMD, with display resolutions ranging from 0.18 to 0.50 pixel/arcmin. The HMD’s provide

  1. Object recognition with stereo vision and geometric hashing

    NARCIS (Netherlands)

    van Dijck, H.A.L.; van der Heijden, Ferdinand

    In this paper we demonstrate a method to recognize 3D objects and to estimate their pose. For that purpose we use a combination of stereo vision and geometric hashing. Stereo vision is used to generate a large number of 3D low level features, of which many are spurious because at that stage of the

  2. Obstacle detection during day and night conditions using stereo vision

    NARCIS (Netherlands)

    Dubbelman, G.; Mark, W. van der; Heuvel, J.C. van den; Groen, F.C.A.

    2007-01-01

    We have developed a stereo vision based obstacle detection (OD) system that can be used to detect obstacles in off-road terrain during both day and night conditions. In order to acquire enough depth estimates for reliable OD during low visibility conditions, we propose a stereo disparity (depth)

  3. Fusing stereo and multispectral data from WorldView-2 for urban modeling

    Science.gov (United States)

    Krauss, Thomas; Sirmacek, Beril; Arefi, Hossein; Reinartz, Peter

    2012-06-01

    Using the capability of WorldView-2 to acquire very high resolution (VHR) stereo imagery together with as much as eight spectral channels allows the worldwide monitoring of any built up areas, like cities in evolving states. In this paper we show the benefit of generating a high resolution digital surface model (DSM) from multi-view stereo data (PAN) and fusing it with pan sharpened multi-spectral data to arrive at very detailed information in city areas. The fused data allow accurate object detection and extraction and by this also automated object oriented classification and future change detection applications. The methods proposed in this paper exploit the full range of capacities provided by WorldView-2, which are the high agility to acquire a minimum of two but also more in-orbit-images with small stereo angles, the very high ground sampling distance (GSD) of about 0.5 m and also the full usage of the standard four multispectral channels blue, green, red and near infrared together with the additional provided channels special to WorldView-2: coastal blue, yellow, red-edge and a second near infrared channel. From the very high resolution stereo panchromatic imagery a so called height map is derived using the semi global matching (SGM) method developed at DLR. This height map fits exactly on one of the original pan sharpened images. This in turn is used for an advanced rule based fuzzy spectral classification. Using these classification results the height map is corrected and finally a terrain model and an improved normalized digital elevation model (nDEM) generated. Fusing the nDEM with the classified multispectral imagery allows the extraction of urban objects like like buildings or trees. If such datasets from different times are generated the possibility of an expert object based change detection (in quasi 3D space) and automatic surveillance will become possible.

  4. Building damage assessment after the earthquake in Haiti using two postevent satellite stereo imagery and DSMs

    DEFF Research Database (Denmark)

    Tian, Jiaojiao; Nielsen, Allan Aasbjerg; Reinartz, Peter

    2015-01-01

    shelters. The proposed method contains three basic steps. The first step is to focus on the DSMs and orthorectified images preparation. The second step is to segment the panchromatic images in obtaining small homogeneous regions. In the last step, a rule-based classification is built on the change......In this article, a novel after-disaster building damage monitoring method is presented. This method combines the multispectral imagery and digital surface models (DSMs) from stereo matching of two dates to obtain three kinds of changes: collapsed buildings, newly built buildings and temporary...

  5. Object-based Multi-Image Semi-Global Matching - Concept and first results

    Science.gov (United States)

    Bethmann, F.; Luhmann, T.

    2014-06-01

    Semi-Global Matching (SGM) is a widespread algorithm for image matching which is used for very different applications, reaching from real-time applications (e.g. for generating 3D-data for driver assistance systems) to aerial image matching. Originally developed for stereo-image matching, several extensions have been proposed to use more than two images within the matching process (multibaseline matching, multi-view stereo). Most of these extensions still perform the image matching in (rectified) stereo images and combine the pairwise results afterwards to create the final solution. This paper proposes an alternative approach which is suitable for the introduction of an arbitrary number of images into the matching process and utilizes image matching by using non-rectified images within a closed solution. The proposed approach differs from the original SGM method in two major aspects: Firstly, the cost calculation is formulated in object space within a dense voxel raster by using the grey- (or colour-) values of all images instead of pairwise cost calculation in image space. Secondly, the semi-global (path-wise) minimization process is transferred into object space as well, so that the result of semi-global optimization leads to index-maps (instead of disparity maps) which directly indicate the 3D positions of the best matches. The paper provides a detailed description of the approach and it discusses its advantages and disadvantages. Further on, first results and accuracy analysis are presented.

  6. Stereo vision calibration based on GMDH neural network.

    Science.gov (United States)

    Chen, Bingwen; Wang, Wenwei; Qin, Qianqing

    2012-03-01

    In order to improve the accuracy and stability of stereo vision calibration, a novel stereo vision calibration approach based on the group method of data handling (GMDH) neural network is presented. Three GMDH neural networks are utilized to build a spatial mapping relationship adaptively in individual dimension. In the process of modeling, the Levenberg-Marquardt optimization algorithm is introduced as an interior criterion to train each partial model, and the corrected Akaike's information criterion is introduced as an exterior criterion to evaluate these models. Experiments demonstrate that the proposed approach is stable and able to calibrate three-dimensional (3D) locations more accurately and learn the stereo mapping models adaptively. It is a convenient way to calibrate the stereo vision without specialized knowledge of stereo vision. © 2012 Optical Society of America

  7. Increased Automation in Stereo Camera Calibration Techniques

    Directory of Open Access Journals (Sweden)

    Brandi House

    2006-08-01

    Full Text Available Robotic vision has become a very popular field in recent years due to the numerous promising applications it may enhance. However, errors within the cameras and in their perception of their environment can cause applications in robotics to fail. To help correct these internal and external imperfections, stereo camera calibrations are performed. There are currently many accurate methods of camera calibration available; however, most or all of them are time consuming and labor intensive. This research seeks to automate the most labor intensive aspects of a popular calibration technique developed by Jean-Yves Bouguet. His process requires manual selection of the extreme corners of a checkerboard pattern. The modified process uses embedded LEDs in the checkerboard pattern to act as active fiducials. Images are captured of the checkerboard with the LEDs on and off in rapid succession. The difference of the two images automatically highlights the location of the four extreme corners, and these corner locations take the place of the manual selections. With this modification to the calibration routine, upwards of eighty mouse clicks are eliminated per stereo calibration. Preliminary test results indicate that accuracy is not substantially affected by the modified procedure. Improved automation to camera calibration procedures may finally penetrate the barriers to the use of calibration in practice.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  10. The High Energy Telescope for STEREO

    Science.gov (United States)

    von Rosenvinge, T. T.; Reames, D. V.; Baker, R.; Hawk, J.; Nolan, J. T.; Ryan, L.; Shuman, S.; Wortman, K. A.; Mewaldt, R. A.; Cummings, A. C.; Cook, W. R.; Labrador, A. W.; Leske, R. A.; Wiedenbeck, M. E.

    2008-04-01

    The IMPACT investigation for the STEREO Mission includes a complement of Solar Energetic Particle instruments on each of the two STEREO spacecraft. Of these instruments, the High Energy Telescopes (HETs) provide the highest energy measurements. This paper describes the HETs in detail, including the scientific objectives, the sensors, the overall mechanical and electrical design, and the on-board software. The HETs are designed to measure the abundances and energy spectra of electrons, protons, He, and heavier nuclei up to Fe in interplanetary space. For protons and He that stop in the HET, the kinetic energy range corresponds to ˜13 to 40 MeV/n. Protons that do not stop in the telescope (referred to as penetrating protons) are measured up to ˜100 MeV/n, as are penetrating He. For stopping He, the individual isotopes 3He and 4He can be distinguished. Stopping electrons are measured in the energy range ˜0.7 6 MeV.

  11. Parallel hierarchical radiosity rendering

    Energy Technology Data Exchange (ETDEWEB)

    Carter, Michael [Iowa State Univ., Ames, IA (United States)

    1993-07-01

    In this dissertation, the step-by-step development of a scalable parallel hierarchical radiosity renderer is documented. First, a new look is taken at the traditional radiosity equation, and a new form is presented in which the matrix of linear system coefficients is transformed into a symmetric matrix, thereby simplifying the problem and enabling a new solution technique to be applied. Next, the state-of-the-art hierarchical radiosity methods are examined for their suitability to parallel implementation, and scalability. Significant enhancements are also discovered which both improve their theoretical foundations and improve the images they generate. The resultant hierarchical radiosity algorithm is then examined for sources of parallelism, and for an architectural mapping. Several architectural mappings are discussed. A few key algorithmic changes are suggested during the process of making the algorithm parallel. Next, the performance, efficiency, and scalability of the algorithm are analyzed. The dissertation closes with a discussion of several ideas which have the potential to further enhance the hierarchical radiosity method, or provide an entirely new forum for the application of hierarchical methods.

  12. A Novel Pixel-Level Image Matching Method for Mars Express HRSC Linear Pushbroom Imagery Using Approximate Orthophotos

    Directory of Open Access Journals (Sweden)

    Xun Geng

    2017-12-01

    Full Text Available Mars topographic data, such as digital orthophoto maps (DOMs and digital elevation models (DEMs are essential to planetary science and exploration missions. The main objective of our study is to generate a higher resolution DEM using the Mars Express (MEX High Resolution Stereo Camera (HRSC. This paper presents a novel pixel-level image matching method for HRSC linear pushbroom imagery. We suggest that image matching firstly be carried out on the approximate orthophotos. Then, the matched points are converted to the original images for forward intersection. The proposed method adopts some practical strategies such as hierarchical image matching and normalized cross-correlation (NCC. The characteristic strategies are: (1 the generation of a DEM and a DOM at each pyramid level; (2 the use of the generated DEM at the current pyramid level as reference data to generate approximate orthophotos at the next pyramid level; and (3 the use of the ground point coordinates of orthophotos to estimate the approximate positions of conjugate points. Hence, the refined DEM is used in the image rectification process, and pixel coordinate displacements of conjugate points on the approximate orthophotos will become smaller and smaller. Four experimental datasets acquired by the HRSC were used to verify the proposed method. The generated DEM was compared with the HRSC Level-4 DEM product. Experimental results demonstrate that an accurate and precise Mars DEM can be generated with the proposed method. The approximate positions of the conjugate points can be estimated with an accuracy of three pixels at the original image resolution level. Though slight systematic errors of about two pixels were observed, the generated DEM results show good consistency with the HRSC Level-4 DEM.

  13. Statistical Building Roof Reconstruction from WORLDVIEW-2 Stereo Imagery

    Science.gov (United States)

    Partovi, T.; Huang, H.; Krauß, T.; Mayer, H.; Reinartz, P.

    2015-03-01

    3D building reconstruction from point clouds is an active research topic in remote sensing, photogrammetry and computer vision. Most of the prior research has been done on 3D building reconstruction from LiDAR data which means high resolution and dense data. The interest of this work is 3D building reconstruction from Digital Surface Models (DSM) of stereo image matching of space borne satellite data which cover larger areas than LiDAR datasets in one data acquisition step and can be used also for remote regions. The challenging problem is the noise of this data because of low resolution and matching errors. In this paper, a top-down and bottom-up method is developed to find building roof models which exhibit the optimum fit to the point clouds of the DSM. In the bottom up step of this hybrid method, the building mask and roof components such as ridge lines are extracted. In addition, in order to reduce the computational complexity and search space, roofs are classified to pitched and flat roofs as well. Ridge lines are utilized to estimate the roof primitives from a building library such as width, length, positions and orientation. Thereafter, a topdown approach based on Markov Chain Monte Carlo and simulated annealing is applied to optimize roof parameters in an iterative manner by stochastic sampling and minimizing the average of Euclidean distance between point cloud and model surface as fitness function. Experiments are performed on two areas of Munich city which include three roof types (hipped, gable and flat roofs). The results show the efficiency of this method in even for this type of noisy datasets.

  14. Hierarchical Network Design

    DEFF Research Database (Denmark)

    Thomadsen, Tommy

    2005-01-01

    design. The papers have all been submitted for journals, and except for two papers, are awaiting review. The papers are mostly concerned with optimal methods and, in a few cases, heuristics for designing hierarchical and ring networks. All papers develop bounds which are used in the optimal methods...... danne grundlag for et studie af design af hierarkiske netværk. Afhandlings vigtigste bidrag best ar af syv artikler, der er inkluderet i appendiks. Artiklerne handler om design af hierarkisk netværk og ring netværk. Artiklerne er alle indsendt til videnskablige journaler og afventer bedømmelse, bortset......Communication networks are immensely important today, since both companies and individuals use numerous services that rely on them. This thesis considers the design of hierarchical (communication) networks. Hierarchical networks consist of layers of networks and are well-suited for coping...

  15. Evaluation of Matching Strategies for Image-Based Mobile Mapping

    Science.gov (United States)

    Cavegn, S.; Haala, N.; Nebiker, S.; Rothermel, M.; Zwölfer, T.

    2015-08-01

    The paper presents the implementation of a dense multi-view stereo matching pipeline for the evaluation of image sequences from a camera-based mobile mapping system. For this purpose the software system SURE is taken as a basis. Originally this system was developed to provide 3D point clouds or DEM from standard airborne and terrestrial image blocks. Since mobile mapping scenarios typically include stereo configurations with camera motion predominantly in viewing direction, processing steps like image rectification and structure computation of the existing processing pipeline had to be adapted. The presented investigations are based on imagery captured by the mobile mapping system of the Institute of Geomatics Engineering in the city center of Basel, Switzerland. For evaluation, reference point clouds from terrestrial laser scanning are used. Our first results already demonstrate a considerable increase in reliability and completeness of both depth maps and point clouds as result of the matching process.

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

    Science.gov (United States)

    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.

  17. Acquisition of stereo panoramas for display in VR environments

    KAUST Repository

    Ainsworth, Richard A.

    2011-01-23

    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.

  18. Ames stereo pipeline-derived digital terrain models of Mercury from MESSENGER stereo imaging

    Science.gov (United States)

    Fassett, Caleb I.

    2016-12-01

    In this study, 96 digital terrain models (DTMs) of Mercury were created using the Ames Stereo Pipeline, using 1456 pairs of stereo images from the Mercury Dual Imaging System instrument on MESSENGER. Although these DTMs cover only 1% of the surface of Mercury, they enable three-dimensional characterization of landforms at horizontal resolutions of 50-250 m/pixel and vertical accuracy of tens of meters. This is valuable in regions where the more precise measurements from the Mercury Laser Altimeter (MLA) are sparse. MLA measurements nonetheless provide an important geodetic framework for the derived stereo products. These DTMs, which are publicly released in conjunction with this paper, reveal topography of features at relatively small scales, including craters, graben, hollows, pits, scarps, and wrinkle ridges. Measurements from these data indicate that: (1) hollows have a median depth of 32 m, in basic agreement with earlier shadow measurement, (2) some of the deep pits (up to 4 km deep) that are interpreted to form via volcanic processes on Mercury have surrounding rims or rises, but others do not, and (3) some pits have two or more distinct, low-lying interior minima that could represent multiple vents.

  19. Multiple View Stereo by Reflectance Modeling

    DEFF Research Database (Denmark)

    Kim, Sujung; Kim, Seong Dae; Dahl, Anders Lindbjerg

    2012-01-01

    Multiple view stereo is typically formulated as an optimization problem over a data term and a prior term. The data term is based on the consistency of images projected on a hypothesized surface. This consistency is based on a measure denoted a visual metric, e.g. normalized cross correlation. Here...... we argue that a visual metric based on a surface reflectance model should be founded on more observations than the degrees of freedom (dof) of the reflectance model. If (partly) specular surfaces are to be handled, this implies a model with at least two dof. In this paper, we propose to construct...... visual metrics of more than one dof using the DAISY methodology, which compares favorably to the state of the art in the experiments carried out. These experiments are based on a novel data set of eight scenes with diffuse and specular surfaces and accompanying ground truth. The performance of six...

  20. Stereo vision based 3D game interface

    Science.gov (United States)

    Lu, Peng; Chen, Yisong; Dong, Chao

    2009-10-01

    Currently, keyboards, mice, wands and joysticks are still the most popular interactive devices. While these devices are mostly adequate, they are so unnatural that they are unable to give players the feeling of immersiveness. Researchers have begun investigation into natural interfaces that are intuitively simple and unobtrusive to the user. Recent advances in various signal-processing technologies, coupled with an explosion in the available computing power, have given rise to a number of natural human computer interface (HCI) modalities: speech, vision-based gesture recognition, etc. In this paper we propose a natural three dimensional (3D) game interface, which uses the motion of the player fists in 3D space to achieve the control of sixd egree of freedom (DOFs). And we also propose a real-time 3D fist tracking algorithm, which is based on stereo vision and Bayesian network. Finally, a flying game is used to test our interface.

  1. STRESS - STEREO TRansiting Exoplanet and Stellar Survey

    Science.gov (United States)

    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.

  2. Hierarchical Porous Structures

    Energy Technology Data Exchange (ETDEWEB)

    Grote, Christopher John [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-06-07

    Materials Design is often at the forefront of technological innovation. While there has always been a push to generate increasingly low density materials, such as aero or hydrogels, more recently the idea of bicontinuous structures has gone more into play. This review will cover some of the methods and applications for generating both porous, and hierarchically porous structures.

  3. Microparticles with hierarchical porosity

    Science.gov (United States)

    Petsev, Dimiter N; Atanassov, Plamen; Pylypenko, Svitlana; Carroll, Nick; Olson, Tim

    2012-12-18

    The present disclosure provides oxide microparticles with engineered hierarchical porosity and methods of manufacturing the same. Also described are structures that are formed by templating, impregnating, and/or precipitating the oxide microparticles and method for forming the same. Suitable applications include catalysts, electrocatalysts, electrocatalysts support materials, capacitors, drug delivery systems, sensors and chromatography.

  4. Explaining polarization reversals in STEREO wave data

    Science.gov (United States)

    Breneman, A.; Cattell, C.; Wygant, J.; Kersten, K.; Wilson, L. B., III; Dai, L.; Colpitts, C.; Kellogg, P. J.; Goetz, K.; Paradise, A.

    2012-04-01

    Recently, Breneman et al. (2011) reported observations of large amplitude lightning and transmitter whistler mode waves from two STEREO passes through the inner radiation belt (L 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 right-hand 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 (1984) 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. (2008).

  5. Explaining Polarization Reversals in STEREO Wave Data

    Science.gov (United States)

    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 (Lwaves 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.

  6. Two-stage method for 3-D image correspondence from binocular stereo

    Energy Technology Data Exchange (ETDEWEB)

    Jang, D.S. [Korea University, Seoul (Korea, Republic of); Jung, S.H. [Samsung Electronic, Suwon (Korea, Republic of)

    1997-11-01

    This paper describes a novel approach to solve the stereo correspondence problem in computer vision systems. The usual approach is to first identify corresponding features between the two images and estimate their depths, then interpolate to obtain a complete distance or depth map. The proposed approach integrates {sup a}rea-based{sup a}nd {sup f}eature-based{sup p}rimitives. The area-based processing provides a dense disparity map, and the feature-based processing provides an accurate location of discontinuities. The two-stages of the proposed approach consists of the following steps : 1) Search for the matching area in the right image using the correlation of windows made with the pixels information from the left image. 2) The left and right images of a stereo pair are convolved with a series of two-dimensional operators. Next, in the right image, determine the point corresponding to the feature point in the matching window of the left image. A coarse-to-fine processing is added so that it generates a multi resolution hierarchy of surface maps, one at each level of resolution. (author). 7 refs., 13 figs., 1 tab.

  7. Enhancement of Stereo Imagery by Artificial Texture Projection Generated Using a LIDAR

    Science.gov (United States)

    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.

  8. ENHANCEMENT OF STEREO IMAGERY BY ARTIFICIAL TEXTURE PROJECTION GENERATED USING A LIDAR

    Directory of Open Access Journals (Sweden)

    J. Veitch-Michaelis

    2016-06-01

    Full Text Available 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.

  9. Hierarchical models and functional traits

    NARCIS (Netherlands)

    van Loon, E.E.; Shamoun-Baranes, J.; Sierdsema, H.; Bouten, W.; Cramer, W.; Badeck, F.; Krukenberg, B.; Klotz, S.; Kühn, I.; Schweiger, O.; Böhning-Gaese, K.; Schaefer, H.-C.; Kissling, D.; Brandl, R.; Brändle, M.; Fricke, R.; Leuschner, C.; Buschmann, H.; Köckermann, B.; Rose, L.

    2006-01-01

    Hierarchical models for animal abundance prediction are conceptually elegant. They are generally more parsimonous than non-hierarchical models derived from the same data, give relatively robust predictions and automatically provide consistent output at multiple (spatio-temporal) scales. Another

  10. 3D Objects Localization Using Fuzzy Approach and Hierarchical Belief Propagation: Application at Level Crossings

    Directory of Open Access Journals (Sweden)

    Dufaux A

    2011-01-01

    Full Text Available Technological solutions for obstacle-detection systems have been proposed to prevent accidents in safety-transport applications. In order to avoid the limits of these proposed technologies, an obstacle-detection system utilizing stereo cameras is proposed to detect and localize multiple objects at level crossings. Background subtraction is first performed using the color independent component analysis technique, which has proved its performance against other well-known object-detection methods. The main contribution is the development of a robust stereo-matching algorithm which reliably localizes in 3D each segmented object. A standard stereo dataset and real-world images are used to test and evaluate the performances of the proposed algorithm to prove the efficiency and the robustness of the proposed video-surveillance system.

  11. Loudness in listening to music with portable headphone stereos.

    Science.gov (United States)

    Kageyama, T

    1999-04-01

    The usual listening levels of music (loudness) using portable headphone stereos were measured for 46 young volunteers. Loudness was associated with sex, Extraversion scores, a subjective mental health state, and impression of the music.

  12. Infrared stereo calibration for unmanned ground vehicle navigation

    Science.gov (United States)

    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.

  13. Teater (stereo)tüüpide loojana / Anneli Saro

    Index Scriptorium Estoniae

    Saro, Anneli, 1968-

    2006-01-01

    Tutvustatakse 27. märtsil Tartu Ülikooli ajaloomuuseumis toimuva Eesti Teatriuurijate Ühenduse ning TÜ teatriteaduse ja kirjandusteooria õppetooli korraldatud konverentsi "Teater sotsiaalsete ja kultuuriliste (stereo)tüüpide loojana" teemasid

  14. LED-based Photometric Stereo: Modeling, Calibration and Numerical Solutions

    DEFF Research Database (Denmark)

    Quéau, Yvain; Durix, Bastien; Wu, Tao

    2018-01-01

    We conduct a thorough study of photometric stereo under nearby point light source illumination, from modeling to numerical solution, through calibration. In the classical formulation of photometric stereo, the luminous fluxes are assumed to be directional, which is very difficult to achieve...... in practice. Rather, we use light-emitting diodes to illuminate the scene to be reconstructed. Such point light sources are very convenient to use, yet they yield a more complex photometric stereo model which is arduous to solve. We first derive in a physically sound manner this model, and show how...... approach is not established. The second one directly recovers the depth, by formulating photometric stereo as a system of nonlinear partial differential equations (PDEs), which are linearized using image ratios. Although the sequential approach is avoided, initialization matters a lot and convergence...

  15. Clustered features for use in stereo vision SLAM

    CSIR Research Space (South Africa)

    Joubert, D

    2010-07-01

    Full Text Available Page 1 of 7 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa CLUSTERED FEATURES FOR USE IN STEREO VISION SLAM Deon Joubert1 1 CSIR Pretoria, South Africa e... but it is computationally expensive and difficult to implement. New feature manipulation techniques are proposed which incorporate relational and positional information of the features into the extraction and data association steps. Keywords: Stereo Vision, Machine...

  16. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    OpenAIRE

    Flavio Roberti; Juan Marcos Toibero; Carlos Soria; Raquel Frizera Vassallo; Ricardo Carelli

    2009-01-01

    This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras) for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimen...

  17. Hierarchical species distribution models

    Science.gov (United States)

    Hefley, Trevor J.; Hooten, Mevin B.

    2016-01-01

    Determining the distribution pattern of a species is important to increase scientific knowledge, inform management decisions, and conserve biodiversity. To infer spatial and temporal patterns, species distribution models have been developed for use with many sampling designs and types of data. Recently, it has been shown that count, presence-absence, and presence-only data can be conceptualized as arising from a point process distribution. Therefore, it is important to understand properties of the point process distribution. We examine how the hierarchical species distribution modeling framework has been used to incorporate a wide array of regression and theory-based components while accounting for the data collection process and making use of auxiliary information. The hierarchical modeling framework allows us to demonstrate how several commonly used species distribution models can be derived from the point process distribution, highlight areas of potential overlap between different models, and suggest areas where further research is needed.

  18. High-resolution photogrammetric surface extraction over glaciated regions from WorldView stereo pairs

    Science.gov (United States)

    Noh, M.; Howat, I. M.; Morin, P. J.; Porter, C. C.

    2013-12-01

    The monitoring of surface change in glaciated regions such as Alaska, Greenland and Antarctica is an important pursuit in climate-related Earth Science. Repeat Digital Elevation Models (DEM) created by photogrammetric surface extraction from a time-series of stereo pairs provide an efficient and low cost means for analyzing surface change over large, remote areas. Stereo-photogrammetric DEM extraction over glaciated regions is challenging due to typically low-contrast surfaces such as ice, snow, mountain shadows and steep slopes, resulting in large feature search areas and matching failures. A method for reducing the feature search area is critical for successful and efficient DEM extraction in this terrain. The SETSM (Surface Extraction with TIN-based Search-space Minimization) algorithm is developed for overcoming these problems and performs surface extraction automatically, without any user-defined or a-priori information, such as seed DEMs, using only the sensor Rational Polynomial Coefficients (RPCs) for geometric constraints. Rotation-invariant, multi-patch Normalized Cross Correlation (NCC) is used as its basic similarity measurement. SETSM constructs a TIN (Triangular Irregular Network) in the object-space domain in order to minimize the necessary search space. It employs a pyramiding strategy that uses iteratively finer resolution TIN's to minimize the search space and uses a vertical line locus to provide precise geometric constraints for reducing the search area. As a major benefit, SETSM relatively adjusts the Rational Function Model (RFM) between stereo pairs to reduce the offset between corresponding points projected by the vertical line locus caused by RPC errors, dramatically reducing the number of matching failures. In SETSM, this offset is iteratively removed with a parabolic adjustment of the NCC solution. As a demonstration, Worldview stereo pairs for a variety of test areas in Alaska, Greenland and Antarctica are selected for creating 2m grid

  19. Hierarchically Structured Electrospun Fibers

    Directory of Open Access Journals (Sweden)

    Nicole E. Zander

    2013-01-01

    Full Text Available Traditional electrospun nanofibers have a myriad of applications ranging from scaffolds for tissue engineering to components of biosensors and energy harvesting devices. The generally smooth one-dimensional structure of the fibers has stood as a limitation to several interesting novel applications. Control of fiber diameter, porosity and collector geometry will be briefly discussed, as will more traditional methods for controlling fiber morphology and fiber mat architecture. The remainder of the review will focus on new techniques to prepare hierarchically structured fibers. Fibers with hierarchical primary structures—including helical, buckled, and beads-on-a-string fibers, as well as fibers with secondary structures, such as nanopores, nanopillars, nanorods, and internally structured fibers and their applications—will be discussed. These new materials with helical/buckled morphology are expected to possess unique optical and mechanical properties with possible applications for negative refractive index materials, highly stretchable/high-tensile-strength materials, and components in microelectromechanical devices. Core-shell type fibers enable a much wider variety of materials to be electrospun and are expected to be widely applied in the sensing, drug delivery/controlled release fields, and in the encapsulation of live cells for biological applications. Materials with a hierarchical secondary structure are expected to provide new superhydrophobic and self-cleaning materials.

  20. A Novel Form of Stereo Vision in the Praying Mantis.

    Science.gov (United States)

    Nityananda, Vivek; Tarawneh, Ghaith; Henriksen, Sid; Umeton, Diana; Simmons, Adam; Read, Jenny C A

    2018-02-19

    Stereopsis is the ability to estimate distance based on the different views seen in the two eyes [1-5]. It is an important model perceptual system in neuroscience and a major area of machine vision. Mammalian, avian, and almost all machine stereo algorithms look for similarities between the luminance-defined images in the two eyes, using a series of computations to produce a map showing how depth varies across the scene [3, 4, 6-14]. Stereopsis has also evolved in at least one invertebrate, the praying mantis [15-17]. Mantis stereopsis is presumed to be simpler than vertebrates' [15, 18], but little is currently known about the underlying computations. Here, we show that mantis stereopsis uses a fundamentally different computational algorithm from vertebrate stereopsis-rather than comparing luminance in the two eyes' images directly, mantis stereopsis looks for regions of the images where luminance is changing. Thus, while there is no evidence that mantis stereopsis works at all with static images, it successfully reveals the distance to a moving target even in complex visual scenes with targets that are perfectly camouflaged against the background in terms of texture. Strikingly, these insects outperform human observers at judging stereoscopic distance when the pattern of luminance in the two eyes does not match. Insect stereopsis has thus evolved to be computationally efficient while being robust to poor image resolution and to discrepancies in the pattern of luminance between the two eyes. VIDEO ABSTRACT. Copyright © 2018 The Authors. Published by Elsevier Ltd.. All rights reserved.

  1. Stereo-EEG-guided radiofrequency thermocoagulations.

    Science.gov (United States)

    Cossu, Massimo; Cardinale, Francesco; Casaceli, Giuseppe; Castana, Laura; Consales, Alessandro; D'Orio, Piergiorgio; Lo Russo, Giorgio

    2017-04-01

    The rationale and the surgical technique of stereo-electroencephalography (SEEG)-guided radiofrequency thermocoagulation (RF-TC) in the epileptogenic zone (EZ) of patients with difficult-to-treat focal epilepsy are described in this article. The application of the technique in pediatric patients is also detailed. Stereotactic ablative procedures by RF-TC have been employed in the treatment of epilepsy since the middle of the last century. This treatment option has gained new popularity in recent decades, mainly because of the availability of modern imaging techniques, which allow accurate targeting of intracerebral epileptogenic structures. SEEG is a powerful tool for identifying the EZ in the most challenging cases of focal epilepsy by recording electrical activity with tailored stereotactic implantation of multilead intracerebral electrodes. The same recording electrodes may be used to place thermocoagulative lesions in the EZ, following the indications provided by intracerebral monitoring. The technical details of SEEG implantation and of SEEG-guided RF-TC are described herein, with special attention to the employment of the procedure in pediatric cases. SEEG-guided RF-TC offers a potential therapeutic option based on robust electroclinical evidence with acceptable risks and costs. The procedure may be performed in patients who, according to SEEG recording, are not eligible for resective surgery, and it may be an alternative to resective surgery in a small subset of operable patients. Wiley Periodicals, Inc. © 2017 International League Against Epilepsy.

  2. Convex optimization for nonrigid stereo reconstruction.

    Science.gov (United States)

    Shen, Shuhan; Ma, Wenjuan; Shi, Wenhuan; Liu, Yuncai

    2010-03-01

    We present a method for recovering 3-D nonrigid structure from an image pair taken with a stereo rig. More specifically, we dedicate to recover shapes of nearly inextensible deformable surfaces. In our approach, we represent the surface as a 3-D triangulated mesh and formulate the reconstruction problem as an optimization problem consisting of data terms and shape terms. The data terms are model to image keypoint correspondences which can be formulated as second-order cone programming (SOCP) constraints using L(infinity) norm. The shape terms are designed to retaining original lengths of mesh edges which are typically nonconvex constraints. We will show that this optimization problem can be turned into a sequence of SOCP feasibility problems in which the nonconvex constraints are approximated as a set of convex constraints. Thanks to the efficient SOCP solver, the reconstruction problem can then be solved reliably and efficiently. As opposed to previous methods, ours neither involves smoothness constraints nor need an initial estimation, which enables us to recover shapes of surfaces with smooth, sharp and other complex deformations from a single image pair. The robustness and accuracy of our approach are evaluated quantitatively on synthetic data and qualitatively on real data.

  3. STEREO Observations of Turbulent Solar Wind Waveforms

    Science.gov (United States)

    Kellogg, Paul J.; Goetz, Keith; Monson, Steven J.

    2017-04-01

    Studies of solar wind turbulence have heretofore concentrated on Kolmogorov-type studies of the full MHD equations, without regard to the separate modes of the possible solutions. Further understanding of the nonlinear processes of the cascade, and especially transference of wave energy to particles, would seem to depend on more detailed understanding of the waves, their modes and their separate electric and magnetic fields. . A part of the SWAVES experiment on the STEREO spacecraft was designed to study the waves in the dissipation region of the turbulence spectrum. However, compatibility with SECCHI, the optical sensors, required that only monopole antennas could be accommodated, and these respond both to electric fields and to density fluctuations. This seemed to require that one measure four quantities with only three signals. After several years, the response of the antennas to density fluctuations was reduced, due to changes in photoemission coefficients, and measurement of separate electric fields became possible. It is found that sometimes there are short periods when a sinusoidal waveform appears which seems sufficiently pure to represent a single mode. Results of study of the fields of such waves will be presented.

  4. The STEREO IMPACT Suprathermal Electron (STE) Instrument

    Science.gov (United States)

    Lin, R. P.; Curtis, D. W.; Larson, D. E.; Luhmann, J. G.; McBride, S. E.; Maier, M. R.; Moreau, T.; Tindall, C. S.; Turin, P.; Wang, Linghua

    2008-04-01

    The Suprathermal Electron (STE) instrument, part of the IMPACT investigation on both spacecraft of NASA’s STEREO mission, is designed to measure electrons from ˜2 to ˜100 keV. This is the primary energy range for impulsive electron/3He-rich energetic particle events that are the most frequently occurring transient particle emissions from the Sun, for the electrons that generate solar type III radio emission, for the shock accelerated electrons that produce type II radio emission, and for the superhalo electrons (whose origin is unknown) that are present in the interplanetary medium even during the quietest times. These electrons are ideal for tracing heliospheric magnetic field lines back to their source regions on the Sun and for determining field line lengths, thus probing the structure of interplanetary coronal mass ejections (ICMEs) and of the ambient inner heliosphere. STE utilizes arrays of small, passively cooled thin window silicon semiconductor detectors, coupled to state-of-the-art pulse-reset front-end electronics, to detect electrons down to ˜2 keV with about 2 orders of magnitude increase in sensitivity over previous sensors at energies below ˜20 keV. STE provides energy resolution of Δ E/ E˜10 25% and the angular resolution of ˜20° over two oppositely directed ˜80°×80° fields of view centered on the nominal Parker spiral field direction.

  5. The Effect of Incidence Angle on Stereo DTM Quality: Simulations in Support of Europa Exploration

    Science.gov (United States)

    Kirk, R. L.; Howington-Kraus, E.; Hare, T. M.; Jorda, L.

    2015-12-01

    Many quality factors for digital topographic models (DTMs) from stereo imaging can be predicted geometrically. For example, pixel scale is related to instantaneous field of view and range, and vertical precision is a known function of the pixel scale and convergence angle if the image quality is high so that automated image matching reaches its optimal precision (~0.2 pixel). The influence of incidence angle is harder to predict. Reduced quality is expected both at low incidence (where topographic shading disappears) and high incidence (where signal/noise ratio is low and shadows occur). This problem is of general interest, but critical for NASA's Europa mission. The REASON instrument will obtain a radar sounding profile on each Europa flyby. Stereo images collected simultaneously by the EIS camera will be used to make DTMs needed to distinguish off-nadir surface echos (clutter) from subsurface features. The question is, how much of this DTM strip will be useful, given that incidence angle will vary substantially? We are using simulations to answer this question. We mosaicked 220 m/pixel Galileo images of the Castalia Macula region of Europa and made a DTM by photoclinometry, using a low-incidence image to correct for albedo variations. With the simulation software OASIS we generated synthetic stereopairs that are realistic in terms of image resolution, noise, photometry (including albedo variations based on the low incidence image), and cast shadows. We then use the commercial stereo software SOCET SET (® BAE Systems), which we have used for a wide variety of planetary mapping projects, to produce DTMs. These are compared to the input DTM as "truth" to quantify the dependence of DTM resolution and vertical precision on illumination, and to document the ways that DTMs degrade at high and low incidence angles. This methodology is immediately applicable to other planetary targets, and in particular can be used to address how much difference in illumination can be

  6. Context updates are hierarchical

    Directory of Open Access Journals (Sweden)

    Anton Karl Ingason

    2016-10-01

    Full Text Available This squib studies the order in which elements are added to the shared context of interlocutors in a conversation. It focuses on context updates within one hierarchical structure and argues that structurally higher elements are entered into the context before lower elements, even if the structurally higher elements are pronounced after the lower elements. The crucial data are drawn from a comparison of relative clauses in two head-initial languages, English and Icelandic, and two head-final languages, Korean and Japanese. The findings have consequences for any theory of a dynamic semantics.

  7. Detecting Hierarchical Structure in Networks

    DEFF Research Database (Denmark)

    Herlau, Tue; Mørup, Morten; Schmidt, Mikkel Nørgaard

    2012-01-01

    a generative Bayesian model that is able to infer whether hierarchies are present or not from a hypothesis space encompassing all types of hierarchical tree structures. For efficient inference we propose a collapsed Gibbs sampling procedure that jointly infers a partition and its hierarchical structure......Many real-world networks exhibit hierarchical organization. Previous models of hierarchies within relational data has focused on binary trees; however, for many networks it is unknown whether there is hierarchical structure, and if there is, a binary tree might not account well for it. We propose....... On synthetic and real data we demonstrate that our model can detect hierarchical structure leading to better link-prediction than competing models. Our model can be used to detect if a network exhibits hierarchical structure, thereby leading to a better comprehension and statistical account the network....

  8. Parallel algorithm for dominant points correspondences in robot binocular stereo vision

    Science.gov (United States)

    Al-Tammami, A.; Singh, B.

    1993-01-01

    This paper presents an algorithm to find the correspondences of points representing dominant feature in robot stereo vision. The algorithm consists of two main steps: dominant point extraction and dominant point matching. In the feature extraction phase, the algorithm utilizes the widely used Moravec Interest Operator and two other operators: the Prewitt Operator and a new operator called Gradient Angle Variance Operator. The Interest Operator in the Moravec algorithm was used to exclude featureless areas and simple edges which are oriented in the vertical, horizontal, and two diagonals. It was incorrectly detecting points on edges which are not on the four main directions (vertical, horizontal, and two diagonals). The new algorithm uses the Prewitt operator to exclude featureless areas, so that the Interest Operator is applied only on the edges to exclude simple edges and to leave interesting points. This modification speeds-up the extraction process by approximately 5 times. The Gradient Angle Variance (GAV), an operator which calculates the variance of the gradient angle in a window around the point under concern, is then applied on the interesting points to exclude the redundant ones and leave the actual dominant ones. The matching phase is performed after the extraction of the dominant points in both stereo images. The matching starts with dominant points in the left image and does a local search, looking for corresponding dominant points in the right image. The search is geometrically constrained the epipolar line of the parallel-axes stereo geometry and the maximum disparity of the application environment. If one dominant point in the right image lies in the search areas, then it is the corresponding point of the reference dominant point in the left image. A parameter provided by the GAV is thresholded and used as a rough similarity measure to select the corresponding dominant point if there is more than one point the search area. The correlation is used as

  9. Small Orbital Stereo Tracking Camera Technology Development

    Science.gov (United States)

    Bryan, Tom; MacLeod, Todd; Gagliano, Larry

    2017-01-01

    Any exploration vehicle assembled or Spacecraft placed in LEO or GTO must pass through this debris cloud and survive. Large cross section, low thrust vehicles will spend more time spiraling out through the cloud and will suffer more impacts.Better knowledge of small debris will improve survival odds. Current estimated Density of debris at various orbital attitudes with notation of recent collisions and resulting spikes. Orbital Debris Tracking and Characterization has now been added to NASA Office of Chief Technologists Technology Development Roadmap in Technology Area 5 (TA5.7)[Orbital Debris Tracking and Characterization] and is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crews due to the risk of Orbital Debris damage to ISS Exploration vehicles. The Problem: Traditional orbital trackers looking for small, dim orbital derelicts and debris typically will stare at the stars and let any reflected light off the debris integrate in the imager for seconds, thus creating a streak across the image. The Solution: The Small Tracker will see Stars and other celestial objects rise through its Field of View (FOV) at the rotational rate of its orbit, but the glint off of orbital objects will move through the FOV at different rates and directions. Debris on a head-on collision course (or close) will stay in the FOV at 14 Km per sec. The Small Tracker can track at 60 frames per sec allowing up to 30 fixes before a near-miss pass. A Stereo pair of Small Trackers can provide range data within 5-7 Km for better orbit measurements.

  10. Estimate of DTM Degradation due to Image Compression for the Stereo Camera of the Bepicolombo Mission

    Science.gov (United States)

    Re, C.; Simioni, E.; Cremonese, G.; Roncella, R.; Forlani, G.; Langevin, Y.; Da Deppo, V.; Naletto, G.; Salemi, G.

    2016-06-01

    The great amount of data that will be produced during the imaging of Mercury by the stereo camera (STC) of the BepiColombo mission needs a compromise with the restrictions imposed by the band downlink that could drastically reduce the duration and frequency of the observations. The implementation of an on-board real time data compression strategy preserving as much information as possible is therefore mandatory. The degradation that image compression might cause to the DTM accuracy is worth to be investigated. During the stereo-validation procedure of the innovative STC imaging system, several image pairs of an anorthosite sample and a modelled piece of concrete have been acquired under different illumination angles. This set of images has been used to test the effects of the compression algorithm (Langevin and Forni, 2000) on the accuracy of the DTM produced by dense image matching. Different configurations taking in account at the same time both the illumination of the surface and the compression ratio, have been considered. The accuracy of the DTMs is evaluated by comparison with a high resolution laser-scan acquisition of the same targets. The error assessment included also an analysis on the image plane indicating the influence of the compression procedure on the image measurements.

  11. Optical surgical instrument tracking system based on the principle of stereo vision

    Science.gov (United States)

    Zhou, Zhentian; Wu, Bo; Duan, Juan; Zhang, Xu; Zhang, Nan; Liang, Zhiyuan

    2017-06-01

    Optical tracking systems are widely adopted in surgical navigation. An optical tracking system is designed based on the principle of stereo vision with high-precision and low cost. This system uses optical infrared LEDs that are installed on the surgical instrument as markers and a near-infrared filter is added in front of the Bumblebee2 stereo camera lens to eliminate the interference of ambient light. The algorithm based on the region growing method is designed and used for the marker's pixel coordinates' extraction. In this algorithm, the singular points are eliminated and the gray centroid method is applied to solve the pixel coordinate of the marker's center. Then, the marker's matching algorithm is adopted and three-dimensional coordinates' reconstruction is applied to derive the coordinates of the surgical instrument tip in the world coordinate system. In the simulation, the stability, accuracy, rotation tests, and the tracking angle and area range were carried out for a typical surgical instrument and the miniature surgical instrument. The simulation results show that the proposed optical tracking system has high accuracy and stability. It can meet the requirements of surgical navigation.

  12. A comparison of semiglobal and local dense matching algorithms for surface reconstruction

    Science.gov (United States)

    Dall'Asta, E.; Roncella, R.

    2014-06-01

    Encouraged by the growing interest in automatic 3D image-based reconstruction, the development and improvement of robust stereo matching techniques is one of the most investigated research topic of the last years in photogrammetry and computer vision. The paper is focused on the comparison of some stereo matching algorithms (local and global) which are very popular both in photogrammetry and computer vision. In particular, the Semi-Global Matching (SGM), which realizes a pixel-wise matching and relies on the application of consistency constraints during the matching cost aggregation, will be discussed. The results of some tests performed on real and simulated stereo image datasets, evaluating in particular the accuracy of the obtained digital surface models, will be presented. Several algorithms and different implementation are considered in the comparison, using freeware software codes like MICMAC and OpenCV, commercial software (e.g. Agisoft PhotoScan) and proprietary codes implementing Least Square e Semi-Global Matching algorithms. The comparisons will also consider the completeness and the level of detail within fine structures, and the reliability and repeatability of the obtainable data.

  13. A comparison of semiglobal and local dense matching algorithms for surface reconstruction

    Directory of Open Access Journals (Sweden)

    E. Dall'Asta

    2014-06-01

    Full Text Available Encouraged by the growing interest in automatic 3D image-based reconstruction, the development and improvement of robust stereo matching techniques is one of the most investigated research topic of the last years in photogrammetry and computer vision. The paper is focused on the comparison of some stereo matching algorithms (local and global which are very popular both in photogrammetry and computer vision. In particular, the Semi-Global Matching (SGM, which realizes a pixel-wise matching and relies on the application of consistency constraints during the matching cost aggregation, will be discussed. The results of some tests performed on real and simulated stereo image datasets, evaluating in particular the accuracy of the obtained digital surface models, will be presented. Several algorithms and different implementation are considered in the comparison, using freeware software codes like MICMAC and OpenCV, commercial software (e.g. Agisoft PhotoScan and proprietary codes implementing Least Square e Semi-Global Matching algorithms. The comparisons will also consider the completeness and the level of detail within fine structures, and the reliability and repeatability of the obtainable data.

  14. Complex Schema Match Discovery and Validation through Collaboration

    Science.gov (United States)

    Saleem, Khalid; Bellahsene, Zohra

    In this paper, we demonstrate an approach for the discovery and validation of n:m schema match in the hierarchical structures like the XML schemata. Basic idea is to propose an n:m node match between children (leaf nodes) of two matching non-leaf nodes of the two schemata. The similarity computation of the two non-leaf nodes is based upon the syntactic and linguistic similarity of the node labels supported by the similarity among the ancestral paths from nodes to the root. The n:m matching proposition is then validated with the help of the mini-taxonomies: hierarchical structures extracted from a large set of schema trees belonging to the same domain. The technique intuitively supports the collective intelligence of the domain users, indirectly collaborating for the validation of the complex match propositions.

  15. Grasping deficits and adaptations in adults with stereo vision losses.

    Science.gov (United States)

    Melmoth, Dean R; Finlay, Alison L; Morgan, Michael J; Grant, Simon

    2009-08-01

    To examine the effects of permanent versus brief reductions in binocular stereo vision on reaching and grasping (prehension) skills. The first experiment compared prehension proficiency in 20 normal and 20 adults with long-term stereo-deficiency (10 with coarse and 10 with undetectable disparity sensitivities) when using binocular vision or just the dominant or nondominant eye. The second experiment examined effects of temporarily mimicking similar stereoacuity losses in normal adults, by placing defocusing low- or high-plus lenses over one eye, compared with their control (neutral lens) binocular performance. Kinematic and error measures of prehension planning and execution were quantified from movements of the subjects' preferred hand recorded while they reached, precision-grasped, and lifted cylindrical objects (two sizes, four locations) on 40 to 48 trials under each viewing condition. Performance was faster and more accurate with normal compared with reduced binocular vision and least accomplished under monocular conditions. Movement durations were extended (up to approximately 100 ms) whenever normal stereo vision was permanently (ANOVA P stereo-deficiency showed increased variability in digit placement at initial object contact, and they adapted by prolonging (by approximately 25%) the time spent subsequently applying their grasp (ANOVA P stereo vision is essential for skilled precision grasping. Reduced disparity sensitivity results in inaccurate grasp-point selection and greater reliance on nonvisual (somesthetic) information from object contact to control grip stability.

  16. Monocular Stereo Measurement Using High-Speed Catadioptric Tracking.

    Science.gov (United States)

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

    2017-08-09

    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.

  17. Nested and Hierarchical Archimax copulas

    KAUST Repository

    Hofert, Marius

    2017-07-03

    The class of Archimax copulas is generalized to nested and hierarchical Archimax copulas in several ways. First, nested extreme-value copulas or nested stable tail dependence functions are introduced to construct nested Archimax copulas based on a single frailty variable. Second, a hierarchical construction of d-norm generators is presented to construct hierarchical stable tail dependence functions and thus hierarchical extreme-value copulas. Moreover, one can, by itself or additionally, introduce nested frailties to extend Archimax copulas to nested Archimax copulas in a similar way as nested Archimedean copulas extend Archimedean copulas. Further results include a general formula for the density of Archimax copulas.

  18. The perception of ego-motion change in environments with varying depth: Interaction of stereo and optic flow.

    Science.gov (United States)

    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.

  19. 3D Vision on Mars: Stereo processing and visualizations for NASA and ESA rover missions

    Science.gov (United States)

    Huber, Ben

    2016-07-01

    Three dimensional (3D) vision processing is an essential component of planetary rover mission planning and scientific data analysis. Standard ground vision processing products are digital terrain maps, panoramas, and virtual views of the environment. Such processing is currently developed for the PanCam instrument of ESA's ExoMars Rover mission by the PanCam 3D Vision Team under JOANNEUM RESEARCH coordination. Camera calibration, quality estimation of the expected results and the interfaces to other mission elements such as operations planning, rover navigation system and global Mars mapping are a specific focus of the current work. The main goals of the 3D Vision team in this context are: instrument design support & calibration processing: Development of 3D vision functionality Visualization: development of a 3D visualization tool for scientific data analysis. 3D reconstructions from stereo image data during the mission Support for 3D scientific exploitation to characterize the overall landscape geomorphology, processes, and the nature of the geologic record using the reconstructed 3D models. The developed processing framework PRoViP establishes an extensible framework for 3D vision processing in planetary robotic missions. Examples of processing products and capabilities are: Digital Terrain Models, Ortho images, 3D meshes, occlusion, solar illumination-, slope-, roughness-, and hazard-maps. Another important processing capability is the fusion of rover and orbiter based images with the support of multiple missions and sensors (e.g. MSL Mastcam stereo processing). For 3D visualization a tool called PRo3D has been developed to analyze and directly interpret digital outcrop models. Stereo image products derived from Mars rover data can be rendered in PRo3D, enabling the user to zoom, rotate and translate the generated 3D outcrop models. Interpretations can be digitized directly onto the 3D surface, and simple measurements of the outcrop and sedimentary features

  20. Stereo Vision-Based Human Tracking for Robotic Follower

    Directory of Open Access Journals (Sweden)

    Emina Petrović

    2013-05-01

    Full Text Available Abstract This paper addresses the problem of real-time vision-based human tracking to enable mobile robots to follow a human co-worker. A novel approach to combine stereo vision-based human detection with human tracking using a modified Kalman filter is presented. Stereo vision-based detection combines features extracted from 2D stereo images with reconstructed 3D object features to detect humans in a robot's environment. For human tracking a modified Kalman filter recursively predicts and updates estimates of the 3D coordinates of a human in the robot's camera coordinate system. This prediction enables human detection to be performed on the image region of interest contributing to cost effective human tracking. The performance of the presented method was tested within a working scenario of a mobile robot intended to follow a human co-worker in indoor applications as well as in outdoor applications.

  1. Lossless Compression of Stereo Disparity Maps for 3D

    DEFF Research Database (Denmark)

    Zamarin, Marco; Forchhammer, Søren

    2012-01-01

    Efficient compression of disparity data is important for accurate view synthesis purposes in multi-view communication systems based on the “texture plus depth” format, including the stereo case. In this paper a novel technique for lossless compression of stereo disparity images is presented....... The coding algorithm is based on bit-plane coding, disparity prediction via disparity warping and context-based arithmetic coding exploiting predicted disparity data. Experimental results show that the proposed compression scheme achieves average compression factors of about 48:1 for high resolution...... disparity maps for stereo pairs and outperforms different standard solutions for lossless still image compression. Moreover, it provides a progressive representation of disparity data as well as a parallelizable structure....

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  4. Ames Stereo Pipeline and LROC ASU Digital Terrain Model (DTM) Comparison

    Science.gov (United States)

    Brown, H. M.; Awumah, A. A.; Henriksen, M. R.; Manheim, M. R.; Cisneros, E.; Wagner, R. V.; Robinson, M. S.

    2017-06-01

    Comparison between NASA Ames Stereo Pipeline (ASP) and ASU LROC teams digital terrain model (DTM) products made from the same NAC stereo pairs. Using absolute, relative, and qualitative measurements, we provide recommendations for DTM product use.

  5. Trees and Hierarchical Structures

    CERN Document Server

    Haeseler, Arndt

    1990-01-01

    The "raison d'etre" of hierarchical dustering theory stems from one basic phe­ nomenon: This is the notorious non-transitivity of similarity relations. In spite of the fact that very often two objects may be quite similar to a third without being that similar to each other, one still wants to dassify objects according to their similarity. This should be achieved by grouping them into a hierarchy of non-overlapping dusters such that any two objects in ~ne duster appear to be more related to each other than they are to objects outside this duster. In everyday life, as well as in essentially every field of scientific investigation, there is an urge to reduce complexity by recognizing and establishing reasonable das­ sification schemes. Unfortunately, this is counterbalanced by the experience of seemingly unavoidable deadlocks caused by the existence of sequences of objects, each comparatively similar to the next, but the last rather different from the first.

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

    Science.gov (United States)

    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.

  7. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2010-02-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  8. Hybrid Collaborative Stereo Vision System for Mobile Robots Formation

    Directory of Open Access Journals (Sweden)

    Flavio Roberti

    2009-12-01

    Full Text Available This paper presents the use of a hybrid collaborative stereo vision system (3D-distributed visual sensing using different kinds of vision cameras for the autonomous navigation of a wheeled robot team. It is proposed a triangulation-based method for the 3D-posture computation of an unknown object by considering the collaborative hybrid stereo vision system, and this way to steer the robot team to a desired position relative to such object while maintaining a desired robot formation. Experimental results with real mobile robots are included to validate the proposed vision system.

  9. Two Years of the STEREO Heliospheric Imagers: Invited Review

    Science.gov (United States)

    2009-01-01

    Results at Solar Minimum Guest Editors: Eric R. Christian, Michael L. Kaiser, Therese A. Kucera . O.C. St. Cyr. R.A. Harrison (IS) • J.A. Davies A.P...al., 2008). STEREO HI-2A: 06:01 UT. 26 Jan . 2007 Figure 4 The 5 November 2007 CME in the HI-1A field. The Milky Way can be seen to the left of...fronts tracked in Figure 7. (From Webb elal.. 2009). HI-2A: 06:01 STEREO HU2A 12:01 UT. 26 Jan . 2007 100 - 80 a 60 Z o I 40 o 20

  10. Controlling a Robotic Stereo Camera Under Image Quantization Noise

    OpenAIRE

    Freundlich, Charles; Zhang, Yan; Zhu, Alex Zihao; Mordohai, Philippos; Zavlanos, Michael M.

    2017-01-01

    In this paper, we address the problem of controlling a mobile stereo camera under image quantization noise. Assuming that a pair of images of a set of targets is available, the camera moves through a sequence of Next-Best-Views (NBVs), i.e., a sequence of views that minimize the trace of the targets' cumulative state covariance, constructed using a realistic model of the stereo rig that captures image quantization noise and a Kalman Filter (KF) that fuses the observation history with new info...

  11. A stereo model based upon mechanisms of human binocular vision

    Science.gov (United States)

    Griswold, N. C.; Yeh, C. P.

    1986-01-01

    A model for stereo vision, which is based on the human-binocular vision system, is proposed. Data collected from studies of neurophysiology of the human binocular system are discussed. An algorithm for the implementation of this stereo vision model is derived. The algorithm is tested on computer-generated and real scene images. Examples of a computer-generated image and a grey-level image are presented. It is noted that the proposed method is computationally efficient for depth perception, and the results indicate accuracies that are noise tolerant.

  12. A Stereo Dual-Channel Dynamic Programming Algorithm for UAV Image Stitching.

    Science.gov (United States)

    Li, Ming; Chen, Ruizhi; Zhang, Weilong; Li, Deren; Liao, Xuan; Wang, Lei; Pan, Yuanjin; Zhang, Peng

    2017-09-08

    Dislocation is one of the major challenges in unmanned aerial vehicle (UAV) image stitching. In this paper, we propose a new algorithm for seamlessly stitching UAV images based on a dynamic programming approach. Our solution consists of two steps: Firstly, an image matching algorithm is used to correct the images so that they are in the same coordinate system. Secondly, a new dynamic programming algorithm is developed based on the concept of a stereo dual-channel energy accumulation. A new energy aggregation and traversal strategy is adopted in our solution, which can find a more optimal seam line for image stitching. Our algorithm overcomes the theoretical limitation of the classical Duplaquet algorithm. Experiments show that the algorithm can effectively solve the dislocation problem in UAV image stitching, especially for the cases in dense urban areas. Our solution is also direction-independent, which has better adaptability and robustness for stitching images.

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

    Science.gov (United States)

    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)

  14. Automated segmentation of the optic disc from stereo color photographs using physiologically plausible features

    NARCIS (Netherlands)

    Abramoff, M.D.; Alward, W.L.M.; Greenlee, E.C.; Shuba, L.; Kim, Chan Y.; Fingert, J.H.; Kwon, Y.H.

    2007-01-01

    PURPOSE. To evaluate a novel automated segmentation algorithm for cup-to-disc segmentation from stereo color photographs of patients with glaucoma for the measurement of glaucoma progression. METHODS. Stereo color photographs of the optic disc were obtained by using a fixed stereo-base fundus

  15. Stereo vision for planetary rovers - Stochastic modeling to near real-time implementation

    Science.gov (United States)

    Matthies, Larry

    1991-01-01

    JPL has achieved the first autonomous cross-country robotic traverses to use stereo vision, with all computing onboard the vehicle. This paper describes the stereo vision system, including the underlying statistical model and the details of the implementation. It is argued that the overall approach provides a unifying paradigm for practical domain-independent stereo ranging.

  16. Three-dimensional surface reconstruction for cartridge cases using photometric stereo.

    Science.gov (United States)

    Sakarya, Ufuk; Leloğlu, Uğur Murat; Tunali, Erol

    2008-03-05

    In forensic science, automated firearms identification is an important and yet unsolved problem. On the way to the solution, one of the most important phases is data acquisition. To be able to identify firearms in a reliable way, all the striated and impressed marks on metallic surfaces of cartridge cases should be visible. But two-dimensional images of cartridge cases are very sensitive to the type and direction of the light source(s). Depending on illumination conditions, the images of marks change drastically and sometimes they simply disappear. But, if the three-dimensional (3D) topography of the surface is obtained, the geometry of the marks, which is independent of the illumination, is available. Thus, by providing illumination independent features that can be used for automated matching, 3D data have the potential to make automated matching much reliable. In the literature on data acquisition for automated firearms identification, a few different ways of three-dimensional surface extraction are described, like laser interferometry or laser profilometry. This study presents a real life application of another method, photometric stereo, for the acquisition of 3D topographic data for cartridge cases, which is the one used in BALISTIKA Ballistics Image Analysis and Recognition System. In order to construct 3D topographic data, first of all, two-dimensional images were acquired using a specially designed set-up. After the images were calibrated radiometrically, photometric stereo method was applied. In order to minimize the low-frequency errors in the final surface, a surface-fitting algorithm was used. The method uses low-cost equipment and image acquisition is not time-consuming. Results were compared to interferometric measurement values for error assessment.

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

    Science.gov (United States)

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

    2017-02-01

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

  18. SVMT: a MATLAB toolbox for stereo-vision motion tracking of motor reactivity.

    Science.gov (United States)

    Vousdoukas, M I; Perakakis, P; Idrissi, S; Vila, J

    2012-10-01

    This article presents a Matlab-based stereo-vision motion tracking system (SVMT) for the detection of human motor reactivity elicited by sensory stimulation. It is a low-cost, non-intrusive system supported by Graphical User Interface (GUI) software, and has been successfully tested and integrated in a broad array of physiological recording devices at the Human Physiology Laboratory in the University of Granada. The SVMT GUI software handles data in Matlab and ASCII formats. Internal functions perform lens distortion correction, camera geometry definition, feature matching, as well as data clustering and filtering to extract 3D motion paths of specific body areas. System validation showed geo-rectification errors below 0.5 mm, while feature matching and motion paths extraction procedures were successfully validated with manual tracking and RMS errors were typically below 2% of the movement range. The application of the system in a psychophysiological experiment designed to elicit a startle motor response by the presentation of intense and unexpected acoustic stimuli, provided reliable data probing dynamical features of motor responses and habituation to repeated stimulus presentations. The stereo-geolocation and motion tracking performance of the SVMT system were successfully validated through comparisons with surface EMG measurements of eyeblink startle, which clearly demonstrate the ability of SVMT to track subtle body movement, such as those induced by the presentation of intense acoustic stimuli. Finally, SVMT provides an efficient solution for the assessment of motor reactivity not only in controlled laboratory settings, but also in more open, ecological environments. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

  19. Stereo vision for fully automatic volumetric flow measurement in urban drainage structures

    Science.gov (United States)

    Sirazitdinova, Ekaterina; Pesic, Igor; Schwehn, Patrick; Song, Hyuk; Satzger, Matthias; Weingärtner, Dorothea; Sattler, Marcus; Deserno, Thomas M.

    2017-06-01

    Overflows in urban drainage structures, or sewers, must be prevented on time to avoid their undesirable consequences. An effective monitoring system able to measure volumetric flow in sewers is needed. Existing stateof-the-art technologies are not robust against harsh sewer conditions and, therefore, cause high maintenance expenses. Having the goal of fully automatic, robust and non-contact volumetric flow measurement in sewers, we came up with an original and innovative idea of a vision-based system for volumetric flow monitoring. On the contrast to existing video-based monitoring systems, we introduce a second camera to the setup and exploit stereo-vision aiming of automatic calibration to the real world. Depth of the flow is estimated as the difference between distances from the camera to the water surface and from the camera to the canal's bottom. Camerato-water distance is recovered automatically using large-scale stereo matching, while the distance to the canal's bottom is measured once upon installation. Surface velocity is calculated using cross-correlation template matching. Individual natural particles in the flow are detected and tracked throughout the sequence of images recorded over a fixed time interval. Having the water level and the surface velocity estimated and knowing the geometry of the canal we calculate the discharge. The preliminary evaluation has shown that the average error of depth computation was 3 cm, while the average error of surface velocity resulted in 5 cm/s. Due to the experimental design, these errors are rough estimates: at each acquisition session the reference depth value was measured only once, although the variation in volumetric flow and the gradual transitions between the automatically detected values indicated that the actual depth level has varied. We will address this issue in the next experimental session.

  20. Hierarchical multifunctional nanocomposites

    Science.gov (United States)

    Ghasemi-Nejhad, Mehrdad N.

    2014-03-01

    properties of the fibers can also be improved by the growth of nanotubes on the fibers. The combination of the two will produce super-performing materials, not currently available. Since the improvement of fiber starts with carbon nanotube grown on micron-size fibers (and matrix with a nanomaterial) to give the macro-composite, this process is a bottom-up "hierarchical" advanced manufacturing process, and since the resulting nanocomposites will have "multifunctionality" with improve properties in various functional areas such as chemical and fire resistance, damping, stiffness, strength, fracture toughness, EMI shielding, and electrical and thermal conductivity, the resulting nanocomposites are in fact "multifunctional hierarchical nanocomposites." In this paper, the current state of knowledge in processing, performance, and characterization of these materials are addressed.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

  3. New calibration technique for a novel stereo camera

    Science.gov (United States)

    Tu, Xue; Subbarao, Muralidhara

    2009-08-01

    A novel stereo camera architecture has been proposed by some researchers recently. It consists of a single digital camera and a mirror adaptor attached in front of the camera lens. The adaptor functions like a pair of periscopes which split the incoming light to form two stereo images on the left and right half of the image sensor. This novel architecture has many advantages in terms of cost, compactness, and accuracy, relative to a conventional stereo camera system with two separate cameras. However, straightforward extension of the traditional calibration techniques were found to be inaccurate and ineffective. Therefore we present a new technique which fully exploits the physical constraint that the stereo image pair have the same intrinsic camera parameters such as focal length, principle point and pixel size. Our method involves taking one image of a calibration object and estimating one set of intrinsic parameters and two sets of extrinsic parameters corresponding to the mirror adaptor simultaneously. The method also includes lens distortion correction to improve the calibration accuracy. Experimental results on a real camera system are presented to demonstrate that the new calibration technique is accurate and robust.

  4. Characterising atmospheric optical turbulence using stereo-SCIDAR

    Science.gov (United States)

    Osborn, James; Butterley, Tim; Föhring, Dora; Wilson, Richard

    2015-04-01

    Stereo-SCIDAR (SCIntillation Detection and Ranging) is a development to the well known SCIDAR method for characterisation of the Earth's atmospheric optical turbulence. Here we present some interesting capabilities, comparisons and results from a recent campaign on the 2.5 m Isaac Newton Telescope on La Palma.

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

    Science.gov (United States)

    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.

  6. Viewing The Entire Sun With STEREO And SDO

    Science.gov (United States)

    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. Solving the uncalibrated photometric stereo problem using total variation

    DEFF Research Database (Denmark)

    Quéau, Yvain; Lauze, Francois Bernard; Durou, Jean-Denis

    2013-01-01

    In this paper we propose a new method to solve the problem of uncalibrated photometric stereo, making very weak assumptions on the properties of the scene to be reconstructed. Our goal is to solve the generalized bas-relief ambiguity (GBR) by performing a total variation regularization of both th...

  8. A comparative study of fast dense stereo vision algorithms

    NARCIS (Netherlands)

    Sunyoto, H.; Mark, W. van der; Gavrila, D.M.

    2004-01-01

    With recent hardware advances, real-time dense stereo vision becomes increasingly feasible for general-purpose processors. This has important benefits for the intelligent vehicles domain, alleviating object segmentation problems when sensing complex, cluttered traffic scenes. In this paper, we

  9. 3D Stereo Visualization for Mobile Robot Tele-Guide

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2006-01-01

    learning and decision performance. Works in the literature have demonstrated how stereo vision contributes to improve perception of some depth cues often for abstract tasks, while little can be found about the advantages of stereoscopic visualization in mobile robot tele-guide applications. This work...

  10. Stereo Calibration and Rectification for Omnidirectional Multi-Camera Systems

    Directory of Open Access Journals (Sweden)

    Yanchang Wang

    2012-10-01

    Full Text Available Stereo vision has been studied for decades as a fundamental problem in the field of computer vision. In recent years, computer vision and image processing with a large field of view, especially using omnidirectional vision and panoramic images, has been receiving increasing attention. An important problem for stereo vision is calibration. Although various kinds of calibration methods for omnidirectional cameras are proposed, most of them are limited to calibrate catadioptric cameras or fish-eye cameras and cannot be applied directly to multi-camera systems. In this work, we propose an easy calibration method with closed-form initialization and iterative optimization for omnidirectional multi-camera systems. The method only requires image pairs of the 2D target plane in a few different views. A method based on the spherical camera model is also proposed for rectifying omnidirectional stereo pairs. Using real data captured by Ladybug3, we carry out some experiments, including stereo calibration, rectification and 3D reconstruction. Statistical analyses and comparisons of the experimental results are also presented. As the experimental results show, the calibration results are precise and the effect of rectification is promising.

  11. Model based object recognition using stereo vision and geometric hashing

    NARCIS (Netherlands)

    van Dijck, H.A.L.; van der Heijden, Ferdinand; Korsten, Maarten J.

    1996-01-01

    this paper we will show that the inherent robustness of geometric hashing to spurious data can be used to overcome the problems in stereo vision. The organisation of this paper is as follows. Section 2 discusses the geometric hashing technique and some previous work in this area. In section 3 we

  12. Virtual Reality, 3D Stereo Visualization, and Applications in Robotics

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2006-01-01

    The use of 3D stereoscopic visualization may provide a user with higher comprehension of remote environments in tele-operation when compared to 2D viewing. Works in the literature have demonstrated how stereo vision contributes to improve perception of some depth cues often for abstract tasks...

  13. Stereo based Obstacle Detection with Uncertainty in Rough Terrain

    NARCIS (Netherlands)

    Mark, W. van der; Heuvel, J.C. van den; Groen, F.C.A.

    2007-01-01

    Autonomous robot vehicles that operate in offroad terrain should avoid obstacle hazards. In this paper we present a stereo vision based method that is able to cluster reconstructed terrain points into obstacles by evaluating their relative angles and distances. In our approach, constraints are

  14. Semi-Global Matching with Self-Adjusting Penalties

    Science.gov (United States)

    Karkalou, E.; Stentoumis, C.; Karras, G.

    2017-02-01

    The demand for 3D models of various scales and precisions is strong for a wide range of applications, among which cultural heritage recording is particularly important and challenging. In this context, dense image matching is a fundamental task for processes which involve image-based reconstruction of 3D models. Despite the existence of commercial software, the need for complete and accurate results under different conditions, as well as for computational efficiency under a variety of hardware, has kept image-matching algorithms as one of the most active research topics. Semi-global matching (SGM) is among the most popular optimization algorithms due to its accuracy, computational efficiency, and simplicity. A challenging aspect in SGM implementation is the determination of smoothness constraints, i.e. penalties P1, P2 for disparity changes and discontinuities. In fact, penalty adjustment is needed for every particular stereo-pair and cost computation. In this work, a novel formulation of self-adjusting penalties is proposed: SGM penalties can be estimated solely from the statistical properties of the initial disparity space image. The proposed method of self-adjusting penalties (SGM-SAP) is evaluated using typical cost functions on stereo-pairs from the recent Middlebury dataset of interior scenes, as well as from the EPFL Herz-Jesu architectural scenes. Results are competitive against the original SGM estimates. The significant aspects of self-adjusting penalties are: (i) the time-consuming tuning process is avoided; (ii) SGM can be used in image collections with limited number of stereo-pairs; and (iii) no heuristic user intervention is needed.

  15. Hierarchical Discriminant Analysis

    Directory of Open Access Journals (Sweden)

    Di Lu

    2018-01-01

    Full Text Available The Internet of Things (IoT generates lots of high-dimensional sensor intelligent data. The processing of high-dimensional data (e.g., data visualization and data classification is very difficult, so it requires excellent subspace learning algorithms to learn a latent subspace to preserve the intrinsic structure of the high-dimensional data, and abandon the least useful information in the subsequent processing. In this context, many subspace learning algorithms have been presented. However, in the process of transforming the high-dimensional data into the low-dimensional space, the huge difference between the sum of inter-class distance and the sum of intra-class distance for distinct data may cause a bias problem. That means that the impact of intra-class distance is overwhelmed. To address this problem, we propose a novel algorithm called Hierarchical Discriminant Analysis (HDA. It minimizes the sum of intra-class distance first, and then maximizes the sum of inter-class distance. This proposed method balances the bias from the inter-class and that from the intra-class to achieve better performance. Extensive experiments are conducted on several benchmark face datasets. The results reveal that HDA obtains better performance than other dimensionality reduction algorithms.

  16. New Views of the Sun: STEREO and Hinode

    Science.gov (United States)

    Luhmann, Janet G.; Tsuneta, Saku; Bougeret, J.-L.; Galvin, Antoinette; Howard, R. A.; Kaiser, Michael; Thompson, W. T.

    The twin-spacecraft STEREO mission has now been in orbit for 1.5 years. Although the main scientific objective of STEREO is the origin and evolution of Coronal Mass Ejections (CMEs) and their heliospheric consequences, the slow decline of the previous solar cycle has provided an extraordinary opportunity for close scrutiny of the quiet corona and solar wind, including suprathermal and energetic particles. However, STEREO has also captured a few late cycle CMEs that have given us a taste of the observations and analyses to come. Images from the SECCHI investigation afforded by STEREO's separated perspectives and the heliospheric imager have already allowed us to visibly witness the origins of the slow solar wind and the Sun-to-1 AU transit of ICMEs. The SWAVES investigation has monitored the transit of interplanetary shocks in 3D while the PLASTIC and IMPACT in-situ measurements provide the 'ground truth' of what is remotely sensed. New prospects for space weather forecasting have been demonstrated with the STEREO behind spacecraft, a successful proof-of-concept test for future space weather mission designs. The data sets for the STEREO investigations are openly available through a STEREO Science Center web interface that also provides supporting information for potential users from all communities. Comet observers and astronomers, interplanetary dust researchers and planetary scientists have already made use of this resource. The potential for detailed Sun-to-Earth CME/ICME interpretations with sophisticated modeling efforts are an upcoming STEREO-Hinode partnering activity whose success we can only anticipate at this time. Since its launch in September 2006, Hinode has sent back solar images of unprecedented clarity every day. The primary purpose of this mission is a systems approach to understanding the generation, transport and ultimate dissipation of solar magnetic fields with a well-coordinated set of advanced telescopes. Hinode is equipped with three

  17. AN IMPROVED ALGORITHM USED IN AUTOMATIC MATCHING FOR LOW-ALTITUDE AERIAL IMAGE

    Directory of Open Access Journals (Sweden)

    X. Wan

    2012-07-01

    Full Text Available In this paper, we present an improved algorithm used for low altitude aerial image automatic matching based on SIFT operator. Compared to traditional photogrammetry based on platforms such as satellites and aerospace aircrafts, the platforms of low-altitude remote sensing system have relatively lighter weight, therefore existing rotation angle and scale differences in the stereo-images. In addition, there appears fracture lines and the discontinuities of parallax in the elevation undulating area. The characteristics above make it unsuitable for the traditional photogrammetry matching method based on grey scale correlation and the matching search strategy based on continuous parallax. In this paper an improved SIFT(Scale-invariant feature transform operator is applied to the automatic matching of low-altitude aerial images. Several improvements were made to enhance the feature recurrence rate, matching correct rate and speed of matching. Firstly, we applied the theory of zero-crossing in SIFT feature extraction introducing the image geometry feature in scale space detection. Secondly, correlation coefficient is used as similarity measure instead of Euclidean distance in SIFT algorithm. Thirdly, we proposed a new matching strategy based on principal orientation constrain to shorten the search distance compared to the global search in SIFT algorithm. To demonstrate the feasibility of the approach, experiments were carried with four groups low-altitude remote sensing stereo-images from different sensors, and presented different distortions. Results showed that the improved algorithm has higher feature recurrence rate, matching correct rate and speed of matching dealing with different scale, large rotation angle, affine distortion and nonlinear distortion of low-altitude remote sensing stereo-images.

  18. Stinging Insect Matching Game

    Science.gov (United States)

    ... for Kids ▸ Stinging Insect Matching Game Share | Stinging Insect Matching Game Stinging insects can ruin summer fun for those who are ... the difference between the different kinds of stinging insects in order to keep your summer safe and ...

  19. Hierarchical Parallelization of Gene Differential Association Analysis

    Directory of Open Access Journals (Sweden)

    Dwarkadas Sandhya

    2011-09-01

    Full Text Available Abstract Background Microarray gene differential expression analysis is a widely used technique that deals with high dimensional data and is computationally intensive for permutation-based procedures. Microarray gene differential association analysis is even more computationally demanding and must take advantage of multicore computing technology, which is the driving force behind increasing compute power in recent years. In this paper, we present a two-layer hierarchical parallel implementation of gene differential association analysis. It takes advantage of both fine- and coarse-grain (with granularity defined by the frequency of communication parallelism in order to effectively leverage the non-uniform nature of parallel processing available in the cutting-edge systems of today. Results Our results show that this hierarchical strategy matches data sharing behavior to the properties of the underlying hardware, thereby reducing the memory and bandwidth needs of the application. The resulting improved efficiency reduces computation time and allows the gene differential association analysis code to scale its execution with the number of processors. The code and biological data used in this study are downloadable from http://www.urmc.rochester.edu/biostat/people/faculty/hu.cfm. Conclusions The performance sweet spot occurs when using a number of threads per MPI process that allows the working sets of the corresponding MPI processes running on the multicore to fit within the machine cache. Hence, we suggest that practitioners follow this principle in selecting the appropriate number of MPI processes and threads within each MPI process for their cluster configurations. We believe that the principles of this hierarchical approach to parallelization can be utilized in the parallelization of other computationally demanding kernels.

  20. Hierarchical clustering for graph visualization

    CERN Document Server

    Clémençon, Stéphan; Rossi, Fabrice; Tran, Viet Chi

    2012-01-01

    This paper describes a graph visualization methodology based on hierarchical maximal modularity clustering, with interactive and significant coarsening and refining possibilities. An application of this method to HIV epidemic analysis in Cuba is outlined.

  1. Direct hierarchical assembly of nanoparticles

    Science.gov (United States)

    Xu, Ting; Zhao, Yue; Thorkelsson, Kari

    2014-07-22

    The present invention provides hierarchical assemblies of a block copolymer, a bifunctional linking compound and a nanoparticle. The block copolymers form one micro-domain and the nanoparticles another micro-domain.

  2. Hierarchical materials: Background and perspectives

    DEFF Research Database (Denmark)

    2016-01-01

    Hierarchical design draws inspiration from analysis of biological materials and has opened new possibilities for enhancing performance and enabling new functionalities and extraordinary properties. With the development of nanotechnology, the necessary technological requirements for the manufactur...

  3. Hierarchical classification as relational framing.

    Science.gov (United States)

    Slattery, Brian; Stewart, Ian

    2014-01-01

    The purpose of this study was to model hierarchical classification as contextually controlled, generalized relational responding or relational framing. In Experiment 1, a training procedure involving nonarbitrarily related multidimensional stimuli was used to establish two arbitrary shapes as contextual cues for 'member of' and 'includes' relational responding, respectively. Subsequently those cues were used to establish a network of arbitrary stimuli in particular hierarchical relations with each other, and then test for derivation of further untrained hierarchical relations as well as for transformation of functions. Resultant patterns of relational framing showed properties of transitive class containment, asymmetrical class containment, and unilateral property induction, consistent with conceptions of hierarchical classification as described within the cognitive developmental literature. Experiment 2 extended the basic model by using "fuzzy category" stimuli and providing a better controlled test of transformation of functions. Limitations and future research directions are discussed. © Society for the Experimental Analysis of Behavior.

  4. Matching critical intersection hypergraphs

    DEFF Research Database (Denmark)

    Henning, Michael A.; Yeo, Anders

    2014-01-01

    A matching in a hypergraph H is a set of pairwise vertex disjoint edges in H and the matching number of H is the maximum cardinality of a matching in H. A hypergraph H is an intersecting hypergraph if every two distinct edges of H have a non-empty intersection. Equivalently, H is an intersecting...

  5. Stereo side information generation in low-delay distributed stereo video coding

    DEFF Research Database (Denmark)

    Salmistraro, Matteo; Forchhammer, Søren

    2012-01-01

    Distributed Video Coding (DVC) is a technique that allows shifting the computational complexity from the encoder to the decoder. One of the core elements of the decoder is the creation of the Side Information (SI), which is a hypothesis of what the to-be-decoded frame looks like. Much work on DVC...... has been carried out: often the decoder can use future and past frames in order to obtain the SI exploiting the time redundancy. Other work has addressed a Multiview scenario; exploiting the frames coming from cameras close to the one we are decoding (usually a left and right camera) it is possible...... to create SI exploiting the inter-view spatial redundancy. A careful fusion of the two SI should be done in order to use the best part of each SI. In this work we study a Stereo Low-Delay scenario using only two views. Due to the delay constraint we use only past frames of the sequence we are decoding...

  6. A Line-Based Adaptive-Weight Matching Algorithm Using Loopy Belief Propagation

    Directory of Open Access Journals (Sweden)

    Hui Li

    2015-01-01

    Full Text Available In traditional adaptive-weight stereo matching, the rectangular shaped support region requires excess memory consumption and time. We propose a novel line-based stereo matching algorithm for obtaining a more accurate disparity map with low computation complexity. This algorithm can be divided into two steps: disparity map initialization and disparity map refinement. In the initialization step, a new adaptive-weight model based on the linear support region is put forward for cost aggregation. In this model, the neural network is used to evaluate the spatial proximity, and the mean-shift segmentation method is used to improve the accuracy of color similarity; the Birchfield pixel dissimilarity function and the census transform are adopted to establish the dissimilarity measurement function. Then the initial disparity map is obtained by loopy belief propagation. In the refinement step, the disparity map is optimized by iterative left-right consistency checking method and segmentation voting method. The parameter values involved in this algorithm are determined with many simulation experiments to further improve the matching effect. Simulation results indicate that this new matching method performs well on standard stereo benchmarks and running time of our algorithm is remarkably lower than that of algorithm with rectangle-shaped support region.

  7. Best matching theory & applications

    CERN Document Server

    Moghaddam, Mohsen

    2017-01-01

    Mismatch or best match? This book demonstrates that best matching of individual entities to each other is essential to ensure smooth conduct and successful competitiveness in any distributed system, natural and artificial. Interactions must be optimized through best matching in planning and scheduling, enterprise network design, transportation and construction planning, recruitment, problem solving, selective assembly, team formation, sensor network design, and more. Fundamentals of best matching in distributed and collaborative systems are explained by providing: § Methodical analysis of various multidimensional best matching processes § Comprehensive taxonomy, comparing different best matching problems and processes § Systematic identification of systems’ hierarchy, nature of interactions, and distribution of decision-making and control functions § Practical formulation of solutions based on a library of best matching algorithms and protocols, ready for direct applications and apps development. Design...

  8. SAD5 Stereo Correlation Line-Striping in an FPGA

    Science.gov (United States)

    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

  9. ESTIMATION OF STAND HEIGHT AND FOREST VOLUME USING HIGH RESOLUTION STEREO PHOTOGRAPHY AND FOREST TYPE MAP

    Directory of Open Access Journals (Sweden)

    K. M. Kim

    2016-06-01

    Full Text Available Traditional field methods for measuring tree heights are often too costly and time consuming. An alternative remote sensing approach is to measure tree heights from digital stereo photographs which is more practical for forest managers and less expensive than LiDAR or synthetic aperture radar. This work proposes an estimation of stand height and forest volume(m3/ha using normalized digital surface model (nDSM from high resolution stereo photography (25cm resolution and forest type map. The study area was located in Mt. Maehwa model forest in Hong Chun-Gun, South Korea. The forest type map has four attributes such as major species, age class, DBH class and crown density class by stand. Overlapping aerial photos were taken in September 2013 and digital surface model (DSM was created by photogrammetric methods(aerial triangulation, digital image matching. Then, digital terrain model (DTM was created by filtering DSM and subtracted DTM from DSM pixel by pixel, resulting in nDSM which represents object heights (buildings, trees, etc.. Two independent variables from nDSM were used to estimate forest stand volume: crown density (% and stand height (m. First, crown density was calculated using canopy segmentation method considering live crown ratio. Next, stand height was produced by averaging individual tree heights in a stand using Esri’s ArcGIS and the USDA Forest Service’s FUSION software. Finally, stand volume was estimated and mapped using aerial photo stand volume equations by species which have two independent variables, crown density and stand height. South Korea has a historical imagery archive which can show forest change in 40 years of successful forest rehabilitation. For a future study, forest volume change map (1970s–present will be produced using this stand volume estimation method and a historical imagery archive.

  10. Estimation of Stand Height and Forest Volume Using High Resolution Stereo Photography and Forest Type Map

    Science.gov (United States)

    Kim, K. M.

    2016-06-01

    Traditional field methods for measuring tree heights are often too costly and time consuming. An alternative remote sensing approach is to measure tree heights from digital stereo photographs which is more practical for forest managers and less expensive than LiDAR or synthetic aperture radar. This work proposes an estimation of stand height and forest volume(m3/ha) using normalized digital surface model (nDSM) from high resolution stereo photography (25cm resolution) and forest type map. The study area was located in Mt. Maehwa model forest in Hong Chun-Gun, South Korea. The forest type map has four attributes such as major species, age class, DBH class and crown density class by stand. Overlapping aerial photos were taken in September 2013 and digital surface model (DSM) was created by photogrammetric methods(aerial triangulation, digital image matching). Then, digital terrain model (DTM) was created by filtering DSM and subtracted DTM from DSM pixel by pixel, resulting in nDSM which represents object heights (buildings, trees, etc.). Two independent variables from nDSM were used to estimate forest stand volume: crown density (%) and stand height (m). First, crown density was calculated using canopy segmentation method considering live crown ratio. Next, stand height was produced by averaging individual tree heights in a stand using Esri's ArcGIS and the USDA Forest Service's FUSION software. Finally, stand volume was estimated and mapped using aerial photo stand volume equations by species which have two independent variables, crown density and stand height. South Korea has a historical imagery archive which can show forest change in 40 years of successful forest rehabilitation. For a future study, forest volume change map (1970s-present) will be produced using this stand volume estimation method and a historical imagery archive.

  11. Topomapping of Mars with HRSC images, ISIS, and a commercial stereo workstation

    Science.gov (United States)

    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

  12. Visual discomfort prediction for stereo contents

    Science.gov (United States)

    He, Shan; Zhang, Tao; Doyen, Didier

    2011-03-01

    The current renaissance of 3D movies has drawn more and more attention from the audience. Three-dimensional television (3DTV) has been expected to be the next advance in television. Studies have shown that different people have different comfort range of depth in a 3D content, especially in 3DTV scenario, wherein much smaller screen sizes and viewing distances in home setup than in theater put more restrictions on the 3D content fed into the 3DTV. As a result, the version of the 3D content sent to home will not satisfy all the people in one family. In this paper, we try to solve this problem by providing a prediction of viewing discomfort of certain input content by certain viewer. Our method is based on the Disparity Discomfort Profile (DDP) built through subjective test for each viewer. The input content is analyzed by studying its disparity distribution. The prediction of discomfort is performed by matching the disparity distribution with the viewer's DDP. Then a mechanism to allow the viewers to adjust the depth range according to their visual comfort profile or viewing preference is used to minimize the discomfort. Experiments show promising results of the proposed method.

  13. Critical factors in SEM 3D stereo microscopy

    DEFF Research Database (Denmark)

    Marinello, F.; Bariano, P.; Savio, E.

    2008-01-01

    This work addresses dimensional measurements performed with the scanning electron microscope (SEM) using 3D reconstruction of surface topography through stereo-photogrammetry. The paper presents both theoretical and experimental investigations, on the effects of instrumental variables and measure......This work addresses dimensional measurements performed with the scanning electron microscope (SEM) using 3D reconstruction of surface topography through stereo-photogrammetry. The paper presents both theoretical and experimental investigations, on the effects of instrumental variables...... and measurement parameters on reconstruction accuracy. Investigations were performed on a novel sample, specifically developed and implemented for the tests. The description is based on the model function introduced by Piazzesi and adapted for eucentrically tilted stereopairs. Two main classes of influencing...... factors are recognized: the first one is related to the measurement operation and the instrument set-up; the second concerns the quality of scanned images and represents the major criticality in the application of SEMs for 3D characterizations....

  14. Stereo-SCIDAR: Instrument and First Commissioning Results

    Science.gov (United States)

    Derie, F.; Wilson, R.; Osborn, J.; Dubbeldam, M.; Sarazin, M.; Ridings, R.; Navarrete, J.; Lelouarn, M.

    2016-12-01

    The vertical distribution of atmospheric optical turbulence has a significant impact on the performance of wide-field adaptive optics systems. Stereo-SCIDAR is an instrument capable of measuring the vertical profile of the turbulence strength and velocity with high sensitivity and altitude resolution. Stereo-SCIDAR, developed in close collaboration with Durham University, was successfully tested at the La Silla Paranal Observatory in mid-2016. This visitor instrument is located at the coudé focus of one of the Auxiliary Telescopes and will record atmospheric turbulence profiles above Paranal for one year starting in October 2016. These measurements are required for the specification and implementation of adaptive optics for the European Extremely Large Telescope.

  15. Field study of sound exposure by personal stereo

    DEFF Research Database (Denmark)

    Ordoñez, Rodrigo Pizarro; Reuter, Karen; Hammershøi, Dorte

    2006-01-01

    A number of large scale studies suggest that the exposure level used with personal stereo systems should raise concern. High levels can be produced by most commercially available mp3 players, and they are generally used in high background noise levels (i.e., while in a bus or rain). A field study...... on young people's habitual sound exposure to personal stereos has been carried out using a measurement method according to principles of ISO 11904-2:2004. Additionally the state of their hearing has also been assessed. This presentation deals with the methodological aspects relating to the quantification...... of habitual use, estimation of listening levels and exposure levels, and assessment of their state of hearing, by either threshold determination or OAE measurement, with a special view to the general validity of the results (uncertainty factors and their magnitude)....

  16. A Robust Time Efficient Watermarking Technique for Stereo Images

    Directory of Open Access Journals (Sweden)

    M. A. Abdou

    2015-01-01

    Full Text Available Stereoscopic and multiview imaging techniques are used for reproducing a natural or real world scene. However, the fact that more information is displayed requires supporting technologies to ensure the storage and transmission of the sequences. Beyond these supports comes watermarking as a desirable alternative solution for copyright protection of stereo images and videos. This paper introduces a watermarking method applied to stereo images in wavelet domain. This method uses a particle swarm optimization (PSO evolutionary computation method. The aim is to solve computational complexity problems as well as satisfy an execution time that complies with normal PCs or smart phones processors. Robustness against image attacks is tested, and results are shown.

  17. Advanced DTM Generation from Very High Resolution Satellite Stereo Images

    Science.gov (United States)

    Perko, R.; Raggam, H.; Gutjahr, K. H.; Schardt, M.

    2015-03-01

    This work proposes a simple filtering approach that can be applied to digital surface models in order to extract digital terrain models. The method focusses on robustness and computational efficiency and is in particular tailored to filter DSMs that are extracted from satellite stereo images. It represents an evolution of an existing DTM generation method and includes distinct advancement through the integration of multi-directional processing as well as slope dependent filtering, thus denoted "MSD filtering". The DTM generation workflow is fully automatic and requires no user interaction. Exemplary results are presented for a DSM generated from a Pléiades tri-stereo image data set. Qualitative and quantitative evaluations with respect to highly accurate reference LiDAR data confirm the effectiveness of the proposed algorithm.

  18. Projector calibration method based on stereo vision system

    Science.gov (United States)

    Yang, Shourui; Liu, Miao; Song, Jiahui; Yin, Shibin; Guo, Yin; Ren, Yongjie; Zhu, Jigui

    2017-12-01

    Digital projectors have been widely used in many accuracy-sensitive fields and the projector should be calibrated precisely. Different from the existing methods using a single camera and a high-accuracy diffuse planar target, the projector calibration method is proposed based on a stereo vision system and a white board. A calibration pattern with several virtual mark points is projected onto the white board at different poses and captured by the stereo vision system. A two-step optimization algorithm is proposed to calculate the intrinsic parameters with roughly coplanar points. The white board has no mark points on it and there is no need to guarantee its flatness, so it avoids using the expensive and fragile diffuse target. Finally, the experimental results have demonstrated the improvement in accuracy of the proposed method.

  19. 3-Dimentional Mapping Coastal Zone using High Resolution Satellite Stereo Imageries

    Science.gov (United States)

    Hong, Zhonghua; Liu, Fengling; Zhang, Yun

    2014-03-01

    The metropolitan coastal zone mapping is critical for coastal resource management, coastal environmental protection, and coastal sustainable development and planning. The results of geometric processing of a Shanghai coastal zone from 0.7-m-resolution QuickBird Geo stereo images are presented firstly. The geo-positioning accuracy of ground point determination with vendor-provided rigorous physical model (RPM) parameters is evaluated and systematic errors are found when compared with ground control points surveyed by GPS real-time kinematic (GPS-RTK) with 5cm accuracy. A bias-compensation process in image space that applies a RPM bundle adjustment to the RPM-calculated 3D ground points to correct the systematic errors is used to improve the geo-positioning accuracy. And then, a area-based matching (ABM) method is used to generated the densely corresponding points of left and right QuickBird images. With the densely matching points, the 3-dimentinal coordinates of ground points can be calculated by using the refined geometric relationship between image and ground points. At last step, digital surface model (DSM) can be achieved automatically using interpolation method. Accuracies of the DSM as assessed from independent checkpoints (ICPs) are approximately 1.2 m in height.

  20. The Effect of Illumination on Stereo DTM Quality: Simulations in Support of Europa Exploration

    Science.gov (United States)

    Kirk, R. L.; Howington-Kraus, E.; Hare, T. M.; Jorda, L.

    2016-06-01

    We have investigated how the quality of stereoscopically measured topography degrades with varying illumination, in particular the ranges of incidence angles and illumination differences over which useful digital topographic models (DTMs) can be recovered. Our approach is to make high-fidelity simulated image pairs of known topography and compare DTMs from stereoanalysis of these images with the input data. Well-known rules of thumb for horizontal resolution (>3-5 pixels) and matching precision (~0.2-0.3 pixels) are generally confirmed, but the best achievable resolution at high incidence angles is ~15 pixels, probably as a result of smoothing internal to the matching algorithm. Single-pass stereo imaging of Europa is likely to yield DTMs of consistent (optimal) quality for all incidence angles ≤85°, and certainly for incidence angles between 40° and 85°. Simulations with pairs of images in which the illumination is not consistent support the utility of shadow tip distance (STD) as a measure of illumination difference, but also suggest new and simpler criteria for evaluating the suitability of stereopairs based on illumination geometry. Our study was motivated by the needs of a mission to Europa, but the approach and (to first order) the results described here are relevant to a wide range of planetary investigations.

  1. Integral-Imaging display from stereo-Kinect capture

    OpenAIRE

    Hong, Seokmin; ANSARI, AMIR; Saavedra Tortosa, Genaro; Martínez Corral, Manuel

    2017-01-01

    In this paper, we propose a new approach in order to improve the quality of microimages and display them onto an integral imaging monitor. Our main proposal is based on the stereo-hybrid 3D camera system. Originally, hybrid camera system has dissimilarity itself. We interpret our method in order to equalize the hybrid sensor's characteristics and 3D data modification strategy. We generate integral image by using synthetic back-projection mapping method. Finally, we project the integral image ...

  2. The Stereo Electron Spikes and the Interplanetary Magnetic Field

    Science.gov (United States)

    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.

  3. DTM generation in forest regions from satellite stereo imagery

    Science.gov (United States)

    Tian, J.; Krauss, T.; Reinartz, P.

    2014-11-01

    Satellite stereo imagery is becoming a popular data source for derivation of height information. Many new Digital Surface Model (DSM) generation and evaluation methods have been proposed based on these data. A novel Digital Terrain Model (DTM) extraction method based on the DSM from satellite stereo imagery is proposed in this paper. Instead of directly filtering the DSM, firstly a single channel based classification method is proposed. In this step, no multi-spectral information is used, because for some stereo sensors, like Cartosat-1, only panchromatic channels are available. The proposed classification method adopts the random forests method to get initial probability maps of the four main classes in forest regions (high-forest, low-forest, ground, and buildings). To cover the pepper and salt effect of this pixel based classification method, the probability maps are further filtered based on the adaptive Wiener filtering. Then a cube-based greedy strategy is applied in generating the final classification map from these refined probability maps. Secondly, the height distances between neighboring regions are calculated along the boundary regions. These height distances can be used to estimate the relative region heights. Thirdly, the DTM is extracted by subtracting these relative region heights from the DSM in the order of: buildings - low forest - high forest. In the end, the extracted DTM is further smoothed using median filter. The proposed DTM extraction method is finally tested on satellite stereo imagery captured by Cartosat-1. Quality evaluation is performed by comparing the extracted DTMs to a reference DTM, which is generated from the last return airborne laser scanning point cloud.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  7. Multispectral imaging using a stereo camera: concept, design and assessment

    Directory of Open Access Journals (Sweden)

    Mansouri Alamin

    2011-01-01

    Full Text Available Abstract This paper proposes a one-shot six-channel multispectral color image acquisition system using a stereo camera and a pair of optical filters. The two filters from the best pair, selected from among readily available filters such that they modify the sensitivities of the two cameras in such a way that they produce optimal estimation of spectral reflectance and/or color, are placed in front of the two lenses of the stereo camera. The two images acquired from the stereo camera are then registered for pixel-to-pixel correspondence. The spectral reflectance and/or color at each pixel on the scene are estimated from the corresponding camera outputs in the two images. Both simulations and experiments have shown that the proposed system performs well both spectrally and colorimetrically. Since it acquires the multispectral images in one shot, the proposed system can solve the limitations of slow and complex acquisition process, and costliness of the state of the art multispectral imaging systems, leading to its possible uses in widespread applications.

  8. Development of a stereo camera system for road surface assessment

    Science.gov (United States)

    Su, D.; Nagayama, T.; Irie, M.; Fujino, Y.

    2013-04-01

    In Japan, large number of road structures which were built in the period of high economic growth, has been deteriorated due to heavy traffic and severe conditions, especially in the metropolitan area. In particular, the poor condition of expansion joints of the bridge caused by the frequent impact from the passing vehicles has significantly influence the vehicle safety. In recent year, stereo vision is a widely researched and implemented monitoring approach in object recognition field. This paper introduces the development of a stereo camera system for road surface assessment. In this study, first the static photos taken by a calibrated stereo camera system are utilized to reconstruct the three-dimensional coordinates of targets in the pavement. Subsequently to align the various coordinates obtained from different view meshes, one modified Iterative Closet Point method is proposed by affording the appropriate initial conditions and image correlation method. Several field tests have been carried out to evaluate the capabilities of this system. After succeeding to align all the measured coordinates, this system can offer not only the accurate information of local deficiency such as the patching, crack or pothole, but also global fluctuation in a long distance range of the road surface.

  9. Chasing the light sterile neutrino with the STEREO detector

    Science.gov (United States)

    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.

  10. Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision

    Directory of Open Access Journals (Sweden)

    Achmad Jazidie

    2011-12-01

    Full Text Available In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera. We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking will be tracked as a multiple moving obstacle, and the speed, direction, and distance of the moving obstacles is estimated by a stereo camera in order that the robot can maneuver to avoid the collision. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.

  11. DTM: Deformable Template Matching

    OpenAIRE

    Lee, Hyungtae; Kwon, Heesung; Robinson, Ryan M.; Nothwang, William D.

    2016-01-01

    A novel template matching algorithm that can incorporate the concept of deformable parts, is presented in this paper. Unlike the deformable part model (DPM) employed in object recognition, the proposed template-matching approach called Deformable Template Matching (DTM) does not require a training step. Instead, deformation is achieved by a set of predefined basic rules (e.g. the left sub-patch cannot pass across the right patch). Experimental evaluation of this new method using the PASCAL VO...

  12. Deliberate change without hierarchical influence?

    DEFF Research Database (Denmark)

    Nørskov, Sladjana; Kesting, Peter; Ulhøi, John Parm

    2017-01-01

    Purpose This paper aims to present that deliberate change is strongly associated with formal structures and top-down influence. Hierarchical configurations have been used to structure processes, overcome resistance and get things done. But is deliberate change also possible without formal...... reveals that deliberate change is indeed achievable in a non-hierarchical collaborative OSS community context. However, it presupposes the presence and active involvement of informal change agents. The paper identifies and specifies four key drivers for change agents’ influence. Originality....../value The findings contribute to organisational analysis by providing a deeper understanding of the importance of leadership in making deliberate change possible in non-hierarchical settings. It points to the importance of “change-by-conviction”, essentially based on voluntary behaviour. This can open the door...

  13. Static Correctness of Hierarchical Procedures

    DEFF Research Database (Denmark)

    Schwartzbach, Michael Ignatieff

    1990-01-01

    basis for a general type hierarchy with static type checking, which enables first-order polymorphism combined with multiple inheritance and specialization in a language with assignments. We extend the results to include opaque types. An opaque version of a type is different from the original but has......A system of hierarchical, fully recursive types in a truly imperative language allows program fragments written for small types to be reused for all larger types. To exploit this property to enable type-safe hierarchical procedures, it is necessary to impose a static requirement on procedure calls....... We introduce an example language and prove the existence of a sound requirement which preserves static correctness while allowing hierarchical procedures. This requirement is further shown to be optimal, in the sense that it imposes as few restrictions as possible. This establishes the theoretical...

  14. An Aerial-Image Dense Matching Approach Based on Optical Flow Field

    Science.gov (United States)

    Yuan, Wei; Chen, Shiyu; Zhang, Yong; Gong, Jianya; Shibasaki, Ryosuke

    2016-06-01

    Dense matching plays an important role in many fields, such as DEM (digital evaluation model) producing, robot navigation and 3D environment reconstruction. Traditional approaches may meet the demand of accuracy. But the calculation time and out puts density is hardly be accepted. Focus on the matching efficiency and complex terrain surface matching feasibility an aerial image dense matching method based on optical flow field is proposed in this paper. First, some high accurate and uniformed control points are extracted by using the feature based matching method. Then the optical flow is calculated by using these control points, so as to determine the similar region between two images. Second, the optical flow field is interpolated by using the multi-level B-spline interpolation in the similar region and accomplished the pixel by pixel coarse matching. Final, the results related to the coarse matching refinement based on the combined constraint, which recognizes the same points between images. The experimental results have shown that our method can achieve per-pixel dense matching points, the matching accuracy achieves sub-pixel level, and fully meet the three-dimensional reconstruction and automatic generation of DSM-intensive matching's requirements. The comparison experiments demonstrated that our approach's matching efficiency is higher than semi-global matching (SGM) and Patch-based multi-view stereo matching (PMVS) which verifies the feasibility and effectiveness of the algorithm.

  15. Interactive stereo electron microscopy enhanced with virtual reality

    Energy Technology Data Exchange (ETDEWEB)

    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 submicron 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

  16. Structural integrity of hierarchical composites

    Directory of Open Access Journals (Sweden)

    Marco Paggi

    2012-01-01

    Full Text Available Interface mechanical problems are of paramount importance in engineering and materials science. Traditionally, due to the complexity of modelling their mechanical behaviour, interfaces are often treated as defects and their features are not explored. In this study, a different approach is illustrated, where the interfaces play an active role in the design of innovative hierarchical composites and are fundamental for their structural integrity. Numerical examples regarding cutting tools made of hierarchical cellular polycrystalline materials are proposed, showing that tailoring of interface properties at the different scales is the way to achieve superior mechanical responses that cannot be obtained using standard materials

  17. Case Selection via Matching

    Science.gov (United States)

    Nielsen, Richard A.

    2016-01-01

    This article shows how statistical matching methods can be used to select "most similar" cases for qualitative analysis. I first offer a methodological justification for research designs based on selecting most similar cases. I then discuss the applicability of existing matching methods to the task of selecting most similar cases and…

  18. Computing Optimal Morse Matchings

    OpenAIRE

    Joswig, Michael; Pfetsch, Marc E.

    2004-01-01

    Morse matchings capture the essential structural information of discrete Morse functions. We show that computing optimal Morse matchings is NP-hard and give an integer programming formulation for the problem. Then we present polyhedral results for the corresponding polytope and report on computational results.

  19. Ontology Matching Across Domains

    Science.gov (United States)

    2010-05-01

    matching include GMO [1], Anchor-Prompt [2], and Similarity Flooding [3]. GMO is an iterative structural matcher, which uses RDF bipartite graphs to...AFRL under contract# FA8750-09-C-0058. References [1] Hu, W., Jian, N., Qu, Y., Wang, Y., “ GMO : a graph matching for ontologies”, in: Proceedings of

  20. Matched-pair classification

    Energy Technology Data Exchange (ETDEWEB)

    Theiler, James P [Los Alamos National Laboratory

    2009-01-01

    Following an analogous distinction in statistical hypothesis testing, we investigate variants of machine learning where the training set comes in matched pairs. We demonstrate that even conventional classifiers can exhibit improved performance when the input data has a matched-pair structure. Online algorithms, in particular, converge quicker when the data is presented in pairs. In some scenarios (such as the weak signal detection problem), matched pairs can be generated from independent samples, with the effect not only doubling the nominal size of the training set, but of providing the structure that leads to better learning. A family of 'dipole' algorithms is introduced that explicitly takes advantage of matched-pair structure in the input data and leads to further performance gains. Finally, we illustrate the application of matched-pair learning to chemical plume detection in hyperspectral imagery.

  1. Stereo Pair, Salt Lake City, Utah

    Science.gov (United States)

    2002-01-01

    The 2002 Winter Olympics are hosted by Salt Lake City at several venues within the city, in nearby cities, and within the adjacent Wasatch Mountains. This image pair provides a stereoscopic map view of north central Utah that includes all of these Olympic sites. In the south, next to Utah Lake, Provo hosts the ice hockey competition. In the north, northeast of the Great Salt Lake, Ogden hosts curling and the nearby Snowbasin ski area hosts the downhill events. In between, southeast of the Great Salt Lake, Salt Lake City hosts the Olympic Village and the various skating events. Further east, across the Wasatch Mountains, the Park City ski resort hosts the bobsled, ski jumping, and snowboarding events. The Winter Olympics are always hosted in mountainous terrain. This view shows the dramatic landscape that makes the Salt Lake City region a world-class center for winter sports.This stereoscopic image was generated by draping a Landsat satellite image over a Shuttle Radar Topography Mission digital elevation model. Two differing perspectives were then calculated, one for each eye. They can be seen in 3-D by viewing the left image with the right eye and the right image with the left eye (cross-eyed viewing or by downloading and printing the image pair and viewing them with a stereoscope. When stereoscopically merged, the result is a vertically exaggerated view of Earth's surface in its full three dimensions.Landsat has been providing visible and infrared views of the Earth since 1972. SRTM elevation data matches the 30-meter (98-foot) resolution of most Landsat images and will substantially help in analyzing the large and growing Landsat image archive, managed by the U.S. Geological Survey (USGS).Elevation data used in this image was acquired by the Shuttle Radar Topography Mission (SRTM) aboard the Space Shuttle Endeavour, launched on Feb. 11, 2000. SRTM used the same radar instrument that comprised the Spaceborne Imaging Radar-C/X-Band Synthetic Aperture Radar (SIR

  2. Stereo Pair: Basalt Cliffs, Patagonia, Argentina

    Science.gov (United States)

    2000-01-01

    Basalt cliffs along the northwest edge of the Meseta de Somuncura plateau near Sierra Colorada, Argentina show an unusual and striking pattern of erosion. Stereoscopic observation helps to clarify the landform changing processes active here. Many of the cliffs appear to be rock staircases that have the same color as the plateau's basaltic cap rock. Are these the edges of lower layers in the basalt or are they a train of slivers that are breaking off from, then sliding downslope and away from, the cap rock. They appear to be the latter. Close inspection shows that each stair step is too laterally irregular to be a continuous sheet of bedrock like the cap rock. Also, the steps are not flat but instead are little ridges, as one might expect from broken, tilted, and sliding slices of the cap rock. Stream erosion has cut some gullies into the cliffs and green vegetation shows that water springs from and flows down some channels, but landsliding is clearly a major agent of erosion here.This cross-eyed stereoscopic image pair was generated using topographic data from the Shuttle Radar Topography Mission, combined with an enhanced Landsat 7satellite color image. The topography data are used to create two differing perspectives of a single image, one perspective for each eye. In doing so, each point in the image is shifted slightly, depending on its elevation. When stereoscopically merged, the result is a vertically exaggerated view of the Earth's surface in its full three dimensions.Landsat satellites have provided visible light and infrared images of the Earth continuously since 1972. SRTM topographic data match the 30-meter (99-foot) spatial resolution of most Landsat images and provide a valuable complement for studying the historic and growing Landsat data archive. The Landsat 7 Thematic Mapper image used here was provided to the SRTM project by the United States Geological Survey, Earth Resources Observation Systems (EROS) Data Center,Sioux Falls, South Dakota

  3. Stereo Pair: Inverted Topography, Patagonia, Argentina

    Science.gov (United States)

    2000-01-01

    The Meseta de Somuncura is a broad plateau capped by basalt. Near its western edge is evidence of multiple volcanic events and a complex erosion history. Most notable are the long, narrow-, and winding lava flows that run across most of the right side of the image. These formed from low-viscosity lava that flowed down gullies over fairly flat terrain. Later, erosion of the landscape continued and the solidified flows were more resistant than the older surrounding rocks. Consequently, the flows became the ridges we see here. This natural process of converting gullies to ridges is called topographic inversion. See image PIA02755 (upper left corner) for a good example of topographic inversion in its earlier stages.Other features seen here include numerous and varied closed depressions. The regional drainage is not well integrated, and drainage ends up in salty lakes (blue if shallow, black if deep). Wind streaks indicate that winds blow toward the east (right) and blow salt grains off the lakebeds when dry. The bowtie pattern in the upper left has resulted from differing grazing practices among fenced fields.This cross-eyed stereoscopic image pair was generated using topographic data from the Shuttle Radar Topography Mission, combined with an enhanced Landsat 7satellite color image. The topography data are used to create two differing perspectives of a single image, one perspective for each eye. In doing so, each point in the image is shifted slightly, depending on its elevation. When stereoscopically merged, the result is a vertically exaggerated view of the Earth's surface in its full three dimensions.Landsat satellites have provided visible light and infrared images of the Earth continuously since 1972. SRTM topographic data match the 30-meter (99-foot) spatial resolution of most Landsat images and provide a valuable complement for studying the historic and growing Landsat data archive. The Landsat 7 Thematic Mapper image used here was provided to the SRTM project

  4. SRTM Stereo Pair: Northwest of Bhuj, India

    Science.gov (United States)

    2001-01-01

    of Earth's surface in its full three dimensions.Landsat has been providing visible and infrared views of Earth since 1972. SRTM elevation data matches the 30-meter (33-yard) resolution of most Landsat images and will substantially help in analyses of the large and growing Landsat image archive. The Landsat 7 Thematic Mapper image used here was provided to the SRTM project by the United States Geological Survey, Earth Resources Observation Systems (EROS) Data Center, Sioux Falls, South Dakota.Elevation data used in this image was acquired by the Shuttle Radar Topography Mission aboard Space Shuttle Endeavour, launched on February 11, 2000. SRTM used the same radar instrument that comprised the Spaceborne Imaging Radar-C/X-Band Synthetic Aperture Radar (SIR-C/X-SAR) that flew twice on Space Shuttle Endeavour in 1994. SRTM was designed to collect three-dimensional measurements of Earth's surface. To collect the 3-D data, engineers added a 60-meter-long (200-foot) mast, installed additional C-band and X-band antennas, and improved tracking and navigation devices. The mission is a cooperative project between the National Aeronautics and Space Administration (NASA), the National Imagery and Mapping Agency (NIMA) of the U.S. Department of Defense (DoD), and the German and Italian space agencies. It is managed by NASA's Jet Propulsion Laboratory, Pasadena, CA, for NASA's Earth Science Enterprise, Washington, DC.Size: 21.3 x 11.9 kilometers (13.2 x 7.4 miles) Location: 23.4 deg. North lat., 69.6 deg. East lon. Orientation: North toward the top Image Data: Landsat Bands 1, 2+4, 3 as blue, green, red, respectively Date Acquired: February 2000 (SRTM), February 9, 2001 (Landsat)

  5. Multiple Constraints Based Robust Matching of Poor-Texture Close-Range Images for Monitoring a Simulated Landslide

    Directory of Open Access Journals (Sweden)

    Gang Qiao

    2016-05-01

    Full Text Available Landslides are one of the most destructive geo-hazards that can bring about great threats to both human lives and infrastructures. Landslide monitoring has been always a research hotspot. In particular, landslide simulation experimentation is an effective tool in landslide research to obtain critical parameters that help understand the mechanism and evaluate the triggering and controlling factors of slope failure. Compared with other traditional geotechnical monitoring approaches, the close-range photogrammetry technique shows potential in tracking and recording the 3D surface deformation and failure processes. In such cases, image matching usually plays a critical role in stereo image processing for the 3D geometric reconstruction. However, the complex imaging conditions such as rainfall, mass movement, illumination, and ponding will reduce the texture quality of the stereo images, bringing about difficulties in the image matching process and resulting in very sparse matches. To address this problem, this paper presents a multiple-constraints based robust image matching approach for poor-texture close-range images particularly useful in monitoring a simulated landslide. The Scale Invariant Feature Transform (SIFT algorithm was first applied to the stereo images for generation of scale-invariate feature points, followed by a two-step matching process: feature-based image matching and area-based image matching. In the first feature-based matching step, the triangulation process was performed based on the SIFT matches filtered by the Fundamental Matrix (FM and a robust checking procedure, to serve as the basic constraints for feature-based iterated matching of all the non-matched SIFT-derived feature points inside each triangle. In the following area-based image-matching step, the corresponding points of the non-matched features in each triangle of the master image were predicted in the homologous triangle of the searching image by using geometric

  6. Hierarchical Engineered Materials and Structures

    Science.gov (United States)

    2012-11-30

    of lightweight cellular materials (such as honeycombs and foams ) which are commonly used in "hierarchically designed" structural materials, especially...response past the elevated yield stress is modeled as perfectly plastic. The viscoelastic properties are not modeled because it is assumed that the

  7. AN AERIAL-IMAGE DENSE MATCHING APPROACH BASED ON OPTICAL FLOW FIELD

    Directory of Open Access Journals (Sweden)

    W. Yuan

    2016-06-01

    Full Text Available Dense matching plays an important role in many fields, such as DEM (digital evaluation model producing, robot navigation and 3D environment reconstruction. Traditional approaches may meet the demand of accuracy. But the calculation time and out puts density is hardly be accepted. Focus on the matching efficiency and complex terrain surface matching feasibility an aerial image dense matching method based on optical flow field is proposed in this paper. First, some high accurate and uniformed control points are extracted by using the feature based matching method. Then the optical flow is calculated by using these control points, so as to determine the similar region between two images. Second, the optical flow field is interpolated by using the multi-level B-spline interpolation in the similar region and accomplished the pixel by pixel coarse matching. Final, the results related to the coarse matching refinement based on the combined constraint, which recognizes the same points between images. The experimental results have shown that our method can achieve per-pixel dense matching points, the matching accuracy achieves sub-pixel level, and fully meet the three-dimensional reconstruction and automatic generation of DSM-intensive matching’s requirements. The comparison experiments demonstrated that our approach’s matching efficiency is higher than semi-global matching (SGM and Patch-based multi-view stereo matching (PMVS which verifies the feasibility and effectiveness of the algorithm.

  8. Muon Track Matching

    CERN Document Server

    Benvenuti, Alberto C; Genchev, V; Khanov, A I; Stepanov, N; Vankov, P

    2000-01-01

    For most physical processes the tracks observed in the muon stations must be matched with the corresponding tracks in the inner tracker, the external muon system providing muon identification and triggering but the tracker points giving the precise momentum measurement at lower momenta. For high momenta the momentum resolution is much improved by the interconnection of inner and outer measurements. The matching of outer and inner measurements is more delicate in case of muons embedded in jets. A study of the matching procedure was carried out using samples of (b, anti b) jets at high Pt, requiring (b, anti b) -> mu decays.

  9. Precise matching of diodes

    Science.gov (United States)

    Mclyman, W. T.

    1979-01-01

    Two circuit arrangements using ac and dc power source provide low-cost method for matching forward voltage drops of diodes and other semiconductors. Both circuits are simpler and less expensive than conventional, characteristic-curve tracers.

  10. Pediatric MATCH Infographic

    Science.gov (United States)

    Infographic explaining NCI-COG Pediatric MATCH, a cancer treatment clinical trial for children and adolescents, from 1 to 21 years of age, that is testing the use of precision medicine for pediatric cancers.

  11. Data Matching Imputation System

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — The DMIS dataset is a flat file record of the matching of several data set collections. Primarily it consists of VTRs, dealer records, Observer data in conjunction...

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  15. Design, development, and performance of the STEREO SECCHI CCD cameras

    Science.gov (United States)

    Waltham, Nick; Eyles, Chris

    2007-09-01

    We report the design, development and performance of the SECCHI (Sun Earth Connection Coronal and Heliospheric Investigation) CCD camera electronics on NASA's Solar Terrestrial Relations Observatory (STEREO). STEREO consists of two nearly identical space-based observatories; one ahead of Earth in its orbit, the other trailing behind to provide the first-ever stereoscopic (3D) measurements to study the Sun and the nature of its coronal mass ejections. The SECCHI instrument suite consists of five telescopes that will observe the solar corona, and inner heliosphere all the way from the surface of the Sun to the orbit of the Earth, and beyond. Each telescope contains a large-format science-grade CCD; two within the Heliospheric Imager (HI) instrument, and three in a separate instrument package (SCIP) consisting of two coronagraphs and an EUV imager. The CCDs are operated from two Camera Electronics Boxes. Constraints on the size, mass, and power available for the camera electronics required the development of a miniaturised solution employing digital and mixed-signal ASICs, FPGAs, and compact surface-mount construction. Operating more than one CCD from a single box also provides economy on the number of DC-DC converters and interface electronics required. We describe the requirements for the overall design and implementation, and in particular the design and performance of the camera's space-saving mixed-signal CCD video processing ASIC. The performance of the camera is reviewed together with sample images obtained since the STEREO mission was successfully launched on October 25 2006 from Cape Canaveral.

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

    Science.gov (United States)

    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.

  17. MEMORY EFFICIENT SEMI-GLOBAL MATCHING

    Directory of Open Access Journals (Sweden)

    H. Hirschmüller

    2012-07-01

    Full Text Available Semi-GlobalMatching (SGM is a robust stereo method that has proven its usefulness in various applications ranging from aerial image matching to driver assistance systems. It supports pixelwise matching for maintaining sharp object boundaries and fine structures and can be implemented efficiently on different computation hardware. Furthermore, the method is not sensitive to the choice of parameters. The structure of the matching algorithm is well suited to be processed by highly paralleling hardware e.g. FPGAs and GPUs. The drawback of SGM is the temporary memory requirement that depends on the number of pixels and the disparity range. On the one hand this results in long idle times due to the bandwidth limitations of the external memory and on the other hand the capacity bounds are quickly reached. A full HD image with a size of 1920 × 1080 pixels and a disparity range of 512 pixels requires already 1 billion elements, which is at least several GB of RAM, depending on the element size, wich are not available at standard FPGA- and GPUboards. The novel memory efficient (eSGM method is an advancement in which the amount of temporary memory only depends on the number of pixels and not on the disparity range. This permits matching of huge images in one piece and reduces the requirements of the memory bandwidth for real-time mobile robotics. The feature comes at the cost of 50% more compute operations as compared to SGM. This overhead is compensated by the previously idle compute logic within the FPGA and the GPU and therefore results in an overall performance increase. We show that eSGM produces the same high quality disparity images as SGM and demonstrate its performance both on an aerial image pair with 142 MPixel and within a real-time mobile robotic application. We have implemented the new method on the CPU, GPU and FPGA.We conclude that eSGM is advantageous for a GPU implementation and essential for an implementation on our FPGA.

  18. Multiview specular stereo reconstruction of large mirror surfaces

    KAUST Repository

    Balzer, Jonathan

    2011-06-01

    In deflectometry, the shape of mirror objects is recovered from distorted images of a calibrated scene. While remarkably high accuracies are achievable, state-of-the-art methods suffer from two distinct weaknesses: First, for mainly constructive reasons, these can only capture a few square centimeters of surface area at once. Second, reconstructions are ambiguous i.e. infinitely many surfaces lead to the same visual impression. We resolve both of these problems by introducing the first multiview specular stereo approach, which jointly evaluates a series of overlapping deflectometric images. Two publicly available benchmarks accompany this paper, enabling us to numerically demonstrate viability and practicability of our approach. © 2011 IEEE.

  19. Viking image processing. [digital stereo imagery and computer mosaicking

    Science.gov (United States)

    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.

  20. Optimization on shape curves with application to specular stereo

    KAUST Repository

    Balzer, Jonathan

    2010-01-01

    We state that a one-dimensional manifold of shapes in 3-space can be modeled by a level set function. Finding a minimizer of an independent functional among all points on such a shape curve has interesting applications in computer vision. It is shown how to replace the commonly encountered practice of gradient projection by a projection onto the curve itself. The outcome is an algorithm for constrained optimization, which, as we demonstrate theoretically and numerically, provides some important benefits in stereo reconstruction of specular surfaces. © 2010 Springer-Verlag.

  1. Application of stereo photogrammetric techniques for measuring African Elephants

    Directory of Open Access Journals (Sweden)

    A. J Hall-Martin

    1979-01-01

    Full Text Available Measurements of shoulder height and back length of African elephants were obtained by means of stereo photogrammetric techniques. A pair of Zeiss UMK 10/1318 cameras, mounted on a steel frame on the back of a vehicle, were used to photograph the elephants in the Addo Elephant National Park, Republic of South Africa. Several modifications of normal photogrammetry procedure applicable to the field situation (eg. control points and the computation of results (eg. relative orientation are briefly mentioned. Six elephants were immobilised after being photographed and the measurements obtained from them agreed within a range of 1 cm-10 cm with the photogrammetric measurements.

  2. Review of literature on hearing damage by personal stereo

    DEFF Research Database (Denmark)

    Hammershøi, Dorte; Ordoñez, Rodrigo Pizarro

    2006-01-01

    In the 1980s and 1990s there was a general concern for the high levels that personal stereo systems were capable of producing. At that time no standardized method for the determination of exposure levels existed, which could have contributed to overly conservative conclusions. With the publication...... of ISO 11904-1:2002 and 11904-2:2004, previous studies can be viewed in a different light, and the results point, in our opinion, at levels and listening habits that are of hazard to the hearing. The present paper will review previous studies that may shed light over the levels and habits of contemporary...

  3. The robot's eyes - Stereo vision system for automated scene analysis

    Science.gov (United States)

    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.

  4. Continuous motion using task-directed stereo vision

    Science.gov (United States)

    Gat, Erann; Loch, John L.

    1992-01-01

    The performance of autonomous mobile robots performing complex navigation tasks can be dramatically improved by directing expensive sensing and planning in service of the task. The task-direction algorithms can be quite simple. In this paper we describe a simple task-directed vision system which has been implemented on a real outdoor robot which navigates using stereo vision. While the performance of this particular robot was improved by task-directed vision, the performance of task-directed vision in general is influenced in complex ways by many factors. We briefly discuss some of these, and present some initial simulated results.

  5. Magnetic safety matches

    Science.gov (United States)

    Lindén, J.; Lindberg, M.; Greggas, A.; Jylhävuori, N.; Norrgrann, H.; Lill, J. O.

    2017-07-01

    In addition to the main ingredients; sulfur, potassium chlorate and carbon, ordinary safety matches contain various dyes, glues etc, giving the head of the match an even texture and appealing color. Among the common reddish-brown matches there are several types, which after ignition can be attracted by a strong magnet. Before ignition the match head is generally not attracted by the magnet. An elemental analysis based on proton-induced x-ray emission was performed to single out iron as the element responsible for the observed magnetism. 57Fe Mössbauer spectroscopy was used for identifying the various types of iron-compounds, present before and after ignition, responsible for the macroscopic magnetism: Fe2O3 before and Fe3O4 after. The reaction was verified by mixing the main chemicals in the match-head with Fe2O3 in glue and mounting the mixture on a match stick. The ash residue after igniting the mixture was magnetic.

  6. Hierarchical Prisoner's Dilemma in Hierarchical Public-Goods Game

    CERN Document Server

    Fujimoto, Yuma; Kaneko, Kunihiko

    2016-01-01

    The dilemma in cooperation is one of the major concerns in game theory. In a public-goods game, each individual pays a cost for cooperation, or to prevent defection, and receives a reward from the collected cost in a group. Thus, defection is beneficial for each individual, while cooperation is beneficial for the group. Now, groups (say, countries) consisting of individual players also play games. To study such a multi-level game, we introduce a hierarchical public-goods (HPG) game in which two groups compete for finite resources by utilizing costs collected from individuals in each group. Analyzing this HPG game, we found a hierarchical prisoner's dilemma, in which groups choose the defection policy (say, armaments) as a Nash strategy to optimize each group's benefit, while cooperation optimizes the total benefit. On the other hand, for each individual within a group, refusing to pay the cost (say, tax) is a Nash strategy, which turns to be a cooperation policy for the group, thus leading to a hierarchical d...

  7. The development of radiation hardened robot for nuclear facility - Stereo cursor generation and a development of object distance information extracting technique

    Energy Technology Data Exchange (ETDEWEB)

    Ahn, Sang Ho; Sohng, In Tae [Inje University, Pusan (Korea); Kwon, Ki Ku [Kyungpook National University, Taegu (Korea)

    2000-03-01

    An object distance information extractor using stereo cursor in stereo imaging system is developed and implemented. The stereo cursor is overlaid on a stereoscopic video image, and is controlled by three dimensional joystick. The depth of stereo cursor is controlled by adjusting disparity of the stereo cursor. A stereo object can be selected by placing the stereo cursor at all point in image. The object distance is inversely proportional to disparity of the cursor. By measuring the amount disparity of stereo cursor, therefore, we can estimate the object distance simultaneously. The object distance is displayed to 7-segment LED by a lookup table method. 17 refs., 40 figs., 2 tabs. (Author)

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

    Science.gov (United States)

    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.

  9. Lessons learned from building and calibrating the ICWall, a stereo tiled display: Research Articles

    NARCIS (Netherlands)

    van der Schaaf, T.; Germans, D.M.; Bal, H.E.; Koutek, M.

    2007-01-01

    Implementation of stereo tiled displays is a rather demanding task. In this article we want to share the lessons we have learned during the design and construction of the ICWall tiled display. This large display, used in a classroom setting, is a high-resolution stereo tiled display (2×8 tiles),

  10. A non-convex variational approach to photometric stereo under inaccurate lighting

    DEFF Research Database (Denmark)

    Quéau, Yvain; Wu, Tao; Lauze, Francois Bernard

    2017-01-01

    This paper tackles the photometric stereo problem in the presence of inaccurate lighting, obtained either by calibration or by an uncalibrated photometric stereo method. Based on a precise modeling of noise and outliers, a robust variational approach is introduced. It explicitly accounts for self...... refine both the intensities and the directions of the lighting....

  11. Modeling and testing of geometric processing model based on double baselines stereo photogrammetric system

    Science.gov (United States)

    Li, Yingbo; Zhao, Sisi; Hu, Bin; Zhao, Haibo; He, Jinping; Zhao, Xuemin

    2017-10-01

    Aimed at key problems the system of 1:5000 scale space stereo mapping and the shortage of the surveying capability of urban area, in regard of the performance index and the surveying systems of the existing domestic optical mapping satellites are unable to meet the demand of the large scale stereo mapping, it is urgent to develop the very high accuracy space photogrammetric satellite system which has a 1:5000 scale (or larger).The new surveying systems of double baseline stereo photogrammetric mode with combined of linear array sensor and area array sensor was proposed, which aims at solving the problems of barriers, distortions and radiation differences in complex ground object mapping for the existing space stereo mapping technology. Based on collinearity equation, double baseline stereo photogrammetric method and the model of combined adjustment were presented, systematic error compensation for this model was analyzed, position precision of double baseline stereo photogrammetry based on both simulated images and images acquired under lab conditions was studied. The laboratory tests showed that camera geometric calibration accuracy is better than 1μm, the height positioning accuracy is better than 1.5GSD with GCPs. The results showed that the mode of combined of one linear array sensor and one plane array sensor had higher positioning precision. Explore the new system of 1:5000 scale very high accuracy space stereo mapping can provide available new technologies and strategies for achieving demotic very high accuracy space stereo mapping.

  12. Accuracy evaluation of object position determination in the working area of stereo range finder

    OpenAIRE

    Samoylov, А. М.; Grenke, V. V.; Shakirov, I. V.

    2007-01-01

    The solution of problem on position determination of moving objects system in operating TV stereo range finder has been shown. The technique of accuracy evaluation in determining their position is described. The results of the method application on the TV stereo range finder model are presented.

  13. Benefits, limitations, and guidelines for application of stereo 3-D display technology to the cockpit environment

    Science.gov (United States)

    Williams, Steven P.; Parrish, Russell V.; Busquets, Anthony M.

    1992-01-01

    A survey of research results from a program initiated by NASA Langley Research Center is presented. The program addresses stereo 3-D pictorial displays from a comprehensive standpoint. Human factors issues, display technology aspects, and flight display applications are also considered. Emphasis is placed on the benefits, limitations, and guidelines for application of stereo 3-D display technology to the cockpit environment.

  14. On the Benefits of Stereo Graphics in Virtual Obstacle Avoidance Tasks

    DEFF Research Database (Denmark)

    Bærentzen, Jakob Andreas; Stenholt, Rasmus

    2014-01-01

    In virtual reality, stereo graphics is a very common way of increasing the level of perceptual realism in the visual part of the experience. However, stereo graphics comes at cost, both in technical terms and from a user perspective. In this paper, we present the preliminary results...

  15. A non-convex variational approach to photometric stereo under inaccurate lighting

    DEFF Research Database (Denmark)

    Quéau, Yvain; Wu, Tao; Lauze, Francois Bernard

    2017-01-01

    This paper tackles the photometric stereo problem in the presence of inaccurate lighting, obtained either by calibration or by an uncalibrated photometric stereo method. Based on a precise modeling of noise and outliers, a robust variational approach is introduced. It explicitly accounts for self...

  16. Thermal conductivity from hierarchical heat sinks using carbon nanotubes and graphene nanosheets.

    Science.gov (United States)

    Hsieh, Chien-Te; Lee, Cheng-En; Chen, Yu-Fu; Chang, Jeng-Kuei; Teng, Hsi-sheng

    2015-11-28

    The in-plane (kip) and through-plane (ktp) thermal conductivities of heat sinks using carbon nanotubes (CNTs), graphene nanosheets (GNs), and CNT/GN composites are extracted from two experimental setups within the 323-373 K temperature range. Hierarchical three-dimensional CNT/GN frameworks display higher kip and ktp values, as compared to the CNT- and GN-based heat sinks. The kip and ktp values of the CNT/GN-based heat sink reach as high as 1991 and 76 W m(-1) K(-1) at 323 K, respectively. This improved thermal conductivity is attributed to the fact that the hierarchical heat sink offers a stereo thermal conductive network that combines point, line, and plane contact, leading to better heat transport. Furthermore, the compression treatment provided an efficient route to increase both kip and ktp values. This result reveals that the hierarchical carbon structures become denser, inducing more thermal conductive area and less thermal resistivity, i.e., a reduced possibility of phonon-boundary scattering. The correlation between thermal and electrical conductivity (ε) can be well described by two empirical equations: kip = 567 ln(ε) + 1120 and ktp = 20.6 ln(ε) + 36.1. The experimental results are obtained within the temperature range of 323-373 K, suitably complementing the thermal management of chips for consumer electronics.

  17. Multicast Routing of Hierarchical Data

    Science.gov (United States)

    Shacham, Nachum

    1992-01-01

    The issue of multicast of broadband, real-time data in a heterogeneous environment, in which the data recipients differ in their reception abilities, is considered. Traditional multicast schemes, which are designed to deliver all the source data to all recipients, offer limited performance in such an environment, since they must either force the source to overcompress its signal or restrict the destination population to those who can receive the full signal. We present an approach for resolving this issue by combining hierarchical source coding techniques, which allow recipients to trade off reception bandwidth for signal quality, and sophisticated routing algorithms that deliver to each destination the maximum possible signal quality. The field of hierarchical coding is briefly surveyed and new multicast routing algorithms are presented. The algorithms are compared in terms of network utilization efficiency, lengths of paths, and the required mechanisms for forwarding packets on the resulting paths.

  18. Hierarchical matrices algorithms and analysis

    CERN Document Server

    Hackbusch, Wolfgang

    2015-01-01

    This self-contained monograph presents matrix algorithms and their analysis. The new technique enables not only the solution of linear systems but also the approximation of matrix functions, e.g., the matrix exponential. Other applications include the solution of matrix equations, e.g., the Lyapunov or Riccati equation. The required mathematical background can be found in the appendix. The numerical treatment of fully populated large-scale matrices is usually rather costly. However, the technique of hierarchical matrices makes it possible to store matrices and to perform matrix operations approximately with almost linear cost and a controllable degree of approximation error. For important classes of matrices, the computational cost increases only logarithmically with the approximation error. The operations provided include the matrix inversion and LU decomposition. Since large-scale linear algebra problems are standard in scientific computing, the subject of hierarchical matrices is of interest to scientists ...

  19. High-performance hierarchical fracturing

    Science.gov (United States)

    Cobb, Nicolas B.; Zhang, Weidong

    2002-07-01

    We describe in more detail a mask data preparation (MDP) flow previously proposed. The focus on this paper is a performance comparison of hierarchical fracturing techniques compared to standard fracturing. Our flow uses GDSII data as input, including a GDSII-based job deck description. The output is maximally compacted, trapezoidal mask writer (MW) formatted data. Our flow takes advantage of hierarchy explicit in the GDSII file(s). This allows optimal determination of 'cover cells', which are repeatable groups of patterns within the data. The use of cover cells allows a reduction of fracturing runtime. In one case, a 21 GB MEBES file was fractured in 30 hours using the standard technique and 53 minutes using the hierarchical cover cell technique.

  20. Topological properties of hierarchical networks.

    Science.gov (United States)

    Agliari, Elena; Barra, Adriano; Galluzzi, Andrea; Guerra, Francesco; Tantari, Daniele; Tavani, Flavia

    2015-06-01

    Hierarchical networks are attracting a renewal interest for modeling the organization of a number of biological systems and for tackling the complexity of statistical mechanical models beyond mean-field limitations. Here we consider the Dyson hierarchical construction for ferromagnets, neural networks, and spin glasses, recently analyzed from a statistical-mechanics perspective, and we focus on the topological properties of the underlying structures. In particular, we find that such structures are weighted graphs that exhibit a high degree of clustering and of modularity, with a small spectral gap; the robustness of such features with respect to the presence of thermal noise is also studied. These outcomes are then discussed and related to the statistical-mechanics scenario in full consistency. Last, we look at these weighted graphs as Markov chains and we show that in the limit of infinite size, the emergence of ergodicity breakdown for the stochastic process mirrors the emergence of metastabilities in the corresponding statistical mechanical analysis.

  1. Topological properties of hierarchical networks

    Science.gov (United States)

    Agliari, Elena; Barra, Adriano; Galluzzi, Andrea; Guerra, Francesco; Tantari, Daniele; Tavani, Flavia

    2015-06-01

    Hierarchical networks are attracting a renewal interest for modeling the organization of a number of biological systems and for tackling the complexity of statistical mechanical models beyond mean-field limitations. Here we consider the Dyson hierarchical construction for ferromagnets, neural networks, and spin glasses, recently analyzed from a statistical-mechanics perspective, and we focus on the topological properties of the underlying structures. In particular, we find that such structures are weighted graphs that exhibit a high degree of clustering and of modularity, with a small spectral gap; the robustness of such features with respect to the presence of thermal noise is also studied. These outcomes are then discussed and related to the statistical-mechanics scenario in full consistency. Last, we look at these weighted graphs as Markov chains and we show that in the limit of infinite size, the emergence of ergodicity breakdown for the stochastic process mirrors the emergence of metastabilities in the corresponding statistical mechanical analysis.

  2. Automatic Hierarchical Color Image Classification

    Directory of Open Access Journals (Sweden)

    Jing Huang

    2003-02-01

    Full Text Available Organizing images into semantic categories can be extremely useful for content-based image retrieval and image annotation. Grouping images into semantic classes is a difficult problem, however. Image classification attempts to solve this hard problem by using low-level image features. In this paper, we propose a method for hierarchical classification of images via supervised learning. This scheme relies on using a good low-level feature and subsequently performing feature-space reconfiguration using singular value decomposition to reduce noise and dimensionality. We use the training data to obtain a hierarchical classification tree that can be used to categorize new images. Our experimental results suggest that this scheme not only performs better than standard nearest-neighbor techniques, but also has both storage and computational advantages.

  3. Building damage assessment after the earthquake in Haiti using two post-event satellite stereo imagery and DSMs

    DEFF Research Database (Denmark)

    Reinartz, Peter; Tian, Jiaojiao; Nielsen, Allan Aasbjerg

    2013-01-01

    In this paper, a novel disaster building damage monitoring method is presented. This method combines the multispectral imagery and DSMs from stereo matching to obtain three kinds of changes. The proposed method contains three basic steps. The first step is to segment the panchromatic images to get...... the smallest possible homogeneous regions. In the second step, based on a rule based classification using change information from Iteratively Reweighted Multivariate Alteration Detection (IR-MAD) and height, the changes are classified to ruined buildings, new buildings, and changes without height change...... (mainly temporary residential area, etc. tents). In the last step, a region based grey level co-occurrence matrix texture measurement is used to refine the third change class. The method is applied to building change detection after the Haiti earthquake....

  4. Hybrid and hierarchical composite materials

    CERN Document Server

    Kim, Chang-Soo; Sano, Tomoko

    2015-01-01

    This book addresses a broad spectrum of areas in both hybrid materials and hierarchical composites, including recent development of processing technologies, structural designs, modern computer simulation techniques, and the relationships between the processing-structure-property-performance. Each topic is introduced at length with numerous  and detailed examples and over 150 illustrations.   In addition, the authors present a method of categorizing these materials, so that representative examples of all material classes are discussed.

  5. Project Report: Reducing Color Rivalry in Imagery for Conjugated Multiple Bandpass Filter Based Stereo Endoscopy

    Science.gov (United States)

    Ream, Allen

    2011-01-01

    A pair of conjugated multiple bandpass filters (CMBF) can be used to create spatially separated pupils in a traditional lens and imaging sensor system allowing for the passive capture of stereo video. This method is especially useful for surgical endoscopy where smaller cameras are needed to provide ample room for manipulating tools while also granting improved visualizations of scene depth. The significant issue in this process is that, due to the complimentary nature of the filters, the colors seen through each filter do not match each other, and also differ from colors as seen under a white illumination source. A color correction model was implemented that included optimized filter selection, such that the degree of necessary post-processing correction was minimized, and a chromatic adaptation transformation that attempted to fix the imaged colors tristimulus indices based on the principle of color constancy. Due to fabrication constraints, only dual bandpass filters were feasible. The theoretical average color error after correction between these filters was still above the fusion limit meaning that rivalry conditions are possible during viewing. This error can be minimized further by designing the filters for a subset of colors corresponding to specific working environments.

  6. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    Directory of Open Access Journals (Sweden)

    Basam Musleh

    2016-09-01

    Full Text Available Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels and the vehicle environment (meters depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  7. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

    Science.gov (United States)

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-09-14

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  8. Statistical significance for hierarchical clustering.

    Science.gov (United States)

    Kimes, Patrick K; Liu, Yufeng; Neil Hayes, David; Marron, James Stephen

    2017-09-01

    Cluster analysis has proved to be an invaluable tool for the exploratory and unsupervised analysis of high-dimensional datasets. Among methods for clustering, hierarchical approaches have enjoyed substantial popularity in genomics and other fields for their ability to simultaneously uncover multiple layers of clustering structure. A critical and challenging question in cluster analysis is whether the identified clusters represent important underlying structure or are artifacts of natural sampling variation. Few approaches have been proposed for addressing this problem in the context of hierarchical clustering, for which the problem is further complicated by the natural tree structure of the partition, and the multiplicity of tests required to parse the layers of nested clusters. In this article, we propose a Monte Carlo based approach for testing statistical significance in hierarchical clustering which addresses these issues. The approach is implemented as a sequential testing procedure guaranteeing control of the family-wise error rate. Theoretical justification is provided for our approach, and its power to detect true clustering structure is illustrated through several simulation studies and applications to two cancer gene expression datasets. © 2017, The International Biometric Society.

  9. Interpreting Dust Impact Signals Detected by the STEREO Spacecraft

    Science.gov (United States)

    O'Shea, E.; Sternovsky, Z.; Malaspina, D. M.

    2017-12-01

    There is no comprehensive understanding yet of how dust impacts on spacecraft (SC) generate signals detected by antenna instruments. The high sensitivity of the S/WAVES instrument and the large number and high diversity of dust impacts detected make the STEREO mission particularly well suited for a closer investigation. A floating perturbation model (FPP) was recently proposed to explain the characteristic shape of dust impact signals with an overshoot. The FPP model posits that the overshoot is due to the different discharge time constant of the SC and the individual antennas. Kinetic simulations are performed to demonstrate that, contrary to common belief, antennas are inefficient collectors of charged particles from impact plasmas. The collection efficiency is small, only 0.1-1%, varying weakly with the bias potential between the antenna and the SC, and more strongly with impact location. The low recollection efficiencies and an analysis of the shapes and scaling of typical and atypical signals recorded by S/WAVES suggest that, besides the mechanism described by the FPP model, there is another, possibly stronger mechanism that is responsible for generating the characteristic overshoot for most dust impact signals observed by STEREO.

  10. Schema matching and mapping

    CERN Document Server

    Bellahsene, Zohra; Rahm, Erhard

    2011-01-01

    Requiring heterogeneous information systems to cooperate and communicate has now become crucial, especially in application areas like e-business, Web-based mash-ups and the life sciences. Such cooperating systems have to automatically and efficiently match, exchange, transform and integrate large data sets from different sources and of different structure in order to enable seamless data exchange and transformation. The book edited by Bellahsene, Bonifati and Rahm provides an overview of the ways in which the schema and ontology matching and mapping tools have addressed the above requirements

  11. Coarse-to-fine region selection and matching

    KAUST Repository

    Yang, Yanchao

    2015-10-15

    We present a new approach to wide baseline matching. We propose to use a hierarchical decomposition of the image domain and coarse-to-fine selection of regions to match. In contrast to interest point matching methods, which sample salient regions to reduce the cost of comparing all regions in two images, our method eliminates regions systematically to achieve efficiency. One advantage of our approach is that it is not restricted to covariant salient regions, which is too restrictive under large viewpoint and leads to few corresponding regions. Affine invariant matching of regions in the hierarchy is achieved efficiently by a coarse-to-fine search of the affine space. Experiments on two benchmark datasets shows that our method finds more correct correspondence of the image (with fewer false alarms) than other wide baseline methods on large viewpoint change. © 2015 IEEE.

  12. Optimal Packed String Matching

    DEFF Research Database (Denmark)

    Ben-Kiki, Oren; Bille, Philip; Breslauer, Dany

    2011-01-01

    instructions. The main string-matching instruction is available in commodity processors (i.e., Intel’s SSE4.2 and AVX Advanced String Operations); the other maximal-suffix instruction is only required during pattern preprocessing. In the absence of these two specialized instructions, we propose theoretically...

  13. Bayesian grid matching

    DEFF Research Database (Denmark)

    Hartelius, Karsten; Carstensen, Jens Michael

    2003-01-01

    A method for locating distorted grid structures in images is presented. The method is based on the theories of template matching and Bayesian image restoration. The grid is modeled as a deformable template. Prior knowledge of the grid is described through a Markov random field (MRF) model which r...... signals in hybridization filters and (2) localization of knit units in textile samples....

  14. Factorized Graph Matching.

    Science.gov (United States)

    Zhou, Feng; de la Torre, Fernando

    2015-11-19

    Graph matching (GM) is a fundamental problem in computer science, and it plays a central role to solve correspondence problems in computer vision. GM problems that incorporate pairwise constraints can be formulated as a quadratic assignment problem (QAP). Although widely used, solving the correspondence problem through GM has two main limitations: (1) the QAP is NP-hard and difficult to approximate; (2) GM algorithms do not incorporate geometric constraints between nodes that are natural in computer vision problems. To address aforementioned problems, this paper proposes factorized graph matching (FGM). FGM factorizes the large pairwise affinity matrix into smaller matrices that encode the local structure of each graph and the pairwise affinity between edges. Four are the benefits that follow from this factorization: (1) There is no need to compute the costly (in space and time) pairwise affinity matrix; (2) The factorization allows the use of a path-following optimization algorithm, that leads to improved optimization strategies and matching performance; (3) Given the factorization, it becomes straight-forward to incorporate geometric transformations (rigid and non-rigid) to the GM problem. (4) Using a matrix formulation for the GM problem and the factorization, it is easy to reveal commonalities and differences between different GM methods. The factorization also provides a clean connection with other matching algorithms such as iterative closest point; Experimental results on synthetic and real databases illustrate how FGM outperforms state-of-the-art algorithms for GM. The code is available at http://humansensing.cs.cmu.edu/fgm.

  15. Characteristic Evolution and Matching

    Directory of Open Access Journals (Sweden)

    Winicour Jeffrey

    2001-01-01

    Full Text Available I review the development of numerical evolution codes for general relativity based upon the characteristic initial value problem. Progress is traced from the early stage of 1D feasibility studies to current 3D codes that simulate binary black holes. A prime application of characteristic evolution is Cauchy-characteristic matching, which is also reviewed.

  16. Evaluation of Area-Based Image Matching Applied to DTM Generation with Hirise Images

    Science.gov (United States)

    Re, C.; Roncella, R.; Forlani, G.; Cremonese, G.; Naletto, G.

    2012-07-01

    In the generation of Digital Terrain Models (DTMs) from space images area-based image matching techniques are used in most cases; the image matching strategy, though, is to be tailored to the specific mission characteristics. In this paper, a series of tests have been performed with real and synthetic space images to study the performance of our implementation of the Least Squares Matching algorithm. To this aim, patches extracted from a pair of Hirise images were processed with our DTM generation software Dense Matcher (DM) as well as with Ames Stereo Pipeline (ASP) and the results compared to a reference DTM; moreover, synthetic images, generated from the reference DTM and overlaid with artificial texture ideal for image matching, were processed as well, to discriminate the influence of texture and surface topography on the DTM accuracy. With real images, both software show RMSE ranging from 15 to 38 cm; with synthetic images, processed only with DM, RMSE ranges from 12 to 18 cm.

  17. Matching Supernovae to Galaxies

    Science.gov (United States)

    Kohler, Susanna

    2016-12-01

    developed a new automated algorithm for matching supernovae to their host galaxies. Their work builds on currently existing algorithms and makes use of information about the nearby galaxies, accounts for the uncertainty of the match, and even includes a machine learning component to improve the matching accuracy.Gupta and collaborators test their matching algorithm on catalogs of galaxies and simulated supernova events to quantify how well the algorithm is able to accurately recover the true hosts.Successful MatchingThe matching algorithms accuracy (purity) as a function of the true supernova-host separation, the supernova redshift, the true hosts brightness, and the true hosts size. [Gupta et al. 2016]The authors find that when the basic algorithm is run on catalog data, it matches supernovae to their hosts with 91% accuracy. Including the machine learning component, which is run after the initial matching algorithm, improves the accuracy of the matching to 97%.The encouraging results of this work which was intended as a proof of concept suggest that methods similar to this could prove very practical for tackling future survey data. And the method explored here has use beyond matching just supernovae to their host galaxies: it could also be applied to other extragalactic transients, such as gamma-ray bursts, tidal disruption events, or electromagnetic counterparts to gravitational-wave detections.CitationRavi R. Gupta et al 2016 AJ 152 154. doi:10.3847/0004-6256/152/6/154

  18. Offshore remote sensing of the ocean by stereo vision systems

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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's Jet Propulsion Laboratory

  20. [Propensity score matching in SPSS].

    Science.gov (United States)

    Huang, Fuqiang; DU, Chunlin; Sun, Menghui; Ning, Bing; Luo, Ying; An, Shengli

    2015-11-01

    To realize propensity score matching in PS Matching module of SPSS and interpret the analysis results. The R software and plug-in that could link with the corresponding versions of SPSS and propensity score matching package were installed. A PS matching module was added in the SPSS interface, and its use was demonstrated with test data. Score estimation and nearest neighbor matching was achieved with the PS matching module, and the results of qualitative and quantitative statistical description and evaluation were presented in the form of a graph matching. Propensity score matching can be accomplished conveniently using SPSS software.

  1. METHODS OF STEREO PAIR IMAGES FORMATION WITH A GIVEN PARALLAX VALUE

    Directory of Open Access Journals (Sweden)

    Viktoriya G. Chafonova

    2014-11-01

    Full Text Available Two new complementary methods of stereo pair images formation are proposed. The first method is based on finding the maximum correlation between the gradient images of the left and right frames. The second one implies the finding of the shift between two corresponding key points of images for a stereo pair found by a detector of point features. These methods give the possibility to set desired values of vertical and horizontal parallaxes for the selected object in the image. Application of these methods makes it possible to measure the parallax values for the objects on the final stereo pair in pixels and / or the percentage of the total image size. It gives the possibility to predict the possible excesses in parallax values while stereo pair printing or projection. The proposed methods are easily automated after object selection, for which a predetermined value of the horizontal parallax will be exposed. Stereo pair images superposition using the key points takes less than one second. The method with correlation application requires a little bit more computing time, but makes it possible to control and superpose undivided anaglyph image. The proposed methods of stereo pair formation can find their application in programs for editing and processing images of a stereo pair, in the monitoring devices for shooting cameras and in the devices for video sequence quality assessment

  2. Effect of camera temperature variations on stereo-digital image correlation measurements

    KAUST Repository

    Pan, Bing

    2015-11-25

    In laboratory and especially non-laboratory stereo-digital image correlation (stereo-DIC) applications, the extrinsic and intrinsic parameters of the cameras used in the system may change slightly due to the camera warm-up effect and possible variations in ambient temperature. Because these camera parameters are generally calibrated once prior to measurements and considered to be unaltered during the whole measurement period, the changes in these parameters unavoidably induce displacement/strain errors. In this study, the effect of temperature variations on stereo-DIC measurements is investigated experimentally. To quantify the errors associated with camera or ambient temperature changes, surface displacements and strains of a stationary optical quartz glass plate with near-zero thermal expansion were continuously measured using a regular stereo-DIC system. The results confirm that (1) temperature variations in the cameras and ambient environment have a considerable influence on the displacements and strains measured by stereo-DIC due to the slightly altered extrinsic and intrinsic camera parameters; and (2) the corresponding displacement and strain errors correlate with temperature changes. For the specific stereo-DIC configuration used in this work, the temperature-induced strain errors were estimated to be approximately 30–50 με/°C. To minimize the adverse effect of camera temperature variations on stereo-DIC measurements, two simple but effective solutions are suggested.

  3. Solar radio bursts : first results and perspectives with STEREO

    Science.gov (United States)

    Maksimovic, M.; Bonnin, X.; Cecconi, B.; Bougeret, J.-L.; Goetz, K.; Bale, S. D.; Kaiser, M. L.

    2007-08-01

    We present first results and perspectives of the S/Waves investigation on the STEREO Mission. The S/Waves instrument includes a suite of state-of-the-art sub-instruments that provide comprehensive measurements of the three components of the electric field from a fraction of a Hertz up to 16 MHz, plus a single frequency channel near 30 MHz. The instrument has a direction finding or goniopolarimetry capability, used to perform 3-D localization and tracking of streams of energetic electrons and of shock waves associated with Coronal Mass Ejections (CMEs). The scientific objectives include (i) remote observation and measurement of energetic phenomena throughout the 3- D heliosphere that are associated with the CMEs and with solar flare phenomena, and (ii) in-situ measurement of the properties of CMEs, such as their electron density and temperature and the associated plasma waves near 1 Astronomical Unit. 1

  4. Practical low-cost stereo head-mounted display

    Science.gov (United States)

    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.

  5. Low Cost Embedded Stereo System for Underwater Surveys

    Science.gov (United States)

    Nawaf, M. M.; Boï, J.-M.; Merad, D.; Royer, J.-P.; Drap, P.

    2017-11-01

    This paper provides details of both hardware and software conception and realization of a hand-held stereo embedded system for underwater imaging. The designed system can run most image processing techniques smoothly in real-time. The developed functions provide direct visual feedback on the quality of the taken images which helps taking appropriate actions accordingly in terms of movement speed and lighting conditions. The proposed functionalities can be easily customized or upgraded whereas new functions can be easily added thanks to the available supported libraries. Furthermore, by connecting the designed system to a more powerful computer, a real-time visual odometry can run on the captured images to have live navigation and site coverage map. We use a visual odometry method adapted to low computational resources systems and long autonomy. The system is tested in a real context and showed its robustness and promising further perspectives.

  6. Photonic Doppler velocimetry lens array probe incorporating stereo imaging

    Science.gov (United States)

    Malone, Robert M.; Kaufman, Morris I.

    2015-09-01

    A probe including a multiple lens array is disclosed to measure velocity distribution of a moving surface along many lines of sight. Laser light, directed to the moving surface is reflected back from the surface and is Doppler shifted, collected into the array, and then directed to detection equipment through optic fibers. The received light is mixed with reference laser light and using photonic Doppler velocimetry, a continuous time record of the surface movement is obtained. An array of single-mode optical fibers provides an optic signal to the multiple lens array. Numerous fibers in a fiber array project numerous rays to establish many measurement points at numerous different locations. One or more lens groups may be replaced with imaging lenses so a stereo image of the moving surface can be recorded. Imaging a portion of the surface during initial travel can determine whether the surface is breaking up.

  7. Rover's Wheel Churns Up Bright Martian Soil (Stereo)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. Multiple images taken with Spirit's panoramic camera are combined here into a stereo view that appears three-dimensional when seen through red-blue glasses, with the red lens on the left.

  8. GPGPU Implementation of a Genetic Algorithm for Stereo Refinement

    Directory of Open Access Journals (Sweden)

    Álvaro Arranz

    2015-03-01

    Full Text Available During the last decade, the general-purpose computing on graphics processing units Graphics (GPGPU has turned out to be a useful tool for speeding up many scientific calculations. Computer vision is known to be one of the fields with more penetration of these new techniques. This paper explores the advantages of using GPGPU implementation to speedup a genetic algorithm used for stereo refinement. The main contribution of this paper is analyzing which genetic operators take advantage of a parallel approach and the description of an efficient state- of-the-art implementation for each one. As a result, speed-ups close to x80 can be achieved, demonstrating to be the only way of achieving close to real-time performance.

  9. Vision-based stereo ranging as an optimal control problem

    Science.gov (United States)

    Menon, P. K. A.; Sridhar, B.; Chatterji, G. B.

    1992-01-01

    The recent interest in the use of machine vision for flight vehicle guidance is motivated by the need to automate the nap-of-the-earth flight regime of helicopters. Vision-based stereo ranging problem is cast as an optimal control problem in this paper. A quadratic performance index consisting of the integral of the error between observed image irradiances and those predicted by a Pade approximation of the correspondence hypothesis is then used to define an optimization problem. The necessary conditions for optimality yield a set of linear two-point boundary-value problems. These two-point boundary-value problems are solved in feedback form using a version of the backward sweep method. Application of the ranging algorithm is illustrated using a laboratory image pair.

  10. Visual tracking in stereo. [by computer vision system

    Science.gov (United States)

    Saund, E.

    1981-01-01

    A method is described for visual object tracking by a computer vision system using TV cameras and special low-level image processing hardware. The tracker maintains an internal model of the location, orientation, and velocity of the object in three-dimensional space. This model is used to predict where features of the object will lie on the two-dimensional images produced by stereo TV cameras. The differences in the locations of features in the two-dimensional images as predicted by the internal model and as actually seen create an error signal in the two-dimensional representation. This is multiplied by a generalized inverse Jacobian matrix to deduce the error in the internal model. The procedure repeats to update the internal model of the object's location, orientation and velocity continuously.

  11. Pedestrian Counting with Occlusion Handling Using Stereo Thermal Cameras

    Directory of Open Access Journals (Sweden)

    Miklas S. Kristoffersen

    2016-01-01

    Full Text Available The number of pedestrians walking the streets or gathered in public spaces is a valuable piece of information for shop owners, city governments, event organizers and many others. However, automatic counting that takes place day and night is challenging due to changing lighting conditions and the complexity of scenes with many people occluding one another. To address these challenges, this paper introduces the use of a stereo thermal camera setup for pedestrian counting. We investigate the reconstruction of 3D points in a pedestrian street with two thermal cameras and propose an algorithm for pedestrian counting based on clustering and tracking of the 3D point clouds. The method is tested on two five-minute video sequences captured at a public event with a moderate density of pedestrians and heavy occlusions. The counting performance is compared to the manually annotated ground truth and shows success rates of 95.4% and 99.1% for the two sequences.

  12. A Multi-view Dense Matching Algorithm of High Resolution Aerial Images Based on Graph Network

    Directory of Open Access Journals (Sweden)

    YAN Li

    2016-10-01

    Full Text Available A multi-view dense matching algorithm of high resolution aerial images based on graph network was presented. Overlap ratio and direction between adjacent images was used to find the candidate stereo pairs and build the graph network, then a Coarse-to-Fine strategy based on modified semi-global matching algorithm (SGM was adapted to calculate the disparity map of stereo pairs. Finally, dense point cloud was generated and fused using a multi-triangulation method based on graph network. In the experiment part, the Vaihingen aerial image dataset and the oblique nadir image block of Zürich in ISPRS/EuroSDR project were used to test the algorithm above. Experiment results show that out method is effective for multi-view dense matching of high resolution aerial images in consideration of completeness, efficiency and precision, while the RMS of average reprojection error can reach subpixel level and the actual deviation is better than 1.5 GSD. Due to the introduction of guided median filter, regions of sharp discontinuities, weak textureness or repeat textureness like buildings, vegetation and water body can also be matched well.

  13. Hierarchical Inorganic Assemblies for Artificial Photosynthesis.

    Science.gov (United States)

    Kim, Wooyul; Edri, Eran; Frei, Heinz

    2016-09-20

    Artificial photosynthesis is an attractive approach for renewable fuel generation because it offers the prospect of a technology suitable for deployment on highly abundant, non-arable land. Recent leaps forward in the development of efficient and durable light absorbers and catalysts for oxygen evolution and the growing attention to catalysts for carbon dioxide activation brings into focus the tasks of hierarchically integrating the components into assemblies for closing of the photosynthetic cycle. A particular challenge is the efficient coupling of the multi-electron processes of CO2 reduction and H2O oxidation. Among the most important requirements for a complete integrated system are catalytic rates that match the solar flux, efficient charge transport between the various components, and scalability of the photosynthetic assembly on the unprecedented scale of terawatts in order to have impact on fuel consumption. To address these challenges, we have developed a heterogeneous inorganic materials approach with molecularly precise control of light absorption and charge transport pathways. Oxo-bridged heterobinuclear units with metal-to-metal charge-transfer transitions absorbing deep in the visible act as single photon, single charge transfer pumps for driving multi-electron catalysts. A photodeposition method has been introduced for the spatially directed assembly of nanoparticle catalysts for selective coupling to the donor or acceptor metal of the light absorber. For CO2 reduction, a Cu oxide cluster is coupled to the Zr center of a ZrOCo light absorber, while coupling of an Ir nanoparticle catalyst for water oxidation to the Co donor affords closing of the photosynthetic cycle of CO2 conversion by H2O to CO and O2. Optical, vibrational, and X-ray spectroscopy provide detailed structural knowledge of the polynuclear assemblies. Time resolved visible and rapid-scan FT-IR studies reveal charge transfer mechanisms and transient surface intermediates under

  14. Stereo-hologram in discrete depth of field (Conference Presentation)

    Science.gov (United States)

    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.

  15. Miniature photometric stereo system for textile surface structure reconstruction

    Science.gov (United States)

    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.

  16. Stereo PIV measurements in an enclosed rotor-stator system with pre-swirled cooling air

    Energy Technology Data Exchange (ETDEWEB)

    Bricaud, C.; Richter, B.; Dullenkopf, K.; Bauer, H.-J. [Universitaet Karlsruhe, Lehrstuhl und Institut fuer Thermische Stroemungsmaschinen (ITS), Karlsruhe (Germany)

    2005-08-01

    In order to validate computational fluid dynamics (CFD) calculations, accurate velocity measurements were performed in a so called pre-swirl system. The objective was to determine the three-dimensional velocity field in the enclosed rotor-stator gap by using an adapted stereo particle image velocimetry (stereo PIV) setup. Particular attention was invested in the design of the optical access, thus, offering interesting possibilities to investigate various geometrical configurations of the pre-swirl system. The measurements impressively showed the spreading of the jet inside the wheelspace and the unsteady aspect of the flow, confirming that stereo PIV can successfully be applied in an enclosed rotor-stator system. (orig.)

  17. Hierarchical organisation of causal graphs

    Energy Technology Data Exchange (ETDEWEB)

    Dziopa, P. [CEA Centre d`Etudes de la Vallee du Rhone, 30 - Marcoule (France). Dept. des Procedes de Retraitement; Gentil, S. [ENSIEG, 38 - Saint-Martin d`Heres (France)

    1993-12-31

    This paper deals with the design of a supervision system using a hierarchy of models formed by graphs, in which the variables are the nodes and the causal relations between the variables of the arcs. To obtain a representation of the variables evolutions which contains only the relevant features of their real evolutions, the causal relations are completed with qualitative transfer functions (QTFs) which produce roughly the behaviour of the classical transfer functions. Major improvements have been made in the building of the hierarchical organization. First, the basic variables of the uppermost level and the causal relations between them are chosen. The next graph is built by adding intermediary variables to the upper graph. When the undermost graph has been built, the transfer functions parameters corresponding to its causal relations are identified. The second task consists in the upwelling of the information from the undermost graph to the uppermost one. A fusion procedure of the causal relations has been designed to compute the QFTs relevant for each level. This procedure aims to reduce the number of parameters needed to represent an evolution at a high level of abstraction. These techniques have been applied to the hierarchical modelling of nuclear process. (authors). 8 refs., 12 figs.

  18. Physics-based shape matching for intraoperative image guidance

    Energy Technology Data Exchange (ETDEWEB)

    Suwelack, Stefan, E-mail: suwelack@kit.edu; Röhl, Sebastian; Bodenstedt, Sebastian; Reichard, Daniel; Dillmann, Rüdiger; Speidel, Stefanie [Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Adenauerring 2, Karlsruhe 76131 (Germany); Santos, Thiago dos; Maier-Hein, Lena [Computer-assisted Interventions, German Cancer Research Center (DKFZ), Im Neuenheimer Feld 280, Heidelberg 69120 (Germany); Wagner, Martin; Wünscher, Josephine; Kenngott, Hannes; Müller, Beat P. [General, Visceral and Transplantation Surgery, Heidelberg University Hospital, Im Neuenheimer Feld 110, Heidelberg 69120 (Germany)

    2014-11-01

    Purpose: Soft-tissue deformations can severely degrade the validity of preoperative planning data during computer assisted interventions. Intraoperative imaging such as stereo endoscopic, time-of-flight or, laser range scanner data can be used to compensate these movements. In this context, the intraoperative surface has to be matched to the preoperative model. The shape matching is especially challenging in the intraoperative setting due to noisy sensor data, only partially visible surfaces, ambiguous shape descriptors, and real-time requirements. Methods: A novel physics-based shape matching (PBSM) approach to register intraoperatively acquired surface meshes to preoperative planning data is proposed. The key idea of the method is to describe the nonrigid registration process as an electrostatic–elastic problem, where an elastic body (preoperative model) that is electrically charged slides into an oppositely charged rigid shape (intraoperative surface). It is shown that the corresponding energy functional can be efficiently solved using the finite element (FE) method. It is also demonstrated how PBSM can be combined with rigid registration schemes for robust nonrigid registration of arbitrarily aligned surfaces. Furthermore, it is shown how the approach can be combined with landmark based methods and outline its application to image guidance in laparoscopic interventions. Results: A profound analysis of the PBSM scheme based on in silico and phantom data is presented. Simulation studies on several liver models show that the approach is robust to the initial rigid registration and to parameter variations. The studies also reveal that the method achieves submillimeter registration accuracy (mean error between 0.32 and 0.46 mm). An unoptimized, single core implementation of the approach achieves near real-time performance (2 TPS, 7–19 s total registration time). It outperforms established methods in terms of speed and accuracy. Furthermore, it is shown that the

  19. Hardware Implementation of a Spline-Based Genetic Algorithm for Embedded Stereo Vision Sensor Providing Real-Time Visual Guidance to the Visually Impaired

    Directory of Open Access Journals (Sweden)

    James K. Archibald

    2008-04-01

    Full Text Available Many image and signal processing techniques have been applied to medical and health care applications in recent years. In this paper, we present a robust signal processing approach that can be used to solve the correspondence problem for an embedded stereo vision sensor to provide real-time visual guidance to the visually impaired. This approach is based on our new one-dimensional (1D spline-based genetic algorithm to match signals. The algorithm processes image data lines as 1D signals to generate a dense disparity map, from which 3D information can be extracted. With recent advances in electronics technology, this 1D signal matching technique can be implemented and executed in parallel in hardware such as field-programmable gate arrays (FPGAs to provide real-time feedback about the environment to the user. In order to complement (not replace traditional aids for the visually impaired such as canes and Seeing Eyes dogs, vision systems that provide guidance to the visually impaired must be affordable, easy to use, compact, and free from attributes that are awkward or embarrassing to the user. “Seeing Eye Glasses,” an embedded stereo vision system utilizing our new algorithm, meets all these requirements.

  20. Hardware Implementation of a Spline-Based Genetic Algorithm for Embedded Stereo Vision Sensor Providing Real-Time Visual Guidance to the Visually Impaired

    Science.gov (United States)

    Lee, Dah-Jye; Anderson, Jonathan D.; Archibald, James K.

    2008-12-01

    Many image and signal processing techniques have been applied to medical and health care applications in recent years. In this paper, we present a robust signal processing approach that can be used to solve the correspondence problem for an embedded stereo vision sensor to provide real-time visual guidance to the visually impaired. This approach is based on our new one-dimensional (1D) spline-based genetic algorithm to match signals. The algorithm processes image data lines as 1D signals to generate a dense disparity map, from which 3D information can be extracted. With recent advances in electronics technology, this 1D signal matching technique can be implemented and executed in parallel in hardware such as field-programmable gate arrays (FPGAs) to provide real-time feedback about the environment to the user. In order to complement (not replace) traditional aids for the visually impaired such as canes and Seeing Eyes dogs, vision systems that provide guidance to the visually impaired must be affordable, easy to use, compact, and free from attributes that are awkward or embarrassing to the user. "Seeing Eye Glasses," an embedded stereo vision system utilizing our new algorithm, meets all these requirements.

  1. Hierarchical Structures in Hypertext Learning Environments

    NARCIS (Netherlands)

    Bezdan, Eniko; Kester, Liesbeth; Kirschner, Paul A.

    2011-01-01

    Bezdan, E., Kester, L., & Kirschner, P. A. (2011, 9 September). Hierarchical Structures in Hypertext Learning Environments. Presentation for the visit of KU Leuven, Open University, Heerlen, The Netherlands.

  2. Discovering hierarchical structure in normal relational data

    DEFF Research Database (Denmark)

    Schmidt, Mikkel Nørgaard; Herlau, Tue; Mørup, Morten

    2014-01-01

    Hierarchical clustering is a widely used tool for structuring and visualizing complex data using similarity. Traditionally, hierarchical clustering is based on local heuristics that do not explicitly provide assessment of the statistical saliency of the extracted hierarchy. We propose a non......-parametric generative model for hierarchical clustering of similarity based on multifurcating Gibbs fragmentation trees. This allows us to infer and display the posterior distribution of hierarchical structures that comply with the data. We demonstrate the utility of our method on synthetic data and data of functional...

  3. Hierarchical Robust and Adaptive Nonlinear Control Design

    National Research Council Canada - National Science Library

    Haddad, Wassim

    2003-01-01

    The authors proposed the development of a general multiechelon hierarchical nonlinear switching control design framework that minimizes control law complexity subject to the achievement of control law robustness...

  4. Real-time stereo matching architecture based on 2D MRF model: a memory-efficient systolic array

    Directory of Open Access Journals (Sweden)

    Park Sungchan

    2011-01-01

    Full Text Available Abstract There is a growing need in computer vision applications for stereopsis, requiring not only accurate distance but also fast and compact physical implementation. Global energy minimization techniques provide remarkably precise results. But they suffer from huge computational complexity. One of the main challenges is to parallelize the iterative computation, solving the memory access problem between the big external memory and the massive processors. Remarkable memory saving can be obtained with our memory reduction scheme, and our new architecture is a systolic array. If we expand it into N's multiple chips in a cascaded manner, we can cope with various ranges of image resolutions. We have realized it using the FPGA technology. Our architecture records 19 times smaller memory than the global minimization technique, which is a principal step toward real-time chip implementation of the various iterative image processing algorithms with tiny and distributed memory resources like optical flow, image restoration, etc.

  5. Job match and income distributions

    Science.gov (United States)

    Li, Honggang; Wang, Dahui; Chen, Xianggui

    2004-10-01

    This paper studies the income distributions from the view of job match. By numerical simulation, we present different income distributions cases with different degrees of job match. In particular, we analyze the probability distribution of individual income, and we also discuss the economic efficiency and economic equality in different job match cases. Our basic results are that different job matchs can change income distributions, and good job matchs can not only improve economic efficiency but also aggravate economic inequality.

  6. Modeling vegetation heights from high resolution stereo aerial photography: an application for broad-scale rangeland monitoring

    Science.gov (United States)

    Gillan, Jeffrey K.; Karl, Jason W.; Duniway, Michael; Elaksher, Ahmed

    2014-01-01

    Vertical vegetation structure in rangeland ecosystems can be a valuable indicator for assessing rangeland health and monitoring riparian areas, post-fire recovery, available forage for livestock, and wildlife habitat. Federal land management agencies are directed to monitor and manage rangelands at landscapes scales, but traditional field methods for measuring vegetation heights are often too costly and time consuming to apply at these broad scales. Most emerging remote sensing techniques capable of measuring surface and vegetation height (e.g., LiDAR or synthetic aperture radar) are often too expensive, and require specialized sensors. An alternative remote sensing approach that is potentially more practical for managers is to measure vegetation heights from digital stereo aerial photographs. As aerial photography is already commonly used for rangeland monitoring, acquiring it in stereo enables three-dimensional modeling and estimation of vegetation height. The purpose of this study was to test the feasibility and accuracy of estimating shrub heights from high-resolution (HR, 3-cm ground sampling distance) digital stereo-pair aerial images. Overlapping HR imagery was taken in March 2009 near Lake Mead, Nevada and 5-cm resolution digital surface models (DSMs) were created by photogrammetric methods (aerial triangulation, digital image matching) for twenty-six test plots. We compared the heights of individual shrubs and plot averages derived from the DSMs to field measurements. We found strong positive correlations between field and image measurements for several metrics. Individual shrub heights tended to be underestimated in the imagery, however, accuracy was higher for dense, compact shrubs compared with shrubs with thin branches. Plot averages of shrub height from DSMs were also strongly correlated to field measurements but consistently underestimated. Grasses and forbs were generally too small to be detected with the resolution of the DSMs. Estimates of

  7. Modeling vegetation heights from high resolution stereo aerial photography: an application for broad-scale rangeland monitoring.

    Science.gov (United States)

    Gillan, Jeffrey K; Karl, Jason W; Duniway, Michael; Elaksher, Ahmed

    2014-11-01

    Vertical vegetation structure in rangeland ecosystems can be a valuable indicator for assessing rangeland health and monitoring riparian areas, post-fire recovery, available forage for livestock, and wildlife habitat. Federal land management agencies are directed to monitor and manage rangelands at landscapes scales, but traditional field methods for measuring vegetation heights are often too costly and time consuming to apply at these broad scales. Most emerging remote sensing techniques capable of measuring surface and vegetation height (e.g., LiDAR or synthetic aperture radar) are often too expensive, and require specialized sensors. An alternative remote sensing approach that is potentially more practical for managers is to measure vegetation heights from digital stereo aerial photographs. As aerial photography is already commonly used for rangeland monitoring, acquiring it in stereo enables three-dimensional modeling and estimation of vegetation height. The purpose of this study was to test the feasibility and accuracy of estimating shrub heights from high-resolution (HR, 3-cm ground sampling distance) digital stereo-pair aerial images. Overlapping HR imagery was taken in March 2009 near Lake Mead, Nevada and 5-cm resolution digital surface models (DSMs) were created by photogrammetric methods (aerial triangulation, digital image matching) for twenty-six test plots. We compared the heights of individual shrubs and plot averages derived from the DSMs to field measurements. We found strong positive correlations between field and image measurements for several metrics. Individual shrub heights tended to be underestimated in the imagery, however, accuracy was higher for dense, compact shrubs compared with shrubs with thin branches. Plot averages of shrub height from DSMs were also strongly correlated to field measurements but consistently underestimated. Grasses and forbs were generally too small to be detected with the resolution of the DSMs. Estimates of

  8. NAMMA TWO-DIMENSIONAL STEREO PROBE AND CLOUD PARTICLE IMAGER V1

    Data.gov (United States)

    National Aeronautics and Space Administration — The NAMMA Two-Dimensional Stereo Probe and Cloud Particle Imager dataset consists of data from two probes used to measure the size, shape, and concentration of cloud...

  9. An overview of the stereo correlation and triangulation formulations used in DICe.

    Energy Technology Data Exchange (ETDEWEB)

    Turner, Daniel Z. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2017-02-01

    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. The analysis of measurement accuracy of the parallel binocular stereo vision system

    Science.gov (United States)

    Yu, Huan; Xing, Tingwen; Jia, Xin

    2016-09-01

    Parallel binocular stereo vision system is a special form of binocular vision system. In order to simulate the human eyes observation state, the two cameras used to obtain images of the target scene are placed parallel to each other. This paper built a triangular geometric model, analyzed the structure parameters of parallel binocular stereo vision system and the correlations between them, and discussed the influences of baseline distance B between two cameras, the focal length f, the angle of view ω and other structural parameters on the accuracy of measurement. This paper used Matlab software to test the error function of parallel binocular stereo vision system under different structure parameters, and the simulation results showed the range of structure parameters when errors were small, thereby improved the accuracy of parallel binocular stereo vision system.

  11. BOREAS RSS-08 SSA IFC-3 Digitized Stereo Imagery at the OBS, OA, and OJP Sites

    Data.gov (United States)

    National Aeronautics and Space Administration — ABSTRACT: The RSS08 team acquired stereo photography from the double-scaffold towers at the Southern Study Area (SSA), Old Black Spruce (OBS), Old Aspen (OA), and...

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

    Science.gov (United States)

    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.

  13. A study on the effect of different image centres on stereo triangulation accuracy

    CSIR Research Space (South Africa)

    De Villiers, J

    2015-11-01

    Full Text Available This paper evaluates the effect of mixing the distortion centre, principal point and arithmetic image centre on the distortion correction, focal length determination and resulting real-world stereo vision triangulation. A robotic arm is used...

  14. NAMMA TWO-DIMENSIONAL STEREO PROBE AND CLOUD PARTICLE IMAGER V1

    Data.gov (United States)

    National Aeronautics and Space Administration — This Cloud Microphysics dataset consists of data from two probes used to measure the size, shape, and concentration of cloud particles; the two-dimensional stereo...

  15. Operational modal analysis on a VAWT in a large wind tunnel using stereo vision technique

    DEFF Research Database (Denmark)

    Najafi, Nadia; Schmidt Paulsen, Uwe

    2017-01-01

    This paper is about development and use of a research based stereo vision system for vibration and operational modal analysis on a parked, 1-kW, 3-bladed vertical axis wind turbine (VAWT), tested in a wind tunnel at high wind. Vibrations were explored experimentally by tracking small deflections...... of the markers on the structure with two cameras, and also numerically, to study structural vibrations in an overall objective to investigate challenges and to prove the capability of using stereo vision. Two high speed cameras provided displacement measurements at no wind speed interference. The displacement...... 2 x 105. VAWT dynamics were simulated using HAWC2. The stereo vision results and HAWC2 simulations agree within 4% except for mode 3 and 4. The high aerodynamic damping of one of the blades, in flatwise motion, would explain the gap between those two modes from simulation and stereo vision. A set...

  16. Indoor and Outdoor Depth Imaging of Leaves With Time-of-Flight and Stereo Vision Sensors

    DEFF Research Database (Denmark)

    Kazmi, Wajahat; Foix, Sergi; Alenya, Guilliem

    2014-01-01

    In this article we analyze the response of Time-of-Flight (ToF) cameras (active sensors) for close range imaging under three different illumination conditions and compare the results with stereo vision (passive) sensors. ToF cameras are sensitive to ambient light and have low resolution but deliver...... poorly under sunlight. Stereo vision is comparatively more robust to ambient illumination and provides high resolution depth data but is constrained by texture of the object along with computational efficiency. Graph cut based stereo correspondence algorithm can better retrieve the shape of the leaves...... of the sensors. Performance of three different ToF cameras (PMD CamBoard, PMD CamCube and SwissRanger SR4000) is compared against selected stereo correspondence algorithms (local correlation and graph cuts). PMD CamCube has better cancelation of sunlight, followed by CamBoard, while SwissRanger SR4000 performs...

  17. Adaptive Sampling in Hierarchical Simulation

    Energy Technology Data Exchange (ETDEWEB)

    Knap, J; Barton, N R; Hornung, R D; Arsenlis, A; Becker, R; Jefferson, D R

    2007-07-09

    We propose an adaptive sampling methodology for hierarchical multi-scale simulation. The method utilizes a moving kriging interpolation to significantly reduce the number of evaluations of finer-scale response functions to provide essential constitutive information to a coarser-scale simulation model. The underlying interpolation scheme is unstructured and adaptive to handle the transient nature of a simulation. To handle the dynamic construction and searching of a potentially large set of finer-scale response data, we employ a dynamic metric tree database. We study the performance of our adaptive sampling methodology for a two-level multi-scale model involving a coarse-scale finite element simulation and a finer-scale crystal plasticity based constitutive law.

  18. Multicollinearity in hierarchical linear models.

    Science.gov (United States)

    Yu, Han; Jiang, Shanhe; Land, Kenneth C

    2015-09-01

    This study investigates an ill-posed problem (multicollinearity) in Hierarchical Linear Models from both the data and the model perspectives. We propose an intuitive, effective approach to diagnosing the presence of multicollinearity and its remedies in this class of models. A simulation study demonstrates the impacts of multicollinearity on coefficient estimates, associated standard errors, and variance components at various levels of multicollinearity for finite sample sizes typical in social science studies. We further investigate the role multicollinearity plays at each level for estimation of coefficient parameters in terms of shrinkage. Based on these analyses, we recommend a top-down method for assessing multicollinearity in HLMs that first examines the contextual predictors (Level-2 in a two-level model) and then the individual predictors (Level-1) and uses the results for data collection, research problem redefinition, model re-specification, variable selection and estimation of a final model. Copyright © 2015 Elsevier Inc. All rights reserved.

  19. Low-cost small action cameras in stereo generates accurate underwater measurements of fish

    OpenAIRE

    Letessier, T. B.; Juhel, Jean-Baptiste; Vigliola, Laurent; Meeuwig, J. J.

    2015-01-01

    Small action cameras have received interest for use in underwater videography because of their low-cost, standardised housing, widespread availability and small size. Here, we assess the capacity of GoPro action cameras to provide accurate stereo-measurements of fish in comparison to the Sony handheld cameras that have traditionally been used for this purpose. Standardised stereo-GoPro and Sony systems were employed to capture measurements of known-length targets in a pool to explore the infl...

  20. The wavelet transform and the suppression theory of binocular vision for stereo image compression

    Energy Technology Data Exchange (ETDEWEB)

    Reynolds, W.D. Jr [Argonne National Lab., IL (United States); Kenyon, R.V. [Illinois Univ., Chicago, IL (United States)

    1996-08-01

    In this paper a method for compression of stereo images. The proposed scheme is a frequency domain approach based on the suppression theory of binocular vision. By using the information in the frequency domain, complex disparity estimation techniques can be avoided. The wavelet transform is used to obtain a multiresolution analysis of the stereo pair by which the subbands convey the necessary frequency domain information.

  1. Development and Application of the Stereo Vision Tracking System with Virtual Reality

    OpenAIRE

    Chia-Sui Wang; Ko-Chun Chen; Tsung Han Lee; Kuei-Shu Hsu

    2015-01-01

    A virtual reality (VR) driver tracking verification system is created, of which the application to stereo image tracking and positioning accuracy is researched in depth. In the research, the feature that the stereo vision system has image depth is utilized to improve the error rate of image tracking and image measurement. In a VR scenario, the function collecting behavioral data of driver was tested. By means of VR, racing operation is simulated and environmental (special weathers such as rai...

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

    Science.gov (United States)

    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.

  3. The Case for a Hierarchical Cosmology

    Science.gov (United States)

    Vaucouleurs, G. de

    1970-01-01

    The development of modern theoretical cosmology is presented and some questionable assumptions of orthodox cosmology are pointed out. Suggests that recent observations indicate that hierarchical clustering is a basic factor in cosmology. The implications of hierarchical models of the universe are considered. Bibliography. (LC)

  4. Hierarchical decision making for flood risk reduction

    DEFF Research Database (Denmark)

    Custer, Rocco; Nishijima, Kazuyoshi

    2013-01-01

    River flood events often cause large economic damages and casualties requiring stakeholders to manage flood risk. In flood prone areas, flood risk management can be achieved through a series hierarchically integrated protection structures, which together form a hierarchical flood protection system...

  5. Biased trapping issue on weighted hierarchical networks

    Indian Academy of Sciences (India)

    In this paper, we present trapping issues of weight-dependent walks on weighted hierarchical networks which are based on the classic scale-free hierarchical networks. Assuming that edge's weight is used as local information by a random walker, we introduce a biased walk. The biased walk is that a walker, at each step, ...

  6. Aggregation in hierarchical discrete-event systems

    NARCIS (Netherlands)

    Al-Falou, AA; Van Schuppen, JH

    2003-01-01

    We propose an algorithm for the hierarchical decomposition of a large automaton-based discrete-event system. We also provide an estimation of the numerical cost in terms of the size of the system. Our hierarchical decomposition is illustrated with simple examples from dynamical ST-control and

  7. USING MULTI RESOLUTION CENSUS AND RANKLET TRANSFORMATION IN LONG BASE LINE SAR IMAGE MATCHING

    Directory of Open Access Journals (Sweden)

    M. A. Ghannadi

    2013-09-01

    Full Text Available Stereo radargrammetry is a mature technique for deriving height information from SAR image pairs. Generally height derived method by Radargrammetry consists of two stages: Images matching and space intersection. In this paper we propose a multi-step image matching algorithm founded on feature based matching. In this multi step algorithm, a SAR image is firstly filtered by a speckle suppression algorithm. a SIFT (Scale invariant feature transform is used to extract feature points. Then we use non parametric Transformation as discriptor for the points extracted. Matching is sometimes more efficient when operating on image signals that have been transformed in some way, rather than operating on the pure intensity values themselves; In this article we use a pair of spotlight long base line TerraSAR-X images from JAM (IRAN. In a part with 700 × 700 pixels of these images 90 points are matched with using Ranklet algorithm. The mean absolute error of the corresponding points is 0.9 pixel. This match points number is 49 points with using multi resolution Census. The result shows that our proposed multi step image matching is superior to the Most FBM methods in terms of accuracy and number of matched points.

  8. Estimation of Aboveground Biomass Using Manual Stereo Viewing of Digital Aerial Photographs in Tropical Seasonal Forest

    Directory of Open Access Journals (Sweden)

    Katsuto Shimizu

    2014-11-01

    Full Text Available The objectives of this study are to: (1 evaluate accuracy of tree height measurements of manual stereo viewing on a computer display using digital aerial photographs compared with airborne LiDAR height measurements; and (2 develop an empirical model to estimate stand-level aboveground biomass with variables derived from manual stereo viewing on the computer display in a Cambodian tropical seasonal forest. We evaluate observation error of tree height measured from the manual stereo viewing, based on field measurements. RMSEs of tree height measurement with manual stereo viewing and LiDAR were 1.96 m and 1.72 m, respectively. Then, stand-level aboveground biomass is regressed against tree height indices derived from the manual stereo viewing. We determined the best model to estimate aboveground biomass in terms of the Akaike’s information criterion. This was a model of mean tree height of the tallest five trees in each plot (R2 = 0.78; RMSE = 58.18 Mg/ha. In conclusion, manual stereo viewing on the computer display can measure tree height accurately and is useful to estimate aboveground stand biomass.

  9. GeoWall: Stereo Projection Systems Designed for Earth Science Classrooms

    Science.gov (United States)

    Morin, P.; Kirkby, K. C.; Van Keken, P.; Leigh, J.; Reynolds, S. J.; Davis, B.; Burdick, R.; Schumann, L.

    2001-12-01

    Within the past year, advances in projection technology and consumer-grade computer game technology have reduced the cost of stereo projection systems to a level that allows this technology to be used in the classroom. Stereo projection systems have remarkable potential for any educational discipline that deals with complex spatial relationships (engineering, physics, astronomy, etc.), but the implications for earth science education are particularly rich. The ability to visualize and interpret spatial relationships is a critical skill that many earth science students find difficult to master. Stereo projection can serve as a bridge to increase students' perception of maps, images and aerial views, or allow students to interactively manipulate three-dimensional, time-dependent visualizations of research data sets and mathematical models that move well beyond traditional education materials. The GeoWall Project is an initiative to build low-cost, high-quality stereo projection systems at a number of research and education institutions. By standardizing the technical design of these systems, materials developed by one institution can be used by any of the other member institutions. This allows institutions to easily adopt materials that they could not produce in-house and fosters a community capable of generating curriculum materials that take advantage of stereo projection technology. Although not universally applicable across earth science education, stereo projection systems have the potential to transform the way that we teach many earth science concepts.

  10. Processing of hierarchical syntactic structure in music.

    Science.gov (United States)

    Koelsch, Stefan; Rohrmeier, Martin; Torrecuso, Renzo; Jentschke, Sebastian

    2013-09-17

    Hierarchical structure with nested nonlocal dependencies is a key feature of human language and can be identified theoretically in most pieces of tonal music. However, previous studies have argued against the perception of such structures in music. Here, we show processing of nonlocal dependencies in music. We presented chorales by J. S. Bach and modified versions in which the hierarchical structure was rendered irregular whereas the local structure was kept intact. Brain electric responses differed between regular and irregular hierarchical structures, in both musicians and nonmusicians. This finding indicates that, when listening to music, humans apply cognitive processes that are capable of dealing with long-distance dependencies resulting from hierarchically organized syntactic structures. Our results reveal that a brain mechanism fundamental for syntactic processing is engaged during the perception of music, indicating that processing of hierarchical structure with nested nonlocal dependencies is not just a key component of human language, but a multidomain capacity of human cognition.

  11. Hierarchically Nanostructured Materials for Sustainable Environmental Applications

    Directory of Open Access Journals (Sweden)

    Zheng eRen

    2013-11-01

    Full Text Available This article presents a comprehensive overview of the hierarchical nanostructured materials with either geometry or composition complexity in environmental applications. The hierarchical nanostructures offer advantages of high surface area, synergistic interactions and multiple functionalities towards water remediation, environmental gas sensing and monitoring as well as catalytic gas treatment. Recent advances in synthetic strategies for various hierarchical morphologies such as hollow spheres and urchin-shaped architectures have been reviewed. In addition to the chemical synthesis, the physical mechanisms associated with the materials design and device fabrication have been discussed for each specific application. The development and application of hierarchical complex perovskite oxide nanostructures have also been introduced in photocatalytic water remediation, gas sensing and catalytic converter. Hierarchical nanostructures will open up many possibilities for materials design and device fabrication in environmental chemistry and technology.

  12. Job Searchers, Job Matches and the Elasticity of Matching

    OpenAIRE

    Broersma, L.; Ours, J.C. van

    1998-01-01

    This paper stresses the importance of a specification of the matching function in which the measure of job matches corresponds to the measure of job searchers. In many empirical studies on the matching function this requirement has not been fulfilled because it is difficult to find information about employed job searchers and job searchers from outside the labour market. In this paper, we specify and estimate matching functions where the flow corresponds to the correct stock. We use several a...

  13. Job Searchers, Job Matches and the Elasticity of Matching

    NARCIS (Netherlands)

    Broersma, L.; van Ours, J.C.

    1998-01-01

    This paper stresses the importance of a specification of the matching function in which the measure of job matches corresponds to the measure of job searchers. In many empirical studies on the matching function this requirement has not been fulfilled because it is difficult to find information about

  14. Hierarchically Nanoporous Bioactive Glasses for High Efficiency Immobilization of Enzymes

    DEFF Research Database (Denmark)

    He, W.; Min, D.D.; Zhang, X.D.

    2014-01-01

    Bioactive glasses with hierarchical nanoporosity and structures have been heavily involved in immobilization of enzymes. Because of meticulous design and ingenious hierarchical nanostructuration of porosities from yeast cell biotemplates, hierarchically nanostructured porous bioactive glasses can...

  15. Energetic Particle Pressure at Interplanetary Shocks: STEREO-A Observations

    CERN Document Server

    Lario, D; Roelof, E C; Vinas, A -F

    2015-01-01

    We study periods of elevated energetic particle intensities observed by STEREO-A when the partial pressure exerted by energetic ($\\geq$83 keV) protons ($P_{EP}$) is larger than the pressure exerted by the interplanetary magnetic field ($P_{B}$). In the majority of cases, these periods are associated with the passage of interplanetary shocks. Periods when $P_{EP}$ exceeds $P_{B}$ by more than one order of magnitude are observed in the upstream region of fast interplanetary shocks where depressed magnetic field regions coincide with increases of the energetic particle intensities. When solar wind parameters are available, $P_{EP}$ also exceeds the pressure exerted by the solar wind thermal population ($P_{TH}$). Prolonged periods ($>$12 h) with both $P_{EP}$$>$$P_{B}$ and $P_{EP}$$>$$P_{TH}$ may also occur when energetic particles accelerated by an approaching shock encounter a region well-upstream of the shock characterized by low magnetic field magnitude and tenuous solar wind density. Quasi-exponential incre...

  16. Waves associated to COMPLEX EVENTS observed by STEREO

    Science.gov (United States)

    Siu Tapia, A. L.; Blanco-Cano, X.; Kajdic, P.; Aguilar-Rodriguez, E.; Russell, C. T.; Jian, L. K.; Luhmann, J. G.

    2012-12-01

    Complex Events are formed by two or more large-scale solar wind structures which interact in space. Typical cases are interactions of: (i) a Magnetic Cloud/Interplanetary Coronal Mass Ejection (MC/ICME) with another MC/ICME transient; and (ii) an ICME followed by a Stream Interaction Region (SIR). Complex Events are of importance for space weather studies and studying them can enhance our understanding of collisionless plasma physics. Some of these structures can produce or enhance southward magnetic fields, a key factor in geomagnetic storm generation. Using data from the STEREO mission during the years 2006-2011, we found 17 Complex Events preceded by a shock wave. We use magnetic field and plasma data to study the micro-scale structure of the shocks, and the waves associated to these shocks and within Complex Events structures. To determine wave characteristics we perform Power Spectra and Minimum Variance Analysis. We also use PLASTIC WAP protons data to study foreshock extensions and the relationship between Complex Regions and particle acceleration to suprathermal energies.

  17. Indirect ophthalmoscopic stereo video system using three-dimensional LCD

    Science.gov (United States)

    Kong, Hyoun-Joong; Seo, Jong Mo; Hwang, Jeong Min; Kim, Hee Chan

    2009-02-01

    Binocular indirect ophthalmoscope (BIO) provides a wider view of fundus with stereopsis contrary to the direct one. Proposed system is composed of portable BIO and 3D viewing unit. The illumination unit of BIO utilized high flux LED as a light source, LED condensing lens cap for beam focusing, color filters and small lithium ion battery. In optics unit of BIO, beam splitter was used to distribute an examinee's fundus image both to examiner's eye and to CMOS camera module attached to device. Captured retinal video stream data from stereo camera modules were sent to PC through USB 2.0 connectivity. For 3D viewing, two video streams having parallax between them were aligned vertically and horizontally and made into side-by-side video stream for cross-eyed stereoscopy. And the data were converted into autostereoscopic video stream using vertical interlacing for stereoscopic LCD which has glass 3D filter attached to the front side of it. Our newly devised system presented the real-time 3-D view of fundus to assistants with less dizziness than cross-eyed stereoscopy. And the BIO showed good performance compared to conventional portable BIO (Spectra Plus, Keeler Limited, Windsor, UK).

  18. Simultaneous dual-energy X-ray stereo imaging

    Energy Technology Data Exchange (ETDEWEB)

    Mokso, Rajmund, E-mail: rajmund.mokso@psi.ch [Paul Scherrer Institute, Swiss Light Source, CH 5232 Villigen (Switzerland); Oberta, Peter [Institute of Physics of the Academy of Sciences of the Czech Republic, v.v.i., Na Slovance 1999/2, Praha 8 (Czech Republic); Rigaku Innovative Technologies Europe s.r.o., Novodvorska 994, Praha 4 (Czech Republic)

    2015-06-26

    A Laue–Bragg geometry is introduced for splitting an X-ray beam and tuning each of the two branches to selected wavelength. Stereoscopic and dual-energy imaging was performed with this system. Dual-energy or K-edge imaging is used to enhance contrast between two or more materials in an object and is routinely realised by acquiring two separate X-ray images each at different X-ray wavelength. On a broadband synchrotron source an imaging system to acquire the two images simultaneously was realised. The single-shot approach allows dual-energy and stereo imaging to be applied to dynamic systems. Using a Laue–Bragg crystal splitting scheme, the X-ray beam was split into two and the two beam branches could be easily tuned to either the same or to two different wavelengths. Due to the crystals’ mutual position, the two beam branches intercept each other under a non-zero angle and create a stereoscopic setup.

  19. Bubble behavior characteristics based on virtual binocular stereo vision

    Science.gov (United States)

    Xue, Ting; Xu, Ling-shuang; Zhang, Shang-zhen

    2018-01-01

    The three-dimensional (3D) behavior characteristics of bubble rising in gas-liquid two-phase flow are of great importance to study bubbly flow mechanism and guide engineering practice. Based on the dual-perspective imaging of virtual binocular stereo vision, the 3D behavior characteristics of bubbles in gas-liquid two-phase flow are studied in detail, which effectively increases the projection information of bubbles to acquire more accurate behavior features. In this paper, the variations of bubble equivalent diameter, volume, velocity and trajectory in the rising process are estimated, and the factors affecting bubble behavior characteristics are analyzed. It is shown that the method is real-time and valid, the equivalent diameter of the rising bubble in the stagnant water is periodically changed, and the crests and troughs in the equivalent diameter curve appear alternately. The bubble behavior characteristics as well as the spiral amplitude are affected by the orifice diameter and the gas volume flow.

  20. The VirtualwindoW: A Reconfigurable, Modular, Stereo Vision System

    Energy Technology Data Exchange (ETDEWEB)

    M. D. McKay; M. O. Anderson; R. A. Kinoshita; W. D. Willis

    1999-02-01

    An important need while using unmanned vehicles is the ability for the remote operator or observer to easily and accurately perceive the operating environment. A classic problem in providing a complete representation of the remote work area is sensory overload or excessive complexity in the human-machine interface. In addition, remote operations often benefit from depth perception capability while viewing or manipulating objects. Thus, there is an ongoing effort within the remote and teleoperated robotic field to develop better human-machine interfaces. The Department of Energy's Idaho National Engineering and Environmental Laboratory (INEEL) has been researching methods to simplify the human-machine interface using atypical operator techniques. Initial telepresence research conducted at the INEEL developed and implemented a concept called the VirtualwindoW. This system minimized the complexity of remote stereo viewing controls and provided the operator the ''feel'' of viewing the environment, including depth perception, in a natural setting. The VirtualwindoW has shown that the human-machine interface can be simplified while increasing operator performance. This paper deals with the continuing research and development of the VirtualwindoW to provide a reconfigurable, modular system that easily utilizes commercially available off the shelf components. This adaptability is well suited to several aspects of unmanned vehicle applications, most notably environmental perception and vehicle control.

  1. The VirtualwindoW: A Reconfigurable, Modular, Stereo Vision System

    Energy Technology Data Exchange (ETDEWEB)

    Kinoshita, Robert Arthur; Anderson, Matthew Oley; Mckay, Mark D; Willis, Walter David

    1999-04-01

    An important need while using unmanned vehicles is the ability for the remote operator or observer to easily and accurately perceive the operating environment. A classic problem in providing a complete representation of the remote work area is sensory overload or excessive complexity in the human-machine interface. In addition, remote operations often benefit from depth perception capability while viewing or manipulating objects. Thus, there is an on going effort within the remote and teleoperated robotic field to develop better human-machine interfaces. The Department of Energy's Idaho National Engineering and Environmental Laboratory (INEEL) has been researching methods to simplify the human-machine interface using atypical operator techniques. Initial telepresence research conducted at the INEEL developed and implemented a concept called the VirtualwindoW. This system minimized the complexity of remote stereo viewing controls and provided the operator the "feel" of viewing the environment, including depth perception, in a natural setting. The VirtualwindoW has shown that the human-machine interface can be simplified while increasing operator performance. This paper deals with the continuing research and development of the VirtualwindoW to provide a reconfigurable, modular system that easily utilizes commercially available off the shelf components. This adaptability is well suited to several aspects of unmanned vehicle applications, most notably environmental perception and vehicle control.

  2. Modeling and measurement of root canal using stereo digital radiography

    Science.gov (United States)

    Analoui, Mostafa; Krisnamurthy, Satthya; Brown, Cecil

    2000-04-01

    Determining root canal length is a crucial step in success of root canal treatment. Root canal length is commonly estimated based on pre-operation intraoral radiography. 2D depiction of a 3D object is the primary source of error in this approach. Techniques based on impedance measurement are more accurate than radiographic approaches, but do not offer a method for depicting the shape of canal. In this study, we investigated a stererotactic approach for modeling and measurement of root canal of human dentition. A weakly perspective model approximated the projectional geometry. A series of computer-simulated objects was used to test accuracy of this model as the first step. The, to assess the clinical viability of such an approach, endodontic files inserted in the root canal phantoms were fixed on an adjustable platform between a radiographic cone and an image receptor. Parameters of projection matrix were computed based on the relative positions of image receptors, focal spot, and test objects. Rotating the specimen platform from 0 to 980 degrees at 5-degree intervals set relative angulations for stereo images. Root canal is defined as the intersection of two surfaces defined by each projection. Computation of error for length measurement indicates that for angulations greater than 40 degrees the error is within clinically acceptable ranges.

  3. Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments

    Science.gov (United States)

    Marrón-Romera, Marta; García, Juan C.; Sotelo, Miguel A.; Pizarro, Daniel; Mazo, Manuel; Cañas, José M.; Losada, Cristina; Marcos, Álvaro

    2010-01-01

    This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot’s environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors’ proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found. PMID:22163385

  4. Stereo vision tracking of multiple objects in complex indoor environments.

    Science.gov (United States)

    Marrón-Romera, Marta; García, Juan C; Sotelo, Miguel A; Pizarro, Daniel; Mazo, Manuel; Cañas, José M; Losada, Cristina; Marcos, Alvaro

    2010-01-01

    This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot's environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors' proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.

  5. An Omnidirectional Stereo Vision-Based Smart Wheelchair

    Directory of Open Access Journals (Sweden)

    Yutaka Satoh

    2007-06-01

    Full Text Available To support safe self-movement of the disabled and the aged, we developed an electric wheelchair that realizes the functions of detecting both the potential hazards in a moving environment and the postures and gestures of a user by equipping an electric wheelchair with the stereo omnidirectional system (SOS, which is capable of acquiring omnidirectional color image sequences and range data simultaneously in real time. The first half of this paper introduces the SOS and the basic technology behind it. To use the multicamera system SOS on an electric wheelchair, we developed an image synthesizing method of high speed and high quality and the method of recovering SOS attitude changes by using attitude sensors is also introduced. This method allows the SOS to be used without being affected by the mounting attitude of the SOS. The second half of this paper introduces the prototype electric wheelchair actually manufactured and experiments conducted using the prototype. The usability of the electric wheelchair is also discussed.

  6. Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments

    Directory of Open Access Journals (Sweden)

    Álvaro Marcos

    2010-09-01

    Full Text Available This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot’s environment; then it achieves a classification between building elements (ceiling, walls, columns and so on and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors’ proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.

  7. The role of stereo vision in visual-vestibular integration.

    Science.gov (United States)

    Butler, John S; Campos, Jennifer L; Bülthoff, Heinrich H; Smith, Stuart T

    2011-01-01

    Self-motion through an environment stimulates several sensory systems, including the visual system and the vestibular system. Recent work in heading estimation has demonstrated that visual and vestibular cues are typically integrated in a statistically optimal manner, consistent with Maximum Likelihood Estimation predictions. However, there has been some indication that cue integration may be affected by characteristics of the visual stimulus. Therefore, the current experiment evaluated whether presenting optic flow stimuli stereoscopically, or presenting both eyes with the same image (binocularly) affects combined visual-vestibular heading estimates. Participants performed a two-interval forced-choice task in which they were asked which of two presented movements was more rightward. They were presented with either visual cues alone, vestibular cues alone or both cues combined. Measures of reliability were obtained for both binocular and stereoscopic conditions. Group level analyses demonstrated that when stereoscopic information was available there was clear evidence of optimal integration, yet when only binocular information was available weaker evidence of cue integration was observed. Exploratory individual analyses demonstrated that for the stereoscopic condition 90% of participants exhibited optimal integration, whereas for the binocular condition only 60% of participants exhibited results consistent with optimal integration. Overall, these findings suggest that stereo vision may be important for self-motion perception, particularly under combined visual-vestibular conditions.

  8. ACCURACY EVALUATION OF STEREO CAMERA SYSTEMS WITH GENERIC CAMERA MODELS

    Directory of Open Access Journals (Sweden)

    D. Rueß

    2012-07-01

    Full Text Available In the last decades the consumer and industrial market for non-projective cameras has been growing notably. This has led to the development of camera description models other than the pinhole model and their employment in mostly homogeneous camera systems. Heterogeneous camera systems (for instance, combine Fisheye and Catadioptric cameras can also be easily thought of for real applications. However, it has not been quite clear, how accurate stereo vision with these cameras and models can be. In this paper, different accuracy aspects are addressed by analytical inspection, numerical simulation as well as real image data evaluation. This analysis is generic, for any camera projection model, although only polynomial and rational projection models are used for distortion free, Catadioptric and Fisheye lenses. Note that this is different to polynomial and rational radial distortion models which have been addressed extensively in literature. For single camera analysis it turns out that point features towards the image sensor borders are significantly more accurate than in center regions of the sensor. For heterogeneous two camera systems it turns out, that reconstruction accuracy decreases significantly towards image borders as different projective distortions occur.

  9. Bifurcations in two-image photometric stereo for orthogonal illuminations

    Science.gov (United States)

    Kozera, R.; Prokopenya, A.; Noakes, L.; Śluzek, A.

    2017-07-01

    This paper discusses the ambiguous shape recovery in two-image photometric stereo for a Lambertian surface. The current uniqueness analysis refers to linearly independent light-source directions p = (0, 0, -1) and q arbitrary. For this case necessary and sufficient condition determining ambiguous reconstruction is governed by a second-order linear partial differential equation with constant coefficients. In contrast, a general position of both non-colinear illumination directions p and q leads to a highly non-linear PDE which raises a number of technical difficulties. As recently shown, the latter can also be handled for another family of orthogonal illuminations parallel to the OXZ-plane. For the special case of p = (0, 0, -1) a potential ambiguity stems also from the possible bifurcations of sub-local solutions glued together along a curve defined by an algebraic equation in terms of the data. This paper discusses the occurrence of similar bifurcations for such configurations of orthogonal light-source directions. The discussion to follow is supplemented with examples based on continuous reflectance map model and generated synthetic images.

  10. Hierarchical structure graphitic-like/MoS2 film as superlubricity material

    Science.gov (United States)

    Gong, Zhenbin; Jia, Xiaolong; Ma, Wei; Zhang, Bin; Zhang, Junyan

    2017-08-01

    Friction and wear result in a great amount of energy loss and the invalidation of mechanical parts, thus it is necessary to minimize friction in practical application. In this study, the graphitic-like/MoS2 films with hierarchical structure were synthesized by the combination of pulse current plasma chemical-vapor deposition and medium frequency unbalanced magnetron sputtering in preheated environment. This hierarchical structure composite with multilayer nano sheets endows the films excellent tribological performance, which easily achieves macro superlubricity (friction coefficient ∼0.004) under humid air. Furthermore, it is expected that hierarchical structure of graphitic-like/MoS2 films could match the requirements of large scale, high bear-capacity and wear-resistance of actual working conditions, which could be widely used in the industrial production as a promising superlubricity material.

  11. Effects of display geometry and pixel structure on stereo display usability

    Science.gov (United States)

    Mulkens, Edwin; Roberts, John W.

    2001-06-01

    The purpose of stereo imagery is the creation of the perception (in the human viewer) of a 3-D world, for purposes such as entertainment, visualization, education, and allowing people to better learn about and control the world about them. Human perception of 3-D is based upon a combination of many cues from the senses, as well as internal mental templates and expectations. In a stereo presentation, if some of the 3-D cues are inconsistent with others, the perceptual system receives conflicting information, and seeks to find a consistent interpretation. In cases of severe conflict, 3-D perception of the scene may be totally disrupted or highly inaccurate. Even if the user is able to perceive a consistent 3-D view, the effort required to resolve conflicts may reduce the sense of realism and the enjoyment of viewing, and may contribute to fatigue, eyestrain, and headache. Many experienced users of stereo imagery have learned to ignore a certain degree of image inconsistency, and can derive considerable pleasure from viewing even significantly inconsistent stereo images. Unfortunately, novice users generally do not have this ability, and while they may not be able to verbally explain what's wrong with a stereo image, they may comment that it gives them a headache, or that something's not quite right about it, or that they have trouble seeing the depth. Worse, a novice user may conclude that the problems with this image are characteristic of all stereo images, and decide (and tell others) that stereo is not worthwhile. Since the field of display can greatly benefit from the development of a large user base (to provide money to support manufacturers and future technology development, and to draw the interest of content providers), it is important that every effort be made to make sure that novice users have a pleasant viewing experience, with stereo views that have a high degree of consistency in their 3-D cues. Even experienced users have varying degrees of tolerance

  12. A hierarchical artificial retina architecture

    Science.gov (United States)

    Parker, Alice C.; Azar, Adi N.

    2009-05-01

    Connectivity in the human retina is complex. Over one hundred million photoreceptors transduce light into electrical signals. These electrical signals are sent to the ganglion cells through amacrine and bipolar cells. Lateral connections involving horizontal and amacrine cells span throughout the outer plexiform layer and inner plexiform layer respectively. Horizontal cells are important for photoreceptor regulation by depolarizing them after an illumination occurs. Horizontal cells themselves form an electrical network that communicates by gap junctions, and these cells exhibit plasticity (change in behavior and structure) with respect to glycine receptors. The bipolar and amacrine cells transfer electrical signals from photoreceptors to the ganglion cells. Furthermore, amacrine cells are responsible for further processing the retinal image. Finally, the ganglion cells receive electrical signals from the bipolar and amacrine cells and will spike at a faster rate if there is a change in the overall intensity for a group of photoreceptors, sending a signal to the brain. Dramatic progress is being made with respect to retinal prostheses, raising hope for an entire synthetic retina in the future. We propose a bio-inspired 3D hierarchical pyramidal architecture for a synthetic retina that mimics the overall structure of the human retina. We chose to use a 3D architecture to facilitate connectivity among retinal cells, maintaining a hierarchical structure similar to that of the biological retina. The first layer of the architecture contains electronic circuits that model photoreceptors and horizontal cells. The second layer contains amacrine and bipolar electronic cells, and the third layer contains ganglion cells. Layer I has the highest number of cells, and layer III has the lowest number of cells, resulting in a pyramidal architecture. In our proposed architecture we intend to use photodetectors to transduce light into electrical signals. We propose to employ

  13. Automatic structural matching of 3D image data

    Science.gov (United States)

    Ponomarev, Svjatoslav; Lutsiv, Vadim; Malyshev, Igor

    2015-10-01

    A new image matching technique is described. It is implemented as an object-independent hierarchical structural juxtaposition algorithm based on an alphabet of simple object-independent contour structural elements. The structural matching applied implements an optimized method of walking through a truncated tree of all possible juxtapositions of two sets of structural elements. The algorithm was initially developed for dealing with 2D images such as the aerospace photographs, and it turned out to be sufficiently robust and reliable for matching successfully the pictures of natural landscapes taken in differing seasons from differing aspect angles by differing sensors (the visible optical, IR, and SAR pictures, as well as the depth maps and geographical vector-type maps). At present (in the reported version), the algorithm is enhanced based on additional use of information on third spatial coordinates of observed points of object surfaces. Thus, it is now capable of matching the images of 3D scenes in the tasks of automatic navigation of extremely low flying unmanned vehicles or autonomous terrestrial robots. The basic principles of 3D structural description and matching of images are described, and the examples of image matching are presented.

  14. Quantity precommitment and price matching

    DEFF Research Database (Denmark)

    Tumennasan, Norovsambuu

    We revisit the question of whether price matching is anti-competitive in a capacity constrained duopoly setting. We show that the effect of price matching depends on capacity. Specifically, price matching has no effect when capacity is relatively low, but it benefits the firms when capacity is re...

  15. Hierarchical resolution of power spectra

    Science.gov (United States)

    Badii, R.; Finardi, M.; Broggi, G.; Sepúlveda, M. A.

    1992-09-01

    We identify the basic ingredients determining the structure of the power spectra of non-linear dynamical systems in a hierarchical order of importance. The analysis, performed with the help of symbolic methods, shows that dynamical invariants such as topological and metric properties of the symbolic orbits explain the main qualitative features of the spectra, whereas the coordinate-dependent values of the observable itself represent a less relevant contribution. Consideration of simple dynamical models with increasing number of topological transition rules evidences the formation of coherent structures (peaks) and explains their position and size. By constructing the parse tree of the allowed symbolic itineraries, it is possible to estimate conditional probabilities by considering orbits belonging to adjacent tree levels. Accordingly, a Markov transition matrix is obtained for each level l and is used to generate signals with statistical properties which approximate those of the actual one increasingly better for l → ∞. A considerable improvement is achieved by recoding the original signal in terms of variable-length words and by re-applying the above procedure to the transformed signal, which is equivalent to a renormalization operation of the associated dynamical map. The accuracy of the estimates is directly related to the convergence of the scaling function for the conditional probabilities. Analytic results are presented for the simplest five Markov models arising from piecewise-linear, continuous, one-dimensional maps. Numerical studies have been performed for the logistic and Hénon maps and for the Lorenz system.

  16. Hierarchically nanostructured barium sulfate fibers.

    Science.gov (United States)

    Romero-Ibarra, Issis C; Rodríguez-Gattorno, Geonel; García-Sánchez, Mario F; Sánchez-Solís, Antonio; Manero, Octavio

    2010-05-18

    BaSO(4) nanostructures with controlled morphologies were successfully produced via one-step process through precipitation of BaSO(4) in aqueous and organic media. The synthesis is carried out by mixing solutions of BaCl(2) and Na(2)SO(4) in presence of EDTA (disodium ethylenediaminetetraacetic acid) at room temperature. The influence of the reaction conditions such as initial reactants concentration, pH, EDTA/[Ba(2+)] ratio and aging on the BaSO(4) nanoparticles organization is studied. Using EDTA in aqueous media, spherical secondary particles of 500 nm diameter are obtained, which are formed by 4 nm size primary particles. With dimethyl sulfoxide and small amounts of water (5%) and EDTA, the aging process allows the production of long homogeneous fibers, related to hierarchical organization of BaSO(4) nanoparticles. Direct observation of self-assembling of primary particles by HRTEM allows proposing a mechanism for fiber formation, which is based on multipolar attractions that lead to a brick-by-brick organization along a preferential orientation. Results evidence the role of EDTA as controlling agent of the morphology and primary and secondary mean particle size.

  17. A hierarchical theory of macroecology.

    Science.gov (United States)

    Passy, Sophia I

    2012-09-01

    The relationships of local population density (N) with body size (M) and distribution (D) have been extensively studied because they reveal how ecological and historical factors structure species communities; however, a unifying model explaining their joint behaviour, has not been developed. Here, I propose a theory that explores these relationships hierarchically and predicts that: (1) at a metacommunity level, niche breadth, population density and regional distribution are all related and size-dependent and (2) at a community level, the exponents b and d of the relationships N ~ M (b) and N ~ D (d) are functions (f) of the environment and, consequently, species richness (S), allowing the following reformulation of the power laws: N ~ M (f(S)) and N ~ D (f(S)) . Using this framework and continental data on stream environment, diatoms, invertebrates and fish, I address the following fundamental, but unresolved ecological questions: how do species partition their resources across environments, is energetic equivalence among them possible, are generalists more common than specialists, why are locally abundant species also regionally prevalent, and, do microbes have different biogeography than macroorganisms? The discovery that community scaling behaviour is environmentally constrained calls for better integration of macroecology and environmental science. © 2012 Blackwell Publishing Ltd/CNRS.

  18. Hierarchical analysis of acceptable use policies

    Directory of Open Access Journals (Sweden)

    P. A. Laughton

    2008-01-01

    Full Text Available Acceptable use policies (AUPs are vital tools for organizations to protect themselves and their employees from misuse of computer facilities provided. A well structured, thorough AUP is essential for any organization. It is impossible for an effective AUP to deal with every clause and remain readable. For this reason, some sections of an AUP carry more weight than others, denoting importance. The methodology used to develop the hierarchical analysis is a literature review, where various sources were consulted. This hierarchical approach to AUP analysis attempts to highlight important sections and clauses dealt with in an AUP. The emphasis of the hierarchal analysis is to prioritize the objectives of an AUP.

  19. Classification using Hierarchical Naive Bayes models

    DEFF Research Database (Denmark)

    Langseth, Helge; Dyhre Nielsen, Thomas

    2006-01-01

    Classification problems have a long history in the machine learning literature. One of the simplest, and yet most consistently well-performing set of classifiers is the Naïve Bayes models. However, an inherent problem with these classifiers is the assumption that all attributes used to describe......, termed Hierarchical Naïve Bayes models. Hierarchical Naïve Bayes models extend the modeling flexibility of Naïve Bayes models by introducing latent variables to relax some of the independence statements in these models. We propose a simple algorithm for learning Hierarchical Naïve Bayes models...

  20. Hierarchical modeling and analysis for spatial data

    CERN Document Server

    Banerjee, Sudipto; Gelfand, Alan E

    2003-01-01

    Among the many uses of hierarchical modeling, their application to the statistical analysis of spatial and spatio-temporal data from areas such as epidemiology And environmental science has proven particularly fruitful. Yet to date, the few books that address the subject have been either too narrowly focused on specific aspects of spatial analysis, or written at a level often inaccessible to those lacking a strong background in mathematical statistics.Hierarchical Modeling and Analysis for Spatial Data is the first accessible, self-contained treatment of hierarchical methods, modeling, and dat

  1. Hierarchically structured, nitrogen-doped carbon membranes

    KAUST Repository

    Wang, Hong

    2017-08-03

    The present invention is a structure, method of making and method of use for a novel macroscopic hierarchically structured, nitrogen-doped, nano-porous carbon membrane (HNDCMs) with asymmetric and hierarchical pore architecture that can be produced on a large-scale approach. The unique HNDCM holds great promise as components in separation and advanced carbon devices because they could offer unconventional fluidic transport phenomena on the nanoscale. Overall, the invention set forth herein covers a hierarchically structured, nitrogen-doped carbon membranes and methods of making and using such a membranes.

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

    Directory of Open Access Journals (Sweden)

    Ancona C

    2014-11-01

    Full Text Available Chiara Ancona, Monica Stoppani, Veronica Odazio, Carlo La Spina, Giulia Corradetti, Francesco Bandello Department of Ophthalmology, University Vita-Salute, Scientific Institute San Raffaele, Milano, Italy 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

  3. Characteristic Evolution and Matching.

    Science.gov (United States)

    Winicour, Jeffrey

    2012-01-01

    I review the development of numerical evolution codes for general relativity based upon the characteristic initial-value problem. Progress in characteristic evolution is traced from the early stage of 1D feasibility studies to 2D-axisymmetric codes that accurately simulate the oscillations and gravitational collapse of relativistic stars and to current 3D codes that provide pieces of a binary black-hole spacetime. Cauchy codes have now been successful at simulating all aspects of the binary black-hole problem inside an artificially constructed outer boundary. A prime application of characteristic evolution is to extend such simulations to null infinity where the waveform from the binary inspiral and merger can be unambiguously computed. This has now been accomplished by Cauchy-characteristic extraction, where data for the characteristic evolution is supplied by Cauchy data on an extraction worldtube inside the artificial outer boundary. The ultimate application of characteristic evolution is to eliminate the role of this outer boundary by constructing a global solution via Cauchy-characteristic matching. Progress in this direction is discussed.

  4. Hierarchical Inorganic Assemblies for Artificial Photosynthesis

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Wooyul [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Edri, Eran [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Frei, Heinz [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2016-08-30

    Artificial photosynthesis is an attractive approach for renewable fuel generation because it offers the prospect of a technology suitable for deployment on highly abundant, non-arable land. Recent leaps forward in the development of efficient and durable light absorbers and catalysts for oxygen evolution and the growing attention to catalysts for carbon dioxide activation brings into focus the tasks of hierarchically integrating the components into assemblies for closing of the photosynthetic cycle. A particular challenge is the efficient coupling of the multi-electron processes of CO2 reduction and H2O oxidation. Among the most important requirements for a complete integrated system are catalytic rates that match the solar flux, efficient charge transport between the various components, and scalability of the photosynthetic assembly on the unprecedented scale of terawatts in order to have impact on fuel consumption. To address these challenges, we have developed in this paper a heterogeneous inorganic materials approach with molecularly precise control of light absorption and charge transport pathways. Oxo-bridged heterobinuclear units with metal-to-metal charge-transfer transitions absorbing deep in the visible act as single photon, single charge transfer pumps for driving multi-electron catalysts. A photodeposition method has been introduced for the spatially directed assembly of nanoparticle catalysts for selective coupling to the donor or acceptor metal of the light absorber. For CO2 reduction, a Cu oxide cluster is coupled to the Zr center of a ZrOCo light absorber, while coupling of an Ir nanoparticle catalyst for water oxidation to the Co donor affords closing of the photosynthetic cycle of CO2 conversion by H2O to CO and O2. Optical, vibrational, and X-ray spectroscopy provide detailed structural knowledge of the polynuclear assemblies. Time resolved visible and rapid-scan FT-IR studies

  5. Multiscale Inorganic Hierarchically Materials: Towards an Improved Orthopaedic Regenerative Medicine.

    Science.gov (United States)

    Ruso, Juan M; Sartuqui, Javier; Messina, Paula V

    2015-01-01

    Bone is a biologically and structurally sophisticated multifunctional tissue. It dynamically responds to biochemical, mechanical and electrical clues by remodelling itself and accordingly the maximum strength and toughness are along the lines of the greatest applied stress. The challenge is to develop an orthopaedic biomaterial that imitates the micro- and nano-structural elements and compositions of bone to locally match the properties of the host tissue resulting in a biologically fixed implant. Looking for the ideal implant, the convergence of life and materials sciences occurs. Researchers in many different fields apply their expertise to improve implantable devices and regenerative medicine. Materials of all kinds, but especially hierarchical nano-materials, are being exploited. The application of nano-materials with hierarchical design to calcified tissue reconstructive medicine involve intricate systems including scaffolds with multifaceted shapes that provides temporary mechanical function; materials with nano-topography modifications that guarantee their integration to tissues and that possesses functionalized surfaces to transport biologic factors to stimulate tissue growth in a controlled, safe, and rapid manner. Furthermore materials that should degrade on a timeline coordinated to the time that takes the tissues regrow, are prepared. These implantable devices are multifunctional and for its construction they involve the use of precise strategically techniques together with specific material manufacturing processes that can be integrated to achieve in the design, the required multifunctionality. For such reasons, even though the idea of displacement from synthetic implants and tissue grafts to regenerative-medicine-based tissue reconstruction has been guaranteed for well over a decade, the reality has yet to emerge. In this paper, we examine the recent approaches to create enhanced bioactive materials. Their design and manufacturing procedures as well

  6. ROV seafloor surveys combining 5-cm lateral resolution multibeam bathymetry with color stereo photographic imagery

    Science.gov (United States)

    Caress, D. W.; Hobson, B.; Thomas, H. J.; Henthorn, R.; Martin, E. J.; Bird, L.; Rock, S. M.; Risi, M.; Padial, J. A.

    2013-12-01

    The Monterey Bay Aquarium Research Institute is developing a low altitude, high-resolution seafloor mapping capability that combines multibeam sonar with stereo photographic imagery. The goal is to obtain spatially quantitative, repeatable renderings of the seafloor with fidelity at scales of 5 cm or better from altitudes of 2-3 m. The initial test surveys using this sensor system are being conducted from a remotely operated vehicle (ROV). Ultimately we intend to field this survey system from an autonomous underwater vehicle (AUV). This presentation focuses on the current sensor configuration, methods for data processing, and results from recent test surveys. Bathymetry data are collected using a 400-kHz Reson 7125 multibeam sonar. This configuration produces 512 beams across a 135° wide swath; each beam has a 0.5° acrosstrack by 1.0° alongtrack angular width. At a 2-m altitude, the nadir beams have a 1.7-cm acrosstrack and 3.5 cm alongtrack footprint. Dual Allied Vision Technology GX1920 2.8 Mpixel color cameras provide color stereo photography of the seafloor. The camera housings have been fitted with corrective optics achieving a 90° field of view through a dome port. Illumination is provided by dual 100J xenon strobes. Position, depth, and attitude data are provided by a Kearfott SeaDevil Inertial Navigation System (INS) integrated with a 300 kHz RDI Doppler velocity log (DVL). A separate Paroscientific pressure sensor is mounted adjacent to the INS. The INS Kalman filter is aided by the DVL velocity and pressure data, achieving navigational drift rates less than 0.05% of the distance traveled during surveys. The sensors are mounted onto a toolsled fitted below MBARI's ROV Doc Ricketts with the sonars, cameras and strobes all pointed vertically down. During surveys the ROV flies at a 2-m altitude at speeds of 0.1-0.2 m/s. During a four-day R/V Western Flyer cruise in June 2013, we successfully collected multibeam and camera survey data from a 2-m altitude

  7. A nonlinear mechanics model of bio-inspired hierarchical lattice materials consisting of horseshoe microstructures.

    Science.gov (United States)

    Ma, Qiang; Cheng, Huanyu; Jang, Kyung-In; Luan, Haiwen; Hwang, Keh-Chih; Rogers, John A; Huang, Yonggang; Zhang, Yihui

    2016-05-01

    Development of advanced synthetic materials that can mimic the mechanical properties of non-mineralized soft biological materials has important implications in a wide range of technologies. Hierarchical lattice materials constructed with horseshoe microstructures belong to this class of bio-inspired synthetic materials, where the mechanical responses can be tailored to match the nonlinear J-shaped stress-strain curves of human skins. The underlying relations between the J-shaped stress-strain curves and their microstructure geometry are essential in designing such systems for targeted applications. Here, a theoretical model of this type of hierarchical lattice material is developed by combining a finite deformation constitutive relation of the building block (i.e., horseshoe microstructure), with the analyses of equilibrium and deformation compatibility in the periodical lattices. The nonlinear J-shaped stress-strain curves and Poisson ratios predicted by this model agree very well with results of finite element analyses (FEA) and experiment. Based on this model, analytic solutions were obtained for some key mechanical quantities, e.g., elastic modulus, Poisson ratio, peak modulus, and critical strain around which the tangent modulus increases rapidly. A negative Poisson effect is revealed in the hierarchical lattice with triangular topology, as opposed to a positive Poisson effect in hierarchical lattices with Kagome and honeycomb topologies. The lattice topology is also found to have a strong influence on the stress-strain curve. For the three isotropic lattice topologies (triangular, Kagome and honeycomb), the hierarchical triangular lattice material renders the sharpest transition in the stress-strain curve and relative high stretchability, given the same porosity and arc angle of horseshoe microstructure. Furthermore, a demonstrative example illustrates the utility of the developed model in the rapid optimization of hierarchical lattice materials for

  8. BiOCl nanowire with hierarchical structure and its Raman features

    Energy Technology Data Exchange (ETDEWEB)

    Tian Ye [National Center for Nanoscience and Technology, No. 11, Beiyitiao, Zhongguancun, Beijing 100190 (China); Graduate School of Chinese Academy of Sciences, Beijing 100039 (China); Guo Chuanfei; Guo Yanjun; Wang Qi [National Center for Nanoscience and Technology, No. 11, Beiyitiao, Zhongguancun, Beijing 100190 (China); Liu Qian, E-mail: liuq@nanoctr.cn [National Center for Nanoscience and Technology, No. 11, Beiyitiao, Zhongguancun, Beijing 100190 (China)

    2012-01-01

    BiOCl is a promising V-VI-VII-compound semiconductor with excellent optical and electrical properties, and has great potential applications in photo-catalysis, photoelectric, etc. We successfully synthesize BiOCl nanowire with a hierarchical structure by combining wet etch (top-down) with liquid phase crystal growth (bottom-up) process, opening a novel method to construct ordered bismuth-based nanostructures. The morphology and lattice structures of Bi nanowires, {beta}-Bi{sub 2}O{sub 3} nanowires and BiOCl nanowires with the hierarchical structure are investigated by scanning electron microscope (SEM) and transition electron microscope (TEM). The formation mechanism of such ordered BiOCl hierarchical structure is considered to mainly originate from the highly preferred growth, which is governed by the lattice match between (1 1 0) facet of BiOCl and (2 2 0) or (0 0 2) facet of {beta}-Bi{sub 2}O{sub 3}. A schematic model is also illustrated to depict the formation process of the ordered BiOCl hierarchical structure. In addition, Raman properties of the BiOCl nanowire with the hierarchical structure are investigated deeply.

  9. HIERARCHICAL ORGANIZATION OF INFORMATION, IN RELATIONAL DATABASES

    Directory of Open Access Journals (Sweden)

    Demian Horia

    2008-05-01

    Full Text Available In this paper I will present different types of representation, of hierarchical information inside a relational database. I also will compare them to find the best organization for specific scenarios.

  10. Packaging glass with hierarchically nanostructured surface

    KAUST Repository

    He, Jr-Hau

    2017-08-03

    An optical device includes an active region and packaging glass located on top of the active region. A top surface of the packaging glass includes hierarchical nanostructures comprised of honeycombed nanowalls (HNWs) and nanorod (NR) structures extending from the HNWs.

  11. Hierarchical DSE for multi-ASIP platforms

    DEFF Research Database (Denmark)

    Micconi, Laura; Corvino, Rosilde; Gangadharan, Deepak

    2013-01-01

    This work proposes a hierarchical Design Space Exploration (DSE) for the design of multi-processor platforms targeted to specific applications with strict timing and area constraints. In particular, it considers platforms integrating multiple Application Specific Instruction Set Processors (ASIPs...

  12. Hierarchical modularity in human brain functional networks

    CERN Document Server

    Meunier, D; Fornito, A; Ersche, K D; Bullmore, E T; 10.3389/neuro.11.037.2009

    2010-01-01

    The idea that complex systems have a hierarchical modular organization originates in the early 1960s and has recently attracted fresh support from quantitative studies of large scale, real-life networks. Here we investigate the hierarchical modular (or "modules-within-modules") decomposition of human brain functional networks, measured using functional magnetic resonance imaging (fMRI) in 18 healthy volunteers under no-task or resting conditions. We used a customized template to extract networks with more than 1800 regional nodes, and we applied a fast algorithm to identify nested modular structure at several hierarchical levels. We used mutual information, 0 < I < 1, to estimate the similarity of community structure of networks in different subjects, and to identify the individual network that is most representative of the group. Results show that human brain functional networks have a hierarchical modular organization with a fair degree of similarity between subjects, I=0.63. The largest 5 modules at ...

  13. Sleep in the human hippocampus: a stereo-EEG study.

    Directory of Open Access Journals (Sweden)

    Fabio Moroni

    Full Text Available BACKGROUND: There is compelling evidence indicating that sleep plays a crucial role in the consolidation of new declarative, hippocampus-dependent memories. Given the increasing interest in the spatiotemporal relationships between cortical and hippocampal activity during sleep, this study aimed to shed more light on the basic features of human sleep in the hippocampus. METHODOLOGY/PRINCIPAL FINDINGS: We recorded intracerebral stereo-EEG directly from the hippocampus and neocortical sites in five epileptic patients undergoing presurgical evaluations. The time course of classical EEG frequency bands during the first three NREM-REM sleep cycles of the night was evaluated. We found that delta power shows, also in the hippocampus, the progressive decrease across sleep cycles, indicating that a form of homeostatic regulation of delta activity is present also in this subcortical structure. Hippocampal sleep was also characterized by: i a lower relative power in the slow oscillation range during NREM sleep compared to the scalp EEG; ii a flattening of the time course of the very low frequencies (up to 1 Hz across sleep cycles, with relatively high levels of power even during REM sleep; iii a decrease of power in the beta band during REM sleep, at odds with the typical increase of power in the cortical recordings. CONCLUSIONS/SIGNIFICANCE: Our data imply that cortical slow oscillation is attenuated in the hippocampal structures during NREM sleep. The most peculiar feature of hippocampal sleep is the increased synchronization of the EEG rhythms during REM periods. This state of resonance may have a supportive role for the processing/consolidation of memory.

  14. Trigger of Successive Filament Eruptions Observed by SDO and STEREO

    Science.gov (United States)

    Dhara, Sajal Kumar; Belur, Ravindra; Kumar, Pankaj; Banyal, Ravinder Kumar; Mathew, Shibu K.; Joshi, Bhuwan

    2017-10-01

    Using multiwavelength observations from the Solar Dynamics Observatory (SDO) and the Solar Terrestrial Relations Observatory (STEREO), we investigate the mechanism of two successive eruptions (F1 and F2) of a filament in active region NOAA 11444 on 27 March 2012. The filament was inverse J-shaped and lay along a quasi-circular polarity inversion line (PIL). The first part of the filament erupted at ˜2{:}30 UT on 27 March 2012 (F1), the second part at around 4:20 UT on the same day (F2). A precursor or preflare brightening was observed below the filament main axis about 30 min before F1. The brightening was followed by a jet-like ejection below the filament, which triggered its eruption. Before the eruption of F2, the filament seemed to be trapped within the overlying arcade loops for almost 1.5 h before it successfully erupted. Interestingly, we observe simultaneously contraction (˜12 km s^{-1}) and expansion (˜20 km s^{-1}) of arcade loops in the active region before F2. Magnetograms obtained with the Helioseismic and Magnetic Imager (HMI) show converging motion of the opposite polarities, which result in flux cancellation near the PIL. We suggest that flux cancellation at the PIL resulted in a jet-like ejection below the filament main axis, which triggered F1, similar to the tether-cutting process. F2 was triggered by removal of the overlying arcade loops via reconnection. Both filament eruptions produced high-speed (˜1000 km s^{-1}) coronal mass ejections.

  15. HIERARCHICAL OPTIMIZATION MODEL ON GEONETWORK

    Directory of Open Access Journals (Sweden)

    Z. Zha

    2012-07-01

    Full Text Available In existing construction experience of Spatial Data Infrastructure (SDI, GeoNetwork, as the geographical information integrated solution, is an effective way of building SDI. During GeoNetwork serving as an internet application, several shortcomings are exposed. The first one is that the time consuming of data loading has been considerately increasing with the growth of metadata count. Consequently, the efficiency of query and search service becomes lower. Another problem is that stability and robustness are both ruined since huge amount of metadata. The final flaw is that the requirements of multi-user concurrent accessing based on massive data are not effectively satisfied on the internet. A novel approach, Hierarchical Optimization Model (HOM, is presented to solve the incapability of GeoNetwork working with massive data in this paper. HOM optimizes the GeoNetwork from these aspects: internal procedure, external deployment strategies, etc. This model builds an efficient index for accessing huge metadata and supporting concurrent processes. In this way, the services based on GeoNetwork can maintain stable while running massive metadata. As an experiment, we deployed more than 30 GeoNetwork nodes, and harvest nearly 1.1 million metadata. From the contrast between the HOM-improved software and the original one, the model makes indexing and retrieval processes more quickly and keeps the speed stable on metadata amount increasing. It also shows stable on multi-user concurrent accessing to system services, the experiment achieved good results and proved that our optimization model is efficient and reliable.

  16. Matching their courage. Care.

    Science.gov (United States)

    El-sadr, W

    1998-01-01

    In this article, a physician working at Harlem Hospital in New York City describes how she awaited her Friday clinic with trepidation 10 years ago but now awaits it with eagerness inspired by her patients. To illustrate this phenomenon, she introduces several of her patients. First is Mary Ann who has multiple health problems compounded by AIDS and never misses a single dose of her medications, although the list of drugs she takes extends to two single-spaced pages. Next is Rochelle, a 36-year-old grandmother who transformed herself from a homeless drug addict when she learned she had AIDS. Then there is Jackie, whose fear sparked such irrational behavior that she caused commotions when she was in the waiting room. Jackie had to put AIDS treatment on hold to combat multiple drug-resistant tuberculosis yet she never missed a dose of medication. Another patient is Gardenia, who blames her young son's death not on AIDS but on his medication and who always has an excuse for not taking her medication. Lester has been drug-free for 102 days and asks tough, intelligent questions about the efficacy of his proposed treatment. Hermine arrives with a notebook stuffed with clippings and information she has gathered from a variety of sources because she is afraid of missing out on the newest magic drug. These patients are similar to other HIV/AIDS patients in that they encounter the same pain, frailties, and doubts, but they are individually distinct in the way that HIV/AIDS has transformed their lives and given them the courage to face daunting odds. This courage should be matched by a commitment on the part of physicians to understand current treatments and address key questions about treatment effectiveness.

  17. Feature Selection in Hierarchical Feature Spaces

    OpenAIRE

    Ristoski, Petar; Paulheim, Heiko

    2014-01-01

    Feature selection is an important preprocessing step in data mining, which has an impact on both the runtime and the result quality of the subsequent processing steps. While there are many cases where hierarchic relations between features exist, most existing feature selection approaches are not capable of exploiting those relations. In this paper, we introduce a method for feature selection in hierarchical feature spaces. The method first eliminates redundant features along paths in the hier...

  18. Hierarchical Solution of Large Markov Decision Processes

    OpenAIRE

    Barry, Jennifer; Kaelbling, Leslie P.; Lozano-Perez, Tomas

    2010-01-01

    This paper presents an algorithm for finding approximately optimal policies in very large Markov decision processes by constructing a hierarchical model and then solving it. This strategy sacrifices optimality for the ability to address a large class of very large problems. Our algorithm works efficiently on enumerated-states and factored MDPs by constructing a hierarchical structure that is no larger than both the reduced model of the MDP and the regression tree for the ...

  19. Metal hierarchical patterning by direct nanoimprint lithography

    OpenAIRE

    Boya Radha; Su Hui Lim; Saifullah, Mohammad S. M.; Kulkarni, Giridhar U.

    2013-01-01

    Three-dimensional hierarchical patterning of metals is of paramount importance in diverse fields involving photonics, controlling surface wettability and wearable electronics. Conventionally, this type of structuring is tedious and usually involves layer-by-layer lithographic patterning. Here, we describe a simple process of direct nanoimprint lithography using palladium benzylthiolate, a versatile metal-organic ink, which not only leads to the formation of hierarchical patterns but also is a...

  20. Hierarchical Model of Container Ports Throughput

    Directory of Open Access Journals (Sweden)

    Monika Rozmarynowska

    2015-12-01

    Full Text Available In this article the attempt has been made to construct hierarchical model of container ports throughput development. The presented hierarchical approach uses the relationships of development of global economy and container flows at different geographical levels: global (container throughput in all seaport on the world, regional (container throughput in the Baltic seaports and national (container throughput in Polish seaports. Model have been evaluated for their fit and usefulness for predictive purposes.

  1. Hierarchical organization versus self-organization

    OpenAIRE

    Busseniers, Evo

    2014-01-01

    In this paper we try to define the difference between hierarchical organization and self-organization. Organization is defined as a structure with a function. So we can define the difference between hierarchical organization and self-organization both on the structure as on the function. In the next two chapters these two definitions are given. For the structure we will use some existing definitions in graph theory, for the function we will use existing theory on (self-)organization. In the t...

  2. Translating Management Practices in Hierarchical Organizations

    DEFF Research Database (Denmark)

    Wæraas, Arild; Nielsen, Jeppe Agger

    structures affect translators’ approaches taken towards management ideas. This paper reports the findings from a longitudinal case study of the translation of Leadership Pipeline in a Danish fire department and how the translators’ approach changed over time from a modifying to a reproducing mode. The study...... hierarchical structures offer translators considerable control over the translation process. This hierarchical control seems to reduce the likelihood of unpredictable translation outcomes....

  3. Learning Hierarchical Feature Extractors for Image Recognition

    Science.gov (United States)

    2012-09-01

    Learning Hierarchical Feature Extractors For Image Recognition by Y-Lan Boureau A dissertation submitted in partial fulfillment of the requirements...DATES COVERED 00-00-2012 to 00-00-2012 4. TITLE AND SUBTITLE Learning Hierarchical Feature Extractors For Image Recognition 5a. CONTRACT...pooling for all weighting schemes. With average pooling, weighting by the square root of the cluster weight performs best. P = 16 configuration space

  4. Hierarchical control architecture for mobile offshore bases

    OpenAIRE

    Girard, A; Karl Hedrick; João Tasso de Figueiredo Borges de Sousa

    2000-01-01

    A hierarchical architecture for Mobile Offshore Bases (MOB) control is presented. By a control architecture we mean a specific way of organizing the motion control and navigation functions performed by the MOB. It is convenient to organize the functions into hierarchical layers. This way, a complex design problem is partitioned into a number of more manageable sub-problems that are addressed in separate layers. The decomposition also allows for modular design and testing and the incorporation...

  5. Architecture of the parallel hierarchical network for fast image recognition

    Science.gov (United States)

    Timchenko, Leonid; Wójcik, Waldemar; Kokriatskaia, Natalia; Kutaev, Yuriy; Ivasyuk, Igor; Kotyra, Andrzej; Smailova, Saule

    2016-09-01

    Multistage integration of visual information in the brain allows humans to respond quickly to most significant stimuli while maintaining their ability to recognize small details in the image. Implementation of this principle in technical systems can lead to more efficient processing procedures. The multistage approach to image processing includes main types of cortical multistage convergence. The input images are mapped into a flexible hierarchy that reflects complexity of image data. Procedures of the temporal image decomposition and hierarchy formation are described in mathematical expressions. The multistage system highlights spatial regularities, which are passed through a number of transformational levels to generate a coded representation of the image that encapsulates a structure on different hierarchical levels in the image. At each processing stage a single output result is computed to allow a quick response of the system. The result is presented as an activity pattern, which can be compared with previously computed patterns on the basis of the closest match. With regard to the forecasting method, its idea lies in the following. In the results synchronization block, network-processed data arrive to the database where a sample of most correlated data is drawn using service parameters of the parallel-hierarchical network.

  6. Measuring coral size-frequency distribution using stereo video technology, a comparison with in situ measurements.

    Science.gov (United States)

    Turner, Joseph A; Polunin, Nicholas V C; Field, Stuart N; Wilson, Shaun K

    2015-05-01

    Coral colony size-frequency distribution data offer valuable information about the ecological status of coral reefs. Such data are usually collected by divers in situ, but stereo video is being increasingly used for monitoring benthic marine communities and may be used to collect size information for coral colonies. This study compared the size-frequency distributions of coral colonies obtained by divers measuring colonies 'in situ' with digital video imagery collected using stereo video and later processed using computer software. The size-frequency distributions of the two methods were similar for corymbose colonies, although distributions were different for massive, branching and all colonies combined. The differences are mainly driven by greater abundance of colonies >50 cm and fewer colonies 5 cm and was able to record measurements on 87% of the colonies detected. However, stereo video only detected 57% of marked colonies coral recruits. Estimates of colony size made with the stereo video were smaller than the in situ technique for all growth forms, particularly for massive morphologies. Despite differences in size distributions, community assessments, which incorporated genera, growth forms and size, were similar between the two techniques. Stereo video is suitable for monitoring coral community demographics and provided data similar to in situ measure for corymbose corals, but the ability to accurately measure massive and branching coral morphologies appeared to decline with increasing colony size.

  7. STEREO/SEPT observations of upstream particle events: almost monoenergetic ion beams

    Directory of Open Access Journals (Sweden)

    A. Klassen

    2009-05-01

    Full Text Available We present observations of Almost Monoenergetic Ion (AMI events in the energy range of 100–1200 keV detected with the Solar Electron and Proton Telescope (SEPT onboard both STEREO spacecraft. The energy spectrum of AMI events contain 1, 2, or 3 narrow peaks with the relative width at half maximum of 0.1–0.7 and their energy maxima varies for different events from 120 to 1200 keV. These events were detected close to the bow-shock (STEREO-A&B and to the magnetopause at STEREO-B as well as unexpectedly far upstream of the bow-shock and far away from the magnetotail at distances up to 1100 RE (STEREO-B and 1900 RE (STEREO-A. We discuss the origin of AMI events, the connection to the Earth's bow-shock and to the magnetosphere, and the conditions of the interplanetary medium and magnetosphere under which these AMI bursts occur. Evidence that the detected spectral peaks were caused by quasi-monoenergetic beams of protons, helium, and heavier ions are given. Furthermore, we present the spatial distribution of all AMI events from December 2006 until August 2007.

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

    Science.gov (United States)

    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.

  9. SPACEBORNE SAR IMAGERY STEREO POSITIONING BASED ON RANGE-COPLANARITY EQUATION

    Directory of Open Access Journals (Sweden)

    C. Q. Cheng

    2012-08-01

    Full Text Available Stereo positioning is a important content for Spaceborne SAR imagery mapping, which is still lack of investigation depend on exterior orientation elements. In this paper, we firstly introduced the Range-Coplanarity (R-Cp geometric imaging equation and its character for radar imagery, compared the difference and relationship between R-Cp and R-D model, and build stereo positioning rigorous model for spaceborne SAR imagery based on the R-Cp equation, satellite orbit, and pose refinement model. Then separate taking TerraSAR-X images in mountainous terrain observed from same and opposite side-looking direction as test data, we presented the initial attitude value acquirement method for TerraSAR-X image after moving compensation, analyzed stereo positioning precision according to amounts and spatial distributions of GCPs and lengths of baseline between SAR antennas, and also compared the precision with R-D model. the proposed stereo positioning model avoids SAR signal imaging parameters during the geometric processing, with one GCP it could improved the plan and height precision from (17.9m,29.2m to (10.3m,6.1m in the test of opposite side-looking direction images, and even had a better accuracy than R-D model when more GCPs were used, which indicate that R-Cp model have a potential application in spaceborne SAR image stereo positioning.

  10. STEREO/SEPT observations of upstream particle events: almost monoenergetic ion beams

    Directory of Open Access Journals (Sweden)

    A. Klassen

    2009-05-01

    Full Text Available We present observations of Almost Monoenergetic Ion (AMI events in the energy range of 100–1200 keV detected with the Solar Electron and Proton Telescope (SEPT onboard both STEREO spacecraft. The energy spectrum of AMI events contain 1, 2, or 3 narrow peaks with the relative width at half maximum of 0.1–0.7 and their energy maxima varies for different events from 120 to 1200 keV. These events were detected close to the bow-shock (STEREO-A&B and to the magnetopause at STEREO-B as well as unexpectedly far upstream of the bow-shock and far away from the magnetotail at distances up to 1100 RE (STEREO-B and 1900 RE (STEREO-A. We discuss the origin of AMI events, the connection to the Earth's bow-shock and to the magnetosphere, and the conditions of the interplanetary medium and magnetosphere under which these AMI bursts occur. Evidence that the detected spectral peaks were caused by quasi-monoenergetic beams of protons, helium, and heavier ions are given. Furthermore, we present the spatial distribution of all AMI events from December 2006 until August 2007.

  11. Structure design and kinematics simulation of a novel arm-type single stereo parking lot

    Directory of Open Access Journals (Sweden)

    Dongliang Chu

    2015-09-01

    Full Text Available Space-saving, high-density stereo parking lots have gained considerable attention because of emerging limitations in ground and underground space. In this article, a novel arm-type single stereo parking lot is proposed to realize convenience and environmental friendliness. Many technical difficulties should be resolved before the safety performance of the stereo parking lot can be enhanced. Therefore, the structural characteristics, the load state and the motion situation should be analysed by numerical simulation to develop a reasonable design scheme. Finite element analysis was conducted on the steel tray platform, and kinematic analysis was performed on the end of novel arm-type single stereo parking lot. As a result, the position, velocity and acceleration curves as well as the maximum workspace were demonstrated by simulation in Pro/E. The simulation results demonstrate the correctness and accuracy of the stereo parking lot under motion mode feasible in residential areas and agency units and that the proposed parking lot can become popular in practice because of characteristics such as simplicity, convenience, easy development and promotion.

  12. Evaluating Hierarchical Structure in Music Annotations

    Directory of Open Access Journals (Sweden)

    Brian McFee

    2017-08-01

    Full Text Available Music exhibits structure at multiple scales, ranging from motifs to large-scale functional components. When inferring the structure of a piece, different listeners may attend to different temporal scales, which can result in disagreements when they describe the same piece. In the field of music informatics research (MIR, it is common to use corpora annotated with structural boundaries at different levels. By quantifying disagreements between multiple annotators, previous research has yielded several insights relevant to the study of music cognition. First, annotators tend to agree when structural boundaries are ambiguous. Second, this ambiguity seems to depend on musical features, time scale, and genre. Furthermore, it is possible to tune current annotation evaluation metrics to better align with these perceptual differences. However, previous work has not directly analyzed the effects of hierarchical structure because the existing methods for comparing structural annotations are designed for “flat” descriptions, and do not readily generalize to hierarchical annotations. In this paper, we extend and generalize previous work on the evaluation of hierarchical descriptions of musical structure. We derive an evaluation metric which can compare hierarchical annotations holistically across multiple levels. sing this metric, we investigate inter-annotator agreement on the multilevel annotations of two different music corpora, investigate the influence of acoustic properties on hierarchical annotations, and evaluate existing hierarchical segmentation algorithms against the distribution of inter-annotator agreement.

  13. Hierarchical screening for multiple mental disorders.

    Science.gov (United States)

    Batterham, Philip J; Calear, Alison L; Sunderland, Matthew; Carragher, Natacha; Christensen, Helen; Mackinnon, Andrew J

    2013-10-01

    There is a need for brief, accurate screening when assessing multiple mental disorders. Two-stage hierarchical screening, consisting of brief pre-screening followed by a battery of disorder-specific scales for those who meet diagnostic criteria, may increase the efficiency of screening without sacrificing precision. This study tested whether more efficient screening could be gained using two-stage hierarchical screening than by administering multiple separate tests. Two Australian adult samples (N=1990) with high rates of psychopathology were recruited using Facebook advertising to examine four methods of hierarchical screening for four mental disorders: major depressive disorder, generalised anxiety disorder, panic disorder and social phobia. Using K6 scores to determine whether full screening was required did not increase screening efficiency. However, pre-screening based on two decision tree approaches or item gating led to considerable reductions in the mean number of items presented per disorder screened, with estimated item reductions of up to 54%. The sensitivity of these hierarchical methods approached 100% relative to the full screening battery. Further testing of the hierarchical screening approach based on clinical criteria and in other samples is warranted. The results demonstrate that a two-phase hierarchical approach to screening multiple mental disorders leads to considerable increases efficiency gains without reducing accuracy. Screening programs should take advantage of prescreeners based on gating items or decision trees to reduce the burden on respondents. © 2013 Elsevier B.V. All rights reserved.

  14. Evaluating Hierarchical Structure in Music Annotations

    Science.gov (United States)

    McFee, Brian; Nieto, Oriol; Farbood, Morwaread M.; Bello, Juan Pablo

    2017-01-01

    Music exhibits structure at multiple scales, ranging from motifs to large-scale functional components. When inferring the structure of a piece, different listeners may attend to different temporal scales, which can result in disagreements when they describe the same piece. In the field of music informatics research (MIR), it is common to use corpora annotated with structural boundaries at different levels. By quantifying disagreements between multiple annotators, previous research has yielded several insights relevant to the study of music cognition. First, annotators tend to agree when structural boundaries are ambiguous. Second, this ambiguity seems to depend on musical features, time scale, and genre. Furthermore, it is possible to tune current annotation evaluation metrics to better align with these perceptual differences. However, previous work has not directly analyzed the effects of hierarchical structure because the existing methods for comparing structural annotations are designed for “flat” descriptions, and do not readily generalize to hierarchical annotations. In this paper, we extend and generalize previous work on the evaluation of hierarchical descriptions of musical structure. We derive an evaluation metric which can compare hierarchical annotations holistically across multiple levels. sing this metric, we investigate inter-annotator agreement on the multilevel annotations of two different music corpora, investigate the influence of acoustic properties on hierarchical annotations, and evaluate existing hierarchical segmentation algorithms against the distribution of inter-annotator agreement. PMID:28824514

  15. Evaluating Hierarchical Structure in Music Annotations.

    Science.gov (United States)

    McFee, Brian; Nieto, Oriol; Farbood, Morwaread M; Bello, Juan Pablo

    2017-01-01

    Music exhibits structure at multiple scales, ranging from motifs to large-scale functional components. When inferring the structure of a piece, different listeners may attend to different temporal scales, which can result in disagreements when they describe the same piece. In the field of music informatics research (MIR), it is common to use corpora annotated with structural boundaries at different levels. By quantifying disagreements between multiple annotators, previous research has yielded several insights relevant to the study of music cognition. First, annotators tend to agree when structural boundaries are ambiguous. Second, this ambiguity seems to depend on musical features, time scale, and genre. Furthermore, it is possible to tune current annotation evaluation metrics to better align with these perceptual differences. However, previous work has not directly analyzed the effects of hierarchical structure because the existing methods for comparing structural annotations are designed for "flat" descriptions, and do not readily generalize to hierarchical annotations. In this paper, we extend and generalize previous work on the evaluation of hierarchical descriptions of musical structure. We derive an evaluation metric which can compare hierarchical annotations holistically across multiple levels. sing this metric, we investigate inter-annotator agreement on the multilevel annotations of two different music corpora, investigate the influence of acoustic properties on hierarchical annotations, and evaluate existing hierarchical segmentation algorithms against the distribution of inter-annotator agreement.

  16. Hierarchical Nanoceramics for Industrial Process Sensors

    Energy Technology Data Exchange (ETDEWEB)

    Ruud, James, A.; Brosnan, Kristen, H.; Striker, Todd; Ramaswamy, Vidya; Aceto, Steven, C.; Gao, Yan; Willson, Patrick, D.; Manoharan, Mohan; Armstrong, Eric, N., Wachsman, Eric, D.; Kao, Chi-Chang

    2011-07-15

    This project developed a robust, tunable, hierarchical nanoceramics materials platform for industrial process sensors in harsh-environments. Control of material structure at multiple length scales from nano to macro increased the sensing response of the materials to combustion gases. These materials operated at relatively high temperatures, enabling detection close to the source of combustion. It is anticipated that these materials can form the basis for a new class of sensors enabling widespread use of efficient combustion processes with closed loop feedback control in the energy-intensive industries. The first phase of the project focused on materials selection and process development, leading to hierarchical nanoceramics that were evaluated for sensing performance. The second phase focused on optimizing the materials processes and microstructures, followed by validation of performance of a prototype sensor in a laboratory combustion environment. The objectives of this project were achieved by: (1) synthesizing and optimizing hierarchical nanostructures; (2) synthesizing and optimizing sensing nanomaterials; (3) integrating sensing functionality into hierarchical nanostructures; (4) demonstrating material performance in a sensing element; and (5) validating material performance in a simulated service environment. The project developed hierarchical nanoceramic electrodes for mixed potential zirconia gas sensors with increased surface area and demonstrated tailored electrocatalytic activity operable at high temperatures enabling detection of products of combustion such as NOx close to the source of combustion. Methods were developed for synthesis of hierarchical nanostructures with high, stable surface area, integrated catalytic functionality within the structures for gas sensing, and demonstrated materials performance in harsh lab and combustion gas environments.

  17. Image Segmentation, Registration, Compression, and Matching

    Science.gov (United States)

    Yadegar, Jacob; Wei, Hai; Yadegar, Joseph; Ray, Nilanjan; Zabuawala, Sakina

    2011-01-01

    A novel computational framework was developed of a 2D affine invariant matching exploiting a parameter space. Named as affine invariant parameter space (AIPS), the technique can be applied to many image-processing and computer-vision problems, including image registration, template matching, and object tracking from image sequence. The AIPS is formed by the parameters in an affine combination of a set of feature points in the image plane. In cases where the entire image can be assumed to have undergone a single affine transformation, the new AIPS match metric and matching framework becomes very effective (compared with the state-of-the-art methods at the time of this reporting). No knowledge about scaling or any other transformation parameters need to be known a priori to apply the AIPS framework. An automated suite of software tools has been created to provide accurate image segmentation (for data cleaning) and high-quality 2D image and 3D surface registration (for fusing multi-resolution terrain, image, and map data). These tools are capable of supporting existing GIS toolkits already in the marketplace, and will also be usable in a stand-alone fashion. The toolkit applies novel algorithmic approaches for image segmentation, feature extraction, and registration of 2D imagery and 3D surface data, which supports first-pass, batched, fully automatic feature extraction (for segmentation), and registration. A hierarchical and adaptive approach is taken for achieving automatic feature extraction, segmentation, and registration. Surface registration is the process of aligning two (or more) data sets to a common coordinate system, during which the transformation between their different coordinate systems is determined. Also developed here are a novel, volumetric surface modeling and compression technique that provide both quality-guaranteed mesh surface approximations and compaction of the model sizes by efficiently coding the geometry and connectivity

  18. Matching theory for wireless networks

    CERN Document Server

    Han, Zhu; Saad, Walid

    2017-01-01

    This book provides the fundamental knowledge of the classical matching theory problems. It builds up the bridge between the matching theory and the 5G wireless communication resource allocation problems. The potentials and challenges of implementing the semi-distributive matching theory framework into the wireless resource allocations are analyzed both theoretically and through implementation examples. Academics, researchers, engineers, and so on, who are interested in efficient distributive wireless resource allocation solutions, will find this book to be an exceptional resource. .

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    Heegwang Kim

    2017-12-01

    Full Text Available 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.