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Sample records for sub-pixel stereo disparity

  1. 2D Sub-Pixel Disparity Measurement Using QPEC / Medicis

    Directory of Open Access Journals (Sweden)

    M. Cournet

    2016-06-01

    Full Text Available In the frame of its earth observation missions, CNES created a library called QPEC, and one of its launcher called Medicis. QPEC / Medicis is a sub-pixel two-dimensional stereo matching algorithm that works on an image pair. This tool is a block matching algorithm, which means that it is based on a local method. Moreover it does not regularize the results found. It proposes several matching costs, such as the Zero mean Normalised Cross-Correlation or statistical measures (the Mutual Information being one of them, and different match validation flags. QPEC / Medicis is able to compute a two-dimensional dense disparity map with a subpixel precision. Hence, it is more versatile than disparity estimation methods found in computer vision literature, which often assume an epipolar geometry. CNES uses Medicis, among other applications, during the in-orbit image quality commissioning of earth observation satellites. For instance the Pléiades-HR 1A & 1B and the Sentinel-2 geometric calibrations are based on this block matching algorithm. Over the years, it has become a common tool in ground segments for in-flight monitoring purposes. For these two kinds of applications, the two-dimensional search and the local sub-pixel measure without regularization can be essential. This tool is also used to generate automatic digital elevation models, for which it was not initially dedicated. This paper deals with the QPEC / Medicis algorithm. It also presents some of its CNES applications (in-orbit commissioning, in flight monitoring or digital elevation model generation. Medicis software is distributed outside the CNES as well. This paper finally describes some of these external applications using Medicis, such as ground displacement measurement, or intra-oral scanner in the dental domain.

  2. Global stereo matching algorithm based on disparity range estimation

    Science.gov (United States)

    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.

  3. 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....

  4. 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.

  5. 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.

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

    Science.gov (United States)

    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.

  7. 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.

  8. FPGA Implementation of Stereo Disparity with High Throughput for Mobility Applications

    Science.gov (United States)

    Villalpando, Carlos Y.; Morfopolous, Arin; Matthies, Larry; Goldberg, Steven

    2011-01-01

    High speed stereo vision can allow unmanned robotic systems to navigate safely in unstructured terrain, but the computational cost can exceed the capacity of typical embedded CPUs. In this paper, we describe an end-to-end stereo computation co-processing system optimized for fast throughput that has been implemented on a single Virtex 4 LX160 FPGA. This system is capable of operating on images from a 1024 x 768 3CCD (true RGB) camera pair at 15 Hz. Data enters the FPGA directly from the cameras via Camera Link and is rectified, pre-filtered and converted into a disparity image all within the FPGA, incurring no CPU load. Once complete, a rectified image and the final disparity image are read out over the PCI bus, for a bandwidth cost of 68 MB/sec. Within the FPGA there are 4 distinct algorithms: Camera Link capture, Bilinear rectification, Bilateral subtraction pre-filtering and the Sum of Absolute Difference (SAD) disparity. Each module will be described in brief along with the data flow and control logic for the system. The system has been successfully fielded upon the Carnegie Mellon University's National Robotics Engineering Center (NREC) Crusher system during extensive field trials in 2007 and 2008 and is being implemented for other surface mobility systems at JPL.

  9. Comparison of three sub-pixel computation approaches

    Science.gov (United States)

    Zhao, An; Zheng, Lin; Jiang, Meixin

    2005-10-01

    Sub-pixel classification is a tough issue in remote sensing field. Although many kinds of software or its Module can be used to address this problem, their rationale, algorithms and methodologies are different, resulting in different use of different method for different purpose. This makes many users feel confused when they want to detect mixed feature content within a pixel and to use sub-pixel approach for practical application. It is necessary to make an in-depth comparison study for different sub-pixel methods in order for RS&GIS users to choose proper sub-pixel methods for their specific applications. After reviewing the basic theories and methods in dealing with sub-pixels, this paper made an introductory analysis to their principles, algorithms, parameters and computing process of three sub-pixel calculation methods, or Linear Unmixing in platform ILWIS3.0, Erdas8.5's Sub-pixel Classifier, eCognition3.0's Nearest Neighbor. A case study of three sub-pixel methods was then made of flood monitoring in Poyang Lake region of P.R.China with image data of band-1 and band-2 of NOAA AVHRR image. Finally, a theoretic, technological and practical comparison study was made of these three sub-pixel methods in aspects of the basic principles, the parameters to be set, the suitable application fields and their respective use limitation. Opinions and comments were presented in the end on the use of the sub-pixel calculation results of these three methods in a hope to provide some reference to future sub-pixel application study for the researchers in interest.

  10. 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.

  11. Real-time registration of video with ultrasound using stereo disparity

    Science.gov (United States)

    Wang, Jihang; Horvath, Samantha; Stetten, George; Siegel, Mel; Galeotti, John

    2012-02-01

    Medical ultrasound typically deals with the interior of the patient, with the exterior left to the original medical imaging modality, direct human vision. For the human operator scanning the patient, the view of the external anatomy is essential for correctly locating the ultrasound probe on the body and making sense of the resulting ultrasound images in their proper anatomical context. The operator, after all, is not expected to perform the scan with his eyes shut. Over the past decade, our laboratory has developed a method of fusing these two information streams in the mind of the operator, the Sonic Flashlight, which uses a half silvered mirror and miniature display mounted on an ultrasound probe to produce a virtual image within the patient at its proper location. We are now interested in developing a similar data fusion approach within the ultrasound machine itself, by, in effect, giving vision to the transducer. Our embodiment of this concept consists of an ultrasound probe with two small video cameras mounted on it, with software capable of locating the surface of an ultrasound phantom using stereo disparity between the two video images. We report its first successful operation, demonstrating a 3D rendering of the phantom's surface with the ultrasound data superimposed at its correct relative location. Eventually, automated analysis of these registered data sets may permit the scanner and its associated computational apparatus to interpret the ultrasound data within its anatomical context, much as the human operator does today.

  12. Sub-pixel Area Calculation Methods for Estimating Irrigated Areas

    Directory of Open Access Journals (Sweden)

    Suraj Pandey

    2007-10-01

    Full Text Available The goal of this paper was to develop and demonstrate practical methods forcomputing sub-pixel areas (SPAs from coarse-resolution satellite sensor data. Themethods were tested and verified using: (a global irrigated area map (GIAM at 10-kmresolution based, primarily, on AVHRR data, and (b irrigated area map for India at 500-mbased, primarily, on MODIS data. The sub-pixel irrigated areas (SPIAs from coarse-resolution satellite sensor data were estimated by multiplying the full pixel irrigated areas(FPIAs with irrigated area fractions (IAFs. Three methods were presented for IAFcomputation: (a Google Earth Estimate (IAF-GEE; (b High resolution imagery (IAF-HRI; and (c Sub-pixel de-composition technique (IAF-SPDT. The IAF-GEE involvedthe use of “zoom-in-views” of sub-meter to 4-meter very high resolution imagery (VHRIfrom Google Earth and helped determine total area available for irrigation (TAAI or netirrigated areas that does not consider intensity or seasonality of irrigation. The IAF-HRI isa well known method that uses finer-resolution data to determine SPAs of the coarser-resolution imagery. The IAF-SPDT is a unique and innovative method wherein SPAs aredetermined based on the precise location of every pixel of a class in 2-dimensionalbrightness-greenness-wetness (BGW feature-space plot of red band versus near-infraredband spectral reflectivity. The SPIAs computed using IAF-SPDT for the GIAM was within2 % of the SPIA computed using well known IAF-HRI. Further the fractions from the 2 methods were significantly correlated. The IAF-HRI and IAF-SPDT help to determine annualized or gross irrigated areas (AIA that does consider intensity or seasonality (e.g., sum of areas from season 1, season 2, and continuous year-round crops. The national census based irrigated areas for the top 40 irrigated nations (which covers about 90% of global irrigation was significantly better related (and had lesser uncertainties and errors when

  13. 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...

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

    Science.gov (United States)

    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.

  15. 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...

  16. Sub-pixel analysis to enhance the accuracy of evapotranspiration determined using MODIS images

    National Research Council Canada - National Science Library

    Abdalhaleem A Hassaballa; Abdul-Nasir Matori; Khalid A Al-Gaadi; Elkamil H Tola; Rangaswamy Madugundu

    2017-01-01

    ...) were recorded at the time of satellite overpass. In order to enhance the accuracy of the generated ET maps, MODIS images were subjected to sub-pixel analysis by assigning weights for different land surface cover...

  17. 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

  18. Implementation and optimization of sub-pixel motion estimation on BWDSP platform

    Science.gov (United States)

    Jia, Shangzhu; Lang, Wenhui; Zeng, Feiyang; Liu, Yufu

    2017-08-01

    Sub-pixel Motion estimation algorithm is a key technology in video coding inter-frame prediction algorithm, which has important influence on video coding performance. In the latest video coding standard H.265/HEVC, interpolation filters based on DCT are used to Sub-pixel motion estimation, but it has very high computation complexity. In order to ensure the real-time performance of hardware coding, we combine the characteristics of BWDSP architecture, using code level optimization techniques to realize the sub-pixel motion estimation algorithm. Experimental results demonstrate that In the BWDSP simulation environment, the proposed method significantly decreases the running clock cycle and thus improves the performance of the encoder.

  19. Simulating urban land cover changes at sub-pixel level in a coastal city

    Science.gov (United States)

    Zhao, Xiaofeng; Deng, Lei; Feng, Huihui; Zhao, Yanchuang

    2014-10-01

    The simulation of urban expansion or land cover changes is a major theme in both geographic information science and landscape ecology. Yet till now, almost all of previous studies were based on grid computations at pixel level. With the prevalence of spectral mixture analysis in urban land cover research, the simulation of urban land cover at sub-pixel level is being put into agenda. This study provided a new approach of land cover simulation at sub-pixel level. Landsat TM/ETM+ images of Xiamen city, China on both the January of 2002 and 2007 were used to acquire land cover data through supervised classification. Then the two classified land cover data were utilized to extract the transformation rule between 2002 and 2007 using logistic regression. The transformation possibility of each land cover type in a certain pixel was taken as its percent in the same pixel after normalization. And cellular automata (CA) based grid computation was carried out to acquire simulated land cover on 2007. The simulated 2007 sub-pixel land cover was testified with a validated sub-pixel land cover achieved by spectral mixture analysis in our previous studies on the same date. And finally the sub-pixel land cover of 2017 was simulated for urban planning and management. The results showed that our method is useful in land cover simulation at sub-pixel level. Although the simulation accuracy is not quite satisfactory for all the land cover types, it provides an important idea and a good start in the CA-based urban land cover simulation.

  20. Radial lens distortion correction with sub-pixel accuracy for X-ray micro-tomography.

    Science.gov (United States)

    Vo, Nghia T; Atwood, Robert C; Drakopoulos, Michael

    2015-12-14

    Distortion correction or camera calibration for an imaging system which is highly configurable and requires frequent disassembly for maintenance or replacement of parts needs a speedy method for recalibration. Here we present direct techniques for calculating distortion parameters of a non-linear model based on the correct determination of the center of distortion. These techniques are fast, very easy to implement, and accurate at sub-pixel level. The implementation at the X-ray tomography system of the I12 beamline, Diamond Light Source, which strictly requires sub-pixel accuracy, shows excellent performance in the calibration image and in the reconstructed images.

  1. Sub-Pixel Magnetic Field and Plasma Dynamics Derived from Photospheric Spectral Data

    Science.gov (United States)

    Rasca, Anthony P.; Chen, James; Pevtsov, Alexei A.

    2017-08-01

    Current high-resolution observations of the photosphere show small dynamic features at the resolving limit during emerging flux events. However, line-of-sight (LOS) magnetogram pixels only contain the net uncanceled magnetic flux, which is expected to increase for fixed regions as resolution limits improve. Using a new method with spectrographic images, we quantify distortions in photospheric absorption (or emission) lines caused by sub-pixel magnetic field and plasma dynamics in the vicinity of active regions and emerging flux events. Absorption lines—quantified by their displacement, width, asymmetry, and peakedness—have previously been used with Stokes I images from SOLIS/VSM to relate line distortions with sub-pixel plasma dynamics driven by solar flares or small-scale flux ropes. The method is extended to include the full Stokes parameters and relate inferred sub-pixel dynamics with small-scale magnetic fields. Our analysis is performed on several sets of spectrographic images taken by SOLIS/VSM while observing eruptive and non-eruptive active regions. We discuss the results of this application and their relevance for understanding magnetic fields signatures and coupled plasma properties on sub-pixel scales.

  2. Exploring the limits of identifying sub-pixel thermal features using ASTER TIR data

    Science.gov (United States)

    Vaughan, R.G.; Keszthelyi, L.P.; Davies, A.G.; Schneider, D.J.; Jaworowski, C.; Heasler, H.

    2010-01-01

    Understanding the characteristics of volcanic thermal emissions and how they change with time is important for forecasting and monitoring volcanic activity and potential hazards. Satellite instruments view volcanic thermal features across the globe at various temporal and spatial resolutions. Thermal features that may be a precursor to a major eruption, or indicative of important changes in an on-going eruption can be subtle, making them challenging to reliably identify with satellite instruments. The goal of this study was to explore the limits of the types and magnitudes of thermal anomalies that could be detected using satellite thermal infrared (TIR) data. Specifically, the characterization of sub-pixel thermal features with a wide range of temperatures is considered using ASTER multispectral TIR data. First, theoretical calculations were made to define a "thermal mixing detection threshold" for ASTER, which quantifies the limits of ASTER's ability to resolve sub-pixel thermal mixing over a range of hot target temperatures and % pixel areas. Then, ASTER TIR data were used to model sub-pixel thermal features at the Yellowstone National Park geothermal area (hot spring pools with temperatures from 40 to 90 ??C) and at Mount Erebus Volcano, Antarctica (an active lava lake with temperatures from 200 to 800 ??C). Finally, various sources of uncertainty in sub-pixel thermal calculations were quantified for these empirical measurements, including pixel resampling, atmospheric correction, and background temperature and emissivity assumptions.

  3. Robust Matching of Wavelet Features for Sub-Pixel Registration of Landsat Data

    Science.gov (United States)

    LeMoigne, Jacqueline; Netanyahu, Nathan S.; Masek, Jeffrey G.; Mount, David M.; Goward, Samuel; Zukor, Dorothy (Technical Monitor)

    2001-01-01

    For many Earth and Space Science applications, automatic geo-registration at sub-pixel accuracy has become a necessity. In this work, we are focusing on building an operational system, which will provide a sub-pixel accuracy registration of Landsat-5 and Landsat-7 data. The input to our registration method consists of scenes that have been geometrically and radiometrically corrected. Such pre-processed scenes are then geo-registered relative to a database of Landsat chips. The method assumes a transformation composed of a rotation and a translation, and utilizes rotation- and translation-invariant wavelets to extract image features that are matched using statistically robust feature matching and a generalized Hausdorff distance metric. The registration process is described and results on four Landsat input scenes of the Washington, D.C. area are presented.

  4. Sub-pixel mineral mapping using EO-1 Hyperion hyperspectral data

    OpenAIRE

    Kumar, C.; Shetty, A.; S Raval; Champatiray, P. K.; Sharma, R.

    2014-01-01

    This study describes the utility of Earth Observation (EO)-1 Hyperion data for sub-pixel mineral investigation using Mixture Tuned Target Constrained Interference Minimized Filter (MTTCIMF) algorithm in hostile mountainous terrain of Rajsamand district of Rajasthan, which hosts economic mineralization such as lead, zinc, and copper etc. The study encompasses pre-processing, data reduction, Pixel Purity Index (PPI) and endmember extraction from reflectance image of surface minerals su...

  5. Autonomous Sub-Pixel Satellite Track Endpoint Determination for Space Based Images

    Energy Technology Data Exchange (ETDEWEB)

    Simms, L M

    2011-03-07

    An algorithm for determining satellite track endpoints with sub-pixel resolution in spaced-based images is presented. The algorithm allows for significant curvature in the imaged track due to rotation of the spacecraft capturing the image. The motivation behind the subpixel endpoint determination is first presented, followed by a description of the methodology used. Results from running the algorithm on real ground-based and simulated spaced-based images are shown to highlight its effectiveness.

  6. Variability of myocardial perfusion dark rim Gibbs artifacts due to sub-pixel shifts

    Directory of Open Access Journals (Sweden)

    Kellman Peter

    2009-05-01

    Full Text Available Abstract Background Gibbs ringing has been shown as a possible source of dark rim artifacts in myocardial perfusion studies. This type of artifact is usually described as transient, lasting a few heart beats, and localised in random segments of the myocardial wall. Dark rim artifacts are known to be unpredictably variable. This article aims to illustrate that a sub-pixel shift, i.e. a small displacement of the pixels with respect to the endocardial border, can result in different Gibbs ringing and hence different artifacts. Therefore a hypothesis for one cause of dark rim artifact variability is given based on the sub-pixel position of the endocardial border. This article also demonstrates the consequences for Gibbs artifacts when two different methods of image interpolation are applied (post-FFT interpolation, and pre-FFT zero-filling. Results Sub-pixel shifting of in vivo perfusion studies was shown to change the appearance of Gibbs artifacts. This effect was visible in the original uninterpolated images, and in the post-FFT interpolated images. The same shifted data interpolated by pre-FFT zero-filling exhibited much less variability in the Gibbs artifact. The in vivo findings were confirmed by phantom imaging and numerical simulations. Conclusion Unless pre-FFT zero-filling interpolation is performed, Gibbs artifacts are very dependent on the position of the subendocardial wall within the pixel. By introducing sub-pixel shifts relative to the endocardial border, some of the variability of the dark rim artifacts in different myocardial segments, in different patients and from frame to frame during first-pass perfusion due to cardiac and respiratory motion can be explained. Image interpolation by zero-filling can be used to minimize this dependency.

  7. Sub-pixel mineral mapping using EO-1 Hyperion hyperspectral data

    Science.gov (United States)

    Kumar, C.; Shetty, A.; Raval, S.; Champatiray, P. K.; Sharma, R.

    2014-11-01

    This study describes the utility of Earth Observation (EO)-1 Hyperion data for sub-pixel mineral investigation using Mixture Tuned Target Constrained Interference Minimized Filter (MTTCIMF) algorithm in hostile mountainous terrain of Rajsamand district of Rajasthan, which hosts economic mineralization such as lead, zinc, and copper etc. The study encompasses pre-processing, data reduction, Pixel Purity Index (PPI) and endmember extraction from reflectance image of surface minerals such as illite, montmorillonite, phlogopite, dolomite and chlorite. These endmembers were then assessed with USGS mineral spectral library and lab spectra of rock samples collected from field for spectral inspection. Subsequently, MTTCIMF algorithm was implemented on processed image to obtain mineral distribution map of each detected mineral. A virtual verification method has been adopted to evaluate the classified image, which uses directly image information to evaluate the result and confirm the overall accuracy and kappa coefficient of 68 % and 0.6 respectively. The sub-pixel level mineral information with reasonable accuracy could be a valuable guide to geological and exploration community for expensive ground and/or lab experiments to discover economic deposits. Thus, the study demonstrates the feasibility of Hyperion data for sub-pixel mineral mapping using MTTCIMF algorithm with cost and time effective approach.

  8. Improved Surface Reflectance from Remote Sensing Data with Sub-Pixel Topographic Information

    Directory of Open Access Journals (Sweden)

    Laure Roupioz

    2014-10-01

    Full Text Available Several methods currently exist to efficiently correct topographic effects on the radiance measured by satellites. Most of those methods use topographic information and satellite data at the same spatial resolution. In this study, the 30 m spatial resolution data of the Digital Elevation Model (DEM from ASTER (Advanced Spaceborne Thermal Emission and Reflection Radiometer are used to account for those topographic effects when retrieving land surface reflectance from satellite data at lower spatial resolution (e.g., 1 km. The methodology integrates the effects of sub-pixel topography on the estimation of the total irradiance received at the surface considering direct, diffuse and terrain irradiance. The corrected total irradiance is then used to compute the topographically corrected surface reflectance. The proposed method has been developed to be applied on various kilometric pixel size satellite data. In this study, it was tested and validated with synthetic Landsat data aggregated at 1 km. The results obtained after a sub-pixel topographic correction are compared with the ones obtained after a pixel level topographic correction and show that in rough terrain, the sub-pixel topography correction method provides better results even if it tends to slightly overestimate the retrieved land surface reflectance in some cases.

  9. Superpixel-based graph cuts for accurate stereo matching

    Science.gov (United States)

    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.

  10. 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.

  11. Detection of sub-pixel fractures in X-ray dark-field tomography

    Energy Technology Data Exchange (ETDEWEB)

    Lauridsen, Torsten; Feidenhans' l, Robert [University of Copenhagen, Niels Bohr Institute, Copenhagen (Denmark); Willner, Marian; Pfeiffer, Franz [Technische Universitaet Muenchen, Department of Physics and Institute of Medical Engineering, Garching (Germany); Bech, Martin [Lund University, Medical Radiation Physics, Lund (Sweden)

    2015-11-15

    We present a new method for detecting fractures in solid materials below the resolution given by the detector pixel size by using grating-based X-ray interferometry. The technique is particularly useful for detecting sub-pixel cracks in large samples where the size of the sample is preventing high-resolution μCT studies of the entire sample. The X-ray grating interferometer produces three distinct modality signals: absorption, phase and dark field. The method utilizes the unique scattering features of the dark-field signal. We have used tomograms reconstructed from each of the three signals to detect cracks in a model sample consisting of stearin. (orig.)

  12. 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.

  13. Sub-Pixel Classification of MODIS EVI for Annual Mappings of Impervious Surface Areas

    Directory of Open Access Journals (Sweden)

    Narumasa Tsutsumida

    2016-02-01

    Full Text Available Regular monitoring of expanding impervious surfaces areas (ISAs in urban areas is highly desirable. MODIS data can meet this demand in terms of frequent observations but are lacking in spatial detail, leading to the mixed land cover problem when per-pixel classifications are applied. To overcome this issue, this research develops and applies a spatio-temporal sub-pixel model to estimate ISAs on an annual basis during 2001–2013 in the Jakarta Metropolitan Area, Indonesia. A Random Forest (RF regression inferred the ISA proportion from annual 23 values of MODIS MOD13Q1 EVI and reference data in which such proportion was visually allocated from very high-resolution images in Google Earth over time at randomly selected locations. Annual maps of ISA proportion were generated and showed an average increase of 30.65 km2/year over 13 years. For comparison, a series of RF per-pixel classifications were also developed from the same reference data using a Boolean class constructed from different thresholds of ISA proportion. Results from per-pixel models varied when such thresholds change, suggesting difficulty of estimation of actual ISAs. This research demonstrated the advantages of spatio-temporal sub-pixel analysis for annual ISAs mapping and addresses the problem associated with definitions of thresholds in per-pixel approaches.

  14. Sub-pixel estimation of tree cover and bare surface densities using regression tree analysis

    Directory of Open Access Journals (Sweden)

    Carlos Augusto Zangrando Toneli

    2011-09-01

    Full Text Available Sub-pixel analysis is capable of generating continuous fields, which represent the spatial variability of certain thematic classes. The aim of this work was to develop numerical models to represent the variability of tree cover and bare surfaces within the study area. This research was conducted in the riparian buffer within a watershed of the São Francisco River in the North of Minas Gerais, Brazil. IKONOS and Landsat TM imagery were used with the GUIDE algorithm to construct the models. The results were two index images derived with regression trees for the entire study area, one representing tree cover and the other representing bare surface. The use of non-parametric and non-linear regression tree models presented satisfactory results to characterize wetland, deciduous and savanna patterns of forest formation.

  15. Evaluating Fourier Cross-Correlation Sub-Pixel Registration in Landsat Images

    Directory of Open Access Journals (Sweden)

    Jaime Almonacid-Caballer

    2017-10-01

    Full Text Available Multi-temporal analysis is one of the main applications of remote sensing, and Landsat imagery has been one of the main resources for many years. However, the moderate spatial resolution (30 m restricts their use for high precision applications. In this paper, we simulate Landsat scenes to evaluate, by means of an exhaustive number of tests, a subpixel registration process based on phase correlation and the upsampling of the Fourier transform. From a high resolution image (0.5 m, two sets of 121 synthetic images of fixed translations are created to simulate Landsat scenes (30 m. In this sense, the use of the point spread function (PSF of the Landsat TM (Thematic Mapper sensor in the downsampling process improves the results compared to those obtained by simple averaging. In the process of obtaining sub-pixel accuracy by upsampling the cross correlation matrix by a certain factor, the limit of improvement is achieved at 0.1 pixels. We show that image size affects the cross correlation results, but for images equal or larger than 100 × 100 pixels similar accuracies are expected. The large dataset used in the tests allows us to describe the intra-pixel distribution of the errors obtained in the registration process and how they follow a waveform instead of random/stochastic behavior. The amplitude of this waveform, representing the highest expected error, is estimated at 1.88 m. Finally, a validation test is performed over a set of sub-pixel shorelines obtained from actual Landsat-5 TM, Landsat-7 ETM+ (Enhanced Thematic Mapper Plus and Landsat-8 OLI (Operation Land Imager scenes. The evaluation of the shoreline accuracy with respect to permanent seawalls, before and after the registration, shows the importance of the registering process and serves as a non-synthetic validation test that reinforce previous results.

  16. Simulation of urban land surface temperature based on sub-pixel land cover in a coastal city

    Science.gov (United States)

    Zhao, Xiaofeng; Deng, Lei; Feng, Huihui; Zhao, Yanchuang

    2014-11-01

    The sub-pixel urban land cover has been proved to have obvious correlations with land surface temperature (LST). Yet these relationships have seldom been used to simulate LST. In this study we provided a new approach of urban LST simulation based on sub-pixel land cover modeling. Landsat TM/ETM+ images of Xiamen city, China on both the January of 2002 and 2007 were used to acquire land cover and then extract the transformation rule using logistic regression. The transformation possibility was taken as its percent in the same pixel after normalization. And cellular automata were used to acquire simulated sub-pixel land cover on 2007 and 2017. On the other hand, the correlations between retrieved LST and sub-pixel land cover achieved by spectral mixture analysis in 2002 were examined and a regression model was built. Then the regression model was used on simulated 2007 land cover to model the LST of 2007. Finally the LST of 2017 was simulated for urban planning and management. The results showed that our method is useful in LST simulation. Although the simulation accuracy is not quite satisfactory, it provides an important idea and a good start in the modeling of urban LST.

  17. Characterizing sub-pixel landsat ETM plus fire severity on experimental fires in the Kruger National Park, South Africa

    CSIR Research Space (South Africa)

    Landmann, T

    2003-07-01

    Full Text Available Burn severity was quantitatively mapped using a unique linear spectral mixture model to determine sub-pixel abundances of different ashes and combustion completeness measured on the corresponding fire-affected pixels in Landsat data. A new burn...

  18. Sub-pixel localisation of passive micro-coil fiducial markers in interventional MRI.

    Science.gov (United States)

    Rea, Marc; McRobbie, Donald; Elhawary, Haytham; Tse, Zion T H; Lamperth, Michael; Young, Ian

    2009-04-01

    Electromechanical devices enable increased accuracy in surgical procedures, and the recent development of MRI-compatible mechatronics permits the use of MRI for real-time image guidance. Integrated imaging of resonant micro-coil fiducials provides an accurate method of tracking devices in a scanner with increased flexibility compared to gradient tracking. Here we report on the ability of ten different image-processing algorithms to track micro-coil fiducials with sub-pixel accuracy. Five algorithms: maximum pixel, barycentric weighting, linear interpolation, quadratic fitting and Gaussian fitting were applied both directly to the pixel intensity matrix and to the cross-correlation matrix obtained by 2D convolution with a reference image. Using images of a 3 mm fiducial marker and a pixel size of 1.1 mm, intensity linear interpolation, which calculates the position of the fiducial centre by interpolating the pixel data to find the fiducial edges, was found to give the best performance for minimal computing power; a maximum error of 0.22 mm was observed in fiducial localisation for displacements up to 40 mm. The inherent standard deviation of fiducial localisation was 0.04 mm. This work enables greater accuracy to be achieved in passive fiducial tracking.

  19. 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...

  20. Sentinel-2’s Potential for Sub-Pixel Landscape Feature Detection

    Directory of Open Access Journals (Sweden)

    Julien Radoux

    2016-06-01

    Full Text Available Land cover and land use maps derived from satellite remote sensing imagery are critical to support biodiversity and conservation, especially over large areas. With its 10 m to 20 m spatial resolution, Sentinel-2 is a promising sensor for the detection of a variety of landscape features of ecological relevance. However, many components of the ecological network are still smaller than the 10 m pixel, i.e., they are sub-pixel targets that stretch the sensor’s resolution to its limit. This paper proposes a framework to empirically estimate the minimum object size for an accurate detection of a set of structuring landscape foreground/background pairs. The developed method combines a spectral separability analysis and an empirical point spread function estimation for Sentinel-2. The same approach was also applied to Landsat-8 and SPOT-5 (Take 5, which can be considered as similar in terms of spectral definition and spatial resolution, respectively. Results show that Sentinel-2 performs consistently on both aspects. A large number of indices have been tested along with the individual spectral bands and target discrimination was possible in all but one case. Overall, results for Sentinel-2 highlight the critical importance of a good compromise between the spatial and spectral resolution. For instance, the Sentinel-2 roads detection limit was of 3 m and small water bodies are separable with a diameter larger than 11 m. In addition, the analysis of spectral mixtures draws attention to the uneven sensitivity of a variety of spectral indices. The proposed framework could be implemented to assess the fitness for purpose of future sensors within a large range of applications.

  1. Sub-pixel measurement system for grid's width and period based on an improved partial area effect

    Science.gov (United States)

    Zhu, Feijia; Jin, Peng

    2017-12-01

    Based on the partial area effect of charge-coupled device (CCD), a sub-pixel line detecting algorithm is proposed to measure the width and the period of a metal grid. An optical pointing system is developed and applied to accurately measure the line-width and the period of a grid. The grid's moving image is captured by the developed system. From the obtained images, one can determine position of a line with sub-pixel resolution. By controlling the grid's movement and aiming at the grid, the absolute coordinates of a grating ruler are obtained. Simulated calculations and experiments are performed with recorded video images to validate the performance of the proposed algorithm. The results show that the precision of the proposed estimation algorithm can reach 0.025 pixels for a moving image.

  2. DONUTS: A science frame autoguiding algorithm with sub-pixel precision, capable of guiding on defocused stars

    OpenAIRE

    McCormac, J.; Pollacco, D.; Skillen, I.; Faedi, F.; Todd, I.; Watson, C. A.

    2013-01-01

    We present the DONUTS autoguiding algorithm, designed to fix stellar positions at the sub-pixel level for high-cadence time-series photometry, which is also capable of autoguiding on defocused stars. DONUTS was designed to calculate guide corrections from a series of science images and re-centre telescope pointing between each exposure. The algorithm has the unique ability of calculating guide corrections from under-sampled to heavily defocused point spread functions. We present the case for ...

  3. Quantifying Sub-Pixel Surface Water Coverage in Urban Environments Using Low-Albedo Fraction from Landsat Imagery

    OpenAIRE

    Weiwei Sun; Bo Du; Shaolong Xiong

    2017-01-01

    The problem of mixed pixels negatively affects the delineation of accurate surface water in Landsat Imagery. Linear spectral unmixing has been demonstrated to be a powerful technique for extracting surface materials at a sub-pixel scale. Therefore, in this paper, we propose an innovative low albedo fraction (LAF) method based on the idea of unconstrained linear spectral unmixing. The LAF stands on the “High Albedo-Low Albedo-Vegetation” model of spectral unmixing analysis in urban environment...

  4. Approaches for Stereo Matching

    Directory of Open Access Journals (Sweden)

    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.

  5. 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...

  6. 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)

  7. Thorough statistical comparison of machine learning regression models and their ensembles for sub-pixel imperviousness and imperviousness change mapping

    Science.gov (United States)

    Drzewiecki, Wojciech

    2017-12-01

    We evaluated the performance of nine machine learning regression algorithms and their ensembles for sub-pixel estimation of impervious areas coverages from Landsat imagery. The accuracy of imperviousness mapping in individual time points was assessed based on RMSE, MAE and R2. These measures were also used for the assessment of imperviousness change intensity estimations. The applicability for detection of relevant changes in impervious areas coverages at sub-pixel level was evaluated using overall accuracy, F-measure and ROC Area Under Curve. The results proved that Cubist algorithm may be advised for Landsat-based mapping of imperviousness for single dates. Stochastic gradient boosting of regression trees (GBM) may be also considered for this purpose. However, Random Forest algorithm is endorsed for both imperviousness change detection and mapping of its intensity. In all applications the heterogeneous model ensembles performed at least as well as the best individual models or better. They may be recommended for improving the quality of sub-pixel imperviousness and imperviousness change mapping. The study revealed also limitations of the investigated methodology for detection of subtle changes of imperviousness inside the pixel. None of the tested approaches was able to reliably classify changed and non-changed pixels if the relevant change threshold was set as one or three percent. Also for fi ve percent change threshold most of algorithms did not ensure that the accuracy of change map is higher than the accuracy of random classifi er. For the threshold of relevant change set as ten percent all approaches performed satisfactory.

  8. DONUTS: A Science Frame Autoguiding Algorithm with Sub-Pixel Precision, Capable of Guiding on Defocused Stars

    Science.gov (United States)

    McCormac, J.; Pollacco, D.; Skillen, I.; Faedi, F.; Todd, I.; Watson, C. A.

    2013-05-01

    We present the DONUTS autoguiding algorithm, designed to fix stellar positions at the sub-pixel level for high-cadence time-series photometry, and also capable of autoguiding on defocused stars. DONUTS was designed to calculate guide corrections from a series of science images and recentre telescope pointing between each exposure. The algorithm has the unique ability of calculating guide corrections from undersampled to heavily defocused point spread functions. We present the case for why such an algorithm is important for high precision photometry and give our results from off and on-sky testing. We discuss the limitations of DONUTS and the facilities where it soon will be deployed.

  9. Mapping the Spatial Distribution of Winter Crops at Sub-Pixel Level Using AVHRR NDVI Time Series and Neural Nets

    Directory of Open Access Journals (Sweden)

    Felix Rembold

    2013-03-01

    Full Text Available For large areas, it is difficult to assess the spatial distribution and inter-annual variation of crop acreages through field surveys. Such information, however, is of great value for governments, land managers, planning authorities, commodity traders and environmental scientists. Time series of coarse resolution imagery offer the advantage of global coverage at low costs, and are therefore suitable for large-scale crop type mapping. Due to their coarse spatial resolution, however, the problem of mixed pixels has to be addressed. Traditional hard classification approaches cannot be applied because of sub-pixel heterogeneity. We evaluate neural networks as a modeling tool for sub-pixel crop acreage estimation. The proposed methodology is based on the assumption that different cover type proportions within coarse pixels prompt changes in time profiles of remotely sensed vegetation indices like the Normalized Difference Vegetation Index (NDVI. Neural networks can learn the relation between temporal NDVI signatures and the sought crop acreage information. This learning step permits a non-linear unmixing of the temporal information provided by coarse resolution satellite sensors. For assessing the feasibility and accuracy of the approach, a study region in central Italy (Tuscany was selected. The task consisted of mapping the spatial distribution of winter crops abundances within 1 km AVHRR pixels between 1988 and 2001. Reference crop acreage information for network training and validation was derived from high resolution Thematic Mapper/Enhanced Thematic Mapper (TM/ETM+ images and official agricultural statistics. Encouraging results were obtained demonstrating the potential of the proposed approach. For example, the spatial distribution of winter crop acreage at sub-pixel level was mapped with a cross-validated coefficient of determination of 0.8 with respect to the reference information from high resolution imagery. For the eight years for which

  10. An autocorrelation-based method for improvement of sub-pixel displacement estimation in ultrasound strain imaging.

    Science.gov (United States)

    Kim, Seungsoo; Aglyamov, Salavat R; Park, Suhyun; O'Donnell, Matthew; Emelianov, Stanislav Y

    2011-04-01

    In ultrasound strain and elasticity imaging, an accurate and cost-effective sub-pixel displacement estimator is required because strain/elasticity imaging quality relies on the displacement SNR, which can often be higher if more computational resources are provided. In this paper, we introduce an autocorrelation-based method to cost-effectively improve subpixel displacement estimation quality. To quantitatively evaluate the performance of the autocorrelation method, simulated and tissue-mimicking phantom experiments were performed. The computational cost of the autocorrelation method is also discussed. The results of our study suggest the autocorrelation method can be used for a real-time elasticity imaging system. © 2011 IEEE

  11. What is binocular disparity?

    OpenAIRE

    Lappin, Joseph S.

    2014-01-01

    What are the geometric primitives of binocular disparity? The Venetian blind effect and other converging lines of evidence indicate that stereo-scopic depth perception derives from disparities of higher-order structure in images of surfaces. Image structure entails spatial variations of in-tensity, texture, and motion, jointly structured by observed surfaces. The spatial structure of bin-ocular disparity corresponds to the spatial struc-ture of surfaces. Independent spatial coordinates are no...

  12. Quantifying Sub-Pixel Surface Water Coverage in Urban Environments Using Low-Albedo Fraction from Landsat Imagery

    Directory of Open Access Journals (Sweden)

    Weiwei Sun

    2017-05-01

    Full Text Available The problem of mixed pixels negatively affects the delineation of accurate surface water in Landsat Imagery. Linear spectral unmixing has been demonstrated to be a powerful technique for extracting surface materials at a sub-pixel scale. Therefore, in this paper, we propose an innovative low albedo fraction (LAF method based on the idea of unconstrained linear spectral unmixing. The LAF stands on the “High Albedo-Low Albedo-Vegetation” model of spectral unmixing analysis in urban environments, and investigates the urban surface water extraction problem with the low albedo fraction map. Three experiments are carefully designed using Landsat TM/ETM+ images on the three metropolises of Wuhan, Shanghai, and Guangzhou in China, and per-pixel and sub-pixel accuracies are estimated. The results are compared against extraction accuracies from three popular water extraction methods including the normalized difference water index (NDWI, modified normalized difference water index (MNDWI, and automated water extraction index (AWEI. Experimental results show that LAF achieves a better accuracy when extracting urban surface water than both MNDWI and AWEI do, especially in boundary mixed pixels. Moreover, the LAF has the smallest threshold variations among the three methods, and the fraction threshold of 1 is a proper choice for LAF to obtain good extraction results. Therefore, the LAF is a promising approach for extracting urban surface water coverage.

  13. What is Binocular Disparity?

    Directory of Open Access Journals (Sweden)

    Joseph S Lappin

    2014-08-01

    Full Text Available What are the geometric primitives of binocular disparity? The Venetian blind effect and other converging lines of evidence indicate that stereo-scopic depth perception derives from disparities of higher-order structure in images of surfaces. Image structure entails spatial variations of in-tensity, texture, and motion, jointly structured by observed surfaces. The spatial structure of bin-ocular disparity corresponds to the spatial struc-ture of surfaces. Independent spatial coordinates are not necessary for stereoscopic vision. Stere-opsis is highly sensitive to structural disparities associated with local surface shape. Disparate positions on retinal anatomy are neither neces-sary nor sufficient for stereopsis.

  14. 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.

  15. 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.

  16. Color capable sub-pixel resolving optofluidic microscope and its application to blood cell imaging for malaria diagnosis.

    Directory of Open Access Journals (Sweden)

    Seung Ah Lee

    Full Text Available Miniaturization of imaging systems can significantly benefit clinical diagnosis in challenging environments, where access to physicians and good equipment can be limited. Sub-pixel resolving optofluidic microscope (SROFM offers high-resolution imaging in the form of an on-chip device, with the combination of microfluidics and inexpensive CMOS image sensors. In this work, we report on the implementation of color SROFM prototypes with a demonstrated optical resolution of 0.66 µm at their highest acuity. We applied the prototypes to perform color imaging of red blood cells (RBCs infected with Plasmodium falciparum, a particularly harmful type of malaria parasites and one of the major causes of death in the developing world.

  17. Estimation of sub-pixel water area on Tibet plateau using multiple endmembers spectral mixture spectral analysis from MODIS data

    Science.gov (United States)

    Cui, Qian; Shi, Jiancheng; Xu, Yuanliu

    2011-12-01

    Water is the basic needs for human society, and the determining factor of stability of ecosystem as well. There are lots of lakes on Tibet Plateau, which will lead to flood and mudslide when the water expands sharply. At present, water area is extracted from TM or SPOT data for their high spatial resolution; however, their temporal resolution is insufficient. MODIS data have high temporal resolution and broad coverage. So it is valuable resource for detecting the change of water area. Because of its low spatial resolution, mixed-pixels are common. In this paper, four spectral libraries are built using MOD09A1 product, based on that, water body is extracted in sub-pixels utilizing Multiple Endmembers Spectral Mixture Analysis (MESMA) using MODIS daily reflectance data MOD09GA. The unmixed result is comparing with contemporaneous TM data and it is proved that this method has high accuracy.

  18. 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...

  19. 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

  20. 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.

  1. 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)

  2. PSICIC: noise and asymmetry in bacterial division revealed by computational image analysis at sub-pixel resolution.

    Directory of Open Access Journals (Sweden)

    Jonathan M Guberman

    2008-11-01

    Full Text Available Live-cell imaging by light microscopy has demonstrated that all cells are spatially and temporally organized. Quantitative, computational image analysis is an important part of cellular imaging, providing both enriched information about individual cell properties and the ability to analyze large datasets. However, such studies are often limited by the small size and variable shape of objects of interest. Here, we address two outstanding problems in bacterial cell division by developing a generally applicable, standardized, and modular software suite termed Projected System of Internal Coordinates from Interpolated Contours (PSICIC that solves common problems in image quantitation. PSICIC implements interpolated-contour analysis for accurate and precise determination of cell borders and automatically generates internal coordinate systems that are superimposable regardless of cell geometry. We have used PSICIC to establish that the cell-fate determinant, SpoIIE, is asymmetrically localized during Bacillus subtilis sporulation, thereby demonstrating the ability of PSICIC to discern protein localization features at sub-pixel scales. We also used PSICIC to examine the accuracy of cell division in Esherichia coli and found a new role for the Min system in regulating division-site placement throughout the cell length, but only prior to the initiation of cell constriction. These results extend our understanding of the regulation of both asymmetry and accuracy in bacterial division while demonstrating the general applicability of PSICIC as a computational approach for quantitative, high-throughput analysis of cellular images.

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

    Science.gov (United States)

    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.

  4. 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.

  5. 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.

  6. Lidar-based Evaluation of Sub-pixel Forest Structural Characteristics and Sun-sensor Geometries that Influence MODIS Leaf Area Index Product Accuracy and Retrieval Quality

    Science.gov (United States)

    Jensen, J.; Humes, K. S.

    2010-12-01

    Leaf Area Index (LAI) is an important structural component of vegetation because the foliar surface of plants largely controls the exchange of water, nutrients, and energy within terrestrial ecosystems. Because LAI is a key variable used to model water, energy, and biogeochemical cycles, Moderate Resolution Imaging Spectroradiometer (MODIS) LAI products are widely used in many studies to better understand and quantify exchanges between the terrestrial surface and the atmosphere. Within the last decade, significant resources and efforts have been invested toward MODIS LAI validation for a variety of biome types and a suite of published work has provided valuable feedback on the agreement between MODIS-derived LAI via radiative transfer (RT) inversion compared to multispectral-based empirical estimates of LAI. Our study provides an alternative assessment of the MODIS LAI product for a 58,000 ha evergreen needleleaf forest located in the western Rocky Mountain range in northern Idaho by using lidar data to model (R2=0.86, RMSE=0.76) and map fine-scale estimates of vegetation structure over a region for which multispectral LAI estimates were unacceptable. In an effort to provide feedback on algorithm performance, we evaluated the agreement between lidar-modeled and MODIS-retrieved LAI by specific MODIS LAI retrieval algorithm and product quality definitions. We also examined the sub-pixel vegetation structural conditions and satellite-sensor geometries that tend to influence MODIS LAI retrieval algorithm and product quality over our study area. Our results demonstrate a close agreement between lidar LAI and MODIS LAI retrieved using the main RT algorithm and consistently large MODIS LAI overestimates for pixels retrieved from a saturated set of RT solutions. Our evaluation also illuminated some conditions for which sub-pixel structural characteristics and sun-sensor geometries influenced retrieval quality and product agreement. These conditions include: 1) the

  7. 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.

  8. DESIGN OF DYADIC-INTEGER-COEFFICIENTS BASED BI-ORTHOGONAL WAVELET FILTERS FOR IMAGE SUPER-RESOLUTION USING SUB-PIXEL IMAGE REGISTRATION

    Directory of Open Access Journals (Sweden)

    P.B. Chopade

    2014-05-01

    Full Text Available This paper presents image super-resolution scheme based on sub-pixel image registration by the design of a specific class of dyadic-integer-coefficient based wavelet filters derived from the construction of a half-band polynomial. First, the integer-coefficient based half-band polynomial is designed by the splitting approach. Next, this designed half-band polynomial is factorized and assigned specific number of vanishing moments and roots to obtain the dyadic-integer coefficients low-pass analysis and synthesis filters. The possibility of these dyadic-integer coefficients based wavelet filters is explored in the field of image super-resolution using sub-pixel image registration. The two-resolution frames are registered at a specific shift from one another to restore the resolution lost by CCD array of camera. The discrete wavelet transform (DWT obtained from the designed coefficients is applied on these two low-resolution images to obtain the high resolution image. The developed approach is validated by comparing the quality metrics with existing filter banks.

  9. 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.

  10. 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.

  11. 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

  12. 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.

  13. A BAND SELECTION METHOD FOR SUB-PIXEL TARGET DETECTION IN HYPERSPECTRAL IMAGES BASED ON LABORATORY AND FIELD REFLECTANCE SPECTRAL COMPARISON

    Directory of Open Access Journals (Sweden)

    S. Sharifi hashjin

    2016-06-01

    Full Text Available In recent years, developing target detection algorithms has received growing interest in hyperspectral images. In comparison to the classification field, few studies have been done on dimension reduction or band selection for target detection in hyperspectral images. This study presents a simple method to remove bad bands from the images in a supervised manner for sub-pixel target detection. The proposed method is based on comparing field and laboratory spectra of the target of interest for detecting bad bands. For evaluation, the target detection blind test dataset is used in this study. Experimental results show that the proposed method can improve efficiency of the two well-known target detection methods, ACE and CEM.

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

    Science.gov (United States)

    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. 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.

  16. Stereo matching using neighboring system constructed with MST

    Science.gov (United States)

    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.

  17. A Framework Based on 2-D Taylor Expansion for Quantifying the Impacts of Sub-Pixel Reflectance Variance and Covariance on Cloud Optical Thickness and Effective Radius Retrievals Based on the Bi-Spectral Method

    Science.gov (United States)

    Zhang, Z.; Werner, F.; Cho, H. -M.; Wind, G.; Platnick, S.; Ackerman, A. S.; Di Girolamo, L.; Marshak, A.; Meyer, Kerry

    2016-01-01

    The bi-spectral method retrieves cloud optical thickness and cloud droplet effective radius simultaneously from a pair of cloud reflectance observations, one in a visible or near-infrared (VISNIR) band and the other in a shortwave infrared (SWIR) band. A cloudy pixel is usually assumed to be horizontally homogeneous in the retrieval. Ignoring sub-pixel variations of cloud reflectances can lead to a significant bias in the retrieved and re. In the literature, the retrievals of and re are often assumed to be independent and considered separately when investigating the impact of sub-pixel cloud reflectance variations on the bi-spectral method. As a result, the impact on is contributed only by the sub-pixel variation of VISNIR band reflectance and the impact on re only by the sub-pixel variation of SWIR band reflectance. In our new framework, we use the Taylor expansion of a two-variable function to understand and quantify the impacts of sub-pixel variances of VISNIR and SWIR cloud reflectances and their covariance on the and re retrievals. This framework takes into account the fact that the retrievals are determined by both VISNIR and SWIR band observations in a mutually dependent way. In comparison with previous studies, it provides a more comprehensive understanding of how sub-pixel cloud reflectance variations impact the and re retrievals based on the bi-spectral method. In particular, our framework provides a mathematical explanation of how the sub-pixel variation in VISNIR band influences the re retrieval and why it can sometimes outweigh the influence of variations in the SWIR band and dominate the error in re retrievals, leading to a potential contribution of positive bias to the re retrieval. We test our framework using synthetic cloud fields from a large-eddy simulation and real observations from Moderate Resolution Imaging Spectroradiometer. The predicted results based on our framework agree very well with the numerical simulations. Our framework can be used

  18. 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

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

    Science.gov (United States)

    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. 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.

  1. A Framework for Quantifying the Impacts of Sub-Pixel Reflectance Variance and Covariance on Cloud Optical Thickness and Effective Radius Retrievals Based on the Bi-Spectral Method.

    Science.gov (United States)

    Zhang, Z; Werner, F.; Cho, H. -M.; Wind, Galina; Platnick, S.; Ackerman, A. S.; Di Girolamo, L.; Marshak, A.; Meyer, Kerry

    2017-01-01

    The so-called bi-spectral method retrieves cloud optical thickness (t) and cloud droplet effective radius (re) simultaneously from a pair of cloud reflectance observations, one in a visible or near infrared (VIS/NIR) band and the other in a shortwave-infrared (SWIR) band. A cloudy pixel is usually assumed to be horizontally homogeneous in the retrieval. Ignoring sub-pixel variations of cloud reflectances can lead to a significant bias in the retrieved t and re. In this study, we use the Taylor expansion of a two-variable function to understand and quantify the impacts of sub-pixel variances of VIS/NIR and SWIR cloud reflectances and their covariance on the t and re retrievals. This framework takes into account the fact that the retrievals are determined by both VIS/NIR and SWIR band observations in a mutually dependent way. In comparison with previous studies, it provides a more comprehensive understanding of how sub-pixel cloud reflectance variations impact the t and re retrievals based on the bi-spectral method. In particular, our framework provides a mathematical explanation of how the sub-pixel variation in VIS/NIR band influences the re retrieval and why it can sometimes outweigh the influence of variations in the SWIR band and dominate the error in re retrievals, leading to a potential contribution of positive bias to the re retrieval.

  2. A framework for quantifying the impacts of sub-pixel reflectance variance and covariance on cloud optical thickness and effective radius retrievals based on the bi-spectral method

    Science.gov (United States)

    Zhang, Z.; Werner, F.; Cho, H.-M.; Wind, G.; Platnick, S.; Ackerman, A. S.; Di Girolamo, L.; Marshak, A.; Meyer, Kerry

    2017-02-01

    The so-called bi-spectral method retrieves cloud optical thickness (τ) and cloud droplet effective radius (re) simultaneously from a pair of cloud reflectance observations, one in a visible or near infrared (VIS/NIR) band and the other in a shortwave-infrared (SWIR) band. A cloudy pixel is usually assumed to be horizontally homogeneous in the retrieval. Ignoring sub-pixel variations of cloud reflectances can lead to a significant bias in the retrieved τ and re. In this study, we use the Taylor expansion of a two-variable function to understand and quantify the impacts of sub-pixel variances of VIS/NIR and SWIR cloud reflectances and their covariance on the τ and re retrievals. This framework takes into account the fact that the retrievals are determined by both VIS/NIR and SWIR band observations in a mutually dependent way. In comparison with previous studies, it provides a more comprehensive understanding of how sub-pixel cloud reflectance variations impact the τ and re retrievals based on the bi-spectral method. In particular, our framework provides a mathematical explanation of how the sub-pixel variation in VIS/NIR band influences the re retrieval and why it can sometimes outweigh the influence of variations in the SWIR band and dominate the error in re retrievals, leading to a potential contribution of positive bias to the re retrieval.

  3. 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.

  4. 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

  5. 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.

  6. 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.

  7. Surfaces of forced vergence disparity

    Directory of Open Access Journals (Sweden)

    A. Rubin

    2013-12-01

    Full Text Available Purpose: To introduce the concept of surfaces offorced vergence disparity using measurementsof fixation disparity from three young, healthy individuals.Method: Fixation disparities were measured in three individuals in relation to variation in stimulus distance and vergence demand.  All measurementswere obtained by means of the Sheedy disparometerwhich can be used to measure not only fixation disparity but also associated phorias.  For each individual, consecutive measurements of fixation disparity only were determined over a short time period at four stimulus distances (0.25 m, 0.4 m, 1 m and 2 m and under five different vergence demands as produced with the application of different amounts of prism (either base in or base out and also without any prism.  Parametric and non-parametric statistical methods are used to understand short-term variation of fixation disparity and pseudo-3D and stereo-pairs represent thesurfaces of forced vergence disparity with which this paper is mainly concerned.Results:  Surfaces of forced vergence disparity are very useful to study variation of fixation disparity inrelation to change in stimulus distance and vergence demand.  They are effectively 3-dimensional equivalents of 2-dimensional Ogle curves of forcedvergence disparity.Conclusion: Surfaces of forced vergence disparity may be useful in many contexts - both in relation to normal or unusual binocular behaviour.  This paper introduces such surfaces in relation to three individuals who were considered as having satisfactory binocular and accommodative-vergence function.  The surfaces assist one in understanding complicated three-dimensional or trivariate data that involves fixation disparities, different stimulus locations and different accommodative-vergence demands upon the oculo-motor system.  (S Afr Optom 2013 72(1 25-33 

  8. Stereoscopic Roadside Curb Height Measurement using V-Disparity

    DEFF Research Database (Denmark)

    Matu, Florin-Octavian; Vlaykov, Iskren; Thøgersen, Mikkel

    2014-01-01

    in the disparity image obtained from a stereo setup. Data about the geometry of the scene is extracted in the form of a row-wise histogram of the disparity map. From parameterizing the two strongest lines, each pixel can be labeled as belonging to one plane, either ground, sidewalk or curb candidates. Experimental...

  9. 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.

  10. 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.

  11. Automated Multi-Peak Tracking Kymography (AMTraK: A Tool to Quantify Sub-Cellular Dynamics with Sub-Pixel Accuracy.

    Directory of Open Access Journals (Sweden)

    Anushree R Chaphalkar

    Full Text Available Kymographs or space-time plots are widely used in cell biology to reduce the dimensions of a time-series in microscopy for both qualitative and quantitative insight into spatio-temporal dynamics. While multiple tools for image kymography have been described before, quantification remains largely manual. Here, we describe a novel software tool for automated multi-peak tracking kymography (AMTraK, which uses peak information and distance minimization to track and automatically quantify kymographs, integrated in a GUI. The program takes fluorescence time-series data as an input and tracks contours in the kymographs based on intensity and gradient peaks. By integrating a branch-point detection method, it can be used to identify merging and splitting events of tracks, important in separation and coalescence events. In tests with synthetic images, we demonstrate sub-pixel positional accuracy of the program. We test the program by quantifying sub-cellular dynamics in rod-shaped bacteria, microtubule (MT transport and vesicle dynamics. A time-series of E. coli cell division with labeled nucleoid DNA is used to identify the time-point and rate at which the nucleoid segregates. The mean velocity of microtubule (MT gliding motility due to a recombinant kinesin motor is estimated as 0.5 μm/s, in agreement with published values, and comparable to estimates using software for nanometer precision filament-tracking. We proceed to employ AMTraK to analyze previously published time-series microscopy data where kymographs had been manually quantified: clathrin polymerization kinetics during vesicle formation and anterograde and retrograde transport in axons. AMTraK analysis not only reproduces the reported parameters, it also provides an objective and automated method for reproducible analysis of kymographs from in vitro and in vivo fluorescence microscopy time-series of sub-cellular dynamics.

  12. Automated Multi-Peak Tracking Kymography (AMTraK): A Tool to Quantify Sub-Cellular Dynamics with Sub-Pixel Accuracy.

    Science.gov (United States)

    Chaphalkar, Anushree R; Jain, Kunalika; Gangan, Manasi S; Athale, Chaitanya A

    2016-01-01

    Kymographs or space-time plots are widely used in cell biology to reduce the dimensions of a time-series in microscopy for both qualitative and quantitative insight into spatio-temporal dynamics. While multiple tools for image kymography have been described before, quantification remains largely manual. Here, we describe a novel software tool for automated multi-peak tracking kymography (AMTraK), which uses peak information and distance minimization to track and automatically quantify kymographs, integrated in a GUI. The program takes fluorescence time-series data as an input and tracks contours in the kymographs based on intensity and gradient peaks. By integrating a branch-point detection method, it can be used to identify merging and splitting events of tracks, important in separation and coalescence events. In tests with synthetic images, we demonstrate sub-pixel positional accuracy of the program. We test the program by quantifying sub-cellular dynamics in rod-shaped bacteria, microtubule (MT) transport and vesicle dynamics. A time-series of E. coli cell division with labeled nucleoid DNA is used to identify the time-point and rate at which the nucleoid segregates. The mean velocity of microtubule (MT) gliding motility due to a recombinant kinesin motor is estimated as 0.5 μm/s, in agreement with published values, and comparable to estimates using software for nanometer precision filament-tracking. We proceed to employ AMTraK to analyze previously published time-series microscopy data where kymographs had been manually quantified: clathrin polymerization kinetics during vesicle formation and anterograde and retrograde transport in axons. AMTraK analysis not only reproduces the reported parameters, it also provides an objective and automated method for reproducible analysis of kymographs from in vitro and in vivo fluorescence microscopy time-series of sub-cellular dynamics.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. Cancer Disparities

    Science.gov (United States)

    Basic information about cancer disparities in the U.S., factors that contribute to the disproportionate burden of cancer in some groups, and examples of disparities in incidence and mortality among certain populations.

  18. An Automated Approach for Sub-Pixel Registration of Landsat-8 Operational Land Imager (OLI and Sentinel-2 Multi Spectral Instrument (MSI Imagery

    Directory of Open Access Journals (Sweden)

    Lin Yan

    2016-06-01

    -points were extracted and had affine-transformation root-mean-square error fits of approximately 0.3 pixels at 10 m resolution and dense-matching prediction errors of similar magnitude. These results and visual assessment of the affine transformed data indicate that the methodology provides sub-pixel registration performance required for meaningful Landsat-8 OLI and Sentinel-2A MSI data comparison and combined data applications.

  19. 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.

  20. Resolution enhancement of tri-stereo remote sensing images by super resolution methods

    Science.gov (United States)

    Tuna, Caglayan; Akoguz, Alper; Unal, Gozde; Sertel, Elif

    2016-10-01

    Super resolution (SR) refers to generation of a High Resolution (HR) image from a decimated, blurred, low-resolution (LR) image set, which can be either a single frame or multi-frame that contains a collection of several images acquired from slightly different views of the same observation area. In this study, we propose a novel application of tri-stereo Remote Sensing (RS) satellite images to the super resolution problem. Since the tri-stereo RS images of the same observation area are acquired from three different viewing angles along the flight path of the satellite, these RS images are properly suited to a SR application. We first estimate registration between the chosen reference LR image and other LR images to calculate the sub pixel shifts among the LR images. Then, the warping, blurring and down sampling matrix operators are created as sparse matrices to avoid high memory and computational requirements, which would otherwise make the RS-SR solution impractical. Finally, the overall system matrix, which is constructed based on the obtained operator matrices is used to obtain the estimate HR image in one step in each iteration of the SR algorithm. Both the Laplacian and total variation regularizers are incorporated separately into our algorithm and the results are presented to demonstrate an improved quantitative performance against the standard interpolation method as well as improved qualitative results due expert evaluations.

  1. 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.

  2. 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.

  3. 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.

  4. Disparity estimation from monocular image sequence

    Science.gov (United States)

    Zhang, Qieshi; Kamata, Sei-ichiro

    2015-02-01

    This paper proposes a novel method for estimating disparity accurately. To achieve the ideal result, an optimal adjusting framework is proposed to address the noise, occlusions, and outliners. Different from the typical multi-view stereo (MVS) methods, the proposed approach not only use the color constraint, but also use the geometric constraint associating multiple frame from the image sequence. The result shows the disparity with a good visual quality that most of the noise is eliminated, the errors in occlusion area are suppressed and the details of scene objects are preserved.

  5. Disparity Disambiguation by Fusion of Signal and Symbolic-Level Information

    DEFF Research Database (Denmark)

    Ralli, J.; Diaz, J.; Ros, E.

    2012-01-01

    We describe a method for resolving ambiguities in low-level disparity calculations in a stereo-vision scheme by using a recurrent mechanism that we call signal-symbol loop. Due to the local nature of low-level processing it is not always possible to estimate the correct disparity values produced...

  6. Free Space Computation From Stochastic Occupancy Grids Based On Iconic Kalman Filtered Disparity Maps

    DEFF Research Database (Denmark)

    Høilund, Carsten; Moeslund, Thomas B.; Madsen, Claus B.

    2010-01-01

    This paper presents a method for determining the free space in a scene as viewed by a vehicle-mounted camera. Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic Kalman filter, operating on each pixel individually, thereby reducing...

  7. 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.

  8. 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.

  9. Disparity refinement process based on RANSAC plane fitting for ...

    African Journals Online (AJOL)

    ... more accurate than normal flow state-of-the-art stereo matching algorithms. The performance evaluations are based on standard image quality metrics i.e. structural similarity index measure, peak signal-to-noise ratio and mean square error. Keywords: computer vision; disparity refinement; image segmentation; RANSAC; ...

  10. 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.

  11. 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.

  12. 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

  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. 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

  15. Matching Cost Filtering for Dense Stereo Correspondence

    Directory of Open Access Journals (Sweden)

    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.

  16. 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.

  17. Development of radiation hardened robot for nuclear facility - Development of real-time stereo object tracking system using the optical correlator

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Eun Soo; Lee, S. H.; Lee, J. S. [Kwangwoon University, Seoul (Korea)

    2000-03-01

    Object tracking, through Centroide method used in the KAERI-M1 Stereo Robot Vision System developed at Atomic Research Center, is too sensitive to target's light variation and because it has a fragility which can't reflect the surrounding background, the application in the actual condition is very limited. Also the correlation method can constitute a relatively stable object tracker in noise features but the digital calculation amount is too massive in image correlation so real time materialization is limited. So the development of Optical Correlation based on Stereo Object Tracking System using high speed optical information processing technique will put stable the real time stereo object tracking system and substantial atomic industrial stereo robot vision system to practical use. This research is about developing real time stereo object tracking algorithm using optical correlation system through the technique which can be applied to Atomic Research Center's KAERI-M1 Stereo Vision Robot which will be used in atomic facility remote operations. And revise the stereo disparity using real time optical correlation technique, and materializing the application of the stereo object tracking algorithm to KAERI-M1 Stereo Robot. 19 refs., 45 figs., 2 tabs. (Author)

  18. 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.

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

    Science.gov (United States)

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

    2016-06-19

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

  20. 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.

  1. Stereo vision-based pedestrian detection using multiple features for automotive application

    Science.gov (United States)

    Lee, Chung-Hee; Kim, Dongyoung

    2015-12-01

    In this paper, we propose a stereo vision-based pedestrian detection using multiple features for automotive application. The disparity map from stereo vision system and multiple features are utilized to enhance the pedestrian detection performance. Because the disparity map offers us 3D information, which enable to detect obstacles easily and reduce the overall detection time by removing unnecessary backgrounds. The road feature is extracted from the v-disparity map calculated by the disparity map. The road feature is a decision criterion to determine the presence or absence of obstacles on the road. The obstacle detection is performed by comparing the road feature with all columns in the disparity. The result of obstacle detection is segmented by the bird's-eye-view mapping to separate the obstacle area which has multiple objects into single obstacle area. The histogram-based clustering is performed in the bird's-eye-view map. Each segmented result is verified by the classifier with the training model. To enhance the pedestrian recognition performance, multiple features such as HOG, CSS, symmetry features are utilized. In particular, the symmetry feature is proper to represent the pedestrian standing or walking. The block-based symmetry feature is utilized to minimize the type of image and the best feature among the three symmetry features of H-S-V image is selected as the symmetry feature in each pixel. ETH database is utilized to verify our pedestrian detection algorithm.

  2. 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.

  3. 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...

  4. 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

  5. Disparities in Oral Health

    Science.gov (United States)

    ... 2020: Oral Health Objectives Site Map Disparities in Oral Health Recommend on Facebook Tweet Share Compartir Oral health ... to get and keep dental insurance. Disparities in Oral Health Some of the oral health disparities that exist ...

  6. Stereo matching using Hebbian learning.

    Science.gov (United States)

    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. 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.

  8. 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…

  9. 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.

  10. Co-seismic displacements from differencing and sub-pixel correlation of multi-temporal LiDAR and cadastral surveys: application to the Greendale Fault, Canterbury, New Zealand

    Science.gov (United States)

    Duffy, B. G.; Van Dissen, R.; Quigley, M.; Litchfield, N. J.; McInnes, C.; Leprince, S.; Barrell, D.; Stahl, T. A.; Bilderback, E. L.

    2011-12-01

    Surface rupture on the dextral strike-slip Greendale fault during the 2010 Mw 7.1 Darfield (Canterbury), earthquake in New Zealand terminated in a releasing bend at the western end of the fault. Our first-ever co-seismic application of multi-temporal aerial LiDAR, coupled with cadastral surveying, real time kinematic GPS scarp profiling and offset mapping provides unprecedented documentation of surface displacements at the western end of the Greendale fault, particularly at the transition into the releasing bend. Cadastral trilateration data from the northern end of the releasing bend area demonstrate that the hanging wall (NE) side of the fault moved 1.5 m to the southeast while the footwall (SW) side of the fault moved 0.6 m to the southwest. This resulted in an oblique transtensional net slip of 2.5 m. At the southern end of the releasing bend, the north-side-down transtensional structure transitions into a north-side down transpressional structure. High-resolution absolute vertical motions associated with this transition, as well as relationships of drainage morphology to fault geometry, are captured by differencing of pre- and post-fault LiDAR. Vertical differencing reveals the distribution of vertical offsets, with some scarps defined that have vertical displacement gradients of only 1:1000. The geomorphology of these subtle vertical displacements reveals that the transition into the releasing bend is accommodated by a restraining stepover. Sub-pixel correlation of the pre-and post-earthquake LiDAR rasters using COSI-Corr (http://www.tectonics.caltech.edu/slip_history/spot_coseis/index.html) additionally reveal E-W shortening of approximately 0.8 m across a discontinuity that represents one side of the restraining stepover. This is consistent with the cadastral survey results. Our results demonstrate the utility of multi-temporal LiDAR for documenting both the vertical and horizontal components of co-seismic deformation.

  11. Fast repurposing of high-resolution stereo video content for mobile use

    Science.gov (United States)

    Karaoglu, Ali; Lee, Bong Ho; Boev, Atanas; Cheong, Won-Sik; Gotchev, Atanas

    2012-06-01

    3D video content is captured and created mainly in high resolution targeting big cinema or home TV screens. For 3D mobile devices, equipped with small-size auto-stereoscopic displays, such content has to be properly repurposed, preferably in real-time. The repurposing requires not only spatial resizing but also properly maintaining the output stereo disparity, as it should deliver realistic, pleasant and harmless 3D perception. In this paper, we propose an approach to adapt the disparity range of the source video to the comfort disparity zone of the target display. To achieve this, we adapt the scale and the aspect ratio of the source video. We aim at maximizing the disparity range of the retargeted content within the comfort zone, and minimizing the letterboxing of the cropped content. The proposed algorithm consists of five stages. First, we analyse the display profile, which characterises what 3D content can be comfortably observed in the target display. Then, we perform fast disparity analysis of the input stereoscopic content. Instead of returning the dense disparity map, it returns an estimate of the disparity statistics (min, max, meanand variance) per frame. Additionally, we detect scene cuts, where sharp transitions in disparities occur. Based on the estimated input, and desired output disparity ranges, we derive the optimal cropping parameters and scale of the cropping window, which would yield the targeted disparity range and minimize the area of cropped and letterboxed content. Once the rescaling and cropping parameters are known, we perform resampling procedure using spline-based and perceptually optimized resampling (anti-aliasing) kernels, which have also a very efficient computational structure. Perceptual optimization is achieved through adjusting the cut-off frequency of the anti-aliasing filter with the throughput of the target display.

  12. 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

  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. 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...

  16. 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.

  17. 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.

  18. 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

  19. 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.

  20. 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.

  1. 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. 

  2. Mapping Medicare Disparities Tool

    Data.gov (United States)

    U.S. Department of Health & Human Services — The CMS Office of Minority Health has designed an interactive map, the Mapping Medicare Disparities Tool, to identify areas of disparities between subgroups of...

  3. What Are Cancer Disparities?

    Science.gov (United States)

    This infographic shows the factors associated with cancer disparities, examples of how the cancer burden differs across certain population groups, and NCI actions to understand and reduce cancer disparities.

  4. Variable disparity-motion estimation based fast three-view video coding

    Science.gov (United States)

    Bae, Kyung-Hoon; Kim, Seung-Cheol; Hwang, Yong Seok; Kim, Eun-Soo

    2009-02-01

    In this paper, variable disparity-motion estimation (VDME) based 3-view video coding is proposed. In the encoding, key-frame coding (KFC) based motion estimation and variable disparity estimation (VDE) for effectively fast three-view video encoding are processed. These proposed algorithms enhance the performance of 3-D video encoding/decoding system in terms of accuracy of disparity estimation and computational overhead. From some experiments, stereo sequences of 'Pot Plant' and 'IVO', it is shown that the proposed algorithm's PSNRs is 37.66 and 40.55 dB, and the processing time is 0.139 and 0.124 sec/frame, respectively.

  5. 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

  6. What is binocular disparity?

    Science.gov (United States)

    Lappin, Joseph S.

    2014-01-01

    What are the geometric primitives of binocular disparity? The Venetian blind effect and other converging lines of evidence indicate that stereoscopic depth perception derives from disparities of higher-order structure in images of surfaces. Image structure entails spatial variations of intensity, texture, and motion, jointly structured by observed surfaces. The spatial structure of binocular disparity corresponds to the spatial structure of surfaces. Independent spatial coordinates are not necessary for stereoscopic vision. Stereopsis is highly sensitive to structural disparities associated with local surface shape. Disparate positions on retinal anatomy are neither necessary nor sufficient for stereopsis. PMID:25161634

  7. Temporal Integration of Auditory Stimulation and Binocular Disparity Signals

    Directory of Open Access Journals (Sweden)

    Marina Zannoli

    2011-10-01

    Full Text Available Several studies using visual objects defined by luminance have reported that the auditory event must be presented 30 to 40 ms after the visual stimulus to perceive audiovisual synchrony. In the present study, we used visual objects defined only by their binocular disparity. We measured the optimal latency between visual and auditory stimuli for the perception of synchrony using a method introduced by Moutoussis & Zeki (1997. Visual stimuli were defined either by luminance and disparity or by disparity only. They moved either back and forth between 6 and 12 arcmin or from left to right at a constant disparity of 9 arcmin. This visual modulation was presented together with an amplitude-modulated 500 Hz tone. Both modulations were sinusoidal (frequency: 0.7 Hz. We found no difference between 2D and 3D motion for luminance stimuli: a 40 ms auditory lag was necessary for perceived synchrony. Surprisingly, even though stereopsis is often thought to be slow, we found a similar optimal latency in the disparity 3D motion condition (55 ms. However, when participants had to judge simultaneity for disparity 2D motion stimuli, it led to larger latencies (170 ms, suggesting that stereo motion detectors are poorly suited to track 2D motion.

  8. 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.

  9. 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...

  10. The Role of Binocular Disparity in Rapid Scene and Pattern Recognition

    Directory of Open Access Journals (Sweden)

    Matteo Valsecchi

    2013-04-01

    Full Text Available We investigated the contribution of binocular disparity to the rapid recognition of scenes and simpler spatial patterns using a paradigm combining backward masked stimulus presentation and short-term match-to-sample recognition. First, we showed that binocular disparity did not contribute significantly to the recognition of briefly presented natural and artificial scenes, even when the availability of monocular cues was reduced. Subsequently, using dense random dot stereograms as stimuli, we showed that observers were in principle able to extract spatial patterns defined only by disparity under brief, masked presentations. Comparing our results with the predictions from a cue-summation model, we showed that combining disparity with luminance did not per se disrupt the processing of disparity. Our results suggest that the rapid recognition of scenes is mediated mostly by a monocular comparison of the images, although we can rely on stereo in fast pattern recognition.

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

    Science.gov (United States)

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

    2013-03-01

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

  12. 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.

  13. 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.

  14. 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.

  15. 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...

  16. 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...

  17. 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

  18. 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.

  19. When Dijkstra Meets Vanishing Point: A Stereo Vision Approach for Road Detection.

    Science.gov (United States)

    Zhang, Yigong; Su, Yingna; Yang, Jian; Ponce, Jean; Kong, Hui

    2018-05-01

    In this paper, we propose a vanishing-point constrained Dijkstra road model for road detection in a stereo-vision paradigm. First, the stereo-camera is used to generate the u- and v-disparity maps of road image, from which the horizon can be extracted. With the horizon and ground region constraints, we can robustly locate the vanishing point of road region. Second, a weighted graph is constructed using all pixels of the image, and the detected vanishing point is treated as the source node of the graph. By computing a vanishing-point constrained Dijkstra minimum-cost map, where both disparity and gradient of gray image are used to calculate cost between two neighbor pixels, the problem of detecting road borders in image is transformed into that of finding two shortest paths that originate from the vanishing point to two pixels in the last row of image. The proposed approach has been implemented and tested over 2600 grayscale images of different road scenes in the KITTI data set. The experimental results demonstrate that this training-free approach can detect horizon, vanishing point, and road regions very accurately and robustly. It can achieve promising performance.

  20. Microscopic vision modeling method by direct mapping analysis for micro-gripping system with stereo light microscope.

    Science.gov (United States)

    Wang, Yuezong; Zhao, Zhizhong; Wang, Junshuai

    2016-04-01

    We present a novel and high-precision microscopic vision modeling method, which can be used for 3D data reconstruction in micro-gripping system with stereo light microscope. This method consists of four parts: image distortion correction, disparity distortion correction, initial vision model and residual compensation model. First, the method of image distortion correction is proposed. Image data required by image distortion correction comes from stereo images of calibration sample. The geometric features of image distortions can be predicted though the shape deformation of lines constructed by grid points in stereo images. Linear and polynomial fitting methods are applied to correct image distortions. Second, shape deformation features of disparity distribution are discussed. The method of disparity distortion correction is proposed. Polynomial fitting method is applied to correct disparity distortion. Third, a microscopic vision model is derived, which consists of two models, i.e., initial vision model and residual compensation model. We derive initial vision model by the analysis of direct mapping relationship between object and image points. Residual compensation model is derived based on the residual analysis of initial vision model. The results show that with maximum reconstruction distance of 4.1mm in X direction, 2.9mm in Y direction and 2.25mm in Z direction, our model achieves a precision of 0.01mm in X and Y directions and 0.015mm in Z direction. Comparison of our model with traditional pinhole camera model shows that two kinds of models have a similar reconstruction precision of X coordinates. However, traditional pinhole camera model has a lower precision of Y and Z coordinates than our model. The method proposed in this paper is very helpful for the micro-gripping system based on SLM microscopic vision. Copyright © 2016 Elsevier Ltd. All rights reserved.

  1. Cancer Disparities - Cancer Currents Blog

    Science.gov (United States)

    Blog posts on cancer health disparities research—including factors that influence disparities, disparities-related research efforts, and diversity in the cancer research workforce—from NCI Cancer Currents.

  2. 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.

  3. 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.

  4. [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.

  5. The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

    Science.gov (United States)

    Rosselot, Donald; Hall, Ernest L.

    2005-10-01

    This paper presents a novel, simple and fast algorithm to produce a "floor plan" obstacle map in real time using video. The XH-map algorithm is a transformation of stereo vision data in disparity map space into a two dimensional obstacle map space using a method that can be likened to a histogram reduction of image information. The classic floor-ground background noise problem is addressed with a simple one-time semi-automatic calibration method incorporated into the algorithm. This implementation of this algorithm utilizes the Intel Performance Primitives library and OpenCV libraries for extremely fast and efficient execution, creating a scaled obstacle map from a 480x640x256 stereo pair in 1.4 milliseconds. This algorithm has many applications in robotics and computer vision including enabling an "Intelligent Robot" robot to "see" for path planning and obstacle avoidance.

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

    Science.gov (United States)

    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.

  7. 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

  8. 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.

  9. 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.

  10. 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...

  11. 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.

  12. 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...

  13. Disparities -- Healthy People 2020

    Science.gov (United States)

    ... cognitive, sensory, or physical disability; sexual orientation or gender identity; geographic location; or other characteristics historically linked to discrimination or exclusion.” 6 Over the years, efforts to eliminate disparities ...

  14. Literacy and Health Disparities

    Science.gov (United States)

    Prins, Esther; Mooney, Angela

    2014-01-01

    This chapter explores the relationship between literacy and health disparities, focusing on the concept of health literacy. Recommendations are provided for ways to bridge the health literacy gap for learners in adult basic education and family literacy programs.

  15. Dermatologic health disparities

    Science.gov (United States)

    Buster, Kesha J.; Stevens, Erica I.; Elmets, Craig A.

    2013-01-01

    Though significant data exist highlighting the extent of health disparities there is limited data specifically on dermatologic health disparities. Melanoma and nonmelanoma skin cancer outcomes are poorer for ethnic minorities, people of low socioeconomic status, less educated, elderly, and uninsured. Recent reports indicate that atopic dermatitis is more prevalent among ethnic minorities; however it is unclear if morbidity is also increased in these populations. Given the current dermatology workforce shortage, the increased patient load may have an adverse effect on dermatologic care access. Additional concerns include the state of dermatologic training, insufficient research involving ethnic minorities, and a lack of investigations of dermatologic health disparities. As the U.S. demographics shift to become more racially diverse, the need to address and reduce dermatologic health disparities will increase. PMID:22117867

  16. Regional disparities in Hungary

    OpenAIRE

    Czabán, Vera

    2015-01-01

    In the past decades, exacerbating regional disparities in the European Union as well as the newly joined Eastern European states have led to a growing interest in examining the spatial embeddedness of development. Hungary, a small and very monocentric country, has experienced rapid growth in the region of its capital city and its surrounding, whereas formerly lagging regions continued to fall behind. This thesis examines growing regional disparities in Hungary in order to provide a more compr...

  17. 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%.

  18. Engendering health disparities.

    Science.gov (United States)

    Spitzer, Denise L

    2005-01-01

    How is gender implicated in our exploration of health disparities in Canada? Set against the backdrop of federal government policy, this review paper examines the ways in which gender intersects with other health determinants to produce disparate health outcomes. An overview of salient issues including the impact of gender roles, environmental exposures, gender violence, workplace hazards, economic disparities, the costs of poverty, social marginalization and racism, aging, health conditions, interactions with health services, and health behaviours are considered. This review suggests health is detrimentally affected by gender roles and statuses as they intersect with economic disparities, cultural, sexual, physical and historical marginalization as well as the strains of domestic and paid labour. These conditions result in an unfair health burden borne in particular by women whose access to health determinants is--in various degrees--limited. While progress has certainly been made on some fronts, the persistence of health disparities among diverse populations of women and men suggests a postponement of the vision of a just society with health for all that was articulated in the Federal Plan on Gender Equality. Commitment, creativity and collaboration from stakeholders ranging from various levels of government, communities, academics, non-governmental agencies and health professionals will be required to reduce and eliminate health disparities between and among all members of our society.

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

    Science.gov (United States)

    Rhee, S.; Kim, T.

    2017-08-01

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

  20. INVESTIGATION OF 1 : 1,000 SCALE MAP GENERATION BY STEREO PLOTTING USING UAV IMAGES

    Directory of Open Access Journals (Sweden)

    S. Rhee

    2017-08-01

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

  1. 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.

  2. 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.

  3. A Comparison of the Performance of Bias-Corrected RSMs and RFMs for the Geo-Positioning of High-Resolution Satellite Stereo Imagery

    Directory of Open Access Journals (Sweden)

    Zhonghua Hong

    2015-12-01

    Full Text Available High-resolution stereo satellite imagery is widely used in environmental monitoring, topographic mapping, and urban three-dimensional (3D reconstruction. However, a critical issue in these applications using high-resolution stereo satellite imagery is to improve the accuracy of point geo-positioning. This paper presents a framework for comparison of the performance of the three-dimensional (3D geo-positioning of the bias-corrected Rigorous Sensor Models (RSMs and rational function models (RFMs with respect to the high-resolution QuickBird stereo images in three spaces (i.e., orbital space, image space and object space. The compared models include a bias-corrected RSM in the orbital space, a bias-corrected RSM and RFM in the image space, and a bias-corrected RSM and RFM in the object space. In the comparison, the RSMs and RFMs use the vendor-provided orbit data and Rational Polynomial Coefficients (RPCs, respectively. The experimental results indicated that, (1 these five bias-corrected models can provide a sub-pixel geo-positioning accuracy. With the zero-order polynomial correction model in the orbital space and a minimum of three Ground Control Points (GCPs, the accuracy based on RPCs better than 0.8 m in horizontal direction and 1.3 m in vertical direction. With an increase in the number of GCPs, or in the order of correction models, the regenerated orbital parameters achieve a slight improved positioning accuracy of 0.5 m in horizontal direction and 0.8 m in vertical direction with 25 GCPs, which indicates that the low-order correction model in the orbital space can accurately model the effects of ephemeris and attitude errors; (2 the performances of bias-corrected RSM and RFM in image space are rather similar. However, the bias-corrected RSM and RFM in image space achieve a better accuracy than the bias-corrected RSM and RFM in object space, with the same configuration of GCPs.

  4. 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

  5. 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

  6. 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

  7. 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

  8. Disparities in Gynecological Malignancies

    Directory of Open Access Journals (Sweden)

    Sudeshna eChatterjee

    2016-02-01

    Full Text Available Objectives: Health disparities and inequalities in access to care among different socioeconomic, ethnic, and racial groups have been well documented in the U.S. healthcare system. In this review, we aimed to provide an overview of barriers to care contributing to health disparities in gynecological oncology management and to describe site-specific disparities in gynecologic care for endometrial, ovarian, and cervical cancer. Methods: We performed a literature review of peer-reviewed academic and governmental publications focusing on disparities in gynecological care in the United States by searching PubMed and Google Scholar electronic databases. Results: There are multiple important underlying issues that may contribute to the disparities in gynecological oncology management in the United States, namely geographic access and hospital based-discrepancies, research-based discrepancies, influence of socioeconomic and health insurance status, and finally the influence of race and biological factors. Despite the reduction in overall cancer-related deaths since the 1990s, the 5-year survival for Black women is significantly lower than for White women for each gynecologic cancer type and each stage of diagnosis. For ovarian and endometrial cancer, black patients are less likely to receive treatment consistent with evidence-based guidelines and have worse survival outcomes even after accounting for stage and comorbidities. For cervical and endometrial cancer, the mortality rate for black women remains twice that of White women. Conclusions: Health care disparities in the incidence and outcome of gynecologic cancers are complex and involve biologic factors as well as racial, socioeconomic and geographic barriers that influence treatment and survival. These barriers must be addressed to provide optimal care to women in the U.S. with gynecologic cancer.

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

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

    Science.gov (United States)

    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.

  15. Development of an Image Fringe Zero Selection System for Structuring Elements with Stereo Vision Disparity Measurements

    Energy Technology Data Exchange (ETDEWEB)

    Grindley, Josef E; Jiang Lin; Tickle, Andrew J, E-mail: joegrindley@hotmail.com, E-mail: production_leader@hotmail.com [School of Electrical Engineering, Electronics and Computer Science, University of Liverpool, Liverpool L69 3GJ (United Kingdom)

    2011-08-17

    When performing image operations involving Structuring Element (SE) and many transforms it is required that the outside of the image be padded with zeros or ones depending on the operation. This paper details how this can be achieved with simulated hardware using DSP Builder in Matlab with the intention of migrating the design to HDL (Hardware Description Language) and implemented on an FPGA (Field Programmable Gate Array). The design takes few resources and does not require extra memory to account for the change in size of the output image.

  16. 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.

  17. 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.

  18. On the contribution of binocular disparity to the long-term memory for natural scenes.

    Science.gov (United States)

    Valsecchi, Matteo; Gegenfurtner, Karl R

    2012-01-01

    Binocular disparity is a fundamental dimension defining the input we receive from the visual world, along with luminance and chromaticity. In a memory task involving images of natural scenes we investigate whether binocular disparity enhances long-term visual memory. We found that forest images studied in the presence of disparity for relatively long times (7s) were remembered better as compared to 2D presentation. This enhancement was not evident for other categories of pictures, such as images containing cars and houses, which are mostly identified by the presence of distinctive artifacts rather than by their spatial layout. Evidence from a further experiment indicates that observers do not retain a trace of stereo presentation in long-term memory.

  19. On the contribution of binocular disparity to the long-term memory for natural scenes.

    Directory of Open Access Journals (Sweden)

    Matteo Valsecchi

    Full Text Available Binocular disparity is a fundamental dimension defining the input we receive from the visual world, along with luminance and chromaticity. In a memory task involving images of natural scenes we investigate whether binocular disparity enhances long-term visual memory. We found that forest images studied in the presence of disparity for relatively long times (7s were remembered better as compared to 2D presentation. This enhancement was not evident for other categories of pictures, such as images containing cars and houses, which are mostly identified by the presence of distinctive artifacts rather than by their spatial layout. Evidence from a further experiment indicates that observers do not retain a trace of stereo presentation in long-term memory.

  20. On the Contribution of Binocular Disparity to the Long-Term Memory for Natural Scenes

    Science.gov (United States)

    Valsecchi, Matteo; Gegenfurtner, Karl R.

    2012-01-01

    Binocular disparity is a fundamental dimension defining the input we receive from the visual world, along with luminance and chromaticity. In a memory task involving images of natural scenes we investigate whether binocular disparity enhances long-term visual memory. We found that forest images studied in the presence of disparity for relatively long times (7s) were remembered better as compared to 2D presentation. This enhancement was not evident for other categories of pictures, such as images containing cars and houses, which are mostly identified by the presence of distinctive artifacts rather than by their spatial layout. Evidence from a further experiment indicates that observers do not retain a trace of stereo presentation in long-term memory. PMID:23166799

  1. 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...

  2. 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.

  3. 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.

  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. Dynamic edge warping - An experimental system for recovering disparity maps in weakly constrained systems

    Science.gov (United States)

    Boyer, K. L.; Wuescher, D. M.; Sarkar, S.

    1991-01-01

    Dynamic edge warping (DEW), a technique for recovering reasonably accurate disparity maps from uncalibrated stereo image pairs, is presented. No precise knowledge of the epipolar camera geometry is assumed. The technique is embedded in a system including structural stereopsis on the front end and robust estimation in digital photogrammetry on the other for the purpose of self-calibrating stereo image pairs. Once the relative camera orientation is known, the epipolar geometry is computed and the system can use this information to refine its representation of the object space. Such a system will find application in the autonomous extraction of terrain maps from stereo aerial photographs, for which camera position and orientation are unknown a priori, and for online autonomous calibration maintenance for robotic vision applications, in which the cameras are subject to vibration and other physical disturbances after calibration. This work thus forms a component of an intelligent system that begins with a pair of images and, having only vague knowledge of the conditions under which they were acquired, produces an accurate, dense, relative depth map. The resulting disparity map can also be used directly in some high-level applications involving qualitative scene analysis, spatial reasoning, and perceptual organization of the object space. The system as a whole substitutes high-level information and constraints for precise geometric knowledge in driving and constraining the early correspondence process.

  7. 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.

  8. Disparities in Intratumoral Steroidogenesis

    Science.gov (United States)

    2013-07-01

    nominal (2 parts/million) cholesterol] and a high fat/high cholesterol diet (HFHC, w/o sodium cholate). The diets are balanced in micronutrients on a...makes this prior analysis inconclusive. Given the importance of the question, a fresh look at potential racial disparity in intratumoral...careful consideration. In particular, one important new hypothesis is that cholesterol affects PCa growth by serving as a precursor for intratumoral

  9. 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.

  10. 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.

  11. 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.

  12. 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

  13. 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...

  14. 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...

  15. 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...

  16. Creation Greenhouse Environment Map Using Localization of Edge of Cultivation Platforms Based on Stereo Vision

    Directory of Open Access Journals (Sweden)

    A Nasiri

    2017-10-01

    Full Text Available Introduction Stereo vision means the capability of extracting the depth based on analysis of two images taken from different angles of one scene. The result of stereo vision is a collection of three-dimensional points which describes the details of scene proportional to the resolution of the obtained images. Vehicle automatic steering and crop growth monitoring are two important operations in agricultural precision. The essential aspects of an automated steering are position and orientation of the agricultural equipment in relation to crop row, detection of obstacles and design of path planning between the crop rows. The developed map can provide this information in the real time. Machine vision has the capabilities to perform these tasks in order to execute some operations such as cultivation, spraying and harvesting. In greenhouse environment, it is possible to develop a map and perform an automatic control by detecting and localizing the cultivation platforms as the main moving obstacle. The current work was performed to meet a method based on the stereo vision for detecting and localizing platforms, and then, providing a two-dimensional map for cultivation platforms in the greenhouse environment. Materials and Methods In this research, two webcams, made by Microsoft Corporation with the resolution of 960×544, are connected to the computer via USB2 in order to produce a stereo parallel camera. Due to the structure of cultivation platforms, the number of points in the point cloud will be decreased by extracting the only upper and lower edges of the platform. The proposed method in this work aims at extracting the edges based on depth discontinuous features in the region of platform edge. By getting the disparity image of the platform edges from the rectified stereo images and translating its data to 3D-space, the point cloud model of the environments is constructed. Then by projecting the points to XZ plane and putting local maps together

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. Sub-pixel spatial resolution wavefront phase imaging

    Science.gov (United States)

    Stahl, H. Philip (Inventor); Mooney, James T. (Inventor)

    2012-01-01

    A phase imaging method for an optical wavefront acquires a plurality of phase images of the optical wavefront using a phase imager. Each phase image is unique and is shifted with respect to another of the phase images by a known/controlled amount that is less than the size of the phase imager's pixels. The phase images are then combined to generate a single high-spatial resolution phase image of the optical wavefront.

  2. 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.

  3. Binocular stereo vision system based on phase matching

    Science.gov (United States)

    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.

  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. 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.

  6. 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

  7. Sentence Disparity and Civil Rights.

    Science.gov (United States)

    Bahn, Charles

    This report reviews the literature on sentence disparity and considers the advisability of additional efforts to provide more equality throughout the criminal justice system. Definitions of disparity are said to include: (1) differences between individual judges; (2) differences between comparable defendants; (3) differences between categories of…

  8. 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.

  9. Semiglobal Matching Results on the Isprs Stereo Matching Benchmark

    Science.gov (United States)

    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.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. Obstacle detection by stereo vision of fast correlation matching

    Energy Technology Data Exchange (ETDEWEB)

    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).

  17. 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

  18. 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...

  19. 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...

  20. 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.

  1. 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)

  2. 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

  3. 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.

  4. Rate-distortion analysis of steganography for conveying stereovision disparity maps

    Science.gov (United States)

    Umeda, Toshiyuki; Batolomeu, Ana B. D. T.; Francob, Filipe A. L.; Delannay, Damien; Macq, Benoit M. M.

    2004-06-01

    3-D images transmission in a way which is compliant with traditional 2-D representations can be done through the embedding of disparity maps within the 2-D signal. This approach enables the transmission of stereoscopic video sequences or images on traditional analogue TV channels (PAL or NTSC) or printed photographic images. The aim of this work is to study the achievable performances of such a technique. The embedding of disparity maps has to be seen as a global rate-distortion problem. The embedding capacity through steganography is determined by the transmission channel noise and by the bearable distortion on the watermarked image. The distortion of the 3-D image displayed as two stereo views depends on the rate allocated to the complementary information required to build those two views from one reference 2-D image. Results from the works on the scalar Costa scheme are used to optimize the embedding of the disparity map compressed bit stream into the reference image. A method for computing the optimal trade off between the disparity map distortion and embedding distortion as a function of the channel impairments is proposed. The goal is to get a similar distortion on the left (the reference image) and the right (the disparity compensated image) images. We show that in typical situations the embedding of 2 bits/pixels in the left image, while the disparity map is compressed at 1 bit per pixel leads to a good trade-off. The disparity map is encoded with a strong error correcting code, including synchronisation bits.

  5. Binaural and cochlear disparities.

    Science.gov (United States)

    Joris, Philip X; Van de Sande, Bram; Louage, Dries H; van der Heijden, Marcel

    2006-08-22

    Binaural auditory neurons exhibit "best delays" (BDs): They are maximally activated at certain acoustic delays between sounds at the two ears and thereby signal spatial sound location. BDs arise from delays internal to the auditory system, but their source is controversial. According to the classic Jeffress model, they reflect pure time delays generated by differences in axonal length between the inputs from the two ears to binaural neurons. However, a relationship has been reported between BDs and the frequency to which binaural neurons are most sensitive (the characteristic frequency), and this relationship is not predicted by the Jeffress model. An alternative hypothesis proposes that binaural neurons derive their input from slightly different places along the two cochleas, which induces BDs by virtue of the slowness of the cochlear traveling wave. To test this hypothesis, we performed a coincidence analysis on spiketrains of pairs of auditory nerve fibers originating from different cochlear locations. In effect, this analysis mimics the processing of phase-locked inputs from each ear by binaural neurons. We find that auditory nerve fibers that innervate different cochlear sites show a maximum number of coincidences when they are delayed relative to each other, and that the optimum delays decrease with characteristic frequency as in binaural neurons. These findings suggest that cochlear disparities make an important contribution to the internal delays observed in binaural neurons.

  6. Health Disparities in Women

    Directory of Open Access Journals (Sweden)

    Lyndsey M Hornbuckle

    2017-05-01

    Full Text Available Aims and scope: Clinical Medicine Insights: Women’s Health is an international, open-access, peer-reviewed journal which considers manuscripts on all aspects of the diagnosis, management, and prevention of disorders specific to women, in addition to related genetic, pathophysiological, and epidemiological topics. Clinical Medicine Insights: Women’s Health aims to provide researchers working in this complex, quickly developing field with online, open access to highly relevant scholarly articles by leading international researchers. In a field where the literature is ever-expanding, researchers increasingly need access to up-to-date, high-quality scholarly articles on areas of specific contemporary interest. This supplement is on Health Disparities in Women . This supplement aims to address this by presenting high-quality articles that allow readers to distinguish the signal from the noise. The editor in chief hopes that through this effort, practitioners and researchers will be aided in finding answers to some of the most complex and pressing issues of our time.

  7. Examples of Cancer Health Disparities

    Science.gov (United States)

    ... prevalence of infection with human papillomavirus (cervical cancer), hepatitis B virus (liver cancer), and the bacterium H. pylori (stomach cancer) in immigrant countries of origin contributes to these disparities. ( ACS ) Although Hispanics and ...

  8. 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.

  9. 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

  10. 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.

  11. 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.

  12. 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.

  13. Stereo matching based on census transformation of image gradients

    Science.gov (United States)

    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.

  14. 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.

  15. 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...

  16. 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

  17. 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...

  18. 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.

  19. 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

  20. 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...

  1. 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

  2. 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

  3. 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.

  4. Occupancy Grid Mapping in Urban Environments from a Moving On-Board Stereo-Vision System

    Directory of Open Access Journals (Sweden)

    You Li

    2014-06-01

    Full Text Available Occupancy grid map is a popular tool for representing the surrounding environments of mobile robots/intelligent vehicles. Its applications can be dated back to the 1980s, when researchers utilized sonar or LiDAR to illustrate environments by occupancy grids. However, in the literature, research on vision-based occupancy grid mapping is scant. Furthermore, when moving in a real dynamic world, traditional occupancy grid mapping is required not only with the ability to detect occupied areas, but also with the capability to understand dynamic environments. The paper addresses this issue by presenting a stereo-vision-based framework to create a dynamic occupancy grid map, which is applied in an intelligent vehicle driving in an urban scenario. Besides representing the surroundings as occupancy grids, dynamic occupancy grid mapping could provide the motion information of the grids. The proposed framework consists of two components. The first is motion estimation for the moving vehicle itself and independent moving objects. The second is dynamic occupancy grid mapping, which is based on the estimated motion information and the dense disparity map. The main benefit of the proposed framework is the ability of mapping occupied areas and moving objects at the same time. This is very practical in real applications. The proposed method is evaluated using real data acquired by our intelligent vehicle platform “SeTCar” in urban environments.

  5. Occupancy grid mapping in urban environments from a moving on-board stereo-vision system.

    Science.gov (United States)

    Li, You; Ruichek, Yassine

    2014-06-13

    Occupancy grid map is a popular tool for representing the surrounding environments of mobile robots/intelligent vehicles. Its applications can be dated back to the 1980s, when researchers utilized sonar or LiDAR to illustrate environments by occupancy grids. However, in the literature, research on vision-based occupancy grid mapping is scant. Furthermore, when moving in a real dynamic world, traditional occupancy grid mapping is required not only with the ability to detect occupied areas, but also with the capability to understand dynamic environments. The paper addresses this issue by presenting a stereo-vision-based framework to create a dynamic occupancy grid map, which is applied in an intelligent vehicle driving in an urban scenario. Besides representing the surroundings as occupancy grids, dynamic occupancy grid mapping could provide the motion information of the grids. The proposed framework consists of two components. The first is motion estimation for the moving vehicle itself and independent moving objects. The second is dynamic occupancy grid mapping, which is based on the estimated motion information and the dense disparity map. The main benefit of the proposed framework is the ability of mapping occupied areas and moving objects at the same time. This is very practical in real applications. The proposed method is evaluated using real data acquired by our intelligent vehicle platform "SeTCar" in urban environments.

  6. 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...

  7. Precision Analysis of Visual Odometry Based on Disparity Changing

    Science.gov (United States)

    Fu, C. Y.; Tsay, J. R.

    2017-08-01

    This thesis aims to analyze the precision of Position and orientation of cameras on Mobile Mapping System (MMS) determined by disparity based VO (DBVO). Dual forwards taken cameras on MMS are applied to obtain a sequence of stereo pairs. The Interior Orientation Parameters (IOPs) and Relative Orientation Parameters (ROPs) are derived in advance. The pose estimation is achieved by DBVO without additional control data. The procedure of DBVO consists of four steps. First up, keypoint detection and matching is conducted to obtain tie points in consecutive images. Then, image rectification is implemented to transform tie points into epipolar image space. Next, parallax equation is applied to estimate the 3D coordinates of interest points in epipolar image 3D space. Since their image points have different disparity in neighboring stereo pairs, the 3D coordinates of interest points in neighboring pairs are different as well. Finally, 3D conformal transformation is employed to derive the transformation parameters between neighboring pairs according to changing of coordinates of interest points. The posteriori STDs are adopted to assess the quality of transformation. Besides, check data of ground trajectory derived by photo triangulation are applied to evaluate the result. The relative errors of horizontal and vertical translations derived by DBVO are 2 % and 3 % in non-viewing direction. However, the translation in viewing direction and three rotation angles derived by DBVO have significant systematic errors about 1 m, 3°, 3° and 10° respectively. The influence of error propagation is not significant according to the chart of error distance ratio. In open area, the trajectory of INS/GPS is similar to ground truth, while the trajectory derived by DBVO has 44 % relative error. In residential district, the trajectory derived by INS/GPS has drift error about 2 m, while the relative error of the trajectory derived by DBVO decreases to 38 %. It is presumed that

  8. 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....

  9. 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.

  10. 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)....

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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 ...

  16. 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.

  17. 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.

  18. 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.

  19. Disparities in women's cardiovascular health.

    Science.gov (United States)

    McSweeney, Jean C; Pettey, Christina M; Souder, Elaine; Rhoads, Sarah

    2011-01-01

    Cardiovascular disease (CVD) is the leading cause of death in women, and disparities affect the diagnosis, treatment, and outcomes of CVD for women. Biology, genetics, and race contribute to these disparities. Obstetric-gynecologic health care providers routinely encounter women who are at risk for developing CVD and are uniquely positioned as a point of access to intervene to improve/prevent CVD by assessing for risks and discussing healthy lifestyle changes during routine visits. © University of Arkansas for Medical Sciences. JOGNN © 2011 AWHONN, the Association of Women's Health, Obstetric and Neonatal Nurses.

  20. Dense GPU-enhanced surface reconstruction from stereo endoscopic images for intraoperative registration.

    Science.gov (United States)

    Rohl, Sebastian; Bodenstedt, Sebastian; Suwelack, Stefan; Dillmann, Rudiger; Speidel, Stefanie; Kenngott, Hannes; Muller-Stich, Beat P

    2012-03-01

    In laparoscopic surgery, soft tissue deformations substantially change the surgical site, thus impeding the use of preoperative planning during intraoperative navigation. Extracting depth information from endoscopic images and building a surface model of the surgical field-of-view is one way to represent this constantly deforming environment. The information can then be used for intraoperative registration. Stereo reconstruction is a typical problem within computer vision. However, most of the available methods do not fulfill the specific requirements in a minimally invasive setting such as the need of real-time performance, the problem of view-dependent specular reflections and large curved areas with partly homogeneous or periodic textures and occlusions. In this paper, the authors present an approach toward intraoperative surface reconstruction based on stereo endoscopic images. The authors describe our answer to this problem through correspondence analysis, disparity correction and refinement, 3D reconstruction, point cloud smoothing and meshing. Real-time performance is achieved by implementing the algorithms on the gpu. The authors also present a new hybrid cpu-gpu algorithm that unifies the advantages of the cpu and the gpu version. In a comprehensive evaluation using in vivo data, in silico data from the literature and virtual data from a newly developed simulation environment, the cpu, the gpu, and the hybrid cpu-gpu versions of the surface reconstruction are compared to a cpu and a gpu algorithm from the literature. The recommended approach toward intraoperative surface reconstruction can be conducted in real-time depending on the image resolution (20 fps for the gpu and 14fps for the hybrid cpu-gpu version on resolution of 640 × 480). It is robust to homogeneous regions without texture, large image changes, noise or errors from camera calibration, and it reconstructs the surface down to sub millimeter accuracy. In all the experiments within the

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. Social Disparities in Obesogenic Behaviors in Adolescents.

    Science.gov (United States)

    Fleary, Sasha A; Freund, Karen M

    2017-01-27

    Demographic and social characteristics, such as sex, race/ethnicity, and income, have been implicated as risk and protective factors for behavior change regarding obesogenic behaviors in adolescents. The purpose of this study was to determine the social disparities in obesogenic behaviors and compare social disparities in obesogenic behaviors between adolescents who are overweight/obese and non-overweight adolescents using an alternative methodology for calculating disparities. Data were obtained from the 2013 Massachusetts Youth Risk Behavior Surveillance Systems. Social disparities ratios for meeting fruit and vegetable recommendation, daily breakfast consumption, physical activity, and non-sedentary activity were calculated using the Extended Gastwirth Index Method. Independent sample t tests were used to compare social disparities between non-overweight and overweight/obese participants. Racial disparities were the largest contributor to overall disparities for meeting fruit and vegetables recommendations, daily breakfast, and non-sedentary activity, while sex disparities were the largest contributor to overall disparities for meeting physical activity recommendations. The non-overweight group had lower free/reduced lunch disparities for all behaviors when compared to the overweight/obese group. The results of this study confirmed that social disparities exist for obesogenic behaviors. The methodology allowed for the determination of the percentage change needed in behavior to eliminate disparities between groups. These calculations are a useful tool for identifying groups that should be targeted for intervention if disparities are to be reduced.

  12. 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.

  13. 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

  14. Eliminating Disparities in School Discipline

    Science.gov (United States)

    Nishioka, Vicki

    2013-01-01

    Disparities in suspension rates for White, Black, Hispanic, and American Indian students are more often a result of inequitable disciplinary actions than differences in behavior. Exclusionary discipline undermines students' academic achievement by weakening their connection with school and removing them from the classroom. Students who experience…

  15. 29 CFR 1607.11 - Disparate treatment.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 4 2010-07-01 2010-07-01 false Disparate treatment. 1607.11 Section 1607.11 Labor... EMPLOYEE SELECTION PROCEDURES (1978) General Principles § 1607.11 Disparate treatment. The principles of disparate or unequal treatment must be distinguished from the concepts of validation. A selection procedure...

  16. Frequency-Domain Joint Motion and Disparity Estimation Using Steerable Filters

    Directory of Open Access Journals (Sweden)

    Dimitrios Alexiadis

    2018-02-01

    Full Text Available In this paper, the problem of joint disparity and motion estimation from stereo image sequences is formulated in the spatiotemporal frequency domain, and a novel steerable filter-based approach is proposed. Our rationale behind coupling the two problems is that according to experimental evidence in the literature, the biological visual mechanisms for depth and motion are not independent of each other. Furthermore, our motivation to study the problem in the frequency domain and search for a filter-based solution is based on the fact that, according to early experimental studies, the biological visual mechanisms can be modelled based on frequency-domain or filter-based considerations, for both the perception of depth and the perception of motion. The proposed framework constitutes the first attempt to solve the joint estimation problem through a filter-based solution, based on frequency-domain considerations. Thus, the presented ideas provide a new direction of work and could be the basis for further developments. From an algorithmic point of view, we additionally extend state-of-the-art ideas from the disparity estimation literature to handle the joint disparity-motion estimation problem and formulate an algorithm that is evaluated through a number of experimental results. Comparisons with state-of-the-art-methods demonstrate the accuracy of the proposed approach.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. The moral problem of health disparities.

    Science.gov (United States)

    Jones, Cynthia M

    2010-04-01

    Health disparities exist along lines of race/ethnicity and socioeconomic class in US society. I argue that we should work to eliminate these health disparities because their existence is a moral wrong that needs to be addressed. Health disparities are morally wrong because they exemplify historical injustices. Contractarian ethics, Kantian ethics, and utilitarian ethics all provide theoretical justification for viewing health disparities as a moral wrong, as do several ethical principles of primary importance in bioethics. The moral consequences of health disparities are also troubling and further support the claim that these disparities are a moral wrong. The Universal Declaration of Human Rights provides additional support that health disparities are a moral wrong, as does an analogy with the generally accepted duty to provide equal access to education. In this article, I also consider and respond to 3 objections to my thesis.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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...

  8. 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.

  9. 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.

  10. 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.

  11. 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),

  12. 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.

  13. 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....

  14. 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.

  15. 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.

  16. 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.

  17. 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...

  18. 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

  19. 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...

  20. 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.

  1. 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.

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

    Science.gov (United States)

    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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. DISPARE

    DEFF Research Database (Denmark)

    da Piedade, Isabelle; Tang, Man-Hung Eric; Elemento, Olivier

    2009-01-01

    ABSTRACT: BACKGROUND: The accurate determination of transcription factor binding affinities is an important problem in biology and key to understanding the gene regulation process. Position weight matrices are commonly used to represent the binding properties of transcription factor binding sites...... but suffer from low information content and a large number of false matches in the genome. We describe a novel algorithm for the refinement of position weight matrices representing transcription factor binding sites based on experimental data, including ChIP-chip analyses. We present an iterative weight...... more accurate position weight matrices will ultimately contribute to a better understanding of eukaryotic transcriptional regulation, and could potentially offer a better alternative to ab initio motif discovery....

  8. 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

  9. Linking Diversity and Disparity Measures

    Directory of Open Access Journals (Sweden)

    Sahadeb Sarkar

    2012-07-01

    Full Text Available Normal 0 false false false EN-US X-NONE X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0in 5.4pt 0in 5.4pt; mso-para-margin:0in; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:10.0pt; font-family:"Times New Roman","serif";} The purpose of this paper is to examine links between the diversity measures (Patil and Taillie 1982 and the disparity measures (Lindsay 1994, quantities apparently developed for somewhat different purposes. We demonstrate that numerous diversity measures satisfying all the desirable criteria mentioned by Patil and Taillie can be defined by the generating functions of certain disparities and the associated residual adjustment functions. This provides the statistician and the ecologist a wide class of flexible indices for the statistical measurement of diversity.

  10. 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

  11. 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.

  12. Ethnic and Racial Disparities in Education: Psychology's Role in Understanding and Reducing Disparities

    Science.gov (United States)

    Quintana, Stephen M.; Mahgoub, Lana

    2016-01-01

    We review the scope and sources of ethnic and racial disparities in education with a focus on the the implications of psychological theory and research for understanding and redressing these disparities. We identify 3 sources of ethnic and racial disparities including (a) social class differences, (b) differential treatment based on ethnic and…

  13. 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

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

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

    Directory of Open Access Journals (Sweden)

    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.

  3. 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.

  4. 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.

  5. 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.)

  6. 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.

  7. Racial Disparity in Minnesota's Child Protection System

    Science.gov (United States)

    Johnson, Erik P.; Clark, Sonja; Donald, Matthew; Pedersen, Rachel; Pichotta, Catherine

    2007-01-01

    Minnesota has been recognized by several studies as a state with a significant amount of racial disparity in its child protection system. This study, using 2001 data from Minnesota's Social Services Information Service, was conducted to determine at which of the six decision points in Minnesota's child welfare system racial disparities are…

  8. Amoebic liver abscess production by Entamoeba dispar.

    Science.gov (United States)

    Dolabella, Silvio S; Serrano-Luna, Jesús; Navarro-García, Fernando; Cerritos, René; Ximénez, Cecilia; Galván-Moroyoqui, José Manuel; Silva, Edward F; Tsutsumi, Víctor; Shibayama, Mineko

    2012-01-01

    Although Entamoeba dispar displays a similar morphology to Entamoeba histolytica, cellular and molecular studies have revealed significant differences between these two amoebae, including the former being characterized as non-pathogenic and the later as pathogenic. However, recent in vivo and in vitro experiments have shown that E. dispar strains of different origin are capable of causing liver damage and destroying cell culture lines in the presence of common intestinal bacteria. These results suggested that E. dispar may present pathogenic behavior according to the specific E. dispar strain, culture and environmental conditions. To investigate this possibility, we carried out in vivo and in vitro studies using a xenic strain E. dispar (ICB-ADO) isolated from a symptomatic non-dysenteric Brazilian patient. This strain was able to induce liver necrosis in a hamster model that was more severe than that produced by E. histolytica. The ICB-ADO isolate also caused significantly more destruction of cultured MDCK cells and increased loss of transepithelial resistance than did the E. histolytica. Xenic E. dispar exhibited high proteolytic activity, which was partially inhibited by the addition of cysteine-protease inhibitors. Based on our biochemical and molecular characterization of E. dispar (ICB-ADO) xenic culture and its ability to produce liver abscesses, we conclude that this specific strain can indeed produce tissue damage, distinct from the frequently used non- pathogenic E. dispar SAW 760 strain.

  9. Health Psychology special series on health disparities

    NARCIS (Netherlands)

    Kazak, A.E.; Bosch, J.; Klonoff, E.A.

    2012-01-01

    With the initiation of this new ongoing special series in Health Psychology on health disparities, we will publish articles that highlight ways in which health psychology can contribute to understanding and ameliorating these disparities. We welcome articles for this new special series and

  10. Examining racial disparities in colorectal cancer care.

    Science.gov (United States)

    Berry, Jamillah; Bumpers, Kevin; Ogunlade, Vickie; Glover, Roni; Davis, Sharon; Counts-Spriggs, Margaret; Kauh, John; Flowers, Christopher

    2009-01-01

    African Americans are disproportionately burdened with colorectal cancer. Although incidence and mortality rates have declined in the past two decades, the disparity in health outcomes has progressively increased. This comprehensive review examines the existing literature regarding racial disparities in colorectal cancer screening, stage at diagnosis, and treatment to determine if differences exist in the quality of care delivered to African Americans. A comprehensive review of relevant literature was performed. Two databases (EBSCOHOST Academic Search Premier and Scopus) were searched from 2000 to 2007. Articles that assessed racial disparities in colorectal cancer screening, stage of disease at diagnosis, and treatment were selected. The majority of studies identified examined colorectal cancer screening outcomes. Although racial disparities in screening have diminished in recent years, African American men and women continue to have higher colorectal cancer incidence and mortality rates and are diagnosed at more advanced stages. Several studies regarding stage of disease at diagnosis identified socioeconomic status (SES) and health insurance status as major determinants of disparity. However, some studies found significant racial disparities even after controlling for these factors. Racial disparities in treatment were also found at various diagnostic stages. Many factors affecting disparities between African Americans and Whites in colorectal cancer incidence and mortality remain unexplained. Although the importance of tumor biology, genetics, and lifestyle risk factors have been established, prime sociodemographic factors need further examination to understand variances in the care of African Americans diagnosed with colorectal cancer.

  11. FPGA implementation of glass-free stereo vision

    Science.gov (United States)

    Tang, Weidong; Yan, Xiaolin

    2016-04-01

    This paper presents a real-time efficient glass-free 3D system, which is based on FPGA. The system converts two-view input that is 60 frames per second (fps) 1080P stream into a multi-view video with 30fps and 4K resolution. In order to provide smooth and comfortable viewing experience, glass-free 3D systems must display multi-view videos. To generate a multi-view video from a two-view input includes three steps, the first is to compute disparity maps from two input views; the second is to synthesize a couple of new views based on the computed disparity maps and input views; the last is to produce video from the new views according to the specifications of the lens installed on TV sets.

  12. Disparity Limit for Binocular Fusion in Fovea

    Science.gov (United States)

    Qin, Damin; Takamatsu, Mamoru; Nakashima, Yoshio

    In the human visual system, binocular disparity limit must be limited within a certain fusional area, called “Panum's fusional area”; otherwise, unsuitable disparity could cause double vision. The previous studies on Panum's fusional area have focused only on the horizontal and vertical meridians. In order to measure this area in more directions, we determined its limits in 16 different directions from 0 to 360° at 22.5° steps in fovea. It was found that: (1) the horizontal disparity limit (about 32-40 arcmin) is larger than the vertical limit (about 19.2 25.6 arcmin); (2) Panum's fusional area is approximately symmetrical around the horizontal meridian; (3) however, it is not symmetrical around the vertical meridian; the nasalward disparity limits are obviously larger than temporalward disparity limits; (4) therefore, the form of Panum's fusional area in fovea could be suggested to be an ellipse off-centered toward the nasal side on the horizontal meridian.

  13. Regional economic disparities in Colombia

    Directory of Open Access Journals (Sweden)

    Jaime Bonet

    2009-06-01

    Full Text Available This paper advances the analysis of regional income convergence inColombia, through the use of the income data recently estimated for the departments,the main subnational political units. The results show a polarization process betweenBogotá and the rest of the departments. The preponderance of Bogotá during the periodanalyzed is also discussed: its per capita income is more than double that of thenational average, and more than eight times the per capita income of the poorest department,Chocó. Persistence in the departmental per capita income ranking is observed:Bogotá is always ahead, while the departments in the periphery are in the last places.The findings lead to the conclusion that it is necessary to design policies to correctthe significant disparities in per capita income between Colombian regions.

  14. 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...

  15. 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.

  16. 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.

  17. 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...

  18. 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.

  19. 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...

  20. 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...

  1. 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...

  2. 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...

  3. 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.

  4. 3D visual discomfort prediction using low complexity disparity algorithms

    National Research Council Canada - National Science Library

    Chen, Jianyu; Zhou, Jun; Sun, Jun; Bovik, Alan C

    2016-01-01

    .... Unfortunately, computing disparity maps is expensive and difficult and most leading assessment models are based on features drawn from the outputs of high complexity disparity calculation algorithms...

  5. 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...

  6. 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...

  7. 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.

  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. Stereo vision-based tracking of soft tissue motion with application to online ablation control in laser microsurgery.

    Science.gov (United States)

    Schoob, Andreas; Kundrat, Dennis; Kahrs, Lüder A; Ortmaier, Tobias

    2017-08-01

    Recent research has revealed that image-based methods can enhance accuracy and safety in laser microsurgery. In this study, non-rigid tracking using surgical stereo imaging and its application to laser ablation is discussed. A recently developed motion estimation framework based on piecewise affine deformation modeling is extended by a mesh refinement step and considering texture information. This compensates for tracking inaccuracies potentially caused by inconsistent feature matches or drift. To facilitate online application of the method, computational load is reduced by concurrent processing and affine-invariant fusion of tracking and refinement results. The residual latency-dependent tracking error is further minimized by Kalman filter-based upsampling, considering a motion model in disparity space. Accuracy is assessed in laparoscopic, beating heart, and laryngeal sequences with challenging conditions, such as partial occlusions and significant deformation. Performance is compared with that of state-of-the-art methods. In addition, the online capability of the method is evaluated by tracking two motion patterns performed by a high-precision parallel-kinematic platform. Related experiments are discussed for tissue substitute and porcine soft tissue in order to compare performances in an ideal scenario and in a setup mimicking clinical conditions. Regarding the soft tissue trial, the tracking error can be significantly reduced from 0.72 mm to below 0.05 mm with mesh refinement. To demonstrate online laser path adaptation during ablation, the non-rigid tracking framework is integrated into a setup consisting of a surgical Er:YAG laser, a three-axis scanning unit, and a low-noise stereo camera. Regardless of the error source, such as laser-to-camera registration, camera calibration, image-based tracking, and scanning latency, the ablation root mean square error is kept below 0.21 mm when the sample moves according to the aforementioned patterns. Final

  11. Conquering racial disparities in perinatal outcomes.

    Science.gov (United States)

    Willis, Earnestine; McManus, Patricia; Magallanes, Norma; Johnson, Sheri; Majnik, Amber

    2014-12-01

    Infant mortality rate (IMR) is a reference indicator for societal health status. Trend analysis of IMR highlights 2 challenges to overcome in the United States: (1) US IMR is higher than most industrialized countries and (2) there are persistent racial/ethnic disparities in birth outcomes, especially for blacks. Racial/ethnic infant mortality disparities result from the complex interplay of adverse social, economic, and environmental exposures. In this article, racial/ethnic disparities are discussed, highlighting trends, the role of epigenetics in understanding mechanisms, key domains of community action planning, and programs and policies addressing the racial gaps in adverse birth outcomes. Copyright © 2014 Elsevier Inc. All rights reserved.

  12. Retinal-image quality and maximum disparity

    Science.gov (United States)

    Castro, José J.; Jiménez, J. R.; Ortiz, Carolina; Alarcón, Aixa

    2010-01-01

    The aim of this paper is to evaluate the role of interocular differences in retinal-image quality in stereoscopic depth perception. To characterize retinal-image quality, we took the Strehl ratio from a double-pass device. Stereopsis was quantified through maximum disparity using random-dot stereograms (RDS). Data were taken for 25 observers with ages ranging from 21 to 61 years. The results show a significant correlation between maximum disparity and interocular differences in the Strehl ratio: the lower interocular differences, the higher maximum disparity. No significant dependence with age was found.

  13. Addressing Health Care Disparities Among Sexual Minorities.

    Science.gov (United States)

    Baptiste-Roberts, Kesha; Oranuba, Ebele; Werts, Niya; Edwards, Lorece V

    2017-03-01

    There is evidence of health disparities between sexual minority and heterosexual populations. Although the focus of lesbian, gay, bisexual, and transgender health research has been human immunodeficiency virus/acquired immunodeficiency syndrome and sexually transmitted infection among men who have sex with men, there are health disparities among sexual minority women. Using the minority stress framework, these disparities may in part be caused by individual prejudice, social stigma, and discrimination. To ensure equitable health for all, there is urgent need for targeted culturally sensitive health promotion, cultural sensitivity training for health care providers, and intervention-focused research. Copyright © 2016 Elsevier Inc. All rights reserved.

  14. Global health disparities: crisis in the diaspora.

    Science.gov (United States)

    Cox, Raymond L

    2004-04-01

    The United States spends more than the rest of the world on healthcare. In 2000, the U.S. health bill was 1.3 trillion dollars, 14.5% of its gross domestic product. Yet, according to the WHO World Health Report 2000, the United States ranked 37th of 191 member nations in overall health system performance. Racial/ethnic disparities in health outcomes are the most obvious examples of an unbalanced healthcare system. This presentation will examine health disparities in the United States and reveal how health disparities among and within countries affect the health and well-being of the African Diaspora.

  15. 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%.

  16. 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...

  17. 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.

  18. 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).

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  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, 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

  5. 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.

  6. 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.

  7. 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.

  8. 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.

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

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    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.

  10. 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.

  11. Racial disparities in pubertal development.

    Science.gov (United States)

    Ramnitz, Mary Scott; Lodish, Maya B

    2013-09-01

    The question of whether or not children, particularly girls, are entering puberty earlier than they did in the past has been a concern in both the medical community and the general population. A secular trend analysis of the current data on pubertal timing in boys and girls is limited by variations in the study design, the population assessed, and the methods used to determine pubertal development. These differences present a challenge when interpreting the available data, especially when comparing multiple studies. The influence of race on pubertal timing and development had not been assessed before the 1970s. The purpose of this article is to review the reported variations in pubertal timing among different racial/ethnic groups. Data suggest African American girls enter puberty earlier and reach menarche earlier than Caucasian and Hispanic girls. In addition, the trend toward earlier timing of puberty seems to be occurring faster in African American girls compared with Caucasian girls over the past 25 years. While the mechanism and understanding of the cause of racial disparities in pubertal development remain to be discerned, genetic and/or environmental factors may play a role and require further investigation. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

  12. 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

  13. Comparison of fixation disparity curve parameters obtained with the Wesson and Saladin fixation disparity cards.

    Science.gov (United States)

    Ngan, Janice; Goss, David A; Despirito, Joseph

    2005-01-01

    This study compared fixation curve parameters with two commercially available fixation disparity cards, one that has been available for several years, the Wesson card, and a new one, the Saladin card. Fixation disparity curves were measured on 50 subjects with the Wesson fixation disparity card and the Saladin fixation disparity card. The x intercepts were on average more in the base-in direction with the Wesson card than with the Saladin card. The y intercepts were shifted in the exo direction with the Wesson card compared with the Saladin card. The slope with the Wesson card was steeper than the slope obtained with the Saladin card. The distribution of curve types was also different with the two different instruments. Fixation disparity curves measured with these two instruments are different, and separate norms should be used for each fixation disparity measurement method.

  14. 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.

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

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    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

  16. Entamoeba dispar: Could it be pathogenic.

    Science.gov (United States)

    Oliveira, Fabrício Marcus Silva; Neumann, Elisabeth; Gomes, Maria Aparecida; Caliari, Marcelo Vidigal

    2015-01-01

    Amebiasis is a disease caused by the protozoan parasite Entamoeba histolytica. This ameba can colonize the human intestine and persist as a commensal parasite, similar to Entamoeba dispar, an ameba considered to be non-pathogenic. The similarities between E. histolytica and E. dispar make the latter an attractive model for studies aimed at clarifying the pathogenesis of amebiasis. However, in addition to being an interesting experimental model, this relative of E. histolytica remains poorly understood. In the 1990, it was believed that E. dispar was unable to produce significant experimental lesions. This scenario began to change in 1996, when E. dispar strains were isolated from symptomatic patients in Brazil. These strains were able to produce liver and intestinal lesions that were occasionally indistinguishable from those produced by E. histolytica. These and other findings, such as the detection of E. dispar DNA sequences in samples from patients with amebic liver abscess, have revived the possibility that this species can produce lesions in humans. The present paper presents a series of studies on E. dispar that begin to reveal a new facet of this protozoan.

  17. 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.

  18. Sleep in the human hippocampus: a stereo-EEG study.

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    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.

  19. 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.

  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. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. Effects of temperature on development of Lymantria dispar asiatica and Lymantria dispar japonica (Lepidoptera: Erebidae)

    Science.gov (United States)

    Samita Limbu; Melody Keena; Fang Chen; Gericke Cook; Hannah Nadel; Kelli Hoover

    2017-01-01

    Periodic introductions of the Asian subspecies of gypsy moth, Lymantria dispar asiatica Vnukovskij and Lymantria dispar japonica Motschulsky, in North America are threatening forests and interrupting foreign trade. Although Asian gypsy moth has similar morphology to that of European and North American gypsy moth, it has several...

  8. Morphotype disparity in the Precambrian

    Science.gov (United States)

    Moore, Rachael; Reitner, Joachim; Braiser, Martin; Donoghue, Phil; Schirrmeister, Bettina

    2015-04-01

    Prokaryotes have dominated life on Earth for over 2 billion years. Throughout the Precambrian, prokaryotes acted as the major biological impetus for both large and small scale environmental changes. Yet, very little is known about the composition, diversity and evolution of ancient microbial communities due to poor preservation during the Precambrian period. Previous studies of fossils that date to this period relied mainly on light microscopy to identify microfossil morphology and abundance, with limited success. Here we present novel analyses of the microbial remains found in Precambrian stromatolites using Synchrotron Radiation x-Ray Tomographic Microscopy (SRXTM). Microfossils found in samples of three Precambrian deposits, 3.45 Ga Strelley Pool, Australia, 2.1 Ga Gunflint Chert, Canada, and 650 Ma Rasthof Cap Carbonate, Namibia, have been reconstructed in 3D. Based on four scans from each sample, we estimated size and abundance of spheroidal microfossils within those deposits. Our findings show that while cell abundance decreased towards the end of the Precambrian, the biovolume of microfossils within the host rock remained relatively constant. Additionally, both size and disparity increase through time. Constant biovolumes and yet different sizes for these three deposits, point towards a negative correlation of large cell size and cell abundance. This negative correlation indicates that the systems in which these prokaryotes lived may have been biolimited. Both, gas exchange and nutrient uptake in prokaryotes function via diffusion. Therefore, one would expect bacteria to evolve towards an increasing surface to volume ratio. Increased cell sizes, and hence decreased overall surface to volume ratio observed in our data, suggest the influence of other selective factors. Decreased abundance and increased cell size could potentially be associated to changes in nutrient availability and the occurrence of predation. As cells increased in size, more nutrients would

  9. Racial Healthcare Disparities: A Social Psychological Analysis

    Science.gov (United States)

    Penner, Louis A.; Hagiwara, Nao; Eggly, Susan; Gaertner, Samuel L.; Albrecht, Terrance L.; Dovidio, John F.

    2014-01-01

    Around the world, members of racial/ethnic minority groups typically experience poorer health than members of racial/ethnic majority groups. The core premise of this article is that thoughts, feelings, and behaviors related to race and ethnicity play a critical role in healthcare disparities. Social psychological theories of the origins and consequences of these thoughts, feelings, and behaviors offer critical insights into the processes responsible for these disparities and suggest interventions to address them. We present a multilevel model that explains how societal, intrapersonal, and interpersonal factors can influence ethnic/racial health disparities. We focus our literature review, including our own research, and conceptual analysis at the intrapersonal (the race-related thoughts and feelings of minority patients and non-minority physicians) and interpersonal levels (intergroup processes that affect medical interactions between minority patients and non-minority physicians). At both levels of analysis, we use theories of social categorization, social identity, contemporary forms of racial bias, stereotype activation, stigma, and other social psychological processes to identify and understand potential causes and processes of health and healthcare disparities. In the final section, we identify theory-based interventions that might reduce ethnic/racial disparities in health and healthcare. PMID:25197206

  10. Role of epigenetics in cancer health disparities.

    Science.gov (United States)

    Mohammed, Sulma I; Springfield, Sanya; Das, Rina

    2012-01-01

    Cancer disparities in incidence and death rates exist among various racial and ethnic groups. These disparities are thought to be due to socioeconomic status, culture, diet, stress, the environment, and biology. Biological functions, such as epigenetic processes, are affected by all these causal factors and extend throughout the life course. Epigenetic processes, in particular DNA methylation, may play a role in the induction of phenotypes with increased cancer risk due to exposure to these multiple factors. DNA methylation is known to cause changes in gene expression of key regulatory genes in cancer. There are limited studies in which epigenetic changes have been explored to address cancer disparities in various racial and ethnic populations. These few studies have reported significant epigenetic differences in various racial and ethnic groups that could account for the differences seen in tumor initiation, progression, aggressiveness, and outcome of these cancers. Genes differentially methylated among these racially and ethnically diverse populations were involved in important cellular functions, such as tumor growth, tumor suppression, hormone receptors, and genes involved in tumor metastasis. Epigenetic research with the advancement in technology has helped identify biomarkers, therapeutic targets, and understand cancer causation in the general population. Unfortunately, these advances in technology have not been applied to explore the basis for cancer health disparities. More research in epigenetics is needed that will enhance our understanding of the determinants of cancer across various diverse populations and ultimately reduce cancer health disparities.

  11. Health disparities and the multicultural imperative.

    Science.gov (United States)

    Cadoret, Cynthia A; Garcia, Raul I

    2014-06-01

    Providing culturally and linguistically appropriate care is a crucial step toward the elimination of oral health disparities in the United States. Health disparities, coupled with rapidly changing demographic trends, continue to plague healthcare, the health care workforce and population health. Consequently, there is still more work indicated to ensure individuals, regardless of race or ethnicity, receive quality health care at an affordable price. The purpose of this paper is to increase the awareness of oral health care practitioners about the causes and consequences of oral health disparities and to highlight promising strategies aimed at improving effective communication between health care providers and the patients they serve. A narrative utilizing key publications will explain the concept of the multicultural imperative, and its direct relationship to the elimination of health disparities including oral health disparities. It is essential that oral health professionals strive to become culturally and linguistically proficient in communicating with and caring for all our patients. Members of professional organizations and academic institutions can also work to ensure that both students and current practitioners have access to a curriculum and continuing education with the intended outcome of increased cultural proficiency. Copyright © 2014 Elsevier Inc. All rights reserved.

  12. 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.

  13. TOWARDS THE INFLUENCE OF A CAR WINDSHIELD ON DEPTH CALCULATION WITH A STEREO CAMERA SYSTEM

    Directory of Open Access Journals (Sweden)

    A. Hanel

    2016-06-01

    Full Text Available Stereo camera systems in cars are often used to estimate the distance of other road users from the car. This information is important to improve road safety. Such camera systems are typically mounted behind the windshield of the car. In this contribution, the influence of the windshield on the estimated distance values is analyzed. An offline stereo camera calibration is performed with a moving planar calibration target. In a standard procedure bundle adjustment, the relative orientation of the cameras is estimated. The calibration is performed for the identical stereo camera system with and without a windshield in between. The base lengths are derived from the relative orientation in both cases and are compared. Distance values are calculated and analyzed. It can be shown, that the difference of the base length values in the two cases is highly significant. Resulting effects on the distance calculation up to a half meter occur.

  14. Towards the Influence of a CAR Windshield on Depth Calculation with a Stereo Camera System

    Science.gov (United States)

    Hanel, A.; Hoegner, L.; Stilla, U.

    2016-06-01

    Stereo camera systems in cars are often used to estimate the distance of other road users from the car. This information is important to improve road safety. Such camera systems are typically mounted behind the windshield of the car. In this contribution, the influence of the windshield on the estimated distance values is analyzed. An offline stereo camera calibration is performed with a moving planar calibration target. In a standard procedure bundle adjustment, the relative orientation of the cameras is estimated. The calibration is performed for the identical stereo camera system with and without a windshield in between. The base lengths are derived from the relative orientation in both cases and are compared. Distance values are calculated and analyzed. It can be shown, that the difference of the base length values in the two cases is highly significant. Resulting effects on the distance calculation up to a half meter occur.

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Science.gov (United States)

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

    2015-08-21

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

  17. Research situation and development trend of the binocular stereo vision system

    Science.gov (United States)

    Wang, Tonghao; Liu, Bingqi; Wang, Ying; Chen, Yichao

    2017-05-01

    Since the 21st century, with the development of the computer and signal processing technology, a new comprehensive subject that called computer vision was generated. Computer vision covers a wide range of knowledge, which includes physics, mathematics, biology, computer technology and other arts subjects. It contains much content, and becomes more and more powerful, not only can realize the function of the human eye "see", also can realize the human eyes cannot. In recent years, binocular stereo vision which is a main branch of the computer vision has become the focus of the research in the field of the computer vision. In this paper, the binocular stereo vision system, the development of present situation and application at home and abroad are summarized. With the current problems of the binocular stereo vision system, his own opinions are given. Furthermore, a prospective view of the future application and development of this technology are prospected.

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

    Science.gov (United States)

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

    2017-10-15

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

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

    Science.gov (United States)

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

    2008-12-01

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

  20. Education and Public Outreach Programs for RHESSI and STEREO/IMPACT Missions

    Science.gov (United States)

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

    2003-05-01

    We will present inquiry-based classroom activities for grades 8-12, as well as public outreach web-based resources featuring solar data, mathematics, and solar scientist interviews. The classroom activities are well aligned with National Science Education Standards. The inquiry-based resources "X-ray Candles: Solar Flares on Your Birthday," "SUNSPOTS" and "Discover Solar Cycle" will be highlighted. These activities allow students to discover the solar cycle by analyzing x-ray flare data and graphing the percentage of high energy flares over time. The RHESSI satellite mission scientists and a RHESSI EPO developed this activity. It was featured in the "Having a Solar Blast" episode of NASA Connect that was broadcast on NASA TV and PBS stations last spring. We will also present the various ways scientists from NASA's STEREO mission are contributing to the EPO program--through interviews incorporated in the high-visibility Eclipse 2001 webcast event, and through a STEREO website hosted by the Exploratorium. Measuring Magnetism, another inquiry-based classroom activity explaining the background science for STEREO, will be highlighted. We will also feature an exciting prototype program that involves converting the science results of solar energetic particle data to sound, and then a musician ultimately creates a composition inspired by these sounds as well as related solar images. Data from an earlier twin-spacecraft Mission, Helios1/2 (courtesy of D. Reames, GSFC and the Helios mission investigators) are used as a testbed for creating the stereo sounds from the future STEREO data. These resources are supported by RHESSI and STEREO EPO and the Science Education Gateway (SEGway) Project, a NASA SR&T (Supporting Research and Technology) Program.

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

    Science.gov (United States)

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

    2008-01-01

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

  2. Social Determinants of Racial Disparities in CKD

    Science.gov (United States)

    Norton, Jenna M.; Moxey-Mims, Marva M.; Eggers, Paul W.; Narva, Andrew S.; Star, Robert A.; Rodgers, Griffin P.

    2016-01-01

    Significant disparities in CKD rates and outcomes exist between black and white Americans. Health disparities are defined as health differences that adversely affect disadvantaged populations, on the basis of one or more health outcomes. CKD is the complex result of genetic and environmental factors, reflecting the balance of nature and nurture. Social determinants of health have an important role as environmental components, especially for black populations, who are disproportionately disadvantaged. Understanding the social determinants of health and appreciating the underlying differences associated with meaningful clinical outcomes may help nephrologists treat all their patients with CKD in an optimal manner. Altering the social determinants of health, although difficult, may embody important policy and research efforts, with the ultimate goal of improving outcomes for patients with kidney diseases, and minimizing the disparities between groups. PMID:27178804

  3. Motion Parallax is Asymptotic to Binocular Disparity

    CERN Document Server

    Stroyan, Keith

    2010-01-01

    Researchers especially beginning with (Rogers & Graham, 1982) have noticed important psychophysical and experimental similarities between the neurologically different motion parallax and stereopsis cues. Their quantitative analysis relied primarily on the "disparity equivalence" approximation. In this article we show that retinal motion from lateral translation satisfies a strong ("asymptotic") approximation to binocular disparity. This precise mathematical similarity is also practical in the sense that it applies at normal viewing distances. The approximation is an extension to peripheral vision of (Cormac & Fox's 1985) well-known non-trig central vision approximation for binocular disparity. We hope our simple algebraic formula will be useful in analyzing experiments outside central vision where less precise approximations have led to a number of quantitative errors in the vision literature.

  4. 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

  5. STEREO RECONSTRUCTION OF ATMOSPHERIC CLOUD SURFACES FROM FISH-EYE CAMERA IMAGES

    Directory of Open Access Journals (Sweden)

    G. Katai-Urban

    2016-06-01

    Full Text Available In this article a method for reconstructing atmospheric cloud surfaces using a stereo camera system is presented. The proposed camera system utilizes fish-eye lenses in a flexible wide baseline camera setup. The entire workflow from the camera calibration to the creation of the 3D point set is discussed, but the focus is mainly on cloud segmentation and on the image processing steps of stereo reconstruction. Speed requirements, geometric limitations, and possible extensions of the presented method are also covered. After evaluating the proposed method on artificial cloud images, this paper concludes with results and discussion of possible applications for such systems.

  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. An adaptive exposure algorithm for stereo imaging and its performance in an orchard

    DEFF Research Database (Denmark)

    García, Francisco; Wulfsohn, Dvoralai; Andersen, Jens Christian

    2010-01-01

    Stereo vision is being introduced in perception systems for autonomous agricultural vehicles. When working outdoors, light conditions change continuously. The perception system should be able to continuously adapt and correct camera exposure parameters to obtain the best interpretation of the scene...... practically possible. We describe the development and testing of an algorithm to update exposure parameter camera setting of a stereoscopic camera under dynamic light conditions. Static tests using a stereo camera were carried out in an orchard to determine how 2D image histograms and the 3D reconstruction...

  8. Three-dimensional movement analysis for near infrared system using stereo vision and optical flow techniques

    Science.gov (United States)

    Parra Escamilla, Geliztle A.; Serrano Garcia, David I.; Otani, Yukitoshi

    2017-04-01

    The purpose of this paper is the measurement of spatial-temporal movements by using stereo vision and 3D optical flow algorithms applied at biological samples. Stereo calibration procedures and algorithms for enhance the contrast intensity were applied. The system was implemented for working at the first near infrared windows (NIR-I) at 850 nm due of the penetration depth obtained at this region in biological tissue. Experimental results of 3D tracking of human veins are presented showing the characteristics of the implementation.

  9. Spatial aspects of sound quality - and by multichannel systems subjective assessment of sound reproduced by stereo

    DEFF Research Database (Denmark)

    Choisel, Sylvain

    The reproduction of sound by stereo and by multichannel systems is affected by many factors which will give rise to various complex sensations in listeners, and thereby influence the perceived overall quality. In this Ph.D. thesis, the perceptual changes associated with different reproduction...... on the perceived direction of panned sources. The second part of the thesis addresses the identification of auditory attributes which play a role in the perception of sound reproduced by multichannel systems. Short musical excerpts were presented in mono, stereo and several multichannel formats to evoke various...

  10. Race and healthcare disparities: overcoming vulnerablity.

    Science.gov (United States)

    Stone, John

    2002-01-01

    The paper summarizes recently published data and recommendations about healthcare disparities experienced by African Americans who have Medicare or other healthcare coverage. Against this background the paper addresses the ethics of such disparities and how disadvantages of vulnerable populations like African Americans are typically maintained in decision making about how to respond to such disparities. Considering how to respond to disparities reveals much that vulnerable populations would bring to the policy-making table, if they can also be heard when they get there. The paper argues that vulnerable populations like African Americans need fair representation in bodies deciding what to do about such disparities and that fairness requires proportional representation at all levels of decisions that affect healthcare--a radical change. In this decision setting, how to provide adequate protection of minorities needs much further attention. The most attractive decision-making model is deliberative democracy. The paper shows that in deliberation, fair representation requires not only having a voice in decisions, but a fair hearing of those voices. Achieving a fair hearing requires changes in norms of communication and training of all to give importance to greetings and other measures of civility and trust building, and to be open to diverse forms of expression. Decisions about how to respond to healthcare disparities would include what programs to initiate for whom, how to evaluate the programs, and what to do in response to such evaluations. Conclusions are that achieving such goals will take a sea change in how healthcare institutions and providers do their business, and that social activism at every level will be needed to effect these changes. The discussion highlights many ethical issues that need much greater attention.

  11. Racial and Ethnic Disparities in Patient Safety.

    Science.gov (United States)

    Okoroh, Juliet Siena; Uribe, Erika Flores; Weingart, Saul

    2017-09-01

    Although there is extensive evidence on disparities in the process and outcomes of health care, data on racial and ethnic disparities in patient safety remain inconclusive in the United States. The aims of this study were to (1) explore differences in reporting race/ethnicity in studies on disparities in patient safety; (2) assess adjustment for socioeconomic status, comorbidity, and disease severity; and (3) make recommendations on the inclusion of race/ethnicity for future studies on adverse events. We searched PubMed database (for articles published from 1991 to May 1, 2013) using a predetermined criteria for studies on racial and ethnic disparities in patient safety. Only quantitative studies that used chart review or administrative data for the detection of adverse events were considered for eligibility. Two reviewers independently extracted data on inclusion of race/ethnicity in baseline characteristics and in stratification of outcomes. A total of 174 studies were initially obtained from the search. Of these, 24 met inclusion criteria and received full-text review. Meta-analysis was not performed because of the methodological and statistical heterogeneity between studies. Eight studies included race/ethnicity in baseline characteristics and adjusted for confounders. Hospital-level variations such teaching status and percentage of minorities served were infrequently analyzed. To our knowledge, this is the first methodological review of racial/ethnic disparities in patient safety in the United States. The evidence on the existence of disparities in adverse events was mixed. Poor stratification of outcomes by race/ethnicity and consideration of geographic and hospital-level variations explain the inconclusive evidence; variations in the quality of care at hospitals should be considered in studies using national databases.

  12. Mediation Analysis for Health Disparities Research.

    Science.gov (United States)

    Naimi, Ashley I; Schnitzer, Mireille E; Moodie, Erica E M; Bodnar, Lisa M

    2016-08-15

    Social epidemiologists often seek to determine the mechanisms that underlie health disparities. This work is typically based on mediation procedures that may not be justified with exposures of common interest in social epidemiology. In this analysis, we explored the consequences of using standard approaches, referred to as the difference and generalized product methods, when mediator-outcome confounders are associated with the exposure. We compared these with inverse probability-weighted marginal structural models, the structural transformation method, doubly robust g-estimation of a structural nested model, and doubly robust targeted minimum loss-based estimation. We used data on 900,726 births from 2003 to 2007 in the Penn Moms study, conducted in Pennsylvania, to assess the extent to which breastfeeding prior to hospital discharge explained the racial disparity in infant mortality. Overall, for every 1,000 births, 3.36 more infant deaths occurred among non-Hispanic black women relative to all other women (95% confidence interval: 2.78, 3.93). Using the difference and generalized product methods to assess the disparity that would remain if everyone breastfed prior to discharge suggested a complete elimination of the disparity (risk difference = -0.87 per 1,000 births; 95% confidence interval: -1.39, -0.35). In contrast, doubly robust methods suggested a reduction in the disparity to 2.45 (95% confidence interval: 2.20, 2.71) more infant deaths per 1,000 births among non-Hispanic black women. Standard approaches for mediation analysis in health disparities research can yield misleading results. © The Author 2016. Published by Oxford University Press on behalf of the Johns Hopkins Bloomberg School of Public Health. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

  13. Socially disparate trends in lifespan variation

    DEFF Research Database (Denmark)

    Brønnum-Hansen, Henrik

    2017-01-01

    BACKGROUND: Social inequality trends in life expectancy are not informative as to changes in social disparity in the age-at-death distribution. The purpose of the study was to investigate social differentials in trends and patterns of adult mortality in Denmark. METHODS: Register data on income...... and mortality from 1986 to 2014 were used to investigate trends in life expectancy, life disparity and the threshold age that separates 'premature' and 'late' deaths. Mortality compression was quantified and compared between income quartiles. RESULTS: Since 1986, male life expectancy increased by 4.2 years...

  14. Ranging Apparatus and Method Implementing Stereo Vision System

    Science.gov (United States)

    Li, Larry C. (Inventor); Cox, Brian J. (Inventor)

    1997-01-01

    A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined.

  15. MACRO-REGIONAL DISPARITIES IN ROMANIA

    Directory of Open Access Journals (Sweden)

    MARIA OŢIL

    2010-01-01

    Full Text Available Economic disparities are disparities between levels of economicdevelopment of the areas or regions within a national economy. If economic literature hasfailed to explain the causes of inequalities in economic development of different regions of theEU, this issue became a priority in EU economic policy, especially after the adhesion ofGreece, Spain and Portugal, countries characterized by a lower level of development fromother EU countries and also marked by significant regional imbalances. European Unionsupports reducing disparities between different regions of Member States so that all regionsand their people to benefit from economic and social advantages of the Union. This paper aimsto highlight disparities between the macro-regions in Romania. Regional demarcation criterionin the NUTS system is the population’s number within a territory. Most pertinent argument isthat the goal of all activities in a society lies in meeting the needs of the individual and of thecommunity. This possibility is ensured by a certain level of economic development in the region.Less developed areas of Romania are located in Northern Moldova and in the South EasternRomanian Plain and the more developed areas include, in addition to Bucharest andConstanta, Transylvania and Banat regions.

  16. Gender Disparity in Turkish Higher Education

    Science.gov (United States)

    Findik, Leyla Yilmaz

    2016-01-01

    Turkey has been concerned about gender inequality in education for many years and has implemented various policy instruments. However, gender disparity still seems to prevail today. This study seeks to provide an insight to the gender differences in terms of enrollment rates, level of education, fields of education and number of graduates in…

  17. Yardstick competition, fiscal disparities, and equalization

    NARCIS (Netherlands)

    Allers, Maarten A.

    2012-01-01

    The theory of political yardstick competition states that a comparison of public service levels and tax rates with those in nearby jurisdictions can provide voters with a useful instrument to assess politicians' performance. However, we argue that fiscal disparities bias this yardstick, and that

  18. Gender Wage Disparities among the Highly Educated

    Science.gov (United States)

    Black, Dan A.; Haviland, Amelia M.; Sanders, Seth G.; Taylor, Lowell J.

    2008-01-01

    We examine gender wage disparities for four groups of college-educated women--black, Hispanic, Asian, and non-Hispanic white--using the National Survey of College Graduates. Raw log wage gaps, relative to non-Hispanic white male counterparts, generally exceed -0.30. Estimated gaps decline to between -0.08 and -0.19 in nonparametric analyses that…

  19. Differentiation of Entamoeba histolytica, Entamoeba dispar and ...

    African Journals Online (AJOL)

    2016-06-28

    Jun 28, 2016 ... Background: Entamoeba species have been reported to cause a high morbidity and mortality rate. Aim: The study was aimed at detecting and differentiating E. histolytica, E. dispar and E. moshkovskii using molecular technique (PCR). Methods: Microscopic examination of the faecal samples was carried ...

  20. Educational Disparities and Conflict: Evidence from Lebanon

    Science.gov (United States)

    Tfaily, Rania; Diab, Hassan; Kulczycki, Andrzej

    2013-01-01

    This article examines the impact of Lebanon's civil war (1975-1991) on disparities in education among the country's main religious sects and across various regions. District of registration is adopted as a proxy for religious affiliation through a novel, detailed classification to assess sectarian differentials by region and regional differentials…

  1. Differentiation of Entamoeba histolytica, Entamoeba dispar and ...

    African Journals Online (AJOL)

    Background: Entamoeba species have been reported to cause a high morbidity and mortality rate. Aim: The study was aimed at detecting and differentiating E. histolytica, E. dispar and E. moshkovskii using molecular technique (PCR). Methods: Microscopic examination of the faecal samples was carried out by the ...

  2. Gender disparity in hopelessness among unemployed graduates ...

    African Journals Online (AJOL)

    Taking recourse to the traditional gender-role expectation which views males as the family breadwinner and head, it is assumed that the psychological consequences of unemployment may not be the same for both male and female unemployed. In view of this, this study examined gender disparities in hopelessness in a ...

  3. Determinants of health disparities between Italian regions

    Directory of Open Access Journals (Sweden)

    Giannoni Margherita

    2010-06-01

    Full Text Available Abstract Background Among European countries, Italy is one of the countries where regional health disparities contribute substantially to socioeconomic health disparities. In this paper, we report on regional differences in self-reported poor health and explore possible determinants at the individual and regional levels in Italy. Methods We use data from the "Indagine Multiscopo sulle Famiglie", a survey of aspects of everyday life in the Italian population, to estimate multilevel logistic regressions that model poor self-reported health as a function of individual and regional socioeconomic factors. Next we use the causal step approach to test if living conditions, healthcare characteristics, social isolation, and health behaviors at the regional level mediate the relationship between regional socioeconomic factors and self-rated health. Results We find that residents living in regions with more poverty, more unemployment, and more income inequality are more likely to report poor health and that poor living conditions and private share of healthcare expenditures at the regional level mediate socioeconomic disparities in self-rated health among Italian regions. Conclusion The implications are that regional contexts matter and that regional policies in Italy have the potential to reduce health disparities by implementing interventions aimed at improving living conditions and access to quality healthcare.

  4. What Are Disparities? | NIH MedlinePlus the Magazine

    Science.gov (United States)

    ... of our racial and ethnic minority, rural, low-income, and other underserved populations. Health disparities are the ... status Disability Sex or gender Sexual orientation Geography Income To better understand the context of disparities, it ...

  5. Advanced scanning transmission stereo electron microscopy of structural and functional engineering materials.

    Science.gov (United States)

    Agudo Jácome, L; Eggeler, G; Dlouhý, A

    2012-11-01

    Stereo transmission electron microscopy (TEM) provides a 3D impression of the microstructure in a thin TEM foil. It allows to perform depth and TEM foil thickness measurements and to decide whether a microstructural feature lies inside of a thin foil or on its surface. It allows appreciating the true three-dimensional nature of dislocation configurations. In the present study we first review some basic elements of classical stereo TEM. We then show how the method can be extended by working in the scanning transmission electron microscope (STEM) mode of a modern analytical 200 kV TEM equipped with a field emission gun (FEG TEM) and a high angle annular dark field (HAADF) detector. We combine two micrographs of a stereo pair into one anaglyph. When viewed with special colored glasses the anaglyph provides a direct and realistic 3D impression of the microstructure. Three examples are provided which demonstrate the potential of this extended stereo TEM technique: a single crystal Ni-base superalloy, a 9% Chromium tempered martensite ferritic steel and a NiTi shape memory alloy. We consider the effect of camera length, show how foil thicknesses can be measured, and discuss the depth of focus and surface effects. Copyright © 2012 Elsevier B.V. All rights reserved.

  6. Stereo photo series for quantifying cerrado fuels in Central Brazil—volume I.

    Science.gov (United States)

    R.D. Ottmar; R.E. Vihnanek; H.S. Miranda; M.N. Sata; S.M. Andrade

    2001-01-01

    The first volume of the Cerrado photo series is a collection of sites that represent a range of physiognomic forms of the Cerrado in central Brazil including campo limpo, campo sujo, cerrado ralo, cerrado sensu stricto, and cerrado denso. Sites include wide-angle and stereo pair photographs supplemented with information on living and dead fuels,...

  7. Music mixes for comparison of wave field synthesis, surround, and stereo

    OpenAIRE

    Hold, Christoph; Wierstorf, Hagen

    2016-01-01

    Four different music mixes are provided in the form of loudspeaker driving signals. Each mix was produced for wave field synthesis, surround, and stereo by the same mixing engineer. This allows a direct comparison of the different reproduction methods in listening tests.

  8. Quantifying geological processes on Mars - Results of the high resolution stereo camera (HRSC) on Mars express

    NARCIS (Netherlands)

    Jaumann, R.; Tirsch, D.; Hauber, E.; Ansan, V.; Di Achille, G.; Erkeling, G.; Fueten, F.; Head, J.; Kleinhans, M. G.|info:eu-repo/dai/nl/217675123; Mangold, N.; Michael, G. G.; Neukum, G.; Pacifici, A.; Platz, T.; Pondrelli, M.; Raack, J.; Reiss, D.; Williams, D. A.; Adeli, S.; Baratoux, D.; De Villiers, G.; Foing, B.; Gupta, S.; Gwinner, K.; Hiesinger, H.; Hoffmann, H.; Deit, L. Le; Marinangeli, L.; Matz, K. D.; Mertens, V.; Muller, J. P.; Pasckert, J. H.; Roatsch, T.; Rossi, A. P.; Scholten, F.; Sowe, M.; Voigt, J.; Warner, N.

    2015-01-01

    Abstract This review summarizes the use of High Resolution Stereo Camera (HRSC) data as an instrumental tool and its application in the analysis of geological processes and landforms on Mars during the last 10 years of operation. High-resolution digital elevations models on a local to regional scale

  9. APPLYING CCD CAMERAS IN STEREO PANORAMA SYSTEMS FOR 3D ENVIRONMENT RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    A. Sh. Amini

    2012-07-01

    Full Text Available Proper recontruction of 3D environments is nowadays needed by many organizations and applications. In addition to conventional methods the use of stereo panoramas is an appropriate technique to use due to simplicity, low cost and the ability to view an environment the way it is in reality. This paper investigates the ability of applying stereo CCD cameras for 3D reconstruction and presentation of the environment and geometric measuring among that. For this purpose, a rotating stereo panorama was established using two CCDs with a base-length of 350 mm and a DVR (digital video recorder box. The stereo system was first calibrated using a 3D test-field and used to perform accurate measurements. The results of investigating the system in a real environment showed that although this kind of cameras produce noisy images and they do not have appropriate geometric stability, but they can be easily synchronized, well controlled and reasonable accuracy (about 40 mm in objects at 12 meters distance from the camera can be achieved.

  10. Non-destructive automatic leaf area measurements by combining stereo and time-of-flight images

    NARCIS (Netherlands)

    Song, Y.; Glasbey, C.A.; Polder, G.; Heijden, van der G.W.A.M.

    2014-01-01

    Leaf area measurements are commonly obtained by destructive and laborious practice. This study shows how stereo and time-of-flight (ToF) images can be combined for non-destructive automatic leaf area measurements. The authors focus on some challenging plant images captured in a greenhouse

  11. Siim Nestor soovitab : Stereo ÖÖ. Mutant Disco. Beats from the Vault. Turbodisko / Siim Nestor

    Index Scriptorium Estoniae

    Nestor, Siim, 1974-

    2006-01-01

    Oma debüütalbumit "Migration" tutvustav ameerika diskor Alex Attias üritustel "Stereo ÖÖ" 19. mail Tallinnas Von Krahlis. Üritustest "Mutant Disco" 19. mail Tallinnas klubis Privé ja Tartus 20. mail klubis Illusion, "Beats from the Vault" 19. mail Tallinnas klubis Võit ja "Turbodisko" 20. mail Tallinnas klubis KuKu

  12. 3D digital image correlation using single color camera pseudo-stereo system

    Science.gov (United States)

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

    2017-10-01

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

  13. Stereo-Vision-Based Relative Pose Estimation for the Rendezvous and Docking of Noncooperative Satellites

    Directory of Open Access Journals (Sweden)

    Feng Yu

    2014-01-01

    Full Text Available Autonomous on-orbit servicing is expected to play an important role in future space activities. Acquiring the relative pose information and inertial parameters of target is one of the key technologies for autonomous capturing. In this paper, an estimation method of relative pose based on stereo vision is presented for the final phase of the rendezvous and docking of noncooperative satellites. The proposed estimation method utilizes the sparse stereo vision algorithm instead of the dense stereo algorithm. The method consists of three parts: (1 body frame reestablishment, which establishes the body-fixed frame for the target satellite using the natural features on the surface and measures the relative attitude based on TRIAD and QUEST; (2 translational parameter estimation, which designs a standard Kalman filter to estimate the translational states and the location of mass center; (3 rotational parameter estimation, which designs an extended Kalman filter and an unscented Kalman filter, respectively, to estimate the rotational states and all the moment-of-inertia ratios. Compared to the dense stereo algorithm, the proposed method can avoid degeneracy when the target has a high degree of axial symmetry and reduce the number of sensors. The validity of the proposed method is verified by numerical simulations.

  14. 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.

  15. Turbulence velocity profiling for high sensitivity and vertical-resolution atmospheric characterization with Stereo-SCIDAR

    Science.gov (United States)

    Osborn, J.; Butterley, T.; Townson, M. J.; Reeves, A. P.; Morris, T. J.; Wilson, R. W.

    2017-02-01

    As telescopes become larger, into the era of ˜40 m Extremely Large Telescopes, the high-resolution vertical profile of the optical turbulence strength is critical for the validation, optimization and operation of optical systems. The velocity of atmospheric optical turbulence is an important parameter for several applications including astronomical adaptive optics systems. Here, we compare the vertical profile of the velocity of the atmospheric wind above La Palma by means of a comparison of Stereo-SCIntillation Detection And Ranging (Stereo-SCIDAR) with the Global Forecast System models and nearby balloon-borne radiosondes. We use these data to validate the automated optical turbulence velocity identification from the Stereo-SCIDAR instrument mounted on the 2.5 m Isaac Newton Telescope, La Palma. By comparing these data we infer that the turbulence velocity and the wind velocity are consistent and that the automated turbulence velocity identification of the Stereo-SCIDAR is precise. The turbulence velocities can be used to increase the sensitivity of the turbulence strength profiles, as weaker turbulence that may be misinterpreted as noise can be detected with a velocity vector. The turbulence velocities can also be used to increase the altitude resolution of a detected layer, as the altitude of the velocity vectors can be identified to a greater precision than the native resolution of the system. We also show examples of complex velocity structure within a turbulent layer caused by wind shear at the interface of atmospheric zones.

  16. LiDAR Point Cloud and Stereo Image Point Cloud Fusion

    Science.gov (United States)

    2013-09-01

    and tree health information, resulting in a complete model of the forest inventory . LiDAR collected point clouds and stereo-image-derived point...N. C., Pitt, D., & Woods, M. (2013). The utility of image-based point clouds for forest inventory : a comparison with airborne laser scanning

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

    Directory of Open Access Journals (Sweden)

    Chia-Sui Wang

    2015-01-01

    Full Text Available 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 raining and snowing and artificial (such as sudden crossing road by pedestrians, appearing of vehicles from dead angles, roadblock variables are added as the base for system implementation. In addition, the implementation is performed with human factors engineered according to sudden conditions that may happen easily in driving. From experimental results, it proves that the stereo vision system created by the research has an image depth recognition error rate within 0.011%. The image tracking error rate may be smaller than 2.5%. In the research, the image recognition function of stereo vision is utilized to accomplish the data collection of driver tracking detection. In addition, the environmental conditions of different simulated real scenarios may also be created through VR.

  18. Online Stereo 3D Simulation in Studying the Spherical Pendulum in Conservative Force Field

    Science.gov (United States)

    Zabunov, Svetoslav S.

    2013-01-01

    The current paper aims at presenting a modern e-learning method and tool that is utilized in teaching physics in the universities. An online stereo 3D simulation is used for e-learning mechanics and specifically the teaching of spherical pendulum as part of the General Physics course for students in the universities. This approach was realized on…

  19. Bias reduction for stereo based motion estimation with applications to large scale visual odometry

    NARCIS (Netherlands)

    Dubbelman, G.; Groen, F.C.A.

    2009-01-01

    This contribution addresses the problem of bias in stereo based motion estimation. Using a biased estimator within a visual-odometry system will cause significant drift on large trajectories. This drift is often minimized by exploiting auxiliary sensors, (semi-)global optimization or loop-closing.

  20. Micro-organism for the production of stereo-specific s, s-2,3-butanediol

    DEFF Research Database (Denmark)

    2016-01-01

    lactic acid bacterium, under aerobic conditions in the presence of a source of iron-containing porphyrin or a source of metal ions (Fe3+/Fe2+). The lactic acid bacterium is genetically modified to express heterologous genes encoding enzymes catalysing the stereo-specific synthesis of (S,S)-2,3-butanediol...

  1. 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.

  2. First bulk and surface results for the ATLAS ITk stereo annulus sensors

    CERN Document Server

    Abidi, Syed Haider; The ATLAS collaboration; Bohm, Jan; Botte, James Michael; Ciungu, Bianca; Dette, Karola; Dolezal, Zdenek; Escobar, Carlos; Fadeyev, Vitaliy; Fernandez-Tejero, Xavi; Garcia-Argos, Carlos; Gillberg, Dag; Hara, Kazuhiko; Hunter, Robert Francis Holub

    2018-01-01

    A novel microstrip sensor geometry, the “stereo annulus”, has been developed for use in the end-cap of the ATLAS experiment’s strip tracker upgrade at the High-Luminosity Large Hadron Collider (HL- LHC). The radiation-hard, single-sided, ac-coupled, n + -in-p microstrip sensors are designed by the ITk Strip Sensor Collaboration and produced by Hamamatsu Photonics. The stereo annulus design has the potential to revolutionize the layout of end-cap microstrip trackers promising better tracking performance and more complete coverage than the contemporary configurations. These advantages are achieved by the union of equal length, radially oriented strips with a small stereo angle implemented directly into the sensor surface. The first-ever results for the stereo annulus geometry have been collected across several sites world- wide and are presented here. A number of full-size, unirradiated sensors were evaluated for their mechanical, bulk, and surface properties. The new device, the ATLAS12EC, is compared ag...

  3. Test beam results of a stereo preshower integrated in the liquid argon accordion calorimeter

    CERN Document Server

    Davis, R; Greenious, G; Kitching, P; Olsen, B; Pinfold, James L; Rodning, N L; Boos, E; Zhautykov, B O; Aubert, Bernard; Bazan, A; Beaugiraud, B; Boniface, J; Colas, Jacques; Eynard, G; Jézéquel, S; Le Flour, T; Linossier, O; Nicoleau, S; Sauvage, G; Thion, J; Van den Plas, D; Wingerter-Seez, I; Zitoun, R; Zolnierowski, Y; Chmeissani, M; Fernández, E; Garrido, L; Martínez, M; Padilla, C; Citterio, M; Gordon, H A; Lissauer, D; Ma, H; Makowiecki, D S; Radeka, V; Rahm, David Charles; Rescia, S; Stephani, D; Takai, H; Baisin, L; Berset, J C; Chevalley, J L; Gianotti, F; Gildemeister, O; Marin, C P; Nessi, Marzio; Poggioli, Luc; Richter, W; Vuillemin, V; Baze, J M; Delagnes, E; Gosset, L G; Lavocat, P; Lottin, J P; Mansoulié, B; Meyer, J P; Renardy, J F; Schwindling, J; Simion, S; Taguet, J P; Teiger, J; Walter, C; Collot, J; de Saintignon, P; Hostachy, J Y; Mahout, G; Barreiro, F; Del Peso, J; García, J; Hervás, L; Labarga, L; Romero, P; Scheel, C V; Chekhtman, A; Cousinou, M C; Dargent, P; Dinkespiler, B; Etienne, F; Fassnacht, P; Fouchez, D; Martin, L; Miotto, A; Monnier, E; Nagy, E; Olivetto, C; Tisserant, S; Battistoni, G; Camin, D V; Cavalli, D; Costa, G; Cozzi, L; Fedyakin, N N; Ferrari, A; Mandelli, L; Mazzanti, M; Perini, L; Resconi, S; Sala, P R; Beaudoin, G; Depommier, P; León-Florián, E; Leroy, C; Roy, P; Augé, E; Breton, D; Chase, Robert L; Chollet, J C; de La Taille, C; Fayard, Louis; Fournier, D; González, J; Hrisoho, A T; Jacquier, Y; Merkel, B; Nikolic, I A; Noppe, J M; Parrour, G; Pétroff, P; Puzo, P; Richer, J P; Schaffer, A C; Seguin-Moreau, N; Serin, L; Tisserand, V; Veillet, J J; Vichou, I; Canton, B; David, J; Genat, J F; Imbault, D; Le Dortz, O; Savoy-Navarro, Aurore; Schwemling, P; Eek, L O; Lund-Jensen, B; Söderqvist, J; Astbury, Alan; Keeler, Richard K; Lefebvre, M; Robertson, S; White, J

    1998-01-01

    This paper describes the construction of an integrated preshower within the RD3 liquid argon accordion calorimeter. It has a stereo view which enables the measurement of two transverse coordinates. The prototype was tested at CERN with electrons, photons and muons to validate its capability to work at LHC ( Energy resolution, impact point resolution, angular resolution, $\\pi^o$/$\\gamma$ rejection ).

  4. On-line measurement of ski-jumper trajectory: combining stereo vision and shape description

    Science.gov (United States)

    Nunner, T.; Sidla, O.; Paar, G.; Nauschnegg, B.

    2010-01-01

    Ski jumping has continuously raised major public interest since the early 70s of the last century, mainly in Europe and Japan. The sport undergoes high-level analysis and development, among others, based on biodynamic measurements during the take-off and flight phase of the jumper. We report on a vision-based solution for such measurements that provides a full 3D trajectory of unique points on the jumper's shape. During the jump synchronized stereo images are taken by a calibrated camera system in video rate. Using methods stemming from video surveillance, the jumper is detected and localized in the individual stereo images, and learning-based deformable shape analysis identifies the jumper's silhouette. The 3D reconstruction of the trajectory takes place on standard stereo forward intersection of distinct shape points, such as helmet top or heel. In the reported study, the measurements are being verified by an independent GPS measurement mounted on top of the Jumper's helmet, synchronized to the timing of camera exposures. Preliminary estimations report an accuracy of +/-20 cm in 30 Hz imaging frequency within 40m trajectory. The system is ready for fully-automatic on-line application on ski-jumping sites that allow stereo camera views with an approximate base-distance ratio of 1:3 within the entire area of investigation.

  5. A neuropathological, stereo-EEG, and MRI study of subcortical band heterotopia.

    Science.gov (United States)

    Mai, R; Tassi, L; Cossu, M; Francione, S; Lo Russo, G; Garbelli, R; Ferrario, A; Galli, C; Taroni, F; Citterio, A; Spreafico, R

    2003-06-10

    The authors performed an MRI, stereo-EEG, and pathology study on a woman with subcortical band heterotopia and partial epilepsy. Clinical manifestations of seizures always started when ictal discharges were present in outer and heterotopic cortices. Simultaneous activation of both cortices and presence of differentiated neurons in the white matter and the heterotopia strongly suggest that the cortices were anatomically and functionally interconnected.

  6. Stereo Vision and 3D Reconstruction on a Distributed Memory System

    NARCIS (Netherlands)

    Kuijpers, N.H.L.; Paar, G.; Lukkien, J.J.

    1996-01-01

    An important research topic in image processing is stereo vision. The objective is to compute a 3-dimensional representation of some scenery from two 2-dimensional digital images. Constructing a 3-dimensional representation involves finding pairs of pixels from the two images which correspond to the

  7. Non-linearity analysis of depth and angular indexes for optimal stereo SLAM.

    Science.gov (United States)

    Bergasa, Luis M; Alcantarilla, Pablo F; Schleicher, David

    2010-01-01

    In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3-5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used for switching between both parametrizations and it is computed by means of a non-linearity analysis of the stereo sensor. Main steps of our system approach are presented as well as an analysis about the optimal way to calculate the depth threshold. At the moment each landmark is initialized, the normal of the patch surface is computed using the information of the stereo pair. In order to improve long-term tracking, a patch warping is done considering the normal vector information. Some experimental results under indoor environments and conclusions are presented.

  8. Non-Linearity Analysis of Depth and Angular Indexes for Optimal Stereo SLAM

    Directory of Open Access Journals (Sweden)

    David Schleicher

    2010-04-01

    Full Text Available In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3–5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used for switching between both parametrizations and it is computed by means of a non-linearity analysis of the stereo sensor. Main steps of our system approach are presented as well as an analysis about the optimal way to calculate the depth threshold. At the moment each landmark is initialized, the normal of the patch surface is computed using the information of the stereo pair. In order to improve long-term tracking, a patch warping is done considering the normal vector information. Some experimental results under indoor environments and conclusions are presented.

  9. Measuring Sandy Bottom Dynamics by Exploiting Depth from Stereo Video Sequences

    DEFF Research Database (Denmark)

    Musumeci, Rosaria E.; Farinella, Giovanni M.; Foti, Enrico

    2013-01-01

    In this paper an imaging system for measuring sandy bottom dynamics is proposed. The system exploits stereo sequences and projected laser beams to build the 3D shape of the sandy bottom during time. The reconstruction is used by experts of the field to perform accurate measurements and analysis...

  10. First bulk and surface results for the ATLAS ITk Strip stereo annulus sensors

    CERN Document Server

    Hunter, Robert Francis Holub; The ATLAS collaboration; Affolder, Tony; Bohm, Jan; Botte, James Michael; Ciungu, Bianca; Dette, Karola; Dolezal, Zdenek; Escobar, Carlos; Fadeyev, Vitaliy

    2018-01-01

    A novel microstrip sensor geometry, the stereo annulus, has been developed for use in the end-cap of the ATLAS experiment's strip tracker upgrade at the HL-LHC. Its first implementation is in the ATLAS12EC sensors a large-area, radiation-hard, single-sided, ac-coupled, \

  11. 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

  12. A Real-Time Embedded System for Stereo Vision Preprocessing Using an FPGA

    DEFF Research Database (Denmark)

    Kjær-Nielsen, Anders; Jensen, Lars Baunegaard With; Sørensen, Anders Stengaard

    2008-01-01

    In this paper a low level vision processing node for use in existing IEEE 1394 camera setups is presented. The processing node is a small embedded system, that utilizes an FPGA to perform stereo vision preprocessing at rates limited by the bandwidth of IEEE 1394a (400Mbit). The system is used...

  13. The Effects of Avatars, Stereo Vision and Display Size on Reaching and Motion Reproduction.

    Science.gov (United States)

    Camporesi, Carlo; Kallmann, Marcelo

    2016-05-01

    Thanks to recent advances on motion capture devices and stereoscopic consumer displays, animated virtual characters can now realistically interact with users in a variety of applications. We investigate in this paper the effect of avatars, stereo vision and display size on task execution in immersive virtual environments. We report results obtained with three experiments in varied configurations that are commonly used in rehabilitation applications. The first experiment analyzes the accuracy of reaching tasks under different system configurations: with and without an avatar, with and without stereo vision, and employing a 2D desktop monitor versus a large multi-tile visualization display. The second experiment analyzes the use of avatars and user-perspective stereo vision on the ability to perceive and subsequently reproduce motions demonstrated by an autonomous virtual character. The third experiment evaluates the overall user experience with a complete immersive user interface for motion modeling by direct demonstration. Our experiments expose and quantify the benefits of using stereo vision and avatars, and show that the use of avatars improve the quality of produced motions and the resemblance of replicated msotions; however, direct interaction in user-perspective leads to tasks executed in less time and to targets more accurately reached. These and additional tradeoffs are important for the effective design of avatar-based training systems.

  14. Sensor Fusion - Sonar and Stereo Vision, Using Occupancy Grids and SIFT

    DEFF Research Database (Denmark)

    Plascencia, Alfredo; Bendtsen, Jan Dimon

    2006-01-01

    The main contribution of this paper is to present a sensor fusion approach to scene environment mapping as part of a SDF (Sensor Data Fusion) architecture. This approach involves combined sonar and stereo vision readings. Sonar readings are interpreted using probability density functions...

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

    Science.gov (United States)

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

    2017-06-17

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

  16. Siim Nestor soovitab : StereoÖö. Bugz In The Attic albumituur. Vunts / Siim Nestor

    Index Scriptorium Estoniae

    Nestor, Siim, 1974-

    2006-01-01

    Technomuusikapeost StereoÖö Tartus klubis Illusion 16. märtsil ja Tallinnas Von Krahlis 17. märtsil. Üritusest Mutant Disko 17. märtsil Tallinnas klubis Privé ja Tartus 18. märtsil klubis Illusion. Diskoõhtust "Vunts" 18. märtsil Kinomajas Tallinnas

  17. A> L1-TV algorithm for robust perspective photometric stereo with spatially-varying lightings

    DEFF Research Database (Denmark)

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

    2015-01-01

    We tackle the problem of perspective 3D-reconstruction of Lambertian surfaces through photometric stereo, in the presence of outliers to Lambert's law, depth discontinuities, and unknown spatially-varying lightings. To this purpose, we introduce a robust $L^1$-TV variational formulation of the re...

  18. Comparison of fixation disparity curve parameters obtained with the Wesson and Saladin fixation disparity cards

    National Research Council Canada - National Science Library

    Ngan, Janice; Goss, David A; Despirito, Joseph

    2005-01-01

    This study compared fixation curve parameters with two commercially available fixation disparity cards, one that has been available for several years, the Wesson card, and a new one, the Saladin card...

  19. Ethnic disparities in quality of care for children with asthma.

    NARCIS (Netherlands)

    Laar, J.J.N. van; Stronk, K.; Devillé, W.

    2004-01-01

    Studies from the UK and USA found ethnic disparities in asthma treatment for children. Little is known about ethnic disparities in asthma treatment for chidlren in the Netherlands. The aim of this study is to gain insight into ethnic disparities in asthma care for children living in the Nederlands.

  20. Stigma and Racial/Ethnic HIV Disparities: Moving toward Resilience

    Science.gov (United States)

    Earnshaw, Valerie A.; Bogart, Laura M.; Dovidio, John F.; Williams, David R.

    2013-01-01

    Prior research suggests that stigma plays a role in racial/ethnic health disparities. However, there is limited understanding about the mechanisms by which stigma contributes to HIV-related disparities in risk, incidence and screening, treatment, and survival and what can be done to reduce the impact of stigma on these disparities. We introduce…

  1. Disparity: Threat or opportunity to Distance Education throughput at ...

    African Journals Online (AJOL)

    This article contributes to the body of knowledge on firstly the disparate profile of Military Academy DE students, and secondly, their disparate access to learning technologies in their working and learning spaces. A survey among DE undergraduates and DE lecturers revealed disparity among respective DE students' ...

  2. Disparity selectivity of neurons in monkey inferior temporal cortex.

    Science.gov (United States)

    Uka, T; Tanaka, H; Yoshiyama, K; Kato, M; Fujita, I

    2000-07-01

    The inferior temporal cortex (IT) of the monkey, a final stage in the ventral visual pathway, has been known to process information on two-dimensional (2-D) shape, color, and texture. On the other hand, the dorsal visual pathway leading to the posterior parietal cortex has been known to process information on location in space. Likewise, neurons selective for binocular disparity, which convey information on depth, have been found mainly in areas along the dorsal visual pathway. Here, we report that many neurons in the IT are also selective for binocular disparity. We recorded extracellular activity from IT neurons and found that more than half of the neurons changed their response depending on the disparity added. The change was not attributed to monocular responses or eye movements. Most neurons selective for disparity were "near" or "far" cells; they preferred either crossed or uncrossed disparity, and only a small population was tuned to zero disparity. Disparity-selective neurons were also selective for shape. Most preferred the same type of disparity irrespective of the shape presented. Disparity preference was also invariant for the fronto-parallel translation of the stimuli in most of the neurons. Finally, nearby neurons exhibited similar disparity selectivity, suggesting the existence of a functional module for processing of binocular disparity in the IT. From the above and our recent findings, we suggest that the IT integrates shape and binocular disparity information, and plays an important role in the reconstruction of three-dimensional (3-D) surfaces.

  3. 41 CFR 60-3.11 - Disparate treatment.

    Science.gov (United States)

    2010-07-01

    ... 41 Public Contracts and Property Management 1 2010-07-01 2010-07-01 true Disparate treatment. 60-3... treatment. The principles of disparate or unequal treatment must be distinguished from the concepts of..., or members have not been subjected to that standard. Disparate treatment occurs where members of a...

  4. Breast cancer disparities: Frontline strategies, proceedings of the 7 th annual texas conference on health disparities

    Directory of Open Access Journals (Sweden)

    Marilyne Kpetemey

    2012-01-01

    Full Text Available There are striking disparities in health status, access to health care, and risk factors among racial and ethnic minorities and the general population in Texas. The disparities are multifactorial comprising genetic, sociocultural, and environmental variables. The Texas Center for Health Disparities (TCHD, a NIMHD Center of Excellence (COE, aims to prevent, reduce, and eliminate health disparities in the communities through research, education, and community-based programs. As part of the center′s outreach activities, an annual conference is organized to build awareness and knowledge on health disparities. The overall theme for the 2012 conference was "Battling Breast Cancer Disparities: Frontline Strategies". The scientific program consisted of three sessions: "Breakthroughs in Breast Cancer", "Triple Negative Breast Cancer," and "Hormone Resistant Breast Cancer" featuring different aspects of bench-research from molecular biology, proteomics, and genetics to the clinical aspects such as detection, diagnosis, and finally to community-based approaches. This article summarizes the proceedings of the meeting providing salient strategies and best practices presented by the speakers.

  5. 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.

  6. Study on clear stereo image pair acquisition method for small objects with big vertical size in SLM vision system.

    Science.gov (United States)

    Wang, Yuezong; Jin, Yan; Wang, Lika; Geng, Benliang

    2016-05-01

    Microscopic vision system with stereo light microscope (SLM) has been applied to surface profile measurement. If the vertical size of a small object exceeds the range of depth, its images will contain clear and fuzzy image regions. Hence, in order to obtain clear stereo images, we propose a microscopic sequence image fusion method which is suitable for SLM vision system. First, a solution to capture and align image sequence is designed, which outputs an aligning stereo images. Second, we decompose stereo image sequence by wavelet analysis theory, and obtain a series of high and low frequency coefficients with different resolutions. Then fused stereo images are output based on the high and low frequency coefficient fusion rules proposed in this article. The results show that Δw1 (Δw2 ) and ΔZ of stereo images in a sequence have linear relationship. Hence, a procedure for image alignment is necessary before image fusion. In contrast with other image fusion methods, our method can output clear fused stereo images with better performance, which is suitable for SLM vision system, and very helpful for avoiding image fuzzy caused by big vertical size of small objects. © 2016 Wiley Periodicals, Inc.

  7. 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.

  8. Web Based Interactive Anaglyph Stereo Visualization of 3D Model of Geoscience Data

    Science.gov (United States)

    Han, J.

    2014-12-01

    The objectives of this study were to create interactive online tool for generating and viewing the anaglyph 3D stereo image on a Web browser via Internet. To achieve this, we designed and developed the prototype system. Three-dimensional visualization is well known and becoming popular in recent years to understand the target object and the related physical phenomena. Geoscience data have the complex data model, which combines large extents with rich small scale visual details. So, the real-time visualization of 3D geoscience data model on the Internet is a challenging work. In this paper, we show the result of creating which can be viewed in 3D anaglyph of geoscience data in any web browser which supports WebGL. We developed an anaglyph image viewing prototype system, and some representative results are displayed by anaglyph 3D stereo image generated in red-cyan colour from pairs of air-photo/digital elevation model and geological map/digital elevation model respectively. The best viewing is achieved by using suitable 3D red-cyan glasses, although alternatively red-blue or red-green spectacles can be also used. The middle mouse wheel can be used to zoom in/out the anaglyph image on a Web browser. Application of anaglyph 3D stereo image is a very important and easy way to understand the underground geologic system and active tectonic geomorphology. The integrated strata with fine three-dimensional topography and geologic map data can help to characterise the mineral potential area and the active tectonic abnormal characteristics. To conclude, it can be stated that anaglyph 3D stereo image provides a simple and feasible method to improve the relief effect of geoscience data such as geomorphology and geology. We believe that with further development, the anaglyph 3D stereo imaging system could as a complement to 3D geologic modeling, constitute a useful tool for better understanding of the underground geology and the active tectonic

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

    Energy Technology Data Exchange (ETDEWEB)

    Wentz, T; Gilles, M; Visvikis, D [INSERM UMR 1101 - LaTIM, Brest (France); Le Fur, E; Pradier, O [CHRU Morvan, Radiotherapy, Brest (France)

    2014-06-01

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

  10. Variance owing to observer, repeat imaging, and fundus camera type on cup-to-disc ratio estimates by stereo planimetry.

    Science.gov (United States)

    Kwon, Young H; Adix, Michael; Zimmerman, M Bridget; Piette, Scott; Greenlee, Emily C; Alward, Wallace L M; Abràmoff, Michael D

    2009-01-01

    To determine and compare variance components in linear cup-to-disc ratio (LCDR) estimates by computer-assisted planimetry by human experts, and automated machine algorithm (digital automated planimetry). Prospective case series for evaluation of planimetry. Forty-four eyes of 44 consecutive patients from the outpatient Glaucoma Service at University of Iowa with diagnosis of glaucoma or glaucoma suspect were studied. Six stereo pairs of optic nerve photographs were taken per eye: 3 repeat stereo pairs using simultaneous fixed-stereo base fundus camera (Nidek 3Dx) and another 3 repeat stereo pairs using sequential variable-stereo base fundus camera (Zeiss). Each optic disc stereo pair was digitized and segmented into cup and rim by 3 glaucoma specialists (computer-assisted planimetry) and using a computer algorithm (digital automated planimetry), and LCDR was calculated for each segmentation (either specialist or algorithm). A linear mixed model was used to estimate mean, SD, and variance components of measurements. Average LCDR, interobserver, interrepeat, intercamera coefficients of variation (CV) of LCDR and their 95% tolerance limits. There was a significant difference in LCDR estimates among the 3 glaucoma specialists. The interobserver CV of 10.65% was larger than interrepeat (6.7%) or intercamera CV (7.6%). For the algorithm, the LCDR estimate was significantly higher for simultaneous stereo fundus images (Nidek, mean: 0.66) than for sequential stereo fundus images (Zeiss, mean: 0.64), whereas interrepeat CV for Nidek (4.4%) was lower than Zeiss (6.36%); the algorithm's interrepeat and intercamera CV were 5.47% and 7.26%, respectively. Interobserver variability was the largest source of variation for glaucoma specialists, whereas their interrepeat and intercamera variability is comparable with that of the algorithm. DAP reduces variability on LCDR estimates from simultaneous stereo images, such as the Nidek 3Dx.

  11. Spectral Unmixing Applied to Desert Soils for the Detection of Sub-Pixel Disturbances

    Science.gov (United States)

    2012-09-01

    scattering and absorption (From Olsen, 2007). ....4 Figure 2. This figure from http://www.astro.cornell.edu/ academics /courses/astro201...spectral regions that are illustrated in Figure 2 (Elachi and Van Zyl, 2006). Figure 2. This figure from http://www.astro.cornell.edu/ academics ...gopher till values 0.0419, 0.026, 0.073, home hill clay values 0.092, 0.0087, 0.137, and hard picnic area clay values 0.0805, 0.154, 0.000 (flat

  12. Finite mixture models for sub-pixel coastal land cover classification

    CSIR Research Space (South Africa)

    Ritchie, Michaela C

    2017-05-01

    Full Text Available monitoring and management. A solution for this problem might be the spectral unmixing classification approach on medium resolution imagery (e.g. Landsat 8; Sentinel-2) which have no acquisition cost and are therefore affordable for operational use. Finite...

  13. Evaluating Fourier Cross-Correlation Sub-Pixel Registration in Landsat Images

    National Research Council Canada - National Science Library

    Jaime Almonacid-Caballer; Josep E Pardo-Pascual; Luis A Ruiz

    2017-01-01

    .... In this paper, we simulate Landsat scenes to evaluate, by means of an exhaustive number of tests, a subpixel registration process based on phase correlation and the upsampling of the Fourier transform...

  14. Detection of Spatially Unresolved (Nominally Sub-Pixel) Submerged and Surface Targets Using Hyperspectral Data

    Science.gov (United States)

    2012-09-01

    Santa Barbara, 2007 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN REMOTE SENSING INTELLIGENCE...David Trask Second Reader Dan Boger Chair, Department of Information Sciences iv THIS PAGE INTENTIONALLY LEFT BLANK v ABSTRACT Due...days as a navy mine-sweeping team searched the river. No 6 mine was ever found and the threat was deemed a hoax , but the cost to maritime shipping

  15. Automated tracking of colloidal clusters with sub-pixel accuracy and precision

    Science.gov (United States)

    van der Wel, Casper; Kraft, Daniela J.

    2017-02-01

    Quantitative tracking of features from video images is a basic technique employed in many areas of science. Here, we present a method for the tracking of features that partially overlap, in order to be able to track so-called colloidal molecules. Our approach implements two improvements into existing particle tracking algorithms. Firstly, we use the history of previously identified feature locations to successfully find their positions in consecutive frames. Secondly, we present a framework for non-linear least-squares fitting to summed radial model functions and analyze the accuracy (bias) and precision (random error) of the method on artificial data. We find that our tracking algorithm correctly identifies overlapping features with an accuracy below 0.2% of the feature radius and a precision of 0.1 to 0.01 pixels for a typical image of a colloidal cluster. Finally, we use our method to extract the three-dimensional diffusion tensor from the Brownian motion of colloidal dimers. , which features invited work from the best early-career researchers working within the scope of Journal of Physics: Condensed Matter. This project is part of the Journal of Physics series’ 50th anniversary celebrations in 2017. Daniela Kraft was selected by the Editorial Board of Journal of Physics: Condensed Matter as an Emerging Leader.

  16. European Union of the Regional Disparities

    Directory of Open Access Journals (Sweden)

    Romeo-Victor Ionescu

    2016-12-01

    Full Text Available The paper deals to the idea of the necessity of changing EU’s political approach in order to face to the new inside and global challenges. In order to support this idea, the analysis uses four representative indicators: educational attainment level, hospital beds at 100000 inhabitants, employment rate and unemployment rate. The initial analysis was focused on EU’s regions and pointed out great disparities. A distinct part of the analysis covers Romanian regions. The analysis is realized on two levels: macroregions and NUTS 2 regions. Romania is not an exception from the paper’s approach. The main conclusion of the analysis is that EU arrived into critical point and has to change its political and economic approach in order to reduce and to eliminate the regional disparities and to increase its credibility as global actor.

  17. GENDER DEMOGRAPHIC DISPARITIES IN BACAU COUNTY

    Directory of Open Access Journals (Sweden)

    Oana Ancuta Stangaciu

    2014-12-01

    Full Text Available Gender demographic disparities existing in Bacau County were determined by means of some demographic indicators such as: population, natural growth, live births, marriages, divorces, indicators which have been broken down by gender. The assessment of the disparities between men and women from the point of view of the demographic phenomena emphasize the fact that on the level of Bacau County there is a surplus of female population, as during the whole period subjected to the analysis, the positive and respectively the negative natural growth for the male population were lower and higher respectively than the one registered in the case of the female population. The birth rate, marriage rate and divorce rate phenomena also changed significantly after 1990 ; thus, the average age of marriage increased, and the gender difference also had a certain growth, which caused a shift in the fertility intensity from the age group 20-24 to the very next one - the 25-29 age group.

  18. The academic advantage: gender disparities in patenting.

    Science.gov (United States)

    Sugimoto, Cassidy R; Ni, Chaoqun; West, Jevin D; Larivière, Vincent

    2015-01-01

    We analyzed gender disparities in patenting by country, technological area, and type of assignee using the 4.6 million utility patents issued between 1976 and 2013 by the United States Patent and Trade Office (USPTO). Our analyses of fractionalized inventorships demonstrate that women's rate of patenting has increased from 2.7% of total patenting activity to 10.8% over the nearly 40-year period. Our results show that, in every technological area, female patenting is proportionally more likely to occur in academic institutions than in corporate or government environments. However, women's patents have a lower technological impact than that of men, and that gap is wider in the case of academic patents. We also provide evidence that patents to which women--and in particular academic women--contributed are associated with a higher number of International Patent Classification (IPC) codes and co-inventors than men. The policy implications of these disparities and academic setting advantages are discussed.

  19. Bilaterally Weighted Patches for Disparity Map Computation

    Directory of Open Access Journals (Sweden)

    Laura Fernández Julià

    2015-03-01

    Full Text Available Visual correspondence is the key for 3D reconstruction in binocular stereovision. Local methods perform block-matching to compute the disparity, or apparent motion, of pixels between images. The simplest approach computes the distance of patches, usually square windows, and assumes that all pixels in the patch have the same disparity. A prominent artifact of the method is the "foreground fattening effet" near depth discontinuities. In order to find a more appropriate support, Yoon and Kweon introduced the use of weights based on color similarity and spatial distance, analogous to those used in the bilateral filter. This paper presents the theory of this method and the implementation we have developed. Moreover, some variants are discussed and improvements are used in the final implementation. Several examples and tests are presented and the parameters and performance of the method are analyzed.

  20. Explaining Racial Disparities in Infant Health in Brazil

    Science.gov (United States)

    Nyarko, Kwame A.; Lopez-Camelo, Jorge; Castilla, Eduardo E.

    2015-01-01

    Objectives. We sought to quantify how socioeconomic, health care, demographic, and geographic effects explain racial disparities in low birth weight (LBW) and preterm birth (PTB) rates in Brazil. Methods. We employed a sample of 8949 infants born between 1995 and 2009 in 15 cities and 7 provinces in Brazil. We focused on disparities in LBW (disparities. Results. The model explained 45% to 94% of LBW and 64% to 94% of PTB disparities between the African ancestry groups and European ancestry. Differences in prenatal care use and geographic location were the most important contributors, followed by socioeconomic differences. The model explained the majority of the disparities for mixed African ancestry and part of the disparity for African ancestry alone. Conclusions. Public policies to improve children’s health should target prenatal care and geographic location differences to reduce health disparities between infants of African and European ancestries in Brazil. PMID:26313046