A novel underwater dam crack detection and classification approach based on sonar images.

Science.gov (United States)

Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

2017-01-01

Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

A novel underwater dam crack detection and classification approach based on sonar images.

Directory of Open Access Journals (Sweden)

Pengfei Shi

Full Text Available Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

The Research of Optical Turbulence Model in Underwater Imaging System

Directory of Open Access Journals (Sweden)

Liying Sun

2014-01-01

Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.

Time-of-flight range imaging for underwater applications

Science.gov (United States)

Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias

2018-02-01

Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.

Underwater Image Enhancement by Adaptive Gray World and Differential Gray-Levels Histogram Equalization

Directory of Open Access Journals (Sweden)

WONG, S.-L.

2018-05-01

Full Text Available Most underwater images tend to be dominated by a single color cast. This paper presents a solution to remove the color cast and improve the contrast in underwater images. However, after the removal of the color cast using Gray World (GW method, the resultant image is not visually pleasing. Hence, we propose an integrated approach using Adaptive GW (AGW and Differential Gray-Levels Histogram Equalization (DHE that operate in parallel. The AGW is applied to remove the color cast while DHE is used to improve the contrast of the underwater image. The outputs of both chromaticity components of AGW and intensity components of DHE are combined to form the enhanced image. The results of the proposed method are compared with three existing methods using qualitative and quantitative measures. The proposed method increased the visibility of underwater images and in most cases produces better quantitative scores when compared to the three existing methods.

A man-made object detection for underwater TV

Science.gov (United States)

Cheng, Binbin; Wang, Wenwu; Chen, Yao

2018-03-01

It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

Emerging from Water: Underwater Image Color Correction Based on Weakly Supervised Color Transfer

OpenAIRE

Li, Chongyi; Guo, Jichang; Guo, Chunle

2017-01-01

Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks. Different from existing methods which either ignore the wavelength dependency of the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater image from a new view. In this letter, we propose a weakly supervised color tr...

Influence of range-gated intensifiers on underwater imaging system SNR

Science.gov (United States)

Wang, Xia; Hu, Ling; Zhi, Qiang; Chen, Zhen-yue; Jin, Wei-qi

2013-08-01

Range-gated technology has been a hot research field in recent years due to its high effective back scattering eliminating. As a result, it can enhance the contrast between a target and its background and extent the working distance of the imaging system. The underwater imaging system is required to have the ability to image in low light level conditions, as well as the ability to eliminate the back scattering effect, which means that the receiver has to be high-speed external trigger function, high resolution, high sensitivity, low noise, higher gain dynamic range. When it comes to an intensifier, the noise characteristics directly restrict the observation effect and range of the imaging system. The background noise may decrease the image contrast and sharpness, even covering the signal making it impossible to recognize the target. So it is quite important to investigate the noise characteristics of intensifiers. SNR is an important parameter reflecting the noise features of a system. Through the use of underwater laser range-gated imaging prediction model, and according to the linear SNR system theory, the gated imaging noise performance of the present market adopted super second generation and generation Ⅲ intensifiers were theoretically analyzed. Based on the active laser underwater range-gated imaging model, the effect to the system by gated intensifiers and the relationship between the system SNR and MTF were studied. Through theoretical and simulation analysis to the image intensifier background noise and SNR, the different influence on system SNR by super second generation and generation Ⅲ ICCD was obtained. Range-gated system SNR formula was put forward, and compared the different effect influence on the system by using two kind of ICCDs was compared. According to the matlab simulation, a detailed analysis was carried out theoretically. All the work in this paper lays a theoretical foundation to further eliminating back scattering effect, improving

Underwater image quality enhancement of sea cucumbers based on improved histogram equalization and wavelet transform

Directory of Open Access Journals (Sweden)

Xi Qiao

2017-09-01

Full Text Available Sea cucumbers usually live in an environment where lighting and visibility are generally not controllable, which cause the underwater image of sea cucumbers to be distorted, blurred, and severely attenuated. Therefore, the valuable information from such an image cannot be fully extracted for further processing. To solve the problems mentioned above and improve the quality of the underwater images of sea cucumbers, pre-processing of a sea cucumber image is attracting increasing interest. This paper presents a new method based on contrast limited adaptive histogram equalization and wavelet transform (CLAHE-WT to enhance the sea cucumber image quality. CLAHE was used to process the underwater image for increasing contrast based on the Rayleigh distribution, and WT was used for de-noising based on a soft threshold. Qualitative analysis indicated that the proposed method exhibited better performance in enhancing the quality and retaining the image details. For quantitative analysis, the test with 120 underwater images showed that for the proposed method, the mean square error (MSE, peak signal to noise ratio (PSNR, and entropy were 49.2098, 13.3909, and 6.6815, respectively. The proposed method outperformed three established methods in enhancing the visual quality of sea cucumber underwater gray image.

Underwater image enhancement based on the dark channel prior and attenuation compensation

Science.gov (United States)

Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui

2017-10-01

Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

Image Feature Detection and Matching in Underwater Conditions

Science.gov (United States)

2010-04-01

and ||jlr< li "-Hjj3 < l l=1’-’N „ (17) 0 if k 7^ argmin||r’ — s||2 or k = argmin||r’ - s||2 and Jin.) ’K. > t i=l N i=l N l|r Ŗ matchRNN(fl...Affix (v*01)[F-0_3 O He-un Affine (V Mil 1 F -0M •’ li •« \\irii« a,, lit i I 0-25 (a) SIFT with Nearest Neighbor Matching (b) GLOH...F - 0 𔄁 • Htm* I «pl.ee It. 3 0) | F - 0 17 -*-Hini»-L«(itaM (({,- 10)|F-0.I - He- Mian [ «place <V (I II I 0 < & He-un-Laplace (Z- 3 0

HARDWARE REALIZATION OF CANNY EDGE DETECTION ALGORITHM FOR UNDERWATER IMAGE SEGMENTATION USING FIELD PROGRAMMABLE GATE ARRAYS

Directory of Open Access Journals (Sweden)

ALEX RAJ S. M.

2017-09-01

Full Text Available Underwater images raise new challenges in the field of digital image processing technology in recent years because of its widespread applications. There are many tangled matters to be considered in processing of images collected from water medium due to the adverse effects imposed by the environment itself. Image segmentation is preferred as basal stage of many digital image processing techniques which distinguish multiple segments in an image and reveal the hidden crucial information required for a peculiar application. There are so many general purpose algorithms and techniques that have been developed for image segmentation. Discontinuity based segmentation are most promising approach for image segmentation, in which Canny Edge detection based segmentation is more preferred for its high level of noise immunity and ability to tackle underwater environment. Since dealing with real time underwater image segmentation algorithm, which is computationally complex enough, an efficient hardware implementation is to be considered. The FPGA based realization of the referred segmentation algorithm is presented in this paper.

Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

Science.gov (United States)

Cochenour, Brandon Michael

The challenge in implementing optical sensors underwater lies in the high variability of the ocean environment where propagation of light in the ocean is complicated by absorption and scattering. Most underwater optical sensors operate in the blue/green portion of the electromagnetic spectrum where seawater exhibits an absorption minimum. Mitigating scattering however is a greater challenge. In particular, scattering causes both spatial distortion (beam spreading) and temporal dispersion (pulse spreading or distortion). Each of type of dispersion decreases sensor performance (operating range, image resolution, data bandwidth, etc.). While spatial dispersion has received a great deal of attention in previous decades, technological limitations of sensor hardware have made experimental measurements of temporal dispersion underwater difficult until now. The main contribution of this thesis are experimental measurements of temporal dispersion of optical beams in turbid water, made with a high sensitivity/high dynamic range experimental technique. Measurements are performed as a function of water clarity (0-20 attenuation lengths), transmitter/receiver alignment (0-30 degrees, half angle), receiver field of view (1-7 degrees, full angle), and transmitter beam divergence (collimated and diffuse). Special attention is paid to the interdependency between spatial and temporal dispersion. This work provides severable notable contributions: 1. While experimental characterization of spatial dispersion has received significant attention underwater, there has been a lack of measurements characterizing temporal dispersion underwater. This work provides the most comprehensive set of experimental measurements to date regarding the temporal dispersion of optical beams underwater. 2. An experimental analysis of the influence of scattering phase function on temporal dispersion. Coarse estimates of the scattering phase function are used to determine the ranges (or attenuation lengths

Mitigating the effect of optical back-scatter in multispectral underwater imaging

International Nuclear Information System (INIS)

Mortazavi, Halleh; Oakley, John P; Barkat, Braham

2013-01-01

Multispectral imaging is a very useful technique for extracting information from the underwater world. However, optical back-scatter changes the intensity value in each spectral band and this distorts the estimated spectrum. In this work, a filter is used to detect the level of optical back-scatter in each spectral band from a set of multispectral images. Extraction of underwater object spectra can be done by subtracting the estimated level of optical back-scatter and scaling the remainder in each spectral band from the captured image in the corresponding band. An experiment has been designed to show the performance of the proposed filter for correcting the set of multispectral underwater images and recovering the pixel spectra. The multispectral images are captured by a B/W CCD digital camera with a fast tunable liquid-crystal filter in 33 narrow spectral bands in clear and different levels of turbid water. Reference estimates for the optical back-scatter spectra are found by comparing a clear and a degraded set of multispectral images. The accuracy and consistency of the proposed method, the extended Oakley–Bu cost function, is examined by comparing the estimated values with the reference level of an optical back-scatter spectrum. The same comparison is made for the simple estimation approach. The results show that the simple method is not reliable and fail to estimate the level of optical back-scatter spectrum accurately. The results from processing experimental images in turbid water show that the effect of optical back-scatter can be mitigated in the image of each spectral band and, as a result, the spectra of the object can be recovered. However, for a very high level of turbid water the recovery is limited because of the effect of extinction. (paper)

Laser line scan underwater imaging by complementary metal-oxide-semiconductor camera

Science.gov (United States)

He, Zhiyi; Luo, Meixing; Song, Xiyu; Wang, Dundong; He, Ning

2017-12-01

This work employs the complementary metal-oxide-semiconductor (CMOS) camera to acquire images in a scanning manner for laser line scan (LLS) underwater imaging to alleviate backscatter impact of seawater. Two operating features of the CMOS camera, namely the region of interest (ROI) and rolling shutter, can be utilized to perform image scan without the difficulty of translating the receiver above the target as the traditional LLS imaging systems have. By the dynamically reconfigurable ROI of an industrial CMOS camera, we evenly divided the image into five subareas along the pixel rows and then scanned them by changing the ROI region automatically under the synchronous illumination by the fun beams of the lasers. Another scanning method was explored by the rolling shutter operation of the CMOS camera. The fun beam lasers were turned on/off to illuminate the narrow zones on the target in a good correspondence to the exposure lines during the rolling procedure of the camera's electronic shutter. The frame synchronization between the image scan and the laser beam sweep may be achieved by either the strobe lighting output pulse or the external triggering pulse of the industrial camera. Comparison between the scanning and nonscanning images shows that contrast of the underwater image can be improved by our LLS imaging techniques, with higher stability and feasibility than the mechanically controlled scanning method.

A COMPARISON BETWEEN ACTIVE AND PASSIVE TECHNIQUES FOR UNDERWATER 3D APPLICATIONS

Directory of Open Access Journals (Sweden)

G. Bianco

2012-09-01

Full Text Available In the field of 3D scanning, there is an increasing need for more accurate technologies to acquire 3D models of close range objects. Underwater exploration, for example, is very hard to perform due to the hostile conditions and the bad visibility of the environment. Some application fields, like underwater archaeology, require to recover tridimensional data of objects that cannot be moved from their site or touched in order to avoid possible damages. Photogrammetry is widely used for underwater 3D acquisition, because it requires just one or two digital still or video cameras to acquire a sequence of images taken from different viewpoints. Stereo systems composed by a pair of cameras are often employed on underwater robots (i.e. ROVs, Remotely Operated Vehicles and used by scuba divers, in order to survey archaeological sites, reconstruct complex 3D structures in aquatic environment, estimate in situ the length of marine organisms, etc. The stereo 3D reconstruction is based on the triangulation of corresponding points on the two views. This requires to find in both images common points and to match them (correspondence problem, determining a plane that contains the 3D point on the object. Another 3D technique, frequently used in air acquisition, solves this point-matching problem by projecting structured lighting patterns to codify the acquired scene. The corresponding points are identified associating a binary code in both images. In this work we have tested and compared two whole-field 3D imaging techniques (active and passive based on stereo vision, in underwater environment. A 3D system has been designed, composed by a digital projector and two still cameras mounted in waterproof housing, so that it can perform the various acquisitions without changing the configuration of optical devices. The tests were conducted in a water tank in different turbidity conditions, on objects with different surface properties. In order to simulate a typical

OBJECT-SPACE MULTI-IMAGE MATCHING OF MOBILE-MAPPING-SYSTEM IMAGE SEQUENCES

Directory of Open Access Journals (Sweden)

Y. C. Chen

2012-07-01

Full Text Available This paper proposes an object-space multi-image matching procedure of terrestrial MMS (Mobile Mapping System image sequences to determine the coordinates of an object point automatically and reliably. This image matching procedure can be applied to find conjugate points of MMS image sequences efficiently. Conventional area-based image matching methods are not reliable to deliver accurate matching results for this application due to image scale variations, viewing angle variations, and object occlusions. In order to deal with these three matching problems, an object space multi-image matching is proposed. A modified NCC (Normalized Cross Correlation coefficient is proposed to measure the similarity of image patches. A modified multi-window matching procedure will also be introduced to solve the problem of object occlusion. A coarse-to-fine procedure with a combination of object-space multi-image matching and multi-window matching is adopted. The proposed procedure has been implemented for the purpose of matching terrestrial MMS image sequences. The ratio of correct matches of this experiment was about 80 %. By providing an approximate conjugate point in an overlapping image manually, most of the incorrect matches could be fixed properly and the ratio of correct matches was improved up to 98 %.

Image enhancement software for underwater recovery operations: User's manual

Science.gov (United States)

Partridge, William J.; Therrien, Charles W.

1989-06-01

This report describes software for performing image enhancement on live or recorded video images. The software was developed for operational use during underwater recovery operations at the Naval Undersea Warfare Engineering Station. The image processing is performed on an IBM-PC/AT compatible computer equipped with hardware to digitize and display video images. The software provides the capability to provide contrast enhancement and other similar functions in real time through hardware lookup tables, to automatically perform histogram equalization, to capture one or more frames and average them or apply one of several different processing algorithms to a captured frame. The report is in the form of a user manual for the software and includes guided tutorial and reference sections. A Digital Image Processing Primer in the appendix serves to explain the principle concepts that are used in the image processing.

Image matching navigation based on fuzzy information

Institute of Scientific and Technical Information of China (English)

田玉龙; 吴伟仁; 田金文; 柳健

2003-01-01

In conventional image matching methods, the image matching process is mostly based on image statistic information. One aspect neglected by all these methods is that there is much fuzzy information contained in these images. A new fuzzy matching algorithm based on fuzzy similarity for navigation is presented in this paper. Because the fuzzy theory is of the ability of making good description of the fuzzy information contained in images, the image matching method based on fuzzy similarity would look forward to producing good performance results. Experimental results using matching algorithm based on fuzzy information also demonstrate its reliability and practicability.

Content Based Image Matching for Planetary Science

Science.gov (United States)

Deans, M. C.; Meyer, C.

2006-12-01

Planetary missions generate large volumes of data. With the MER rovers still functioning on Mars, PDS contains over 7200 released images from the Microscopic Imagers alone. These data products are only searchable by keys such as the Sol, spacecraft clock, or rover motion counter index, with little connection to the semantic content of the images. We have developed a method for matching images based on the visual textures in images. For every image in a database, a series of filters compute the image response to localized frequencies and orientations. Filter responses are turned into a low dimensional descriptor vector, generating a 37 dimensional fingerprint. For images such as the MER MI, this represents a compression ratio of 99.9965% (the fingerprint is approximately 0.0035% the size of the original image). At query time, fingerprints are quickly matched to find images with similar appearance. Image databases containing several thousand images are preprocessed offline in a matter of hours. Image matches from the database are found in a matter of seconds. We have demonstrated this image matching technique using three sources of data. The first database consists of 7200 images from the MER Microscopic Imager. The second database consists of 3500 images from the Narrow Angle Mars Orbital Camera (MOC-NA), which were cropped into 1024×1024 sub-images for consistency. The third database consists of 7500 scanned archival photos from the Apollo Metric Camera. Example query results from all three data sources are shown. We have also carried out user tests to evaluate matching performance by hand labeling results. User tests verify approximately 20% false positive rate for the top 14 results for MOC NA and MER MI data. This means typically 10 to 12 results out of 14 match the query image sufficiently. This represents a powerful search tool for databases of thousands of images where the a priori match probability for an image might be less than 1%. Qualitatively, correct

Accuracy Assessment of Underwater Photogrammetric Three Dimensional Modelling for Coral Reefs

Science.gov (United States)

Guo, T.; Capra, A.; Troyer, M.; Gruen, A.; Brooks, A. J.; Hench, J. L.; Schmitt, R. J.; Holbrook, S. J.; Dubbini, M.

2016-06-01

Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks) with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values). Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.

The influence of underwater turbulence on optical phase measurements

Science.gov (United States)

Redding, Brandon; Davis, Allen; Kirkendall, Clay; Dandridge, Anthony

2016-05-01

Emerging underwater optical imaging and sensing applications rely on phase-sensitive detection to provide added functionality and improved sensitivity. However, underwater turbulence introduces spatio-temporal variations in the refractive index of water which can degrade the performance of these systems. Although the influence of turbulence on traditional, non-interferometric imaging has been investigated, its influence on the optical phase remains poorly understood. Nonetheless, a thorough understanding of the spatio-temporal dynamics of the optical phase of light passing through underwater turbulence are crucial to the design of phase-sensitive imaging and sensing systems. To address this concern, we combined underwater imaging with high speed holography to provide a calibrated characterization of the effects of turbulence on the optical phase. By measuring the modulation transfer function of an underwater imaging system, we were able to calibrate varying levels of optical turbulence intensity using the Simple Underwater Imaging Model (SUIM). We then used high speed holography to measure the temporal dynamics of the optical phase of light passing through varying levels of turbulence. Using this method, we measured the variance in the amplitude and phase of the beam, the temporal correlation of the optical phase, and recorded the turbulence induced phase noise as a function of frequency. By bench marking the effects of varying levels of turbulence on the optical phase, this work provides a basis to evaluate the real-world potential of emerging underwater interferometric sensing modalities.

Automatic UAV Image Geo-Registration by Matching UAV Images to Georeferenced Image Data

Directory of Open Access Journals (Sweden)

Xiangyu Zhuo

2017-04-01

Full Text Available Recent years have witnessed the fast development of UAVs (unmanned aerial vehicles. As an alternative to traditional image acquisition methods, UAVs bridge the gap between terrestrial and airborne photogrammetry and enable flexible acquisition of high resolution images. However, the georeferencing accuracy of UAVs is still limited by the low-performance on-board GNSS and INS. This paper investigates automatic geo-registration of an individual UAV image or UAV image blocks by matching the UAV image(s with a previously taken georeferenced image, such as an individual aerial or satellite image with a height map attached or an aerial orthophoto with a DSM (digital surface model attached. As the biggest challenge for matching UAV and aerial images is in the large differences in scale and rotation, we propose a novel feature matching method for nadir or slightly tilted images. The method is comprised of a dense feature detection scheme, a one-to-many matching strategy and a global geometric verification scheme. The proposed method is able to find thousands of valid matches in cases where SIFT and ASIFT fail. Those matches can be used to geo-register the whole UAV image block towards the reference image data. When the reference images offer high georeferencing accuracy, the UAV images can also be geolocalized in a global coordinate system. A series of experiments involving different scenarios was conducted to validate the proposed method. The results demonstrate that our approach achieves not only decimeter-level registration accuracy, but also comparable global accuracy as the reference images.

Afocal viewport optics for underwater imaging

Science.gov (United States)

Slater, Dan

2014-09-01

A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.

Fast image matching algorithm based on projection characteristics

Science.gov (United States)

Zhou, Lijuan; Yue, Xiaobo; Zhou, Lijun

2011-06-01

Based on analyzing the traditional template matching algorithm, this paper identified the key factors restricting the speed of matching and put forward a brand new fast matching algorithm based on projection. Projecting the grayscale image, this algorithm converts the two-dimensional information of the image into one-dimensional one, and then matches and identifies through one-dimensional correlation, meanwhile, because of normalization has been done, when the image brightness or signal amplitude increasing in proportion, it could also perform correct matching. Experimental results show that the projection characteristics based image registration method proposed in this article could greatly improve the matching speed, which ensuring the matching accuracy as well.

ACCURACY ASSESSMENT OF UNDERWATER PHOTOGRAMMETRIC THREE DIMENSIONAL MODELLING FOR CORAL REEFS

Directory of Open Access Journals (Sweden)

T. Guo

2016-06-01

Full Text Available Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values. Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.

4th Pacific Rim Underwater Acoustics Conference

CERN Document Server

Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

2016-01-01

These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

Probabilistic seismic history matching using binary images

Science.gov (United States)

Davolio, Alessandra; Schiozer, Denis Jose

2018-02-01

Currently, the goal of history-matching procedures is not only to provide a model matching any observed data but also to generate multiple matched models to properly handle uncertainties. One such approach is a probabilistic history-matching methodology based on the discrete Latin Hypercube sampling algorithm, proposed in previous works, which was particularly efficient for matching well data (production rates and pressure). 4D seismic (4DS) data have been increasingly included into history-matching procedures. A key issue in seismic history matching (SHM) is to transfer data into a common domain: impedance, amplitude or pressure, and saturation. In any case, seismic inversions and/or modeling are required, which can be time consuming. An alternative to avoid these procedures is using binary images in SHM as they allow the shape, rather than the physical values, of observed anomalies to be matched. This work presents the incorporation of binary images in SHM within the aforementioned probabilistic history matching. The application was performed with real data from a segment of the Norne benchmark case that presents strong 4D anomalies, including softening signals due to pressure build up. The binary images are used to match the pressurized zones observed in time-lapse data. Three history matchings were conducted using: only well data, well and 4DS data, and only 4DS. The methodology is very flexible and successfully utilized the addition of binary images for seismic objective functions. Results proved the good convergence of the method in few iterations for all three cases. The matched models of the first two cases provided the best results, with similar well matching quality. The second case provided models presenting pore pressure changes according to the expected dynamic behavior (pressurized zones) observed on 4DS data. The use of binary images in SHM is relatively new with few examples in the literature. This work enriches this discussion by presenting a new

Low-contrast underwater living fish recognition using PCANet

Science.gov (United States)

Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua

2018-04-01

Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.

Relationships between inherent optical properties in the Baltic Sea for application to the underwater imaging problem

Directory of Open Access Journals (Sweden)

Sławomir Sagan

2013-02-01

Full Text Available Statistical relationships between coefficients of light attenuation, scattering and backscattering at wavelength 550 nm derived from series of optical measurements performed in Baltic Sea waters are presented. The relationships were derived primarily to support data analysis from underwater imaging systems. Comparison of these relations with analogous empirical data from the Atlantic and Pacific Oceans shows that the two sets of relationships are similar, despite the different water types and the various experimental procedures and instrumentation applied. The apparently universal character of the relationships enables an approximate calculation of other optical properties and subsequently of the contrast, signal/noise ratio, visibility range and spatial resolution of underwater imaging systems based on attenuation coefficients at wavelength 550 nm only.

Construction Method of the Topographical Features Model for Underwater Terrain Navigation

Directory of Open Access Journals (Sweden)

Wang Lihui

2015-09-01

Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

Unsupervised image matching based on manifold alignment.

Science.gov (United States)

Pei, Yuru; Huang, Fengchun; Shi, Fuhao; Zha, Hongbin

2012-08-01

This paper challenges the issue of automatic matching between two image sets with similar intrinsic structures and different appearances, especially when there is no prior correspondence. An unsupervised manifold alignment framework is proposed to establish correspondence between data sets by a mapping function in the mutual embedding space. We introduce a local similarity metric based on parameterized distance curves to represent the connection of one point with the rest of the manifold. A small set of valid feature pairs can be found without manual interactions by matching the distance curve of one manifold with the curve cluster of the other manifold. To avoid potential confusions in image matching, we propose an extended affine transformation to solve the nonrigid alignment in the embedding space. The comparatively tight alignments and the structure preservation can be obtained simultaneously. The point pairs with the minimum distance after alignment are viewed as the matchings. We apply manifold alignment to image set matching problems. The correspondence between image sets of different poses, illuminations, and identities can be established effectively by our approach.

Analysis and improvement of the quantum image matching

Science.gov (United States)

Dang, Yijie; Jiang, Nan; Hu, Hao; Zhang, Wenyin

2017-11-01

We investigate the quantum image matching algorithm proposed by Jiang et al. (Quantum Inf Process 15(9):3543-3572, 2016). Although the complexity of this algorithm is much better than the classical exhaustive algorithm, there may be an error in it: After matching the area between two images, only the pixel at the upper left corner of the matched area played part in following steps. That is to say, the paper only matched one pixel, instead of an area. If more than one pixels in the big image are the same as the one at the upper left corner of the small image, the algorithm will randomly measure one of them, which causes the error. In this paper, an improved version is presented which takes full advantage of the whole matched area to locate a small image in a big image. The theoretical analysis indicates that the network complexity is higher than the previous algorithm, but it is still far lower than the classical algorithm. Hence, this algorithm is still efficient.

Technical Note: Deformable image registration on partially matched images for radiotherapy applications

International Nuclear Information System (INIS)

Yang Deshan; Goddu, S. Murty; Lu Wei; Pechenaya, Olga L.; Wu Yu; Deasy, Joseph O.; El Naqa, Issam; Low, Daniel A.

2010-01-01

In radiation therapy applications, deformable image registrations (DIRs) are often carried out between two images that only partially match. Image mismatching could present as superior-inferior coverage differences, field-of-view (FOV) cutoffs, or motion crossing the image boundaries. In this study, the authors propose a method to improve the existing DIR algorithms so that DIR can be carried out in such situations. The basic idea is to extend the image volumes and define the extension voxels (outside the FOV or outside the original image volume) as NaN (not-a-number) values that are transparent to all floating-point computations in the DIR algorithms. Registrations are then carried out with one additional rule that NaN voxels can match any voxels. In this way, the matched sections of the images are registered properly, and the mismatched sections of the images are registered to NaN voxels. This method makes it possible to perform DIR on partially matched images that otherwise are difficult to register. It may also improve DIR accuracy, especially near or in the mismatched image regions.

Underwater television camera for monitoring inner side of pressure vessel

International Nuclear Information System (INIS)

Takayama, Kazuhiko.

1997-01-01

An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

Multi-image Matching of Airborne SAR Imagery by SANCC

Directory of Open Access Journals (Sweden)

DING Hao

2015-03-01

Full Text Available In order to improve accuracy of SAR matching, a multi-image matching method based on sum of adaptive normalized cross-correlation (SANCC is proposed. It utilizes geometrical and radiometric information of multi-baselinesynthetic aperture radar (SARimages effectively. Firstly, imaging parameters, platform parameters and approximate digital surface model (DSM are used to predict matching line. Secondly, similarity and proximity in Gestalt theory are introduced to SANCC, and SANCC measures of potential matching points along the matching line are calculated. Thirdly, multi-image matching results and object coordinates of matching points are obtained by winner-take-all (WTA optimization strategy. The approach has been demonstrated with airborne SAR images acquired by a Chinese airborne SAR system (CASMSAR system. The experimental results indicate that the proposed algorithm is effective for providing dense and accuracy matching points, reducing the number of mismatches caused by repeated textures, and offering a better solution to match in poor textured areas.

Instruments and Methodologies for the Underwater Tridimensional Digitization and Data Musealization

Science.gov (United States)

Repola, L.; Memmolo, R.; Signoretti, D.

2015-04-01

In the research started within the SINAPSIS project of the Università degli Studi Suor Orsola Benincasa an underwater stereoscopic scanning aimed at surveying of submerged archaeological sites, integrable to standard systems for geomorphological detection of the coast, has been developed. The project involves the construction of hardware consisting of an aluminum frame supporting a pair of GoPro Hero Black Edition cameras and software for the production of point clouds and the initial processing of data. The software has features for stereoscopic vision system calibration, reduction of noise and the of distortion of underwater captured images, searching for corresponding points of stereoscopic images using stereo-matching algorithms (dense and sparse), for points cloud generating and filtering. Only after various calibration and survey tests carried out during the excavations envisaged in the project, the mastery of methods for an efficient acquisition of data has been achieved. The current development of the system has allowed generation of portions of digital models of real submerged scenes. A semi-automatic procedure for global registration of partial models is under development as a useful aid for the study and musealization of sites.

A FPGA-based architecture for real-time image matching

Science.gov (United States)

Wang, Jianhui; Zhong, Sheng; Xu, Wenhui; Zhang, Weijun; Cao, Zhiguo

2013-10-01

Image matching is a fundamental task in computer vision. It is used to establish correspondence between two images taken at different viewpoint or different time from the same scene. However, its large computational complexity has been a challenge to most embedded systems. This paper proposes a single FPGA-based image matching system, which consists of SIFT feature detection, BRIEF descriptor extraction and BRIEF matching. It optimizes the FPGA architecture for the SIFT feature detection to reduce the FPGA resources utilization. Moreover, we implement BRIEF description and matching on FPGA also. The proposed system can implement image matching at 30fps (frame per second) for 1280x720 images. Its processing speed can meet the demand of most real-life computer vision applications.

An accurate algorithm to match imperfectly matched images for lung tumor detection without markers.

Science.gov (United States)

Rozario, Timothy; Bereg, Sergey; Yan, Yulong; Chiu, Tsuicheng; Liu, Honghuan; Kearney, Vasant; Jiang, Lan; Mao, Weihua

2015-05-08

In order to locate lung tumors on kV projection images without internal markers, digitally reconstructed radiographs (DRRs) are created and compared with projection images. However, lung tumors always move due to respiration and their locations change on projection images while they are static on DRRs. In addition, global image intensity discrepancies exist between DRRs and projections due to their different image orientations, scattering, and noises. This adversely affects comparison accuracy. A simple but efficient comparison algorithm is reported to match imperfectly matched projection images and DRRs. The kV projection images were matched with different DRRs in two steps. Preprocessing was performed in advance to generate two sets of DRRs. The tumors were removed from the planning 3D CT for a single phase of planning 4D CT images using planning contours of tumors. DRRs of background and DRRs of tumors were generated separately for every projection angle. The first step was to match projection images with DRRs of background signals. This method divided global images into a matrix of small tiles and similarities were evaluated by calculating normalized cross-correlation (NCC) between corresponding tiles on projections and DRRs. The tile configuration (tile locations) was automatically optimized to keep the tumor within a single projection tile that had a bad matching with the corresponding DRR tile. A pixel-based linear transformation was determined by linear interpolations of tile transformation results obtained during tile matching. The background DRRs were transformed to the projection image level and subtracted from it. The resulting subtracted image now contained only the tumor. The second step was to register DRRs of tumors to the subtracted image to locate the tumor. This method was successfully applied to kV fluoro images (about 1000 images) acquired on a Vero (BrainLAB) for dynamic tumor tracking on phantom studies. Radiation opaque markers were

POOR TEXTURAL IMAGE MATCHING BASED ON GRAPH THEORY

Directory of Open Access Journals (Sweden)

S. Chen

2016-06-01

Full Text Available Image matching lies at the heart of photogrammetry and computer vision. For poor textural images, the matching result is affected by low contrast, repetitive patterns, discontinuity or occlusion, few or homogeneous textures. Recently, graph matching became popular for its integration of geometric and radiometric information. Focused on poor textural image matching problem, it is proposed an edge-weight strategy to improve graph matching algorithm. A series of experiments have been conducted including 4 typical landscapes: Forest, desert, farmland, and urban areas. And it is experimentally found that our new algorithm achieves better performance. Compared to SIFT, doubled corresponding points were acquired, and the overall recall rate reached up to 68%, which verifies the feasibility and effectiveness of the algorithm.

ROV-based Underwater Vision System for Intelligent Fish Ethology Research

Directory of Open Access Journals (Sweden)

Rui Nian

2013-09-01

Full Text Available Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV-based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.

Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

Directory of Open Access Journals (Sweden)

Jie Shen

2014-04-01

Full Text Available In challenging underwater environments, the polarization parameter maps calculated by the Stokes model are characterized by the high noise and error, harassing the underwater target detection tasks. In order to solve this problem, this paper proposes a novel bionic polarization calculation and underwater target detection method by modeling the visual system of mantis shrimps. This system includes many operators including a polarization-opposition calculation, a factor optimization and a visual neural network model. A calibration learning method is proposed to search the optimal value of the factors in the linear subtraction model. Finally, a six-channel visual neural network model is proposed to detect the underwater targets. Experimental results proved that the maps produced by the polarization-opposition parameter is more accurate and have lower noise than that produced by the Stokes parameter, achieving better performance in underwater target detection tasks.

Underwater video enhancement using multi-camera super-resolution

Science.gov (United States)

Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

2017-12-01

Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

A Quick and Affine Invariance Matching Method for Oblique Images

Directory of Open Access Journals (Sweden)

XIAO Xiongwu

2015-04-01

Full Text Available This paper proposed a quick, affine invariance matching method for oblique images. It calculated the initial affine matrix by making full use of the two estimated camera axis orientation parameters of an oblique image, then recovered the oblique image to a rectified image by doing the inverse affine transform, and left over by the SIFT method. We used the nearest neighbor distance ratio(NNDR, normalized cross correlation(NCC measure constraints and consistency check to get the coarse matches, then used RANSAC method to calculate the fundamental matrix and the homography matrix. And we got the matches that they were interior points when calculating the homography matrix, then calculated the average value of the matches' principal direction differences. During the matching process, we got the initial matching features by the nearest neighbor(NN matching strategy, then used the epipolar constrains, homography constrains, NCC measure constrains and consistency check of the initial matches' principal direction differences with the calculated average value of the interior matches' principal direction differences to eliminate false matches. Experiments conducted on three pairs of typical oblique images demonstrate that our method takes about the same time as SIFT to match a pair of oblique images with a plenty of corresponding points distributed evenly and an extremely low mismatching rate.

A Fully Automated Method to Detect and Segment a Manufactured Object in an Underwater Color Image

Science.gov (United States)

Barat, Christian; Phlypo, Ronald

2010-12-01

We propose a fully automated active contours-based method for the detection and the segmentation of a moored manufactured object in an underwater image. Detection of objects in underwater images is difficult due to the variable lighting conditions and shadows on the object. The proposed technique is based on the information contained in the color maps and uses the visual attention method, combined with a statistical approach for the detection and an active contour for the segmentation of the object to overcome the above problems. In the classical active contour method the region descriptor is fixed and the convergence of the method depends on the initialization. With our approach, this dependence is overcome with an initialization using the visual attention results and a criterion to select the best region descriptor. This approach improves the convergence and the processing time while providing the advantages of a fully automated method.

An Image Matching Method Based on Fourier and LOG-Polar Transform

Directory of Open Access Journals (Sweden)

Zhijia Zhang

2014-04-01

Full Text Available This Traditional template matching methods are not appropriate for the situation of large angle rotation between two images in the online detection for industrial production. Aiming at this problem, Fourier transform algorithm was introduced to correct image rotation angle based on its rotatary invariance in time-frequency domain, orienting image under test in the same direction with reference image, and then match these images using matching algorithm based on log-polar transform. Compared with the current matching algorithms, experimental results show that the proposed algorithm can not only match two images with rotation of arbitrary angle, but also possess a high matching accuracy and applicability. In addition, the validity and reliability of algorithm was verified by simulated matching experiment targeting circular images.

Poor textural image tie point matching via graph theory

Science.gov (United States)

Yuan, Xiuxiao; Chen, Shiyu; Yuan, Wei; Cai, Yang

2017-07-01

Feature matching aims to find corresponding points to serve as tie points between images. Robust matching is still a challenging task when input images are characterized by low contrast or contain repetitive patterns, occlusions, or homogeneous textures. In this paper, a novel feature matching algorithm based on graph theory is proposed. This algorithm integrates both geometric and radiometric constraints into an edge-weighted (EW) affinity tensor. Tie points are then obtained by high-order graph matching. Four pairs of poor textural images covering forests, deserts, bare lands, and urban areas are tested. For comparison, three state-of-the-art matching techniques, namely, scale-invariant feature transform (SIFT), speeded up robust features (SURF), and features from accelerated segment test (FAST), are also used. The experimental results show that the matching recall obtained by SIFT, SURF, and FAST varies from 0 to 35% in different types of poor textures. However, through the integration of both geometry and radiometry and the EW strategy, the recall obtained by the proposed algorithm is better than 50% in all four image pairs. The better matching recall improves the number of correct matches, dispersion, and positional accuracy.

An adaptive clustering algorithm for image matching based on corner feature

Science.gov (United States)

Wang, Zhe; Dong, Min; Mu, Xiaomin; Wang, Song

2018-04-01

The traditional image matching algorithm always can not balance the real-time and accuracy better, to solve the problem, an adaptive clustering algorithm for image matching based on corner feature is proposed in this paper. The method is based on the similarity of the matching pairs of vector pairs, and the adaptive clustering is performed on the matching point pairs. Harris corner detection is carried out first, the feature points of the reference image and the perceived image are extracted, and the feature points of the two images are first matched by Normalized Cross Correlation (NCC) function. Then, using the improved algorithm proposed in this paper, the matching results are clustered to reduce the ineffective operation and improve the matching speed and robustness. Finally, the Random Sample Consensus (RANSAC) algorithm is used to match the matching points after clustering. The experimental results show that the proposed algorithm can effectively eliminate the most wrong matching points while the correct matching points are retained, and improve the accuracy of RANSAC matching, reduce the computation load of whole matching process at the same time.

FEATURE MATCHING OF HISTORICAL IMAGES BASED ON GEOMETRY OF QUADRILATERALS

Directory of Open Access Journals (Sweden)

F. Maiwald

2018-05-01

Full Text Available This contribution shows an approach to match historical images from the photo library of the Saxon State and University Library Dresden (SLUB in the context of a historical three-dimensional city model of Dresden. In comparison to recent images, historical photography provides diverse factors which make an automatical image analysis (feature detection, feature matching and relative orientation of images difficult. Due to e.g. film grain, dust particles or the digitalization process, historical images are often covered by noise interfering with the image signal needed for a robust feature matching. The presented approach uses quadrilaterals in image space as these are commonly available in man-made structures and façade images (windows, stones, claddings. It is explained how to generally detect quadrilaterals in images. Consequently, the properties of the quadrilaterals as well as the relationship to neighbouring quadrilaterals are used for the description and matching of feature points. The results show that most of the matches are robust and correct but still small in numbers.

Tracking the position of the underwater robot for nuclear reactor inspection

International Nuclear Information System (INIS)

Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

2003-01-01

The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

Multiuser chirp modulation for underwater acoustic channel based on VTRM

Directory of Open Access Journals (Sweden)

Fei Yuan

2017-05-01

Full Text Available In this paper, an ascheme is proposed for multiuser underwater acoustic communication by using the multi-chirp rate signals. It differs from the well known TDMA (Time Division Multiple Access, FDMA (Frequency Division Multiple Access or CDMA (Code Division Multiple Access, by assigning each users with different chirp-rate carriers instead of the time, frequency or PN code. Multi-chirp rate signals can be separated from each other by FrFT (Fractional Fourier Transform, which can be regarded as the chirp-based decomposing, and superior to the match filter in the underwater acoustic channel. VTRM (Virtual Time Reverse Mirror is applied into the system to alleviate the ISI caused by the multipatch and make the equalization more simple. Results of computer simulations and pool experiments prove that the proposed multiuser underwater acoustic communication based on the multi-chirp rate exhibit well performance. Outfield experments carrie out in Xiamen Port show that using about 10 kHz bandwidth, four users could communicate at the same time with 425 bps with low BER and can match the UAC application.

Probability-Based Recognition Framework for Underwater Landmarks Using Sonar Images †.

Science.gov (United States)

Lee, Yeongjun; Choi, Jinwoo; Ko, Nak Yong; Choi, Hyun-Taek

2017-08-24

This paper proposes a probability-based framework for recognizing underwater landmarks using sonar images. Current recognition methods use a single image, which does not provide reliable results because of weaknesses of the sonar image such as unstable acoustic source, many speckle noises, low resolution images, single channel image, and so on. However, using consecutive sonar images, if the status-i.e., the existence and identity (or name)-of an object is continuously evaluated by a stochastic method, the result of the recognition method is available for calculating the uncertainty, and it is more suitable for various applications. Our proposed framework consists of three steps: (1) candidate selection, (2) continuity evaluation, and (3) Bayesian feature estimation. Two probability methods-particle filtering and Bayesian feature estimation-are used to repeatedly estimate the continuity and feature of objects in consecutive images. Thus, the status of the object is repeatedly predicted and updated by a stochastic method. Furthermore, we develop an artificial landmark to increase detectability by an imaging sonar, which we apply to the characteristics of acoustic waves, such as instability and reflection depending on the roughness of the reflector surface. The proposed method is verified by conducting basin experiments, and the results are presented.

Reliable Line Matching Algorithm for Stereo Images with Topological Relationship

Directory of Open Access Journals (Sweden)

WANG Jingxue

2017-11-01

Full Text Available Because of the lack of relationships between matching line and adjacent lines in the process of individual line matching, and the weak reliability of the individual line descriptor facing on discontinue texture, this paper presents a reliable line matching algorithm for stereo images with topological relationship. The algorithm firstly generates grouped line pairs from lines extracted from the reference image and searching image according to the basic topological relationships such as distance and angle between the lines. Then it takes the grouped line pairs as matching primitives, and matches these grouped line pairs by using epipolar constraint, homography constraint, quadrant constraint and gray correlation constraint of irregular triangle in order. And finally, it resolves the corresponding line pairs into two pairs of corresponding individual lines, and obtains one to one matching results after the post-processing of integrating, fitting, and checking. This paper adopts digital aerial images and close-range images with typical texture features to deal with the parameter analysis and line matching, and the experiment results demonstrate that the proposed algorithm in this paper can obtain reliable line matching results.

THE EFFECT OF IMAGE ENHANCEMENT METHODS DURING FEATURE DETECTION AND MATCHING OF THERMAL IMAGES

Directory of Open Access Journals (Sweden)

O. Akcay

2017-05-01

Full Text Available A successful image matching is essential to provide an automatic photogrammetric process accurately. Feature detection, extraction and matching algorithms have performed on the high resolution images perfectly. However, images of cameras, which are equipped with low-resolution thermal sensors are problematic with the current algorithms. In this paper, some digital image processing techniques were applied to the low-resolution images taken with Optris PI 450 382 x 288 pixel optical resolution lightweight thermal camera to increase extraction and matching performance. Image enhancement methods that adjust low quality digital thermal images, were used to produce more suitable images for detection and extraction. Three main digital image process techniques: histogram equalization, high pass and low pass filters were considered to increase the signal-to-noise ratio, sharpen image, remove noise, respectively. Later on, the pre-processed images were evaluated using current image detection and feature extraction methods Maximally Stable Extremal Regions (MSER and Speeded Up Robust Features (SURF algorithms. Obtained results showed that some enhancement methods increased number of extracted features and decreased blunder errors during image matching. Consequently, the effects of different pre-process techniques were compared in the paper.

Fuzzy Matching Based on Gray-scale Difference for Quantum Images

Science.gov (United States)

Luo, GaoFeng; Zhou, Ri-Gui; Liu, XingAo; Hu, WenWen; Luo, Jia

2018-05-01

Quantum image processing has recently emerged as an essential problem in practical tasks, e.g. real-time image matching. Previous studies have shown that the superposition and entanglement of quantum can greatly improve the efficiency of complex image processing. In this paper, a fuzzy quantum image matching scheme based on gray-scale difference is proposed to find out the target region in a reference image, which is very similar to the template image. Firstly, we employ the proposed enhanced quantum representation (NEQR) to store digital images. Then some certain quantum operations are used to evaluate the gray-scale difference between two quantum images by thresholding. If all of the obtained gray-scale differences are not greater than the threshold value, it indicates a successful fuzzy matching of quantum images. Theoretical analysis and experiments show that the proposed scheme performs fuzzy matching at a low cost and also enables exponentially significant speedup via quantum parallel computation.

Image Segmentation, Registration, Compression, and Matching

Science.gov (United States)

Yadegar, Jacob; Wei, Hai; Yadegar, Joseph; Ray, Nilanjan; Zabuawala, Sakina

2011-01-01

A novel computational framework was developed of a 2D affine invariant matching exploiting a parameter space. Named as affine invariant parameter space (AIPS), the technique can be applied to many image-processing and computer-vision problems, including image registration, template matching, and object tracking from image sequence. The AIPS is formed by the parameters in an affine combination of a set of feature points in the image plane. In cases where the entire image can be assumed to have undergone a single affine transformation, the new AIPS match metric and matching framework becomes very effective (compared with the state-of-the-art methods at the time of this reporting). No knowledge about scaling or any other transformation parameters need to be known a priori to apply the AIPS framework. An automated suite of software tools has been created to provide accurate image segmentation (for data cleaning) and high-quality 2D image and 3D surface registration (for fusing multi-resolution terrain, image, and map data). These tools are capable of supporting existing GIS toolkits already in the marketplace, and will also be usable in a stand-alone fashion. The toolkit applies novel algorithmic approaches for image segmentation, feature extraction, and registration of 2D imagery and 3D surface data, which supports first-pass, batched, fully automatic feature extraction (for segmentation), and registration. A hierarchical and adaptive approach is taken for achieving automatic feature extraction, segmentation, and registration. Surface registration is the process of aligning two (or more) data sets to a common coordinate system, during which the transformation between their different coordinate systems is determined. Also developed here are a novel, volumetric surface modeling and compression technique that provide both quality-guaranteed mesh surface approximations and compaction of the model sizes by efficiently coding the geometry and connectivity

LINE-BASED MULTI-IMAGE MATCHING FOR FAÇADE RECONSTRUCTION

Directory of Open Access Journals (Sweden)

T. A. Teo

2012-07-01

Full Text Available This research integrates existing LOD 2 building models and multiple close-range images for façade structural lines extraction. The major works are orientation determination and multiple image matching. In the orientation determination, Speeded Up Robust Features (SURF is applied to extract tie points automatically. Then, tie points and control points are combined for block adjustment. An object-based multi-images matching is proposed to extract the façade structural lines. The 2D lines in image space are extracted by Canny operator followed by Hough transform. The role of LOD 2 building models is to correct the tilt displacement of image from different views. The wall of LOD 2 model is also used to generate hypothesis planes for similarity measurement. Finally, average normalized cross correlation is calculated to obtain the best location in object space. The test images are acquired by a nonmetric camera Nikon D2X. The total number of image is 33. The experimental results indicate that the accuracy of orientation determination is about 1 pixel from 2515 tie points and 4 control points. It also indicates that line-based matching is more flexible than point-based matching.

Image Relaxation Matching Based on Feature Points for DSM Generation

Institute of Scientific and Technical Information of China (English)

ZHENG Shunyi; ZHANG Zuxun; ZHANG Jianqing

2004-01-01

In photogrammetry and remote sensing, image matching is a basic and crucial process for automatic DEM generation. In this paper we presented a image relaxation matching method based on feature points. This method can be considered as an extention of regular grid point based matching. It avoids the shortcome of grid point based matching. For example, with this method, we can avoid low or even no texture area where errors frequently appear in cross correlaton matching. In the mean while, it makes full use of some mature techniques such as probability relaxation, image pyramid and the like which have already been successfully used in grid point matching process. Application of the technique to DEM generaton in different regions proved that it is more reasonable and reliable.

Scene matching based on non-linear pre-processing on reference image and sensed image

Institute of Scientific and Technical Information of China (English)

Zhong Sheng; Zhang Tianxu; Sang Nong

2005-01-01

To solve the heterogeneous image scene matching problem, a non-linear pre-processing method for the original images before intensity-based correlation is proposed. The result shows that the proper matching probability is raised greatly. Especially for the low S/N image pairs, the effect is more remarkable.

PIV uncertainty quantification by image matching

International Nuclear Information System (INIS)

Sciacchitano, Andrea; Scarano, Fulvio; Wieneke, Bernhard

2013-01-01

A novel method is presented to quantify the uncertainty of PIV data. The approach is a posteriori, i.e. the unknown actual error of the measured velocity field is estimated using the velocity field itself as input along with the original images. The principle of the method relies on the concept of super-resolution: the image pair is matched according to the cross-correlation analysis and the residual distance between matched particle image pairs (particle disparity vector) due to incomplete match between the two exposures is measured. The ensemble of disparity vectors within the interrogation window is analyzed statistically. The dispersion of the disparity vector returns the estimate of the random error, whereas the mean value of the disparity indicates the occurrence of a systematic error. The validity of the working principle is first demonstrated via Monte Carlo simulations. Two different interrogation algorithms are considered, namely the cross-correlation with discrete window offset and the multi-pass with window deformation. In the simulated recordings, the effects of particle image displacement, its gradient, out-of-plane motion, seeding density and particle image diameter are considered. In all cases good agreement is retrieved, indicating that the error estimator is able to follow the trend of the actual error with satisfactory precision. Experiments where time-resolved PIV data are available are used to prove the concept under realistic measurement conditions. In this case the ‘exact’ velocity field is unknown; however a high accuracy estimate is obtained with an advanced interrogation algorithm that exploits the redundant information of highly temporally oversampled data (pyramid correlation, Sciacchitano et al (2012 Exp. Fluids 53 1087–105)). The image-matching estimator returns the instantaneous distribution of the estimated velocity measurement error. The spatial distribution compares very well with that of the actual error with maxima in the

High Density Aerial Image Matching: State-Of and Future Prospects

Science.gov (United States)

Haala, N.; Cavegn, S.

2016-06-01

Ongoing innovations in matching algorithms are continuously improving the quality of geometric surface representations generated automatically from aerial images. This development motivated the launch of the joint ISPRS/EuroSDR project "Benchmark on High Density Aerial Image Matching", which aims on the evaluation of photogrammetric 3D data capture in view of the current developments in dense multi-view stereo-image matching. Originally, the test aimed on image based DSM computation from conventional aerial image flights for different landuse and image block configurations. The second phase then put an additional focus on high quality, high resolution 3D geometric data capture in complex urban areas. This includes both the extension of the test scenario to oblique aerial image flights as well as the generation of filtered point clouds as additional output of the respective multi-view reconstruction. The paper uses the preliminary outcomes of the benchmark to demonstrate the state-of-the-art in airborne image matching with a special focus of high quality geometric data capture in urban scenarios.

Quick probabilistic binary image matching: changing the rules of the game

Science.gov (United States)

Mustafa, Adnan A. Y.

2016-09-01

A Probabilistic Matching Model for Binary Images (PMMBI) is presented that predicts the probability of matching binary images with any level of similarity. The model relates the number of mappings, the amount of similarity between the images and the detection confidence. We show the advantage of using a probabilistic approach to matching in similarity space as opposed to a linear search in size space. With PMMBI a complete model is available to predict the quick detection of dissimilar binary images. Furthermore, the similarity between the images can be measured to a good degree if the images are highly similar. PMMBI shows that only a few pixels need to be compared to detect dissimilarity between images, as low as two pixels in some cases. PMMBI is image size invariant; images of any size can be matched at the same quick speed. Near-duplicate images can also be detected without much difficulty. We present tests on real images that show the prediction accuracy of the model.

An Image Matching Algorithm Integrating Global SRTM and Image Segmentation for Multi-Source Satellite Imagery

Directory of Open Access Journals (Sweden)

Xiao Ling

2016-08-01

Full Text Available This paper presents a novel image matching method for multi-source satellite images, which integrates global Shuttle Radar Topography Mission (SRTM data and image segmentation to achieve robust and numerous correspondences. This method first generates the epipolar lines as a geometric constraint assisted by global SRTM data, after which the seed points are selected and matched. To produce more reliable matching results, a region segmentation-based matching propagation is proposed in this paper, whereby the region segmentations are extracted by image segmentation and are considered to be a spatial constraint. Moreover, a similarity measure integrating Distance, Angle and Normalized Cross-Correlation (DANCC, which considers geometric similarity and radiometric similarity, is introduced to find the optimal correspondences. Experiments using typical satellite images acquired from Resources Satellite-3 (ZY-3, Mapping Satellite-1, SPOT-5 and Google Earth demonstrated that the proposed method is able to produce reliable and accurate matching results.

Robust and efficient method for matching features in omnidirectional images

Science.gov (United States)

Zhu, Qinyi; Zhang, Zhijiang; Zeng, Dan

2018-04-01

Binary descriptors have been widely used in many real-time applications due to their efficiency. These descriptors are commonly designed for perspective images but perform poorly on omnidirectional images, which are severely distorted. To address this issue, this paper proposes tangent plane BRIEF (TPBRIEF) and adapted log polar grid-based motion statistics (ALPGMS). TPBRIEF projects keypoints to a unit sphere and applies the fixed test set in BRIEF descriptor on the tangent plane of the unit sphere. The fixed test set is then backprojected onto the original distorted images to construct the distortion invariant descriptor. TPBRIEF directly enables keypoint detecting and feature describing on original distorted images, whereas other approaches correct the distortion through image resampling, which introduces artifacts and adds time cost. With ALPGMS, omnidirectional images are divided into circular arches named adapted log polar grids. Whether a match is true or false is then determined by simply thresholding the match numbers in a grid pair where the two matched points located. Experiments show that TPBRIEF greatly improves the feature matching accuracy and ALPGMS robustly removes wrong matches. Our proposed method outperforms the state-of-the-art methods.

MatchGUI: A Graphical MATLAB-Based Tool for Automatic Image Co-Registration

Science.gov (United States)

Ansar, Adnan I.

2011-01-01

MatchGUI software, based on MATLAB, automatically matches two images and displays the match result by superimposing one image on the other. A slider bar allows focus to shift between the two images. There are tools for zoom, auto-crop to overlap region, and basic image markup. Given a pair of ortho-rectified images (focused primarily on Mars orbital imagery for now), this software automatically co-registers the imagery so that corresponding image pixels are aligned. MatchGUI requires minimal user input, and performs a registration over scale and inplane rotation fully automatically

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

A blur-invariant local feature for motion blurred image matching

Science.gov (United States)

Tong, Qiang; Aoki, Terumasa

2017-07-01

Image matching between a blurred (caused by camera motion, out of focus, etc.) image and a non-blurred image is a critical task for many image/video applications. However, most of the existing local feature schemes fail to achieve this work. This paper presents a blur-invariant descriptor and a novel local feature scheme including the descriptor and the interest point detector based on moment symmetry - the authors' previous work. The descriptor is based on a new concept - center peak moment-like element (CPME) which is robust to blur and boundary effect. Then by constructing CPMEs, the descriptor is also distinctive and suitable for image matching. Experimental results show our scheme outperforms state of the art methods for blurred image matching

Underwater Object Segmentation Based on Optical Features

Directory of Open Access Journals (Sweden)

Zhe Chen

2018-01-01

Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

Directory of Open Access Journals (Sweden)

Chua Kia

2005-09-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

Directory of Open Access Journals (Sweden)

Chua Kia

2008-11-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

Automated Photogrammetric Image Matching with Sift Algorithm and Delaunay Triangulation

DEFF Research Database (Denmark)

Karagiannis, Georgios; Antón Castro, Francesc/François; Mioc, Darka

2016-01-01

An algorithm for image matching of multi-sensor and multi-temporal satellite images is developed. The method is based on the SIFT feature detector proposed by Lowe in (Lowe, 1999). First, SIFT feature points are detected independently in two images (reference and sensed image). The features detec...... of each feature set for each image are computed. The isomorphism of the Delaunay triangulations is determined to guarantee the quality of the image matching. The algorithm is implemented in Matlab and tested on World-View 2, SPOT6 and TerraSAR-X image patches....

Underwater robots

CERN Document Server

Antonelli, Gianluca

2014-01-01

This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

Science.gov (United States)

Huntsberger, Terrance L.

2013-01-01

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Underwater Time Service and Synchronization Based on Time Reversal Technique

Science.gov (United States)

Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

2010-09-01

Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network

Directory of Open Access Journals (Sweden)

Zhibin Yu

2017-01-01

Full Text Available Underwater inherent optical properties (IOPs are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

Underwater Inherent Optical Properties Estimation Using a Depth Aided Deep Neural Network.

Science.gov (United States)

Yu, Zhibin; Wang, Yubo; Zheng, Bing; Zheng, Haiyong; Wang, Nan; Gu, Zhaorui

2017-01-01

Underwater inherent optical properties (IOPs) are the fundamental clues to many research fields such as marine optics, marine biology, and underwater vision. Currently, beam transmissometers and optical sensors are considered as the ideal IOPs measuring methods. But these methods are inflexible and expensive to be deployed. To overcome this problem, we aim to develop a novel measuring method using only a single underwater image with the help of deep artificial neural network. The power of artificial neural network has been proved in image processing and computer vision fields with deep learning technology. However, image-based IOPs estimation is a quite different and challenging task. Unlike the traditional applications such as image classification or localization, IOP estimation looks at the transparency of the water between the camera and the target objects to estimate multiple optical properties simultaneously. In this paper, we propose a novel Depth Aided (DA) deep neural network structure for IOPs estimation based on a single RGB image that is even noisy. The imaging depth information is considered as an aided input to help our model make better decision.

3D MODELS COMPARISON OF COMPLEX SHELL IN UNDERWATER AND DRY ENVIRONMENTS

Directory of Open Access Journals (Sweden)

S. Troisi

2015-04-01

Full Text Available In marine biology the shape, morphology, texture and dimensions of the shells and organisms like sponges and gorgonians are very important parameters. For example, a particular type of gorgonian grows every year only few millimeters; this estimation was conducted without any measurement instrument but it has been provided after successive observational studies, because this organism is very fragile: the contact could compromise its structure and outliving. Non-contact measurement system has to be used to preserve such organisms: the photogrammetry is a method capable to assure high accuracy without contact. Nevertheless, the achievement of a 3D photogrammetric model of complex object (as gorgonians or particular shells is a challenge in normal environments, either with metric camera or with consumer camera. Indeed, the successful of automatic target-less image orientation and the image matching algorithms is strictly correlated to the object texture properties and of camera calibration quality as well. In the underwater scenario, the environment conditions strongly influence the results quality; in particular, water’s turbidity, the presence of suspension, flare and other optical aberrations decrease the image quality reducing the accuracy and increasing the noise on the 3D model. Furthermore, seawater density variability influences its refraction index and consequently the interior orientation camera parameters. For this reason, the camera calibration has to be performed in the same survey conditions. In this paper, a comparison between the 3D models of a Charonia Tritonis shell are carried out through surveys conducted both in dry and underwater environments.

An improved ASIFT algorithm for indoor panorama image matching

Science.gov (United States)

Fu, Han; Xie, Donghai; Zhong, Ruofei; Wu, Yu; Wu, Qiong

2017-07-01

The generation of 3D models for indoor objects and scenes is an attractive tool for digital city, virtual reality and SLAM purposes. Panoramic images are becoming increasingly more common in such applications due to their advantages to capture the complete environment in one single image with large field of view. The extraction and matching of image feature points are important and difficult steps in three-dimensional reconstruction, and ASIFT is a state-of-the-art algorithm to implement these functions. Compared with the SIFT algorithm, more feature points can be generated and the matching accuracy of ASIFT algorithm is higher, even for the panoramic images with obvious distortions. However, the algorithm is really time-consuming because of complex operations and performs not very well for some indoor scenes under poor light or without rich textures. To solve this problem, this paper proposes an improved ASIFT algorithm for indoor panoramic images: firstly, the panoramic images are projected into multiple normal perspective images. Secondly, the original ASIFT algorithm is simplified from the affine transformation of tilt and rotation with the images to the only tilt affine transformation. Finally, the results are re-projected to the panoramic image space. Experiments in different environments show that this method can not only ensure the precision of feature points extraction and matching, but also greatly reduce the computing time.

Sidescan Sonar Image Matching Using Cross Correlation

DEFF Research Database (Denmark)

Thisen, Erik; Sørensen, Helge Bjarup Dissing; Stage, Bjarne

2003-01-01

When surveying an area for sea mines with a sidescan sonar, the ability to find the same object in two different sonar images is helpful to determine the nature of the object. The main problem with matching two sidescan sonar images is that a scene changes appearance when viewed from different vi...

Optical aberrations in underwater photogrammetry with flat and hemispherical dome ports

Science.gov (United States)

Menna, Fabio; Nocerino, Erica; Remondino, Fabio

2017-06-01

The paper analyses differences between dome and flat port housings used for underwater photogrammetry. The underwater environment negatively affects image quality and 3D reconstructions, but this influence on photogrammetric measurements, so far, has not been addressed properly in the literature. In this work, motivations behind the need for systematic underwater calibrations are provided, then experimental tests using a specifically designed photogrammetric modular test object in laboratory and at sea are reported. The experiments are carried out using a Nikon D750 24 Mpx DSLR camera with a 24 mm f2.8 AF/D lens coupled with a NIMAR NI3D750ZM housing, equipped first with a dome and, successively, with a flat port. To quantify the degradation of image quality, MTF measurements are carried out, then the outcomes of self-calibrating bundle adjustment calibrations are shown and commented. Optical phenomena like field curvature as well as chromatic aberration and astigmatism are analysed and their implications on the degradation of image quality is factored in the bundle adjustment through a different weighting of 2D image observations.

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

Directory of Open Access Journals (Sweden)

W. Yuan

2016-06-01

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

Person identification based on multiscale matching of cortical images

NARCIS (Netherlands)

Kruizinga, P; Petkov, N; Hertzberger, B; Serazzi, G

1995-01-01

A set of so-called cortical images, motivated by the function of simple cells in the primary visual cortex of mammals, is computed from each of two input images and an image pyramid is constructed for each cortical image. The two sets of cortical image pyramids are matched synchronously and an

A Spherical Model Based Keypoint Descriptor and Matching Algorithm for Omnidirectional Images

Directory of Open Access Journals (Sweden)

Guofeng Tong

2014-04-01

Full Text Available Omnidirectional images generally have nonlinear distortion in radial direction. Unfortunately, traditional algorithms such as scale-invariant feature transform (SIFT and Descriptor-Nets (D-Nets do not work well in matching omnidirectional images just because they are incapable of dealing with the distortion. In order to solve this problem, a new voting algorithm is proposed based on the spherical model and the D-Nets algorithm. Because the spherical-based keypoint descriptor contains the distortion information of omnidirectional images, the proposed matching algorithm is invariant to distortion. Keypoint matching experiments are performed on three pairs of omnidirectional images, and comparison is made among the proposed algorithm, the SIFT and the D-Nets. The result shows that the proposed algorithm is more robust and more precise than the SIFT, and the D-Nets in matching omnidirectional images. Comparing with the SIFT and the D-Nets, the proposed algorithm has two main advantages: (a there are more real matching keypoints; (b the coverage range of the matching keypoints is wider, including the seriously distorted areas.

MULTI-TEMPORAL AND MULTI-SENSOR IMAGE MATCHING BASED ON LOCAL FREQUENCY INFORMATION

Directory of Open Access Journals (Sweden)

X. Liu

2012-08-01

Full Text Available Image Matching is often one of the first tasks in many Photogrammetry and Remote Sensing applications. This paper presents an efficient approach to automated multi-temporal and multi-sensor image matching based on local frequency information. Two new independent image representations, Local Average Phase (LAP and Local Weighted Amplitude (LWA, are presented to emphasize the common scene information, while suppressing the non-common illumination and sensor-dependent information. In order to get the two representations, local frequency information is firstly obtained from Log-Gabor wavelet transformation, which is similar to that of the human visual system; then the outputs of odd and even symmetric filters are used to construct the LAP and LWA. The LAP and LWA emphasize on the phase and amplitude information respectively. As these two representations are both derivative-free and threshold-free, they are robust to noise and can keep as much of the image details as possible. A new Compositional Similarity Measure (CSM is also presented to combine the LAP and LWA with the same weight for measuring the similarity of multi-temporal and multi-sensor images. The CSM can make the LAP and LWA compensate for each other and can make full use of the amplitude and phase of local frequency information. In many image matching applications, the template is usually selected without consideration of its matching robustness and accuracy. In order to overcome this problem, a local best matching point detection is presented to detect the best matching template. In the detection method, we employ self-similarity analysis to identify the template with the highest matching robustness and accuracy. Experimental results using some real images and simulation images demonstrate that the presented approach is effective for matching image pairs with significant scene and illumination changes and that it has advantages over other state-of-the-art approaches, which include: the

Optimum LED wavelength for underwater optical wireless communication at turbid water

Science.gov (United States)

Rosenkrantz, Etai; Arnon, Shlomi

2014-10-01

Underwater optical wireless communication is an emerging technology, which can provide high data rate. High data rate communication is required for applications such as underwater imaging, networks of sensors and swarms of underwater vehicles. These applications pursue an affordable light source, which can be obtained by light emitting diodes (LED). LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness based on off-the-shelf components such as blue and green light emitting diodes. In this paper we present our recent theoretical and experimental results in this field.

Illumination invariant feature point matching for high-resolution planetary remote sensing images

Science.gov (United States)

Wu, Bo; Zeng, Hai; Hu, Han

2018-03-01

Despite its success with regular close-range and remote-sensing images, the scale-invariant feature transform (SIFT) algorithm is essentially not invariant to illumination differences due to the use of gradients for feature description. In planetary remote sensing imagery, which normally lacks sufficient textural information, salient regions are generally triggered by the shadow effects of keypoints, reducing the matching performance of classical SIFT. Based on the observation of dual peaks in a histogram of the dominant orientations of SIFT keypoints, this paper proposes an illumination-invariant SIFT matching method for high-resolution planetary remote sensing images. First, as the peaks in the orientation histogram are generally aligned closely with the sub-solar azimuth angle at the time of image collection, an adaptive suppression Gaussian function is tuned to level the histogram and thereby alleviate the differences in illumination caused by a changing solar angle. Next, the suppression function is incorporated into the original SIFT procedure for obtaining feature descriptors, which are used for initial image matching. Finally, as the distribution of feature descriptors changes after anisotropic suppression, and the ratio check used for matching and outlier removal in classical SIFT may produce inferior results, this paper proposes an improved matching procedure based on cross-checking and template image matching. The experimental results for several high-resolution remote sensing images from both the Moon and Mars, with illumination differences of 20°-180°, reveal that the proposed method retrieves about 40%-60% more matches than the classical SIFT method. The proposed method is of significance for matching or co-registration of planetary remote sensing images for their synergistic use in various applications. It also has the potential to be useful for flyby and rover images by integrating with the affine invariant feature detectors.

Fingerprint matching algorithm for poor quality images

Directory of Open Access Journals (Sweden)

Vedpal Singh

2015-04-01

Full Text Available The main aim of this study is to establish an efficient platform for fingerprint matching for low-quality images. Generally, fingerprint matching approaches use the minutiae points for authentication. However, it is not such a reliable authentication method for low-quality images. To overcome this problem, the current study proposes a fingerprint matching methodology based on normalised cross-correlation, which would improve the performance and reduce the miscalculations during authentication. It would decrease the computational complexities. The error rate of the proposed method is 5.4%, which is less than the two-dimensional (2D dynamic programming (DP error rate of 5.6%, while Lee's method produces 5.9% and the combined method has 6.1% error rate. Genuine accept rate at 1% false accept rate is 89.3% but at 0.1% value it is 96.7%, which is higher. The outcome of this study suggests that the proposed methodology has a low error rate with minimum computational effort as compared with existing methods such as Lee's method and 2D DP and the combined method.

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

Science.gov (United States)

Rousson, Johanna; Naudin, Mathieu; Marchessoux, Cédric

2016-01-01

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

PLANE MATCHING WITH OBJECT-SPACE SEARCHING USING INDEPENDENTLY RECTIFIED IMAGES

Directory of Open Access Journals (Sweden)

H. Takeda

2012-07-01

Full Text Available In recent years, the social situation in cities has changed significantly such as redevelopment due to the massive earthquake and large-scale urban development. For example, numerical simulations can be used to study this phenomenon. Such simulations require the construction of high-definition three-dimensional city models that accurately reflect the real world. Progress in sensor technology allows us to easily obtain multi-view images. However, the existing multi-image matching techniques are inadequate. In this paper, we propose a new technique for multi-image matching. Since the existing method of feature searching is complicated, we have developed a rectification method that can be processed independently for each image does not depend on the stereo-pair. The object-space searching method that produces mismatches due to the occlusion or distortion of wall textures on images is the focus of our study. Our proposed technique can also match the building wall surface. The proposed technique has several advantages, and its usefulness is clarified through an experiment using actual images.

An effective approach for iris recognition using phase-based image matching.

Science.gov (United States)

Miyazawa, Kazuyuki; Ito, Koichi; Aoki, Takafumi; Kobayashi, Koji; Nakajima, Hiroshi

2008-10-01

This paper presents an efficient algorithm for iris recognition using phase-based image matching--an image matching technique using phase components in 2D Discrete Fourier Transforms (DFTs) of given images. Experimental evaluation using CASIA iris image databases (versions 1.0 and 2.0) and Iris Challenge Evaluation (ICE) 2005 database clearly demonstrates that the use of phase components of iris images makes possible to achieve highly accurate iris recognition with a simple matching algorithm. This paper also discusses major implementation issues of our algorithm. In order to reduce the size of iris data and to prevent the visibility of iris images, we introduce the idea of 2D Fourier Phase Code (FPC) for representing iris information. The 2D FPC is particularly useful for implementing compact iris recognition devices using state-of-the-art Digital Signal Processing (DSP) technology.

MATCHING AERIAL IMAGES TO 3D BUILDING MODELS BASED ON CONTEXT-BASED GEOMETRIC HASHING

Directory of Open Access Journals (Sweden)

J. Jung

2016-06-01

Full Text Available In this paper, a new model-to-image framework to automatically align a single airborne image with existing 3D building models using geometric hashing is proposed. As a prerequisite process for various applications such as data fusion, object tracking, change detection and texture mapping, the proposed registration method is used for determining accurate exterior orientation parameters (EOPs of a single image. This model-to-image matching process consists of three steps: 1 feature extraction, 2 similarity measure and matching, and 3 adjustment of EOPs of a single image. For feature extraction, we proposed two types of matching cues, edged corner points representing the saliency of building corner points with associated edges and contextual relations among the edged corner points within an individual roof. These matching features are extracted from both 3D building and a single airborne image. A set of matched corners are found with given proximity measure through geometric hashing and optimal matches are then finally determined by maximizing the matching cost encoding contextual similarity between matching candidates. Final matched corners are used for adjusting EOPs of the single airborne image by the least square method based on co-linearity equations. The result shows that acceptable accuracy of single image's EOP can be achievable by the proposed registration approach as an alternative to labour-intensive manual registration process.

A Spatial Reference Grid for Real-Time Autonomous Underwater Modeling using 3-D Sonar

Energy Technology Data Exchange (ETDEWEB)

Auran, P.G.

1996-12-31

The offshore industry has recognized the need for intelligent underwater robotic vehicles. This doctoral thesis deals with autonomous underwater vehicles (AUVs) and concentrates on a data representation for real-time image formation and analysis. Its main objective is to develop a 3-D image representation suitable for autonomous perception objectives underwater, assuming active sonar as the main sensor for perception. The main contributions are: (1) A dynamical image representation for 3-D range data, (2) A basic electronic circuit and software system for 3-D sonar sampling and amplitude thresholding, (3) A model for target reliability, (4) An efficient connected components algorithm for 3-D segmentation, (5) A method for extracting general 3-D geometrical representations from segmented echo clusters, (6) Experimental results of planar and curved target modeling. 142 refs., 120 figs., 10 tabs.

An accelerated image matching technique for UAV orthoimage registration

Science.gov (United States)

Tsai, Chung-Hsien; Lin, Yu-Ching

2017-06-01

Using an Unmanned Aerial Vehicle (UAV) drone with an attached non-metric camera has become a popular low-cost approach for collecting geospatial data. A well-georeferenced orthoimage is a fundamental product for geomatics professionals. To achieve high positioning accuracy of orthoimages, precise sensor position and orientation data, or a number of ground control points (GCPs), are often required. Alternatively, image registration is a solution for improving the accuracy of a UAV orthoimage, as long as a historical reference image is available. This study proposes a registration scheme, including an Accelerated Binary Robust Invariant Scalable Keypoints (ABRISK) algorithm and spatial analysis of corresponding control points for image registration. To determine a match between two input images, feature descriptors from one image are compared with those from another image. A "Sorting Ring" is used to filter out uncorrected feature pairs as early as possible in the stage of matching feature points, to speed up the matching process. The results demonstrate that the proposed ABRISK approach outperforms the vector-based Scale Invariant Feature Transform (SIFT) approach where radiometric variations exist. ABRISK is 19.2 times and 312 times faster than SIFT for image sizes of 1000 × 1000 pixels and 4000 × 4000 pixels, respectively. ABRISK is 4.7 times faster than Binary Robust Invariant Scalable Keypoints (BRISK). Furthermore, the positional accuracy of the UAV orthoimage after applying the proposed image registration scheme is improved by an average of root mean square error (RMSE) of 2.58 m for six test orthoimages whose spatial resolutions vary from 6.7 cm to 10.7 cm.

Investigation of the Propagation Characteristics of Underwater Shock Waves in Underwater Drilling Blasting

Directory of Open Access Journals (Sweden)

Xin Liu

2018-01-01

Full Text Available During the first-stage project of the main channel of Ningbo-Zhoushan Port’s Shipu Harbor, underwater shock waves were monitored. By analyzing a typical measured pressure time history curve, the characteristics of underwater shock waves in an engineering context were obtained. We obtained a traditional exponential attenuation formula for underwater shock waves based on the measured data, simplified the model of underwater drilling blasting based on engineering practice, deduced a revised formula for underwater shock wave peak overpressure on the basis of dimensional analysis, established a linear fitting model, and obtained the undetermined coefficients of the revised formula using a linear regression analysis. In addition, the accuracies of the two formulas used to predict underwater shock wave peak overpressure and the significance order of influence and influence mechanism of factors included in the revised formula on the underwater shock wave peak overpressure were discussed.

Self-Similar Spin Images for Point Cloud Matching

Science.gov (United States)

Pulido, Daniel

based on the concept of self-similarity to aid in the scale and feature matching steps. An open problem in fusion is how best to extract features from two point clouds and then perform feature-based matching. The proposed approach for this matching step is the use of local self-similarity as an invariant measure to match features. In particular, the proposed approach is to combine the concept of local self-similarity with a well-known feature descriptor, Spin Images, and thereby define "Self-Similar Spin Images". This approach is then extended to the case of matching two points clouds in very different coordinate systems (e.g., a geo-referenced Lidar point cloud and stereo-image derived point cloud without geo-referencing). The use of Self-Similar Spin Images is again applied to address this problem by introducing a "Self-Similar Keyscale" that matches the spatial scales of two point clouds. Another open problem is how best to detect changes in content between two point clouds. A method is proposed to find changes between two point clouds by analyzing the order statistics of the nearest neighbors between the two clouds, and thereby define the "Nearest Neighbor Order Statistic" method. Note that the well-known Hausdorff distance is a special case as being just the maximum order statistic. Therefore, by studying the entire histogram of these nearest neighbors it is expected to yield a more robust method to detect points that are present in one cloud but not the other. This approach is applied at multiple resolutions. Therefore, changes detected at the coarsest level will yield large missing targets and at finer levels will yield smaller targets.

Matching of Remote Sensing Images with Complex Background Variations via Siamese Convolutional Neural Network

Directory of Open Access Journals (Sweden)

Haiqing He

2018-02-01

Full Text Available Feature-based matching methods have been widely used in remote sensing image matching given their capability to achieve excellent performance despite image geometric and radiometric distortions. However, most of the feature-based methods are unreliable for complex background variations, because the gradient or other image grayscale information used to construct the feature descriptor is sensitive to image background variations. Recently, deep learning-based methods have been proven suitable for high-level feature representation and comparison in image matching. Inspired by the progresses made in deep learning, a new technical framework for remote sensing image matching based on the Siamese convolutional neural network is presented in this paper. First, a Siamese-type network architecture is designed to simultaneously learn the features and the corresponding similarity metric from labeled training examples of matching and non-matching true-color patch pairs. In the proposed network, two streams of convolutional and pooling layers sharing identical weights are arranged without the manually designed features. The number of convolutional layers is determined based on the factors that affect image matching. The sigmoid function is employed to compute the matching and non-matching probabilities in the output layer. Second, a gridding sub-pixel Harris algorithm is used to obtain the accurate localization of candidate matches. Third, a Gaussian pyramid coupling quadtree is adopted to gradually narrow down the searching space of the candidate matches, and multiscale patches are compared synchronously. Subsequently, a similarity measure based on the output of the sigmoid is adopted to find the initial matches. Finally, the random sample consensus algorithm and the whole-to-local quadratic polynomial constraints are used to remove false matches. In the experiments, different types of satellite datasets, such as ZY3, GF1, IKONOS, and Google Earth images

Gun bore flaw image matching based on improved SIFT descriptor

Science.gov (United States)

Zeng, Luan; Xiong, Wei; Zhai, You

2013-01-01

In order to increase the operation speed and matching ability of SIFT algorithm, the SIFT descriptor and matching strategy are improved. First, a method of constructing feature descriptor based on sector area is proposed. By computing the gradients histogram of location bins which are parted into 6 sector areas, a descriptor with 48 dimensions is constituted. It can reduce the dimension of feature vector and decrease the complexity of structuring descriptor. Second, it introduce a strategy that partitions the circular region into 6 identical sector areas starting from the dominate orientation. Consequently, the computational complexity is reduced due to cancellation of rotation operation for the area. The experimental results indicate that comparing with the OpenCV SIFT arithmetic, the average matching speed of the new method increase by about 55.86%. The matching veracity can be increased even under some variation of view point, illumination, rotation, scale and out of focus. The new method got satisfied results in gun bore flaw image matching. Keywords: Metrology, Flaw image matching, Gun bore, Feature descriptor

Signature detection and matching for document image retrieval.

Science.gov (United States)

Zhu, Guangyu; Zheng, Yefeng; Doermann, David; Jaeger, Stefan

2009-11-01

As one of the most pervasive methods of individual identification and document authentication, signatures present convincing evidence and provide an important form of indexing for effective document image processing and retrieval in a broad range of applications. However, detection and segmentation of free-form objects such as signatures from clustered background is currently an open document analysis problem. In this paper, we focus on two fundamental problems in signature-based document image retrieval. First, we propose a novel multiscale approach to jointly detecting and segmenting signatures from document images. Rather than focusing on local features that typically have large variations, our approach captures the structural saliency using a signature production model and computes the dynamic curvature of 2D contour fragments over multiple scales. This detection framework is general and computationally tractable. Second, we treat the problem of signature retrieval in the unconstrained setting of translation, scale, and rotation invariant nonrigid shape matching. We propose two novel measures of shape dissimilarity based on anisotropic scaling and registration residual error and present a supervised learning framework for combining complementary shape information from different dissimilarity metrics using LDA. We quantitatively study state-of-the-art shape representations, shape matching algorithms, measures of dissimilarity, and the use of multiple instances as query in document image retrieval. We further demonstrate our matching techniques in offline signature verification. Extensive experiments using large real-world collections of English and Arabic machine-printed and handwritten documents demonstrate the excellent performance of our approaches.

Real-time UAV trajectory generation using feature points matching between video image sequences

Science.gov (United States)

Byun, Younggi; Song, Jeongheon; Han, Dongyeob

2017-09-01

Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system

Fan fault diagnosis based on symmetrized dot pattern analysis and image matching

Science.gov (United States)

Xu, Xiaogang; Liu, Haixiao; Zhu, Hao; Wang, Songling

2016-07-01

To detect the mechanical failure of fans, a new diagnostic method based on the symmetrized dot pattern (SDP) analysis and image matching is proposed. Vibration signals of 13 kinds of running states are acquired on a centrifugal fan test bed and reconstructed by the SDP technique. The SDP pattern templates of each running state are established. An image matching method is performed to diagnose the fault. In order to improve the diagnostic accuracy, the single template, multiple templates and clustering fault templates are used to perform the image matching.

Techniques for Effective Optical Noise Rejection in Amplitude-Modulated Laser Optical Radars for Underwater Three-Dimensional Imaging

Directory of Open Access Journals (Sweden)

Francucci M

2010-01-01

Full Text Available Amplitude-modulated (AM laser imaging is a promising technology for the production of accurate three-dimensional (3D images of submerged scenes. The main challenge is that radiation scattered off water gives rise to a disturbing signal (optical noise that degrades more and more the quality of 3D images for increasing turbidity. In this paper, we summarize a series of theoretical findings, that provide valuable hints for the development of experimental methods enabling a partial rejection of optical noise in underwater imaging systems. In order to assess the effectiveness of these methods, which range from modulation/demodulation to polarimetry, we carried out a series of experiments by using the laboratory prototype of an AM 3D imager ( = 405 nm for marine archaeology surveys, in course of realization at the ENEA Artificial Vision Laboratory (Frascati, Rome. The obtained results confirm the validity of the proposed methods for optical noise rejection.

Techniques for Effective Optical Noise Rejection in Amplitude-Modulated Laser Optical Radars for Underwater Three-Dimensional Imaging

Directory of Open Access Journals (Sweden)

R. Ricci

2010-01-01

Full Text Available Amplitude-modulated (AM laser imaging is a promising technology for the production of accurate three-dimensional (3D images of submerged scenes. The main challenge is that radiation scattered off water gives rise to a disturbing signal (optical noise that degrades more and more the quality of 3D images for increasing turbidity. In this paper, we summarize a series of theoretical findings, that provide valuable hints for the development of experimental methods enabling a partial rejection of optical noise in underwater imaging systems. In order to assess the effectiveness of these methods, which range from modulation/demodulation to polarimetry, we carried out a series of experiments by using the laboratory prototype of an AM 3D imager (λ = 405 nm for marine archaeology surveys, in course of realization at the ENEA Artificial Vision Laboratory (Frascati, Rome. The obtained results confirm the validity of the proposed methods for optical noise rejection.

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

Directory of Open Access Journals (Sweden)

Gang Qiao

2016-05-01

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

A review of techniques for the identification and measurement of fish in underwater stereo-video image sequences

Science.gov (United States)

Shortis, Mark R.; Ravanbakskh, Mehdi; Shaifat, Faisal; Harvey, Euan S.; Mian, Ajmal; Seager, James W.; Culverhouse, Philip F.; Cline, Danelle E.; Edgington, Duane R.

2013-04-01

Underwater stereo-video measurement systems are used widely for counting and measuring fish in aquaculture, fisheries and conservation management. To determine population counts, spatial or temporal frequencies, and age or weight distributions, snout to fork length measurements are captured from the video sequences, most commonly using a point and click process by a human operator. Current research aims to automate the measurement and counting task in order to improve the efficiency of the process and expand the use of stereo-video systems within marine science. A fully automated process will require the detection and identification of candidates for measurement, followed by the snout to fork length measurement, as well as the counting and tracking of fish. This paper presents a review of the techniques used for the detection, identification, measurement, counting and tracking of fish in underwater stereo-video image sequences, including consideration of the changing body shape. The review will analyse the most commonly used approaches, leading to an evaluation of the techniques most likely to be a general solution to the complete process of detection, identification, measurement, counting and tracking.

Evaluation of polynomial image deformation for matching of 3D- abdominal MR-images using anatomical landmarks and for atlas construction

CERN Document Server

Kimiaei, S; Jonsson, E; Crafoord, J; Maguire, G Q

1999-01-01

The aim of this study is to compare and evaluate the potential usability of linear and non-linear (polynomial) 3D-warping for constructing an atlas by matching abdominal MR-images from a number of different individuals using manually picked anatomical landmarks. The significance of this study lies in the fact that it illustrates the potential to use polynomial matching at a local or organ level. This is a necessary requirement for constructing an atlas and for fine intra-patient image matching and fusion. Finally 3D-image warping using anatomical landmark for inter-patient intra-modality image co-registration and fusion was found to be a very powerful and robust method. Additionally it can be used for intra-patient inter- modality image matching.

Development of underwater camera using high-definition camera

International Nuclear Information System (INIS)

Tsuji, Kenji; Watanabe, Masato; Takashima, Masanobu; Kawamura, Shingo; Tanaka, Hiroyuki

2012-01-01

In order to reduce the time for core verification or visual inspection of BWR fuels, the underwater camera using a High-Definition camera has been developed. As a result of this development, the underwater camera has 2 lights and 370 x 400 x 328mm dimensions and 20.5kg weight. Using the camera, 6 or so spent-fuel IDs are identified at 1 or 1.5m distance at a time, and 0.3mmφ pin-hole is recognized at 1.5m distance and 20 times zoom-up. Noises caused by radiation less than 15 Gy/h are not affected the images. (author)

Design of underwater work systems

International Nuclear Information System (INIS)

Lovelace, R.B.

1980-01-01

In the near future, underwater vehicles will replace divers as the principal means for inspection and maintenance work. These vehicles will provide a maneuverable work platform for an underwater viewing system and manipulator/tool package. Some of the problems faced by the underwater designer, and some areas to consider in the design of an integrated underwater work system, are considered

TEXTURE-AWARE DENSE IMAGE MATCHING USING TERNARY CENSUS TRANSFORM

Directory of Open Access Journals (Sweden)

H. Hu

2016-06-01

Full Text Available Textureless and geometric discontinuities are major problems in state-of-the-art dense image matching methods, as they can cause visually significant noise and the loss of sharp features. Binary census transform is one of the best matching cost methods but in textureless areas, where the intensity values are similar, it suffers from small random noises. Global optimization for disparity computation is inherently sensitive to parameter tuning in complex urban scenes, and must compromise between smoothness and discontinuities. The aim of this study is to provide a method to overcome these issues in dense image matching, by extending the industry proven Semi-Global Matching through 1 developing a ternary census transform, which takes three outputs in a single order comparison and encodes the results in two bits rather than one, and also 2 by using texture-information to self-tune the parameters, which both preserves sharp edges and enforces smoothness when necessary. Experimental results using various datasets from different platforms have shown that the visual qualities of the triangulated point clouds in urban areas can be largely improved by these proposed methods.

Matching Aerial Images to 3D Building Models Using Context-Based Geometric Hashing

Directory of Open Access Journals (Sweden)

Jaewook Jung

2016-06-01

Full Text Available A city is a dynamic entity, which environment is continuously changing over time. Accordingly, its virtual city models also need to be regularly updated to support accurate model-based decisions for various applications, including urban planning, emergency response and autonomous navigation. A concept of continuous city modeling is to progressively reconstruct city models by accommodating their changes recognized in spatio-temporal domain, while preserving unchanged structures. A first critical step for continuous city modeling is to coherently register remotely sensed data taken at different epochs with existing building models. This paper presents a new model-to-image registration method using a context-based geometric hashing (CGH method to align a single image with existing 3D building models. This model-to-image registration process consists of three steps: (1 feature extraction; (2 similarity measure; and matching, and (3 estimating exterior orientation parameters (EOPs of a single image. For feature extraction, we propose two types of matching cues: edged corner features representing the saliency of building corner points with associated edges, and contextual relations among the edged corner features within an individual roof. A set of matched corners are found with given proximity measure through geometric hashing, and optimal matches are then finally determined by maximizing the matching cost encoding contextual similarity between matching candidates. Final matched corners are used for adjusting EOPs of the single airborne image by the least square method based on collinearity equations. The result shows that acceptable accuracy of EOPs of a single image can be achievable using the proposed registration approach as an alternative to a labor-intensive manual registration process.

Development of measuring and control systems for underwater cutting of radioactive components

International Nuclear Information System (INIS)

Drews, P.; Fuchs, K.

1990-01-01

The underwater dismantling of nuclear power plants has to be remotely controlled with simultaneous optical control by underwater cameras. It is this optical control in particular that leads to problems as, for example, abrasive wheel cutting is subjected to a wide range of interferences so that a minimum of contrast and blurred contours of camera images must be accounted for. This paper describes a new image processing system that has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). Workpiece recognition is performed through the comparison of actually measured objects with pre-trained reference patterns allowing the determination of object location and orientation, the data of which are then supplied to the handling controller. A completely satisfactory prototype system has been built, which is capable of performing image analysis (workpiece recognition, workpiece position, etc.) as well as the control of a handling system with an inductive sensor (distance detection, edge recognition and distance control). With an additional camera the operator has the means of visual process observation. The overall functioning of the system has been tested and demonstrated with a four-axes handling system. (author)

Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

Directory of Open Access Journals (Sweden)

Xianbo Xiang

2010-02-01

Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

3D OBJECT COORDINATES EXTRACTION BY RADARGRAMMETRY AND MULTI STEP IMAGE MATCHING

Directory of Open Access Journals (Sweden)

A. Eftekhari

2013-09-01

Full Text Available Nowadays by high resolution SAR imaging systems as Radarsat-2, TerraSAR-X and COSMO-skyMed, three-dimensional terrain data extraction using SAR images is growing. InSAR and Radargrammetry are two most common approaches for removing 3D object coordinate from SAR images. Research has shown that extraction of terrain elevation data using satellite repeat pass interferometry SAR technique due to atmospheric factors and the lack of coherence between the images in areas with dense vegetation cover is a problematic. So the use of Radargrammetry technique can be effective. Generally height derived method by Radargrammetry consists of two stages: Images matching and space intersection. In this paper we propose a multi-stage algorithm founded on the combination of feature based and area based image matching. Then the RPCs that calculate for each images use for extracting 3D coordinate in matched points. At the end, the coordinates calculating that compare with coordinates extracted from 1 meters DEM. The results show root mean square errors for 360 points are 3.09 meters. We use a pair of spotlight TerraSAR-X images from JAM (IRAN in this article.

Equation Chapter 1 Section 1Cross Layer Design for Localization in Large-Scale Underwater Sensor Networks

Directory of Open Access Journals (Sweden)

Yuanfeng ZHANG

2014-02-01

Full Text Available There are many technical challenges for designing large-scale underwater sensor networks, especially the sensor node localization. Although many papers studied for large-scale sensor node localization, previous studies mainly study the location algorithm without the cross layer design for localization. In this paper, by utilizing the network hierarchical structure of underwater sensor networks, we propose a new large-scale underwater acoustic localization scheme based on cross layer design. In this scheme, localization is performed in a hierarchical way, and the whole localization process focused on the physical layer, data link layer and application layer. We increase the pipeline parameters which matched the acoustic channel, added in MAC protocol to increase the authenticity of the large-scale underwater sensor networks, and made analysis of different location algorithm. We conduct extensive simulations, and our results show that MAC layer protocol and the localization algorithm all would affect the result of localization which can balance the trade-off between localization accuracy, localization coverage, and communication cost.

Taiwan's underwater cultural heritage documentation management

Science.gov (United States)

Tung, Y.-Y.

2015-09-01

Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.

Development of underwater laser cutting technology

International Nuclear Information System (INIS)

Sato, Seiichi; Inaba, Takanori; Inose, Koutarou; Matsumoto, Naoyuki; Sakakibara, Yuji

2015-01-01

In is desirable to use remote underwater device for the decommissioning work of highly radioactive components such as the nuclear internals from a view point of reducing the ranitidine exposure to the worker. Underwater laser cutting technology has advantages. First advantage in underwater laser cutting technology is that low reaction force during cutting, namely, remote operability is superior. Second point is that underwater laser cutting generates a little amount of secondary waste, because cutting kerf size is very small. Third point is that underwater laser cutting has low risk of the process delay, because device trouble is hard to happen. While underwater laser cutting has many advantages, the careful consideration in the safe treatment of the offgas which underwater laser cutting generates is necessary. This paper describes outline of underwater laser cutting technology developed by IHI Corporation (IHI) and that this technology is effective in various dismantling works in water. (author)

Blind equalization for underwater communications

NARCIS (Netherlands)

Blom, K.C.H.

2014-01-01

Underwater wireless (sensor) networks would vastly improve man's ability to explore and exploit remote aquatic environments. Despite underwater sensor and vehicle technology being relatively mature, underwater communications is still a major challenge. The most challenging characteristics of the

Image matching in Bayer raw domain to de-noise low-light still images, optimized for real-time implementation

Science.gov (United States)

Romanenko, I. V.; Edirisinghe, E. A.; Larkin, D.

2013-03-01

Temporal accumulation of images is a well-known approach to improve signal to noise ratios of still images taken in a low light conditions. However, the complexity of known algorithms often leads to high hardware resource usage, increased memory bandwidth and computational complexity, making their practical use impossible. In our research we attempt to solve this problem with an implementation of a practical spatial-temporal de-noising algorithm, based on image accumulation. Image matching and spatial-temporal filtering was performed in Bayer RAW data space, which allowed us to benefit from predictable sensor noise characteristics, thus allowing using a range of algorithmic optimizations. The proposed algorithm accurately compensates for global and local motion and efficiently removes different kinds of noise in noisy images taken in low light conditions. In our algorithm we were able to perform global and local motion compensation in Bayer RAW data space, while preserving the resolution and effectively improving signal to noise ratios of moving objects as well as non-stationary background. The proposed algorithm is suitable for implementation in commercial grade FPGA's and capable of processing 16MP images at capturing rate (10 frames per second). The main challenge for matching between still images is the compromise between the quality of the motion prediction and the complexity of the algorithm and required memory bandwidth. Still images taken in a burst sequence must be aligned to compensate for background motion and foreground objects movements in a scene. High resolution still images coupled with significant time between successive frames can produce large displacements between images, which creates additional difficulty for image matching algorithms. In photo applications it is very important that the noise is efficiently removed in both static, and non-static background as well as in a moving objects, maintaining the resolution of the image. In our proposed

Local Deep Hashing Matching of Aerial Images Based on Relative Distance and Absolute Distance Constraints

Directory of Open Access Journals (Sweden)

Suting Chen

2017-12-01

Full Text Available Aerial images have features of high resolution, complex background, and usually require large amounts of calculation, however, most algorithms used in matching of aerial images adopt the shallow hand-crafted features expressed as floating-point descriptors (e.g., SIFT (Scale-invariant Feature Transform, SURF (Speeded Up Robust Features, which may suffer from poor matching speed and are not well represented in the literature. Here, we propose a novel Local Deep Hashing Matching (LDHM method for matching of aerial images with large size and with lower complexity or fast matching speed. The basic idea of the proposed algorithm is to utilize the deep network model in the local area of the aerial images, and study the local features, as well as the hash function of the images. Firstly, according to the course overlap rate of aerial images, the algorithm extracts the local areas for matching to avoid the processing of redundant information. Secondly, a triplet network structure is proposed to mine the deep features of the patches of the local image, and the learned features are imported to the hash layer, thus obtaining the representation of a binary hash code. Thirdly, the constraints of the positive samples to the absolute distance are added on the basis of the triplet loss, a new objective function is constructed to optimize the parameters of the network and enhance the discriminating capabilities of image patch features. Finally, the obtained deep hash code of each image patch is used for the similarity comparison of the image patches in the Hamming space to complete the matching of aerial images. The proposed LDHM algorithm evaluates the UltraCam-D dataset and a set of actual aerial images, simulation result demonstrates that it may significantly outperform the state-of-the-art algorithm in terms of the efficiency and performance.

Artificial intelligence (AI)-based relational matching and multimodal medical image fusion: generalized 3D approaches

Science.gov (United States)

Vajdic, Stevan M.; Katz, Henry E.; Downing, Andrew R.; Brooks, Michael J.

1994-09-01

A 3D relational image matching/fusion algorithm is introduced. It is implemented in the domain of medical imaging and is based on Artificial Intelligence paradigms--in particular, knowledge base representation and tree search. The 2D reference and target images are selected from 3D sets and segmented into non-touching and non-overlapping regions, using iterative thresholding and/or knowledge about the anatomical shapes of human organs. Selected image region attributes are calculated. Region matches are obtained using a tree search, and the error is minimized by evaluating a `goodness' of matching function based on similarities of region attributes. Once the matched regions are found and the spline geometric transform is applied to regional centers of gravity, images are ready for fusion and visualization into a single 3D image of higher clarity.

Automatic Matching of Large Scale Images and Terrestrial LIDAR Based on App Synergy of Mobile Phone

Science.gov (United States)

Xia, G.; Hu, C.

2018-04-01

The digitalization of Cultural Heritage based on ground laser scanning technology has been widely applied. High-precision scanning and high-resolution photography of cultural relics are the main methods of data acquisition. The reconstruction with the complete point cloud and high-resolution image requires the matching of image and point cloud, the acquisition of the homonym feature points, the data registration, etc. However, the one-to-one correspondence between image and corresponding point cloud depends on inefficient manual search. The effective classify and management of a large number of image and the matching of large image and corresponding point cloud will be the focus of the research. In this paper, we propose automatic matching of large scale images and terrestrial LiDAR based on APP synergy of mobile phone. Firstly, we develop an APP based on Android, take pictures and record related information of classification. Secondly, all the images are automatically grouped with the recorded information. Thirdly, the matching algorithm is used to match the global and local image. According to the one-to-one correspondence between the global image and the point cloud reflection intensity image, the automatic matching of the image and its corresponding laser radar point cloud is realized. Finally, the mapping relationship between global image, local image and intensity image is established according to homonym feature point. So we can establish the data structure of the global image, the local image in the global image, the local image corresponding point cloud, and carry on the visualization management and query of image.

Diagnostics of underwater electrical wire explosion through a time- and space-resolved hard x-ray source.

Science.gov (United States)

Sheftman, D; Shafer, D; Efimov, S; Gruzinsky, K; Gleizer, S; Krasik, Ya E

2012-10-01

A time- and space-resolved hard x-ray source was developed as a diagnostic tool for imaging underwater exploding wires. A ~4 ns width pulse of hard x-rays with energies of up to 100 keV was obtained from the discharge in a vacuum diode consisting of point-shaped tungsten electrodes. To improve contrast and image quality, an external pulsed magnetic field produced by Helmholtz coils was used. High resolution x-ray images of an underwater exploding wire were obtained using a sensitive x-ray CCD detector, and were compared to optical fast framing images. Future developments and application of this diagnostic technique are discussed.

Image matching for digital close-range stereo photogrammetry based on constraints of Delaunay triangulated network and epipolar-line

Science.gov (United States)

Zhang, K.; Sheng, Y. H.; Li, Y. Q.; Han, B.; Liang, Ch.; Sha, W.

2006-10-01

In the field of digital photogrammetry and computer vision, the determination of conjugate points in a stereo image pair, referred to as "image matching," is the critical step to realize automatic surveying and recognition. Traditional matching methods encounter some problems in the digital close-range stereo photogrammetry, because the change of gray-scale or texture is not obvious in the close-range stereo images. The main shortcoming of traditional matching methods is that geometric information of matching points is not fully used, which will lead to wrong matching results in regions with poor texture. To fully use the geometry and gray-scale information, a new stereo image matching algorithm is proposed in this paper considering the characteristics of digital close-range photogrammetry. Compared with the traditional matching method, the new algorithm has three improvements on image matching. Firstly, shape factor, fuzzy maths and gray-scale projection are introduced into the design of synthetical matching measure. Secondly, the topology connecting relations of matching points in Delaunay triangulated network and epipolar-line are used to decide matching order and narrow the searching scope of conjugate point of the matching point. Lastly, the theory of parameter adjustment with constraint is introduced into least square image matching to carry out subpixel level matching under epipolar-line constraint. The new algorithm is applied to actual stereo images of a building taken by digital close-range photogrammetric system. The experimental result shows that the algorithm has a higher matching speed and matching accuracy than pyramid image matching algorithm based on gray-scale correlation.

Matching rendered and real world images by digital image processing

Science.gov (United States)

Mitjà, Carles; Bover, Toni; Bigas, Miquel; Escofet, Jaume

2010-05-01

Recent advances in computer-generated images (CGI) have been used in commercial and industrial photography providing a broad scope in product advertising. Mixing real world images with those rendered from virtual space software shows a more or less visible mismatching between corresponding image quality performance. Rendered images are produced by software which quality performance is only limited by the resolution output. Real world images are taken with cameras with some amount of image degradation factors as lens residual aberrations, diffraction, sensor low pass anti aliasing filters, color pattern demosaicing, etc. The effect of all those image quality degradation factors can be characterized by the system Point Spread Function (PSF). Because the image is the convolution of the object by the system PSF, its characterization shows the amount of image degradation added to any taken picture. This work explores the use of image processing to degrade the rendered images following the parameters indicated by the real system PSF, attempting to match both virtual and real world image qualities. The system MTF is determined by the slanted edge method both in laboratory conditions and in the real picture environment in order to compare the influence of the working conditions on the device performance; an approximation to the system PSF is derived from the two measurements. The rendered images are filtered through a Gaussian filter obtained from the taking system PSF. Results with and without filtering are shown and compared measuring the contrast achieved in different final image regions.

Four-dimensional dose reconstruction through in vivo phase matching of cine images of electronic portal imaging device.

Science.gov (United States)

Yoon, Jihyung; Jung, Jae Won; Kim, Jong Oh; Yi, Byong Yong; Yeo, Inhwan

2016-07-01

A method is proposed to reconstruct a four-dimensional (4D) dose distribution using phase matching of measured cine images to precalculated images of electronic portal imaging device (EPID). (1) A phantom, designed to simulate a tumor in lung (a polystyrene block with a 3 cm diameter embedded in cork), was placed on a sinusoidally moving platform with an amplitude of 1 cm and a period of 4 s. Ten-phase 4D computed tomography (CT) images of the phantom were acquired. A planning target volume (PTV) was created by adding a margin of 1 cm around the internal target volume of the tumor. (2) Three beams were designed, which included a static beam, a theoretical dynamic beam, and a planning-optimized dynamic beam (PODB). While the theoretical beam was made by manually programming a simplistic sliding leaf motion, the planning-optimized beam was obtained from treatment planning. From the three beams, three-dimensional (3D) doses on the phantom were calculated; 4D dose was calculated by means of the ten phase images (integrated over phases afterward); serving as "reference" images, phase-specific EPID dose images under the lung phantom were also calculated for each of the ten phases. (3) Cine EPID images were acquired while the beams were irradiated to the moving phantom. (4) Each cine image was phase-matched to a phase-specific CT image at which common irradiation occurred by intercomparing the cine image with the reference images. (5) Each cine image was used to reconstruct dose in the phase-matched CT image, and the reconstructed doses were summed over all phases. (6) The summation was compared with forwardly calculated 4D and 3D dose distributions. Accounting for realistic situations, intratreatment breathing irregularity was simulated by assuming an amplitude of 0.5 cm for the phantom during a portion of breathing trace in which the phase matching could not be performed. Intertreatment breathing irregularity between the time of treatment and the time of planning CT was

Four-dimensional dose reconstruction through in vivo phase matching of cine images of electronic portal imaging device

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jihyung; Jung, Jae Won, E-mail: jungj@ecu.edu [Department of Physics, East Carolina University, Greenville, North Carolina 27858 (United States); Kim, Jong Oh [Department of Radiation Oncology, University of Pittsburgh Cancer Institute, Pittsburgh, Pennsylvania 15232 (United States); Yi, Byong Yong [Department of Radiation Oncology, University of Maryland School of Medicine, Baltimore, Maryland 21201 (United States); Yeo, Inhwan [Department of Radiation Medicine, Loma Linda University Medical Center, Loma Linda, California 92354 (United States)

2016-07-15

Purpose: A method is proposed to reconstruct a four-dimensional (4D) dose distribution using phase matching of measured cine images to precalculated images of electronic portal imaging device (EPID). Methods: (1) A phantom, designed to simulate a tumor in lung (a polystyrene block with a 3 cm diameter embedded in cork), was placed on a sinusoidally moving platform with an amplitude of 1 cm and a period of 4 s. Ten-phase 4D computed tomography (CT) images of the phantom were acquired. A planning target volume (PTV) was created by adding a margin of 1 cm around the internal target volume of the tumor. (2) Three beams were designed, which included a static beam, a theoretical dynamic beam, and a planning-optimized dynamic beam (PODB). While the theoretical beam was made by manually programming a simplistic sliding leaf motion, the planning-optimized beam was obtained from treatment planning. From the three beams, three-dimensional (3D) doses on the phantom were calculated; 4D dose was calculated by means of the ten phase images (integrated over phases afterward); serving as “reference” images, phase-specific EPID dose images under the lung phantom were also calculated for each of the ten phases. (3) Cine EPID images were acquired while the beams were irradiated to the moving phantom. (4) Each cine image was phase-matched to a phase-specific CT image at which common irradiation occurred by intercomparing the cine image with the reference images. (5) Each cine image was used to reconstruct dose in the phase-matched CT image, and the reconstructed doses were summed over all phases. (6) The summation was compared with forwardly calculated 4D and 3D dose distributions. Accounting for realistic situations, intratreatment breathing irregularity was simulated by assuming an amplitude of 0.5 cm for the phantom during a portion of breathing trace in which the phase matching could not be performed. Intertreatment breathing irregularity between the time of treatment and the

Physics-based shape matching for intraoperative image guidance

Energy Technology Data Exchange (ETDEWEB)

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

2014-11-01

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

Integration of prior knowledge into dense image matching for video surveillance

Science.gov (United States)

Menze, M.; Heipke, C.

2014-08-01

Three-dimensional information from dense image matching is a valuable input for a broad range of vision applications. While reliable approaches exist for dedicated stereo setups they do not easily generalize to more challenging camera configurations. In the context of video surveillance the typically large spatial extent of the region of interest and repetitive structures in the scene render the application of dense image matching a challenging task. In this paper we present an approach that derives strong prior knowledge from a planar approximation of the scene. This information is integrated into a graph-cut based image matching framework that treats the assignment of optimal disparity values as a labelling task. Introducing the planar prior heavily reduces ambiguities together with the search space and increases computational efficiency. The results provide a proof of concept of the proposed approach. It allows the reconstruction of dense point clouds in more general surveillance camera setups with wider stereo baselines.

A Frequency Matching Method for Generation of a Priori Sample Models from Training Images

DEFF Research Database (Denmark)

Lange, Katrine; Cordua, Knud Skou; Frydendall, Jan

2011-01-01

This paper presents a Frequency Matching Method (FMM) for generation of a priori sample models based on training images and illustrates its use by an example. In geostatistics, training images are used to represent a priori knowledge or expectations of models, and the FMM can be used to generate...... new images that share the same multi-point statistics as a given training image. The FMM proceeds by iteratively updating voxel values of an image until the frequency of patterns in the image matches the frequency of patterns in the training image; making the resulting image statistically...... indistinguishable from the training image....

Reconstruction Accuracy Assessment of Surface and Underwater 3D Motion Analysis: A New Approach

Directory of Open Access Journals (Sweden)

Kelly de Jesus

2015-01-01

Full Text Available This study assessed accuracy of surface and underwater 3D reconstruction of a calibration volume with and without homography. A calibration volume (6000 × 2000 × 2500 mm with 236 markers (64 above and 88 underwater control points—with 8 common points at water surface—and 92 validation points was positioned on a 25 m swimming pool and recorded with two surface and four underwater cameras. Planar homography estimation for each calibration plane was computed to perform image rectification. Direct linear transformation algorithm for 3D reconstruction was applied, using 1600000 different combinations of 32 and 44 points out of the 64 and 88 control points for surface and underwater markers (resp.. Root Mean Square (RMS error with homography of control and validations points was lower than without it for surface and underwater cameras (P≤0.03. With homography, RMS errors of control and validation points were similar between surface and underwater cameras (P≥0.47. Without homography, RMS error of control points was greater for underwater than surface cameras (P≤0.04 and the opposite was observed for validation points (P≤0.04. It is recommended that future studies using 3D reconstruction should include homography to improve swimming movement analysis accuracy.

Inverse consistent non-rigid image registration based on robust point set matching

Science.gov (United States)

2014-01-01

Background Robust point matching (RPM) has been extensively used in non-rigid registration of images to robustly register two sets of image points. However, except for the location at control points, RPM cannot estimate the consistent correspondence between two images because RPM is a unidirectional image matching approach. Therefore, it is an important issue to make an improvement in image registration based on RPM. Methods In our work, a consistent image registration approach based on the point sets matching is proposed to incorporate the property of inverse consistency and improve registration accuracy. Instead of only estimating the forward transformation between the source point sets and the target point sets in state-of-the-art RPM algorithms, the forward and backward transformations between two point sets are estimated concurrently in our algorithm. The inverse consistency constraints are introduced to the cost function of RPM and the fuzzy correspondences between two point sets are estimated based on both the forward and backward transformations simultaneously. A modified consistent landmark thin-plate spline registration is discussed in detail to find the forward and backward transformations during the optimization of RPM. The similarity of image content is also incorporated into point matching in order to improve image matching. Results Synthetic data sets, medical images are employed to demonstrate and validate the performance of our approach. The inverse consistent errors of our algorithm are smaller than RPM. Especially, the topology of transformations is preserved well for our algorithm for the large deformation between point sets. Moreover, the distance errors of our algorithm are similar to that of RPM, and they maintain a downward trend as whole, which demonstrates the convergence of our algorithm. The registration errors for image registrations are evaluated also. Again, our algorithm achieves the lower registration errors in same iteration number

Underwater wireless communication system

International Nuclear Information System (INIS)

Goh, J H; Shaw, A; Al-Shamma'a, A I

2009-01-01

Underwater communication has a range of applications including remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) communication and docking in the offshore industry. Current underwater transmission techniques is primarily utilise sound waves for large distance at lower frequencies and the velocity of sound in water is approximately 1500m/s the resultant communications have problems with multi-path propagation and low bandwidth problems. The use of electromagnetic (EM) techniques underwater has largely been overlooked because of the attenuation due to the conductivity of seawater. However, for short range applications, the higher frequencies and much higher velocity can prove advantageous. This paper will outline a project which will utilise recent investigations that demonstrate EM wave propagation up to the MHz frequency range is possible in seawater.

Underwater Scene Composition

Science.gov (United States)

Kim, Nanyoung

2009-01-01

In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

AN INTEGRATED RANSAC AND GRAPH BASED MISMATCH ELIMINATION APPROACH FOR WIDE-BASELINE IMAGE MATCHING

Directory of Open Access Journals (Sweden)

M. Hasheminasab

2015-12-01

Full Text Available In this paper we propose an integrated approach in order to increase the precision of feature point matching. Many different algorithms have been developed as to optimizing the short-baseline image matching while because of illumination differences and viewpoints changes, wide-baseline image matching is so difficult to handle. Fortunately, the recent developments in the automatic extraction of local invariant features make wide-baseline image matching possible. The matching algorithms which are based on local feature similarity principle, using feature descriptor as to establish correspondence between feature point sets. To date, the most remarkable descriptor is the scale-invariant feature transform (SIFT descriptor , which is invariant to image rotation and scale, and it remains robust across a substantial range of affine distortion, presence of noise, and changes in illumination. The epipolar constraint based on RANSAC (random sample consensus method is a conventional model for mismatch elimination, particularly in computer vision. Because only the distance from the epipolar line is considered, there are a few false matches in the selected matching results based on epipolar geometry and RANSAC. Aguilariu et al. proposed Graph Transformation Matching (GTM algorithm to remove outliers which has some difficulties when the mismatched points surrounded by the same local neighbor structure. In this study to overcome these limitations, which mentioned above, a new three step matching scheme is presented where the SIFT algorithm is used to obtain initial corresponding point sets. In the second step, in order to reduce the outliers, RANSAC algorithm is applied. Finally, to remove the remained mismatches, based on the adjacent K-NN graph, the GTM is implemented. Four different close range image datasets with changes in viewpoint are utilized to evaluate the performance of the proposed method and the experimental results indicate its robustness and

Resources for Underwater Robotics Education

Science.gov (United States)

Wallace, Michael L.; Freitas, William M.

2016-01-01

4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

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

Science.gov (United States)

Kwon, Young-Hoo; Casebolt, Jeffrey B

2006-07-01

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

Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching

Directory of Open Access Journals (Sweden)

Tianyang Cao

2017-01-01

Full Text Available Self-localization and mapping are important for indoor mobile robot. We report a robust algorithm for map building and subsequent localization especially suited for indoor floor-cleaning robots. Common methods, for example, SLAM, can easily be kidnapped by colliding or disturbed by similar objects. Therefore, keyframes global map establishing method for robot localization in multiple rooms and corridors is needed. Content-based image matching is the core of this method. It is designed for the situation, by establishing keyframes containing both floor and distorted wall images. Image distortion, caused by robot view angle and movement, is analyzed and deduced. And an image matching solution is presented, consisting of extraction of overlap regions of keyframes extraction and overlap region rebuild through subblocks matching. For improving accuracy, ceiling points detecting and mismatching subblocks checking methods are incorporated. This matching method can process environment video effectively. In experiments, less than 5% frames are extracted as keyframes to build global map, which have large space distance and overlap each other. Through this method, robot can localize itself by matching its real-time vision frames with our keyframes map. Even with many similar objects/background in the environment or kidnapping robot, robot localization is achieved with position RMSE <0.5 m.

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

Science.gov (United States)

Noh, Myoung-Jong; Howat, Ian M.

2018-02-01

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

Parallel algorithm for determining motion vectors in ice floe images by matching edge features

Science.gov (United States)

Manohar, M.; Ramapriyan, H. K.; Strong, J. P.

1988-01-01

A parallel algorithm is described to determine motion vectors of ice floes using time sequences of images of the Arctic ocean obtained from the Synthetic Aperture Radar (SAR) instrument flown on-board the SEASAT spacecraft. Researchers describe a parallel algorithm which is implemented on the MPP for locating corresponding objects based on their translationally and rotationally invariant features. The algorithm first approximates the edges in the images by polygons or sets of connected straight-line segments. Each such edge structure is then reduced to a seed point. Associated with each seed point are the descriptions (lengths, orientations and sequence numbers) of the lines constituting the corresponding edge structure. A parallel matching algorithm is used to match packed arrays of such descriptions to identify corresponding seed points in the two images. The matching algorithm is designed such that fragmentation and merging of ice floes are taken into account by accepting partial matches. The technique has been demonstrated to work on synthetic test patterns and real image pairs from SEASAT in times ranging from .5 to 0.7 seconds for 128 x 128 images.

Stability analysis of hybrid-driven underwater glider

Science.gov (United States)

Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

2017-10-01

Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

Methods and measurement variance for field estimations of coral colony planar area using underwater photographs and semi-automated image segmentation.

Science.gov (United States)

Neal, Benjamin P; Lin, Tsung-Han; Winter, Rivah N; Treibitz, Tali; Beijbom, Oscar; Kriegman, David; Kline, David I; Greg Mitchell, B

2015-08-01

Size and growth rates for individual colonies are some of the most essential descriptive parameters for understanding coral communities, which are currently experiencing worldwide declines in health and extent. Accurately measuring coral colony size and changes over multiple years can reveal demographic, growth, or mortality patterns often not apparent from short-term observations and can expose environmental stress responses that may take years to manifest. Describing community size structure can reveal population dynamics patterns, such as periods of failed recruitment or patterns of colony fission, which have implications for the future sustainability of these ecosystems. However, rapidly and non-invasively measuring coral colony sizes in situ remains a difficult task, as three-dimensional underwater digital reconstruction methods are currently not practical for large numbers of colonies. Two-dimensional (2D) planar area measurements from projection of underwater photographs are a practical size proxy, although this method presents operational difficulties in obtaining well-controlled photographs in the highly rugose environment of the coral reef, and requires extensive time for image processing. Here, we present and test the measurement variance for a method of making rapid planar area estimates of small to medium-sized coral colonies using a lightweight monopod image-framing system and a custom semi-automated image segmentation analysis program. This method demonstrated a coefficient of variation of 2.26% for repeated measurements in realistic ocean conditions, a level of error appropriate for rapid, inexpensive field studies of coral size structure, inferring change in colony size over time, or measuring bleaching or disease extent of large numbers of individual colonies.

Automated matching of corresponding seed images of three simulator radiographs to allow 3D triangulation of implanted seeds

Science.gov (United States)

Altschuler, Martin D.; Kassaee, Alireza

1997-02-01

To match corresponding seed images in different radiographs so that the 3D seed locations can be triangulated automatically and without ambiguity requires (at least) three radiographs taken from different perspectives, and an algorithm that finds the proper permutations of the seed-image indices. Matching corresponding images in only two radiographs introduces inherent ambiguities which can be resolved only with the use of non-positional information obtained with intensive human effort. Matching images in three or more radiographs is an `NP (Non-determinant in Polynomial time)-complete' problem. Although the matching problem is fundamental, current methods for three-radiograph seed-image matching use `local' (seed-by-seed) methods that may lead to incorrect matchings. We describe a permutation-sampling method which not only gives good `global' (full permutation) matches for the NP-complete three-radiograph seed-matching problem, but also determines the reliability of the radiographic data themselves, namely, whether the patient moved in the interval between radiographic perspectives.

Image matching as a data source for forest inventory - Comparison of Semi-Global Matching and Next-Generation Automatic Terrain Extraction algorithms in a typical managed boreal forest environment

Science.gov (United States)

Kukkonen, M.; Maltamo, M.; Packalen, P.

2017-08-01

Image matching is emerging as a compelling alternative to airborne laser scanning (ALS) as a data source for forest inventory and management. There is currently an open discussion in the forest inventory community about whether, and to what extent, the new method can be applied to practical inventory campaigns. This paper aims to contribute to this discussion by comparing two different image matching algorithms (Semi-Global Matching [SGM] and Next-Generation Automatic Terrain Extraction [NGATE]) and ALS in a typical managed boreal forest environment in southern Finland. Spectral features from unrectified aerial images were included in the modeling and the potential of image matching in areas without a high resolution digital terrain model (DTM) was also explored. Plot level predictions for total volume, stem number, basal area, height of basal area median tree and diameter of basal area median tree were modeled using an area-based approach. Plot level dominant tree species were predicted using a random forest algorithm, also using an area-based approach. The statistical difference between the error rates from different datasets was evaluated using a bootstrap method. Results showed that ALS outperformed image matching with every forest attribute, even when a high resolution DTM was used for height normalization and spectral information from images was included. Dominant tree species classification with image matching achieved accuracy levels similar to ALS regardless of the resolution of the DTM when spectral metrics were used. Neither of the image matching algorithms consistently outperformed the other, but there were noticeably different error rates depending on the parameter configuration, spectral band, resolution of DTM, or response variable. This study showed that image matching provides reasonable point cloud data for forest inventory purposes, especially when a high resolution DTM is available and information from the understory is redundant.

Development of measuring and control systems for underwater cutting of radioactive components

International Nuclear Information System (INIS)

Drews, P.; Fuchs, K.

1990-01-01

Shutdown and dismantling of nuclear power plants requires special techniques to decommission the radioactive components involved. For reasons of safety, decommissioning of components under water can be advantageous because of the radioactive shielding effect of water. In this project, research activities and developmental works focused on the realization of different sensor systems and their adaptation to cutting tasks. A new image-processing system has been developed in addition to the use of a modified underwater TV camera for optical cutting process control (plasma and abrasive wheel cutting). For control of process parameters, different inductive, ultrasonic and optical sensors have been modified and tested. The investigations performed are aimed at assuring high-quality underwater cutting with the help of sensor systems specially adapted to cutting tasks, with special signal procession and evaluation through microcomputer control. It is important that special attention be paid to the reduction of interferences in image pick-up and procession. The measuring system has been designed and realized according to the consideration of the demands for underwater cutting processes. The reliability of the system was tested in conjunction with a four-axes handling system

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

Science.gov (United States)

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

2009-08-01

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

Hyperspectral imaging of cuttlefish camouflage indicates good color match in the eyes of fish predators.

Science.gov (United States)

Chiao, Chuan-Chin; Wickiser, J Kenneth; Allen, Justine J; Genter, Brock; Hanlon, Roger T

2011-05-31

Camouflage is a widespread phenomenon throughout nature and an important antipredator tactic in natural selection. Many visual predators have keen color perception, and thus camouflage patterns should provide some degree of color matching in addition to other visual factors such as pattern, contrast, and texture. Quantifying camouflage effectiveness in the eyes of the predator is a challenge from the perspectives of both biology and optical imaging technology. Here we take advantage of hyperspectral imaging (HSI), which records full-spectrum light data, to simultaneously visualize color match and pattern match in the spectral and the spatial domains, respectively. Cuttlefish can dynamically camouflage themselves on any natural substrate and, despite their colorblindness, produce body patterns that appear to have high-fidelity color matches to the substrate when viewed directly by humans or with RGB images. Live camouflaged cuttlefish on natural backgrounds were imaged using HSI, and subsequent spectral analysis revealed that most reflectance spectra of individual cuttlefish and substrates were similar, rendering the color match possible. Modeling color vision of potential di- and trichromatic fish predators of cuttlefish corroborated the spectral match analysis and demonstrated that camouflaged cuttlefish show good color match as well as pattern match in the eyes of fish predators. These findings (i) indicate the strong potential of HSI technology to enhance studies of biological coloration and (ii) provide supporting evidence that cuttlefish can produce color-coordinated camouflage on natural substrates despite lacking color vision.

Underwater 3D filming

Directory of Open Access Journals (Sweden)

Roberto Rinaldi

2014-12-01

Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

Landmark matching based retinal image alignment by enforcing sparsity in correspondence matrix.

Science.gov (United States)

Zheng, Yuanjie; Daniel, Ebenezer; Hunter, Allan A; Xiao, Rui; Gao, Jianbin; Li, Hongsheng; Maguire, Maureen G; Brainard, David H; Gee, James C

2014-08-01

Retinal image alignment is fundamental to many applications in diagnosis of eye diseases. In this paper, we address the problem of landmark matching based retinal image alignment. We propose a novel landmark matching formulation by enforcing sparsity in the correspondence matrix and offer its solutions based on linear programming. The proposed formulation not only enables a joint estimation of the landmark correspondences and a predefined transformation model but also combines the benefits of the softassign strategy (Chui and Rangarajan, 2003) and the combinatorial optimization of linear programming. We also introduced a set of reinforced self-similarities descriptors which can better characterize local photometric and geometric properties of the retinal image. Theoretical analysis and experimental results with both fundus color images and angiogram images show the superior performances of our algorithms to several state-of-the-art techniques. Copyright © 2013 Elsevier B.V. All rights reserved.

Feature Matching for SAR and Optical Images Based on Gaussian-Gamma-shaped Edge Strength Map

Directory of Open Access Journals (Sweden)

CHEN Min

2016-03-01

Full Text Available A matching method for SAR and optical images, robust to pixel noise and nonlinear grayscale differences, is presented. Firstly, a rough correction to eliminate rotation and scale change between images is performed. Secondly, features robust to speckle noise of SAR image are detected by improving the original phase congruency based method. Then, feature descriptors are constructed on the Gaussian-Gamma-shaped edge strength map according to the histogram of oriented gradient pattern. Finally, descriptor similarity and geometrical relationship are combined to constrain the matching processing.The experimental results demonstrate that the proposed method provides significant improvement in correct matches number and image registration accuracy compared with other traditional methods.

Underwater welding of steel

International Nuclear Information System (INIS)

Ibarra, S.; Olson, D.L.

1992-01-01

A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)

Underwater inspection training in intense radiation field

International Nuclear Information System (INIS)

Taniguchi, Ryoichi

2017-01-01

Osaka Prefecture University has a large dose cobalt 60 gamma ray source of about 2 PBq, and is engaged in technological training and human resource development. It is assumed that the decommissioning underwater operation of Fukushima Daiichi Nuclear Power Station would be the focus. The university aims at acquisition of the basic of underwater inspection work under radiation environment that is useful for the above purpose, radiation measurement under water, basic training in image measurement, and aims as well to evaluate the damage of imaging equipment due to radiation, and master practical knowledge for the use of inspection equipment under a large dose. In particular, it is valuable to train in the observation of Cherenkov light emitted from a large dose cobalt radiation source in water using a high sensitivity camera. The measurement of radiation dose distribution in water had difficulty in remote measurement due to water shielding effect. Although it took much time before, the method using high sensitivity camera is easy to sequentially perform two-dimensional measurement, and its utility value is large. Its effect on the dose distribution measurement of irregularly shaped sources is great. The contents of training includes the following: radiation source imaging in water, use of a laser rangefinder in water, dose distribution measurement in water and Cherenkov light measurement, judgment of equipment damage due to irradiation, weak radiation measurement, and measurement and decontamination of surface contamination. (A.O.)

Image/patient registration from (partial) projection data by the Fourier phase matching method

International Nuclear Information System (INIS)

Weiguo Lu; You, J.

1999-01-01

A technique for 2D or 3D image/patient registration, PFPM (projection based Fourier phase matching method), is proposed. This technique provides image/patient registration directly from sequential tomographic projection data. The method can also deal with image files by generating 2D Radon transforms slice by slice. The registration in projection space is done by calculating a Fourier invariant (FI) descriptor for each one-dimensional projection datum, and then registering the FI descriptor by the Fourier phase matching (FPM) method. The algorithm has been tested on both synthetic and experimental data. When dealing with translated, rotated and uniformly scaled 2D image registration, the performance of the PFPM method is comparable to that of the IFPM (image based Fourier phase matching) method in robustness, efficiency, insensitivity to the offset between images, and registration time. The advantages of the former are that subpixel resolution is feasible, and it is more insensitive to image noise due to the averaging effect of the projection acquisition. Furthermore, the PFPM method offers the ability to generalize to 3D image/patient registration and to register partial projection data. By applying patient registration directly from tomographic projection data, image reconstruction is not needed in the therapy set-up verification, thus reducing computational time and artefacts. In addition, real time registration is feasible. Registration from partial projection data meets the geometry and dose requirements in many application cases and makes dynamic set-up verification possible in tomotherapy. (author)

A new registration method with voxel-matching technique for temporal subtraction images

Science.gov (United States)

Itai, Yoshinori; Kim, Hyoungseop; Ishikawa, Seiji; Katsuragawa, Shigehiko; Doi, Kunio

2008-03-01

A temporal subtraction image, which is obtained by subtraction of a previous image from a current one, can be used for enhancing interval changes on medical images by removing most of normal structures. One of the important problems in temporal subtraction is that subtraction images commonly include artifacts created by slight differences in the size, shape, and/or location of anatomical structures. In this paper, we developed a new registration method with voxel-matching technique for substantially removing the subtraction artifacts on the temporal subtraction image obtained from multiple-detector computed tomography (MDCT). With this technique, the voxel value in a warped (or non-warped) previous image is replaced by a voxel value within a kernel, such as a small cube centered at a given location, which would be closest (identical or nearly equal) to the voxel value in the corresponding location in the current image. Our new method was examined on 16 clinical cases with MDCT images. Preliminary results indicated that interval changes on the subtraction images were enhanced considerably, with a substantial reduction of misregistration artifacts. The temporal subtraction images obtained by use of the voxel-matching technique would be very useful for radiologists in the detection of interval changes on MDCT images.

Improvement of temporal and dynamic subtraction images on abdominal CT using 3D global image matching and nonlinear image warping techniques

International Nuclear Information System (INIS)

Okumura, E; Sanada, S; Suzuki, M; Takemura, A; Matsui, O

2007-01-01

Accurate registration of the corresponding non-enhanced and arterial-phase CT images is necessary to create temporal and dynamic subtraction images for the enhancement of subtle abnormalities. However, respiratory movement causes misregistration at the periphery of the liver. To reduce these misregistration errors, we developed a temporal and dynamic subtraction technique to enhance small HCC by 3D global matching and nonlinear image warping techniques. The study population consisted of 21 patients with HCC. Using the 3D global matching and nonlinear image warping technique, we registered current and previous arterial-phase CT images or current non-enhanced and arterial-phase CT images obtained in the same position. The temporal subtraction image was obtained by subtracting the previous arterial-phase CT image from the warped current arterial-phase CT image. The dynamic subtraction image was obtained by the subtraction of the current non-enhanced CT image from the warped current arterial-phase CT image. The percentage of fair or superior temporal subtraction images increased from 52.4% to 95.2% using the new technique, while on the dynamic subtraction images, the percentage increased from 66.6% to 95.2%. The new subtraction technique may facilitate the diagnosis of subtle HCC based on the superior ability of these subtraction images to show nodular and/or ring enhancement

Autonomous Underwater Gliders

OpenAIRE

Wood,; Stephen,

2009-01-01

Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...

Processing and evaluation of image matching tools in radiotherapy

International Nuclear Information System (INIS)

Bondiau, P.Y.

2004-11-01

Cancer is a major problem of public health. Treatment can be done in a general or loco-regional way, in this last case medical images are important as they specify the localization of the tumour. The objective of the radiotherapy is to deliver a curative dose of radiation in the target volume while sparing the organs at risks (O.A.R.). The determination of the accurate localization of the targets volume as well as O.A.R. make it possible to define the ballistic of irradiation beams. After the description of the principles of radiotherapy and cancers treatment, we specify the clinical stakes of ocular, cerebral and prostatic tumours. We present a state of the art of image matching, the various techniques reviewed with an aim of being didactic with respect to the medical community. The results of matching are presented within the framework of the planning of the cerebral and prostatic radiotherapy in order to specify the types of applicable matching in oncology and more particularly in radiotherapy. Then, we present the prospects for this type of application according to various anatomical areas. Applications of automatic segmentation and the evaluation of the results in the framework of brain tumour are described after a review of the various segmentation methods according to anatomical localizations. We will see an original application: the digital simulation of the virtual tumoral growth and the comparison with the real growth of a cerebral tumour presented by a patient. Lastly, we will expose the future developments possible of the tools for image processing in radiotherapy as well as the tracks of research to be explored in oncology. (author)

Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

International Nuclear Information System (INIS)

Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

2002-01-01

As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

In-air versus underwater comparison of 3D reconstruction accuracy using action sport cameras.

Science.gov (United States)

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

2017-01-25

Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the

Underwater Acoustic Networking Techniques

CERN Document Server

Otnes, Roald; Casari, Paolo; Goetz, Michael; Husøy, Thor; Nissen, Ivor; Rimstad, Knut; van Walree, Paul; Zorzi, Michele

2012-01-01

This literature study presents an overview of underwater acoustic networking. It provides a background and describes the state of the art of all networking facets that are relevant for underwater applications. This report serves both as an introduction to the subject and as a summary of existing protocols, providing support and inspiration for the development of network architectures.

OFDM for underwater acoustic communications

CERN Document Server

Zhou, Shengli

2014-01-01

A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

Invariant Feature Matching for Image Registration Application Based on New Dissimilarity of Spatial Features

Science.gov (United States)

Mousavi Kahaki, Seyed Mostafa; Nordin, Md Jan; Ashtari, Amir H.; J. Zahra, Sophia

2016-01-01

An invariant feature matching method is proposed as a spatially invariant feature matching approach. Deformation effects, such as affine and homography, change the local information within the image and can result in ambiguous local information pertaining to image points. New method based on dissimilarity values, which measures the dissimilarity of the features through the path based on Eigenvector properties, is proposed. Evidence shows that existing matching techniques using similarity metrics—such as normalized cross-correlation, squared sum of intensity differences and correlation coefficient—are insufficient for achieving adequate results under different image deformations. Thus, new descriptor’s similarity metrics based on normalized Eigenvector correlation and signal directional differences, which are robust under local variation of the image information, are proposed to establish an efficient feature matching technique. The method proposed in this study measures the dissimilarity in the signal frequency along the path between two features. Moreover, these dissimilarity values are accumulated in a 2D dissimilarity space, allowing accurate corresponding features to be extracted based on the cumulative space using a voting strategy. This method can be used in image registration applications, as it overcomes the limitations of the existing approaches. The output results demonstrate that the proposed technique outperforms the other methods when evaluated using a standard dataset, in terms of precision-recall and corner correspondence. PMID:26985996

Invariant Feature Matching for Image Registration Application Based on New Dissimilarity of Spatial Features.

Directory of Open Access Journals (Sweden)

Seyed Mostafa Mousavi Kahaki

Full Text Available An invariant feature matching method is proposed as a spatially invariant feature matching approach. Deformation effects, such as affine and homography, change the local information within the image and can result in ambiguous local information pertaining to image points. New method based on dissimilarity values, which measures the dissimilarity of the features through the path based on Eigenvector properties, is proposed. Evidence shows that existing matching techniques using similarity metrics--such as normalized cross-correlation, squared sum of intensity differences and correlation coefficient--are insufficient for achieving adequate results under different image deformations. Thus, new descriptor's similarity metrics based on normalized Eigenvector correlation and signal directional differences, which are robust under local variation of the image information, are proposed to establish an efficient feature matching technique. The method proposed in this study measures the dissimilarity in the signal frequency along the path between two features. Moreover, these dissimilarity values are accumulated in a 2D dissimilarity space, allowing accurate corresponding features to be extracted based on the cumulative space using a voting strategy. This method can be used in image registration applications, as it overcomes the limitations of the existing approaches. The output results demonstrate that the proposed technique outperforms the other methods when evaluated using a standard dataset, in terms of precision-recall and corner correspondence.

Underwater Acoustic Tracer System

Science.gov (United States)

2009-03-13

for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable

Histogram Curve Matching Approaches for Object-based Image Classification of Land Cover and Land Use

Science.gov (United States)

Toure, Sory I.; Stow, Douglas A.; Weeks, John R.; Kumar, Sunil

2013-01-01

The classification of image-objects is usually done using parametric statistical measures of central tendency and/or dispersion (e.g., mean or standard deviation). The objectives of this study were to analyze digital number histograms of image objects and evaluate classifications measures exploiting characteristic signatures of such histograms. Two histograms matching classifiers were evaluated and compared to the standard nearest neighbor to mean classifier. An ADS40 airborne multispectral image of San Diego, California was used for assessing the utility of curve matching classifiers in a geographic object-based image analysis (GEOBIA) approach. The classifications were performed with data sets having 0.5 m, 2.5 m, and 5 m spatial resolutions. Results show that histograms are reliable features for characterizing classes. Also, both histogram matching classifiers consistently performed better than the one based on the standard nearest neighbor to mean rule. The highest classification accuracies were produced with images having 2.5 m spatial resolution. PMID:24403648

Matching Real and Synthetic Panoramic Images Using a Variant of Geometric Hashing

Science.gov (United States)

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

2017-05-01

This work demonstrates an approach to automatically initialize a visual model-based tracker, and recover from lost tracking, without prior camera pose information. These approaches are commonly referred to as tracking-by-detection. Previous tracking-by-detection techniques used either fiducials (i.e. landmarks or markers) or the object's texture. The main contribution of this work is the development of a tracking-by-detection algorithm that is based solely on natural geometric features. A variant of geometric hashing, a model-to-image registration algorithm, is proposed that searches for a matching panoramic image from a database of synthetic panoramic images captured in a 3D virtual environment. The approach identifies corresponding features between the matched panoramic images. The corresponding features are to be used in a photogrammetric space resection to estimate the camera pose. The experiments apply this algorithm to initialize a model-based tracker in an indoor environment using the 3D CAD model of the building.

Human Factors Issues When Operating Underwater Remotely Operated Vehicles and Autonomous Underwater Vehicles

Science.gov (United States)

2011-03-01

etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater

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

Science.gov (United States)

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

2016-01-01

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

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

Directory of Open Access Journals (Sweden)

Gustavo R D Bernardina

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

Precision 3d Surface Reconstruction from Lro Nac Images Using Semi-Global Matching with Coupled Epipolar Rectification

Science.gov (United States)

Hu, H.; Wu, B.

2017-07-01

The Narrow-Angle Camera (NAC) on board the Lunar Reconnaissance Orbiter (LRO) comprises of a pair of closely attached high-resolution push-broom sensors, in order to improve the swath coverage. However, the two image sensors do not share the same lenses and cannot be modelled geometrically using a single physical model. Thus, previous works on dense matching of stereo pairs of NAC images would generally create two to four stereo models, each with an irregular and overlapping region of varying size. Semi-Global Matching (SGM) is a well-known dense matching method and has been widely used for image-based 3D surface reconstruction. SGM is a global matching algorithm relying on global inference in a larger context rather than individual pixels to establish stable correspondences. The stereo configuration of LRO NAC images causes severe problem for image matching methods such as SGM, which emphasizes global matching strategy. Aiming at using SGM for image matching of LRO NAC stereo pairs for precision 3D surface reconstruction, this paper presents a coupled epipolar rectification methods for LRO NAC stereo images, which merges the image pair in the disparity space and in this way, only one stereo model will be estimated. For a stereo pair (four) of NAC images, the method starts with the boresight calibration by finding correspondence in the small overlapping stripe between each pair of NAC images and bundle adjustment of the stereo pair, in order to clean the vertical disparities. Then, the dominate direction of the images are estimated by project the center of the coverage area to the reference image and back-projected to the bounding box plane determined by the image orientation parameters iteratively. The dominate direction will determine an affine model, by which the pair of NAC images are warped onto the object space with a given ground resolution and in the meantime, a mask is produced indicating the owner of each pixel. SGM is then used to generate a disparity

PRECISION 3D SURFACE RECONSTRUCTION FROM LRO NAC IMAGES USING SEMI-GLOBAL MATCHING WITH COUPLED EPIPOLAR RECTIFICATION

Directory of Open Access Journals (Sweden)

H. Hu

2017-07-01

Full Text Available The Narrow-Angle Camera (NAC on board the Lunar Reconnaissance Orbiter (LRO comprises of a pair of closely attached high-resolution push-broom sensors, in order to improve the swath coverage. However, the two image sensors do not share the same lenses and cannot be modelled geometrically using a single physical model. Thus, previous works on dense matching of stereo pairs of NAC images would generally create two to four stereo models, each with an irregular and overlapping region of varying size. Semi-Global Matching (SGM is a well-known dense matching method and has been widely used for image-based 3D surface reconstruction. SGM is a global matching algorithm relying on global inference in a larger context rather than individual pixels to establish stable correspondences. The stereo configuration of LRO NAC images causes severe problem for image matching methods such as SGM, which emphasizes global matching strategy. Aiming at using SGM for image matching of LRO NAC stereo pairs for precision 3D surface reconstruction, this paper presents a coupled epipolar rectification methods for LRO NAC stereo images, which merges the image pair in the disparity space and in this way, only one stereo model will be estimated. For a stereo pair (four of NAC images, the method starts with the boresight calibration by finding correspondence in the small overlapping stripe between each pair of NAC images and bundle adjustment of the stereo pair, in order to clean the vertical disparities. Then, the dominate direction of the images are estimated by project the center of the coverage area to the reference image and back-projected to the bounding box plane determined by the image orientation parameters iteratively. The dominate direction will determine an affine model, by which the pair of NAC images are warped onto the object space with a given ground resolution and in the meantime, a mask is produced indicating the owner of each pixel. SGM is then used to

Determining spherical lens correction for astronaut training underwater.

Science.gov (United States)

Porter, Jason; Gibson, C Robert; Strauss, Samuel

2011-09-01

To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

Dynamics and Control of Underwater Gliders I: Steady Motions

OpenAIRE

Mahmoudian, N.; Geisbert, J.; Woolsey, C.

2007-01-01

This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...

A spot-matching method using cumulative frequency matrix in 2D gel images

Science.gov (United States)

Han, Chan-Myeong; Park, Joon-Ho; Chang, Chu-Seok; Ryoo, Myung-Chun

2014-01-01

A new method for spot matching in two-dimensional gel electrophoresis images using a cumulative frequency matrix is proposed. The method improves on the weak points of the previous method called ‘spot matching by topological patterns of neighbour spots’. It accumulates the frequencies of neighbour spot pairs produced through the entire matching process and determines spot pairs one by one in order of higher frequency. Spot matching by frequencies of neighbour spot pairs shows a fairly better performance. However, it can give researchers a hint for whether the matching results can be trustworthy or not, which can save researchers a lot of effort for verification of the results. PMID:26019609

Underwater welding and repair technologies applied in PWR environment

International Nuclear Information System (INIS)

Scandella, Fabrice; Carpreau, Jean-Michel

2012-01-01

The authors describe several welding processes and technologies which have been used for underwater applications and which can be applied when repairing components of a PWR type reactor. They address, describe and discuss wet arc welding processes, the peculiarities of underwater welding, and the use of various processes such as 111, 114 and 135 processes, underwater welding with the hybrid plasma MIG-MAG process, underwater welding with the laser wire process, underwater welding with the FSW, FSP or UWFSW processes, underwater welding with variants of the friction welding process (friction surfacing, taper stitch welding, hydro-pillar processing

Human Injury Criteria for Underwater Blasts.

Directory of Open Access Journals (Sweden)

Rachel M Lance

Full Text Available Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study.

MBR-SIFT: A mirror reflected invariant feature descriptor using a binary representation for image matching.

Directory of Open Access Journals (Sweden)

Mingzhe Su

Full Text Available The traditional scale invariant feature transform (SIFT method can extract distinctive features for image matching. However, it is extremely time-consuming in SIFT matching because of the use of the Euclidean distance measure. Recently, many binary SIFT (BSIFT methods have been developed to improve matching efficiency; however, none of them is invariant to mirror reflection. To address these problems, in this paper, we present a horizontal or vertical mirror reflection invariant binary descriptor named MBR-SIFT, in addition to a novel image matching approach. First, 16 cells in the local region around the SIFT keypoint are reorganized, and then the 128-dimensional vector of the SIFT descriptor is transformed into a reconstructed vector according to eight directions. Finally, the MBR-SIFT descriptor is obtained after binarization and reverse coding. To improve the matching speed and accuracy, a fast matching algorithm that includes a coarse-to-fine two-step matching strategy in addition to two similarity measures for the MBR-SIFT descriptor are proposed. Experimental results on the UKBench dataset show that the proposed method not only solves the problem of mirror reflection, but also ensures desirable matching accuracy and speed.

MBR-SIFT: A mirror reflected invariant feature descriptor using a binary representation for image matching.

Science.gov (United States)

Su, Mingzhe; Ma, Yan; Zhang, Xiangfen; Wang, Yan; Zhang, Yuping

2017-01-01

The traditional scale invariant feature transform (SIFT) method can extract distinctive features for image matching. However, it is extremely time-consuming in SIFT matching because of the use of the Euclidean distance measure. Recently, many binary SIFT (BSIFT) methods have been developed to improve matching efficiency; however, none of them is invariant to mirror reflection. To address these problems, in this paper, we present a horizontal or vertical mirror reflection invariant binary descriptor named MBR-SIFT, in addition to a novel image matching approach. First, 16 cells in the local region around the SIFT keypoint are reorganized, and then the 128-dimensional vector of the SIFT descriptor is transformed into a reconstructed vector according to eight directions. Finally, the MBR-SIFT descriptor is obtained after binarization and reverse coding. To improve the matching speed and accuracy, a fast matching algorithm that includes a coarse-to-fine two-step matching strategy in addition to two similarity measures for the MBR-SIFT descriptor are proposed. Experimental results on the UKBench dataset show that the proposed method not only solves the problem of mirror reflection, but also ensures desirable matching accuracy and speed.

Underwater Gliders by Dr. Kevin Smith [video

OpenAIRE

Naval Postgraduate School Physics

2015-01-01

NPS Physics NPS Physics Research Projects Underwater glider research is currently underway in the physics department at the naval postgraduate in Monterey Ca. Dr. Kevin Smith is a specialist in underwater acoustics and sonar systems. He and his team are currently focused on autonomous underwater gliders and developing systems capable of detecting parameters in the ocean and listening for various sources of sound.

Development of Neuromorphic Sift Operator with Application to High Speed Image Matching

Science.gov (United States)

Shankayi, M.; Saadatseresht, M.; Bitetto, M. A. V.

2015-12-01

There was always a speed/accuracy challenge in photogrammetric mapping process, including feature detection and matching. Most of the researches have improved algorithm's speed with simplifications or software modifications which increase the accuracy of the image matching process. This research tries to improve speed without enhancing the accuracy of the same algorithm using Neuromorphic techniques. In this research we have developed a general design of a Neuromorphic ASIC to handle algorithms such as SIFT. We also have investigated neural assignment in each step of the SIFT algorithm. With a rough estimation based on delay of the used elements including MAC and comparator, we have estimated the resulting chip's performance for 3 scenarios, Full HD movie (Videogrammetry), 24 MP (UAV photogrammetry), and 88 MP image sequence. Our estimations led to approximate 3000 fps for Full HD movie, 250 fps for 24 MP image sequence and 68 fps for 88MP Ultracam image sequence which can be a huge improvement for current photogrammetric processing systems. We also estimated the power consumption of less than10 watts which is not comparable to current workflows.

Real-time detection of natural objects using AM-coded spectral matching imager

Science.gov (United States)

Kimachi, Akira

2005-01-01

This paper describes application of the amplitude-modulation (AM)-coded spectral matching imager (SMI) to real-time detection of natural objects such as human beings, animals, vegetables, or geological objects or phenomena, which are much more liable to change with time than artificial products while often exhibiting characteristic spectral functions associated with some specific activity states. The AM-SMI produces correlation between spectral functions of the object and a reference at each pixel of the correlation image sensor (CIS) in every frame, based on orthogonal amplitude modulation (AM) of each spectral channel and simultaneous demodulation of all channels on the CIS. This principle makes the SMI suitable to monitoring dynamic behavior of natural objects in real-time by looking at a particular spectral reflectance or transmittance function. A twelve-channel multispectral light source was developed with improved spatial uniformity of spectral irradiance compared to a previous one. Experimental results of spectral matching imaging of human skin and vegetable leaves are demonstrated, as well as a preliminary feasibility test of imaging a reflective object using a test color chart.

Underwater Ranging

OpenAIRE

S. P. Gaba

1984-01-01

The paper deals with underwater laser ranging system, its principle of operation and maximum depth capability. The sources of external noise and methods to improve signal-to-noise ratio are also discussed.

Reactor Power for Large Displacement Autonomous Underwater Vehicles

International Nuclear Information System (INIS)

McClure, Patrick Ray; Reid, Robert Stowers; Poston, David Irvin; Dasari, Venkateswara Rao

2016-01-01

This is a PentaChart on reactor power for large displacement autonomous underwater vehicles. Currently AUVs use batteries or combinations of batteries and fuel cells for power. Battery/fuel cell technology is limited by duration. Batteries and cell fuels are a good match for some missions, but other missions could benefit greatly by a longer duration. The goal is the following: to design nuclear systems to power an AUV and meet design constraints including non-proliferation issues, power level, size constraints, and power conversion limitations. The action plan is to continue development of a range of systems for terrestrial systems and focus on a system for Titan Moon as alternative to Pu-238 for NASA.

A Novel Artificial Bee Colony Algorithm Based on Internal-Feedback Strategy for Image Template Matching

Directory of Open Access Journals (Sweden)

Bai Li

2014-01-01

Full Text Available Image template matching refers to the technique of locating a given reference image over a source image such that they are the most similar. It is a fundamental mission in the field of visual target recognition. In general, there are two critical aspects of a template matching scheme. One is similarity measurement and the other is best-match location search. In this work, we choose the well-known normalized cross correlation model as a similarity criterion. The searching procedure for the best-match location is carried out through an internal-feedback artificial bee colony (IF-ABC algorithm. IF-ABC algorithm is highlighted by its effort to fight against premature convergence. This purpose is achieved through discarding the conventional roulette selection procedure in the ABC algorithm so as to provide each employed bee an equal chance to be followed by the onlooker bees in the local search phase. Besides that, we also suggest efficiently utilizing the internal convergence states as feedback guidance for searching intensity in the subsequent cycles of iteration. We have investigated four ideal template matching cases as well as four actual cases using different searching algorithms. Our simulation results show that the IF-ABC algorithm is more effective and robust for this template matching mission than the conventional ABC and two state-of-the-art modified ABC algorithms do.

UNDERWATER COATINGS FOR CONTAMINATION CONTROL

International Nuclear Information System (INIS)

Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell

2004-01-01

The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases

Exploiting Deep Matching and SAR Data for the Geo-Localization Accuracy Improvement of Optical Satellite Images

Directory of Open Access Journals (Sweden)

Nina Merkle

2017-06-01

Full Text Available Improving the geo-localization of optical satellite images is an important pre-processing step for many remote sensing tasks like monitoring by image time series or scene analysis after sudden events. These tasks require geo-referenced and precisely co-registered multi-sensor data. Images captured by the high resolution synthetic aperture radar (SAR satellite TerraSAR-X exhibit an absolute geo-location accuracy within a few decimeters. These images represent therefore a reliable source to improve the geo-location accuracy of optical images, which is in the order of tens of meters. In this paper, a deep learning-based approach for the geo-localization accuracy improvement of optical satellite images through SAR reference data is investigated. Image registration between SAR and optical images requires few, but accurate and reliable matching points. These are derived from a Siamese neural network. The network is trained using TerraSAR-X and PRISM image pairs covering greater urban areas spread over Europe, in order to learn the two-dimensional spatial shifts between optical and SAR image patches. Results confirm that accurate and reliable matching points can be generated with higher matching accuracy and precision with respect to state-of-the-art approaches.

Underwater Hyperspectral Imaging (UHI) for Assessing the Coverage of Drill Cuttings on Benthic Habitats

Science.gov (United States)

Erdal, I.; Sandvik Aas, L. M.; Cochrane, S.; Ekehaug, S.; Hansen, I. M.

2016-02-01

Larger-scale mapping of seabed areas requires improved methods in order to obtain effective and sound marine management. The state of the art for visual surveys today involves video transects, which is a proven, yet time consuming and subjective method. Underwater hyperspectral imaging (UHI) utilizes high color sensitive information in the visible light reflected from objects on the seafloor to automatically identify seabed organisms and other objects of interest (OOI). A spectral library containing optical fingerprints of a range of OOI's are used in the classification. The UHI is a push-broom hyperspectral camera utilizing a state of the art CMOS sensor ensuring high sensitivity and low noise levels. Dedicated lamps illuminate the imaging area of the seafloor. Specialized software is used both for processing raw data and for geo-localization and OOI identification. The processed hyperspectral image are used as a reference when extracting new spectral data for OOI's to the spectral library. By using the spectral library in classification algorithms, large sea floor areas can automatically be classified. Recent advantages in UHI classification includes mapping of areas affected by drill cuttings. Tools for automated classification of seabed that have a different bottom composition than adjacent baseline areas are under development. Tests have been applied to a transect in gradient from the drilling hole to baseline seabed. Some areas along the transect were identified as different compared to baseline seabed. The finding was supported by results from traditional seabed mapping methods. We propose that this can be a useful tool for tomorrows environmental mapping and monitoring of drill sites.

Underwater Gliders: A Review

OpenAIRE

Javaid Muhammad Yasar; Ovinis Mark; Nagarajan T; Hashim Fakhruldin B M

2014-01-01

Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no ...

Underwater Calibration of Dome Port Pressure Housings

Science.gov (United States)

Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

2016-03-01

Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

Automated image-matching technique for comparative diagnosis of the liver on CT examination

International Nuclear Information System (INIS)

Okumura, Eiichiro; Sanada, Shigeru; Suzuki, Masayuki; Tsushima, Yoshito; Matsui, Osamu

2005-01-01

When interpreting enhanced computer tomography (CT) images of the upper abdomen, radiologists visually select a set of images of the same anatomical positions from two or more CT image series (i.e., non-enhanced and contrast-enhanced CT images at arterial and delayed phase) to depict and to characterize any abnormalities. The same process is also necessary to create subtraction images by computer. We have developed an automated image selection system using a template-matching technique that allows the recognition of image sets at the same anatomical position from two CT image series. Using the template-matching technique, we compared several anatomical structures in each CT image at the same anatomical position. As the position of the liver may shift according to respiratory movement, not only the shape of the liver but also the gallbladder and other prominent structures included in the CT images were compared to allow appropriate selection of a set of CT images. This novel technique was applied in 11 upper abdominal CT examinations. In CT images with a slice thickness of 7.0 or 7.5 mm, the percentage of image sets selected correctly by the automated procedure was 86.6±15.3% per case. In CT images with a slice thickness of 1.25 mm, the percentages of correct selection of image sets by the automated procedure were 79.4±12.4% (non-enhanced and arterial-phase CT images) and 86.4±10.1% (arterial- and delayed-phase CT images). This automated method is useful for assisting in interpreting CT images and in creating digital subtraction images. (author)

Improving Image Matching by Reducing Surface Reflections Using Polarising Filter Techniques

Science.gov (United States)

Conen, N.; Hastedt, H.; Kahmen, O.; Luhmann, T.

2018-05-01

In dense stereo matching applications surface reflections may lead to incorrect measurements and blunders in the resulting point cloud. To overcome the problem of disturbing reflexions polarising filters can be mounted on the camera lens and light source. Reflections in the images can be suppressed by crossing the polarising direction of the filters leading to homogeneous illuminated images and better matching results. However, the filter may influence the camera's orientation parameters as well as the measuring accuracy. To quantify these effects, a calibration and an accuracy analysis is conducted within a spatial test arrangement according to the German guideline VDI/VDE 2634.1 (2002) using a DSLR with and without polarising filter. In a second test, the interior orientation is analysed in more detail. The results do not show significant changes of the measuring accuracy in object space and only very small changes of the interior orientation (Δc ≤ 4 μm) with the polarising filter in use. Since in medical applications many tiny reflections are present and impede robust surface measurements, a prototypic trinocular endoscope is equipped with polarising technique. The interior and relative orientation is determined and analysed. The advantage of the polarising technique for medical image matching is shown in an experiment with a moistened pig kidney. The accuracy and completeness of the resulting point cloud can be improved clearly when using polarising filters. Furthermore, an accuracy analysis using a laser triangulation system is performed and the special reflection properties of metallic surfaces are presented.

IMPROVING IMAGE MATCHING BY REDUCING SURFACE REFLECTIONS USING POLARISING FILTER TECHNIQUES

Directory of Open Access Journals (Sweden)

N. Conen

2018-05-01

Full Text Available In dense stereo matching applications surface reflections may lead to incorrect measurements and blunders in the resulting point cloud. To overcome the problem of disturbing reflexions polarising filters can be mounted on the camera lens and light source. Reflections in the images can be suppressed by crossing the polarising direction of the filters leading to homogeneous illuminated images and better matching results. However, the filter may influence the camera’s orientation parameters as well as the measuring accuracy. To quantify these effects, a calibration and an accuracy analysis is conducted within a spatial test arrangement according to the German guideline VDI/VDE 2634.1 (2002 using a DSLR with and without polarising filter. In a second test, the interior orientation is analysed in more detail. The results do not show significant changes of the measuring accuracy in object space and only very small changes of the interior orientation (Δc ≤ 4 μm with the polarising filter in use. Since in medical applications many tiny reflections are present and impede robust surface measurements, a prototypic trinocular endoscope is equipped with polarising technique. The interior and relative orientation is determined and analysed. The advantage of the polarising technique for medical image matching is shown in an experiment with a moistened pig kidney. The accuracy and completeness of the resulting point cloud can be improved clearly when using polarising filters. Furthermore, an accuracy analysis using a laser triangulation system is performed and the special reflection properties of metallic surfaces are presented.

AN EVOLUTIONARY ALGORITHM FOR FAST INTENSITY BASED IMAGE MATCHING BETWEEN OPTICAL AND SAR SATELLITE IMAGERY

Directory of Open Access Journals (Sweden)

P. Fischer

2018-04-01

Full Text Available This paper presents a hybrid evolutionary algorithm for fast intensity based matching between satellite imagery from SAR and very high-resolution (VHR optical sensor systems. The precise and accurate co-registration of image time series and images of different sensors is a key task in multi-sensor image processing scenarios. The necessary preprocessing step of image matching and tie-point detection is divided into a search problem and a similarity measurement. Within this paper we evaluate the use of an evolutionary search strategy for establishing the spatial correspondence between satellite imagery of optical and radar sensors. The aim of the proposed algorithm is to decrease the computational costs during the search process by formulating the search as an optimization problem. Based upon the canonical evolutionary algorithm, the proposed algorithm is adapted for SAR/optical imagery intensity based matching. Extensions are drawn using techniques like hybridization (e.g. local search and others to lower the number of objective function calls and refine the result. The algorithm significantely decreases the computational costs whilst finding the optimal solution in a reliable way.

ANALISA PENINGKATAN KUALITAS CITRA BAWAH AIR BERBASIS KOREKSI GAMMA dan HISTOGRAM EQUALIZATION

Directory of Open Access Journals (Sweden)

Aria Hendrawan

2016-11-01

Full Text Available Underwater image of water quality in the dark, it depends on the depth of water at the time of image acquisition or image. The results of the image quality is adversely affecting the results matching the image pairs underwater with SIFT algorithm. This research aims to use the method of image preprocessing and Histogram Equalization Gamma Correction that works to improve the quality of images underwater. The results showed 27.76% increase using image preprocessing Gamma Correction and Histogram Equalization compared with no increase in image quality. Results of paired t-test has the null hypothesis is rejected so that there is a significant difference between the application of Gamma Correction Histogram Equalization with and without image enhancement.

Reconstruction of a cone-beam CT image via forward iterative projection matching

International Nuclear Information System (INIS)

Brock, R. Scott; Docef, Alen; Murphy, Martin J.

2010-01-01

Purpose: To demonstrate the feasibility of reconstructing a cone-beam CT (CBCT) image by deformably altering a prior fan-beam CT (FBCT) image such that it matches the anatomy portrayed in the CBCT projection data set. Methods: A prior FBCT image of the patient is assumed to be available as a source image. A CBCT projection data set is obtained and used as a target image set. A parametrized deformation model is applied to the source FBCT image, digitally reconstructed radiographs (DRRs) that emulate the CBCT projection image geometry are calculated and compared to the target CBCT projection data, and the deformation model parameters are adjusted iteratively until the DRRs optimally match the CBCT projection data set. The resulting deformed FBCT image is hypothesized to be an accurate representation of the patient's anatomy imaged by the CBCT system. The process is demonstrated via numerical simulation. A known deformation is applied to a prior FBCT image and used to create a synthetic set of CBCT target projections. The iterative projection matching process is then applied to reconstruct the deformation represented in the synthetic target projections; the reconstructed deformation is then compared to the known deformation. The sensitivity of the process to the number of projections and the DRR/CBCT projection mismatch is explored by systematically adding noise to and perturbing the contrast of the target projections relative to the iterated source DRRs and by reducing the number of projections. Results: When there is no noise or contrast mismatch in the CBCT projection images, a set of 64 projections allows the known deformed CT image to be reconstructed to within a nRMS error of 1% and the known deformation to within a nRMS error of 7%. A CT image nRMS error of less than 4% is maintained at noise levels up to 3% of the mean projection intensity, at which the deformation error is 13%. At 1% noise level, the number of projections can be reduced to 8 while maintaining

Automatic Matching of Multi-Source Satellite Images: A Case Study on ZY-1-02C and ETM+

Directory of Open Access Journals (Sweden)

Bo Wang

2017-10-01

Full Text Available The ever-growing number of applications for satellites is being compromised by their poor direct positioning precision. Existing orthoimages, such as enhanced thematic mapper (ETM+ orthoimages, can provide georeferences or improve the geo-referencing accuracy of satellite images, such ZY-1-02C images that have unsatisfactory positioning precision, thus enhancing their processing efficiency and application. In this paper, a feasible image matching approach using multi-source satellite images is proposed on the basis of an experiment carried out with ZY-1-02C Level 1 images and ETM+ orthoimages. The proposed approach overcame differences in rotation angle, scale, and translation between images. The rotation and scale variances were evaluated on the basis of rational polynomial coefficients. The translation vectors were generated after blocking the overall phase correlation. Then, normalized cross-correlation and least-squares matching were applied for matching. Finally, the gross errors of the corresponding points were eliminated by local statistic vectors in a TIN structure. Experimental results showed a matching precision of less than two pixels (root-mean-square error, and comparison results indicated that the proposed method outperforms Scale-Invariant Feature Transform (SIFT, Speeded Up Robust Features (SURF, and Affine-Scale Invariant Feature Transform (A-SIFT in terms of reliability and efficiency.

DEM GENERATION FROM HIGH RESOLUTION SATELLITE IMAGES THROUGH A NEW 3D LEAST SQUARES MATCHING ALGORITHM

Directory of Open Access Journals (Sweden)

T. Kim

2012-09-01

Full Text Available Automated generation of digital elevation models (DEMs from high resolution satellite images (HRSIs has been an active research topic for many years. However, stereo matching of HRSIs, in particular based on image-space search, is still difficult due to occlusions and building facades within them. Object-space matching schemes, proposed to overcome these problem, often are very time consuming and critical to the dimensions of voxels. In this paper, we tried a new least square matching (LSM algorithm that works in a 3D object space. The algorithm starts with an initial height value on one location of the object space. From this 3D point, the left and right image points are projected. The true height is calculated by iterative least squares estimation based on the grey level differences between the left and right patches centred on the projected left and right points. We tested the 3D LSM to the Worldview images over 'Terrassa Sud' provided by the ISPRS WG I/4. We also compared the performance of the 3D LSM with the correlation matching based on 2D image space and the correlation matching based on 3D object space. The accuracy of the DEM from each method was analysed against the ground truth. Test results showed that 3D LSM offers more accurate DEMs over the conventional matching algorithms. Results also showed that 3D LSM is sensitive to the accuracy of initial height value to start the estimation. We combined the 3D COM and 3D LSM for accurate and robust DEM generation from HRSIs. The major contribution of this paper is that we proposed and validated that LSM can be applied to object space and that the combination of 3D correlation and 3D LSM can be a good solution for automated DEM generation from HRSIs.

An Matching Method for Vehicle-borne Panoramic Image Sequence Based on Adaptive Structure from Motion Feature

Directory of Open Access Journals (Sweden)

ZHANG Zhengpeng

2015-10-01

Full Text Available Panoramic image matching method with the constraint condition of local structure from motion similarity feature is an important method, the process requires multivariable kernel density estimations for the structure from motion feature used nonparametric mean shift. Proper selection of the kernel bandwidth is a critical step for convergence speed and accuracy of matching method. Variable bandwidth with adaptive structure from motion feature for panoramic image matching method has been proposed in this work. First the bandwidth matrix is defined using the locally adaptive spatial structure of the sampling point in spatial domain and optical flow domain. The relaxation diffusion process of structure from motion similarity feature is described by distance weighting method of local optical flow feature vector. Then the expression form of adaptive multivariate kernel density function is given out, and discusses the solution of the mean shift vector, termination conditions, and the seed point selection method. The final fusions of multi-scale SIFT the features and structure features to establish a unified panoramic image matching framework. The sphere panoramic images from vehicle-borne mobile measurement system are chosen such that a comparison analysis between fixed bandwidth and adaptive bandwidth is carried out in detail. The results show that adaptive bandwidth is good for case with the inlier ratio changes and the object space scale changes. The proposed method can realize the adaptive similarity measure of structure from motion feature, improves the correct matching points and matching rate, experimental results have shown our method to be robust.

Underwater 3D filming

OpenAIRE

Rinaldi, Roberto

2014-01-01

After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” ) and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Unde...

Composite Match Index with Application of Interior Deformation Field Measurement from Magnetic Resonance Volumetric Images of Human Tissues

Directory of Open Access Journals (Sweden)

Penglin Zhang

2012-01-01

Full Text Available Whereas a variety of different feature-point matching approaches have been reported in computer vision, few feature-point matching approaches employed in images from nonrigid, nonuniform human tissues have been reported. The present work is concerned with interior deformation field measurement of complex human tissues from three-dimensional magnetic resonance (MR volumetric images. To improve the reliability of matching results, this paper proposes composite match index (CMI as the foundation of multimethod fusion methods to increase the reliability of these various methods. Thereinto, we discuss the definition, components, and weight determination of CMI. To test the validity of the proposed approach, it is applied to actual MR volumetric images obtained from a volunteer’s calf. The main result is consistent with the actual condition.

IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

Energy Technology Data Exchange (ETDEWEB)

Klingstedt, G.; Leisio, C. [ed.

1998-07-01

A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

An automatic system for segmentation, matching, anatomical labeling and measurement of airways from CT images

DEFF Research Database (Denmark)

Petersen, Jens; Feragen, Aasa; Owen, Megan

segmental branches, and longitudinal matching of airway branches in repeated scans of the same subject. Methods and Materials: The segmentation process begins from an automatically detected seed point in the trachea. The airway centerline tree is then constructed by iteratively adding locally optimal paths...... differences. Results: The segmentation method has been used on 9711 low dose CT images from the Danish Lung Cancer Screening Trial (DLCST). Manual inspection of thumbnail images revealed gross errors in a total of 44 images. 29 were missing branches at the lobar level and only 15 had obvious false positives...... measurements to segments matched in multiple images of the same subject using image registration was observed to increase their reproducibility. The anatomical branch labeling tool was validated on a subset of 20 subjects, 5 of each category: asymptomatic, mild, moderate and severe COPD. The average inter...

Design of Autonomous Underwater Vehicle

Directory of Open Access Journals (Sweden)

Tadahiro Hyakudome

2011-03-01

Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

Real-time underwater object detection based on an electrically scanned high-resolution sonar

DEFF Research Database (Denmark)

Henriksen, Lars

1994-01-01

The paper describes an approach to real time detection and tracking of underwater objects, using image sequences from an electrically scanned high-resolution sonar. The use of a high resolution sonar provides a good estimate of the location of the objects, but strains the computers on board, beca...

Identification of a putative man-made object from an underwater crash site using CAD model superimposition.

Science.gov (United States)

Vincelli, Jay; Calakli, Fatih; Stone, Michael; Forrester, Graham; Mellon, Timothy; Jarrell, John

2018-04-01

In order to identify an object in video, a comparison with an exemplar object is typically needed. In this paper, we discuss the methodology used to identify an object detected in underwater video that was recorded during an investigation into Amelia Earhart's purported crash site. A computer aided design (CAD) model of the suspected aircraft component was created based on measurements made from orthogonally rectified images of a reference aircraft, and validated against historical photographs of the subject aircraft prior to the crash. The CAD model was then superimposed on the underwater video, and specific features on the object were geometrically compared between the CAD model and the video. This geometrical comparison was used to assess the goodness of fit between the purported object and the object identified in the underwater video. Copyright © 2018 Elsevier B.V. All rights reserved.

Remote Underwater Characterization System - Innovative Technology Summary Report

International Nuclear Information System (INIS)

Willis, Walter David

1999-01-01

Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

Lung metastases detection in CT images using 3D template matching

International Nuclear Information System (INIS)

Wang, Peng; DeNunzio, Andrea; Okunieff, Paul; O'Dell, Walter G.

2007-01-01

The aim of this study is to demonstrate a novel, fully automatic computer detection method applicable to metastatic tumors to the lung with a diameter of 4-20 mm in high-risk patients using typical computed tomography (CT) scans of the chest. Three-dimensional (3D) spherical tumor appearance models (templates) of various sizes were created to match representative CT imaging parameters and to incorporate partial volume effects. Taking into account the variability in the location of CT sampling planes cut through the spherical models, three offsetting template models were created for each appearance model size. Lung volumes were automatically extracted from computed tomography images and the correlation coefficients between the subregions around each voxel in the lung volume and the set of appearance models were calculated using a fast frequency domain algorithm. To determine optimal parameters for the templates, simulated tumors of varying sizes and eccentricities were generated and superposed onto a representative human chest image dataset. The method was applied to real image sets from 12 patients with known metastatic disease to the lung. A total of 752 slices and 47 identifiable tumors were studied. Spherical templates of three sizes (6, 8, and 10 mm in diameter) were used on the patient image sets; all 47 true tumors were detected with the inclusion of only 21 false positives. This study demonstrates that an automatic and straightforward 3D template-matching method, without any complex training or postprocessing, can be used to detect small lung metastases quickly and reliably in the clinical setting

Underwater fiber-wireless communication with a passive front end

Science.gov (United States)

Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

2017-11-01

We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

Stereo matching and view interpolation based on image domain triangulation.

Science.gov (United States)

Fickel, Guilherme Pinto; Jung, Claudio R; Malzbender, Tom; Samadani, Ramin; Culbertson, Bruce

2013-09-01

This paper presents a new approach for stereo matching and view interpolation problems based on triangular tessellations suitable for a linear array of rectified cameras. The domain of the reference image is initially partitioned into triangular regions using edge and scale information, aiming to place vertices along image edges and increase the number of triangles in textured regions. A region-based matching algorithm is then used to find an initial disparity for each triangle, and a refinement stage is applied to change the disparity at the vertices of the triangles, generating a piecewise linear disparity map. A simple post-processing procedure is applied to connect triangles with similar disparities generating a full 3D mesh related to each camera (view), which are used to generate new synthesized views along the linear camera array. With the proposed framework, view interpolation reduces to the trivial task of rendering polygonal meshes, which can be done very fast, particularly when GPUs are employed. Furthermore, the generated views are hole-free, unlike most point-based view interpolation schemes that require some kind of post-processing procedures to fill holes.

Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

Directory of Open Access Journals (Sweden)

Safdar Hussain Bouk

2016-01-01

Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

SU-C-207B-07: Deep Convolutional Neural Network Image Matching for Ultrasound Guidance in Radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Zhu, N; Najafi, M; Hancock, S; Hristov, D [Stanford University Cancer Center, Palo Alto, CA (United States)

2016-06-15

Purpose: Robust matching of ultrasound images is a challenging problem as images of the same anatomy often present non-trivial differences. This poses an obstacle for ultrasound guidance in radiotherapy. Thus our objective is to overcome this obstacle by designing and evaluating an image blocks matching framework based on a two channel deep convolutional neural network. Methods: We extend to 3D an algorithmic structure previously introduced for 2D image feature learning [1]. To obtain the similarity between two 3D image blocks A and B, the 3D image blocks are divided into 2D patches Ai and Bi. The similarity is then calculated as the average similarity score of Ai and Bi. The neural network was then trained with public non-medical image pairs, and subsequently evaluated on ultrasound image blocks for the following scenarios: (S1) same image blocks with/without shifts (A and A-shift-x); (S2) non-related random block pairs; (S3) ground truth registration matched pairs of different ultrasound images with/without shifts (A-i and A-reg-i-shift-x). Results: For S1 the similarity scores of A and A-shift-x were 32.63, 18.38, 12.95, 9.23, 2.15 and 0.43 for x=ranging from 0 mm to 10 mm in 2 mm increments. For S2 the average similarity score for non-related block pairs was −1.15. For S3 the average similarity score of ground truth registration matched blocks A-i and A-reg-i-shift-0 (1≤i≤5) was 12.37. After translating A-reg-i-shift-0 by 0 mm, 2 mm, 4 mm, 6 mm, 8 mm, and 10 mm, the average similarity scores of A-i and A-reg-i-shift-x were 11.04, 8.42, 4.56, 2.27, and 0.29 respectively. Conclusion: The proposed method correctly assigns highest similarity to corresponding 3D ultrasound image blocks despite differences in image content and thus can form the basis for ultrasound image registration and tracking.[1] Zagoruyko, Komodakis, “Learning to compare image patches via convolutional neural networks', IEEE CVPR 2015,pp.4353–4361.

SU-C-207B-07: Deep Convolutional Neural Network Image Matching for Ultrasound Guidance in Radiotherapy

International Nuclear Information System (INIS)

Zhu, N; Najafi, M; Hancock, S; Hristov, D

2016-01-01

Purpose: Robust matching of ultrasound images is a challenging problem as images of the same anatomy often present non-trivial differences. This poses an obstacle for ultrasound guidance in radiotherapy. Thus our objective is to overcome this obstacle by designing and evaluating an image blocks matching framework based on a two channel deep convolutional neural network. Methods: We extend to 3D an algorithmic structure previously introduced for 2D image feature learning [1]. To obtain the similarity between two 3D image blocks A and B, the 3D image blocks are divided into 2D patches Ai and Bi. The similarity is then calculated as the average similarity score of Ai and Bi. The neural network was then trained with public non-medical image pairs, and subsequently evaluated on ultrasound image blocks for the following scenarios: (S1) same image blocks with/without shifts (A and A-shift-x); (S2) non-related random block pairs; (S3) ground truth registration matched pairs of different ultrasound images with/without shifts (A-i and A-reg-i-shift-x). Results: For S1 the similarity scores of A and A-shift-x were 32.63, 18.38, 12.95, 9.23, 2.15 and 0.43 for x=ranging from 0 mm to 10 mm in 2 mm increments. For S2 the average similarity score for non-related block pairs was −1.15. For S3 the average similarity score of ground truth registration matched blocks A-i and A-reg-i-shift-0 (1≤i≤5) was 12.37. After translating A-reg-i-shift-0 by 0 mm, 2 mm, 4 mm, 6 mm, 8 mm, and 10 mm, the average similarity scores of A-i and A-reg-i-shift-x were 11.04, 8.42, 4.56, 2.27, and 0.29 respectively. Conclusion: The proposed method correctly assigns highest similarity to corresponding 3D ultrasound image blocks despite differences in image content and thus can form the basis for ultrasound image registration and tracking.[1] Zagoruyko, Komodakis, “Learning to compare image patches via convolutional neural networks', IEEE CVPR 2015,pp.4353–4361.

3D Laser Scanner for Underwater Manipulation.

Science.gov (United States)

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

A Novel Fast and Robust Binary Affine Invariant Descriptor for Image Matching

Directory of Open Access Journals (Sweden)

Xiujie Qu

2014-01-01

Full Text Available As the current binary descriptors have disadvantages of high computational complexity, no affine invariance, and the high false matching rate with viewpoint changes, a new binary affine invariant descriptor, called BAND, is proposed. Different from other descriptors, BAND has an irregular pattern, which is based on local affine invariant region surrounding a feature point, and it has five orientations, which are obtained by LBP effectively. Ultimately, a 256 bits binary string is computed by simple random sampling pattern. Experimental results demonstrate that BAND has a good matching result in the conditions of rotating, image zooming, noising, lighting, and small-scale perspective transformation. It has better matching performance compared with current mainstream descriptors, while it costs less time.

Target Matching Recognition for Satellite Images Based on the Improved FREAK Algorithm

Directory of Open Access Journals (Sweden)

Yantong Chen

2016-01-01

Full Text Available Satellite remote sensing image target matching recognition exhibits poor robustness and accuracy because of the unfit feature extractor and large data quantity. To address this problem, we propose a new feature extraction algorithm for fast target matching recognition that comprises an improved feature from accelerated segment test (FAST feature detector and a binary fast retina key point (FREAK feature descriptor. To improve robustness, we extend the FAST feature detector by applying scale space theory and then transform the feature vector acquired by the FREAK descriptor from decimal into binary. We reduce the quantity of data in the computer and improve matching accuracy by using the binary space. Simulation test results show that our algorithm outperforms other relevant methods in terms of robustness and accuracy.

Method to restore images from chaotic frequency-down-converted light using phase matching

International Nuclear Information System (INIS)

Andreoni, Alessandra; Puddu, Emiliano; Bondani, Maria

2006-01-01

We present an optical frequency-down-conversion process of the image of an object illuminated with chaotic light in which also the low-frequency field entering the second-order nonlinear crystal is chaotic. We show that the fulfillment of the phase-matching conditions by the chaotic interacting fields provides the rules to retrieve the object image by calculating suitable correlations of the local intensity fluctuations even if a single record of down-converted chaotic image is available

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.

Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

DEFF Research Database (Denmark)

Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

2016-01-01

The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

Motion-compensated PET image reconstruction with respiratory-matched attenuation correction using two low-dose inhale and exhale CT images

International Nuclear Information System (INIS)

Nam, Woo Hyun; Ahn, Il Jun; Ra, Jong Beom; Kim, Kyeong Min; Kim, Byung Il

2013-01-01

Positron emission tomography (PET) is widely used for diagnosis and follow up assessment of radiotherapy. However, thoracic and abdominal PET suffers from false staging and incorrect quantification of the radioactive uptake of lesion(s) due to respiratory motion. Furthermore, respiratory motion-induced mismatch between a computed tomography (CT) attenuation map and PET data often leads to significant artifacts in the reconstructed PET image. To solve these problems, we propose a unified framework for respiratory-matched attenuation correction and motion compensation of respiratory-gated PET. For the attenuation correction, the proposed algorithm manipulates a 4D CT image virtually generated from two low-dose inhale and exhale CT images, rather than a real 4D CT image which significantly increases the radiation burden on a patient. It also utilizes CT-driven motion fields for motion compensation. To realize the proposed algorithm, we propose an improved region-based approach for non-rigid registration between body CT images, and we suggest a selection scheme of 3D CT images that are respiratory-matched to each respiratory-gated sinogram. In this work, the proposed algorithm was evaluated qualitatively and quantitatively by using patient datasets including lung and/or liver lesion(s). Experimental results show that the method can provide much clearer organ boundaries and more accurate lesion information than existing algorithms by utilizing two low-dose CT images. (paper)

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

Francisco García-Córdova

2013-04-01

Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

Optimal Node Placement in Underwater Acoustic Sensor Network

KAUST Repository

Felemban, Muhamad

2011-10-01

Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

Composite multi-lobe descriptor for cross spectral face recognition: matching active IR to visible light images

Science.gov (United States)

Cao, Zhicheng; Schmid, Natalia A.

2015-05-01

Matching facial images across electromagnetic spectrum presents a challenging problem in the field of biometrics and identity management. An example of this problem includes cross spectral matching of active infrared (IR) face images or thermal IR face images against a dataset of visible light images. This paper describes a new operator named Composite Multi-Lobe Descriptor (CMLD) for facial feature extraction in cross spectral matching of near-infrared (NIR) or short-wave infrared (SWIR) against visible light images. The new operator is inspired by the design of ordinal measures. The operator combines Gaussian-based multi-lobe kernel functions, Local Binary Pattern (LBP), generalized LBP (GLBP) and Weber Local Descriptor (WLD) and modifies them into multi-lobe functions with smoothed neighborhoods. The new operator encodes both the magnitude and phase responses of Gabor filters. The combining of LBP and WLD utilizes both the orientation and intensity information of edges. Introduction of multi-lobe functions with smoothed neighborhoods further makes the proposed operator robust against noise and poor image quality. Output templates are transformed into histograms and then compared by means of a symmetric Kullback-Leibler metric resulting in a matching score. The performance of the multi-lobe descriptor is compared with that of other operators such as LBP, Histogram of Oriented Gradients (HOG), ordinal measures, and their combinations. The experimental results show that in many cases the proposed method, CMLD, outperforms the other operators and their combinations. In addition to different infrared spectra, various standoff distances from close-up (1.5 m) to intermediate (50 m) and long (106 m) are also investigated in this paper. Performance of CMLD is evaluated for of each of the three cases of distances.

An Adaptive Dense Matching Method for Airborne Images Using Texture Information

Directory of Open Access Journals (Sweden)

ZHU Qing

2017-01-01

Full Text Available Semi-global matching (SGM is essentially a discrete optimization for the disparity value of each pixel, under the assumption of disparity continuities. SGM overcomes the influence of the disparity discontinuities by a set of parameters. Using smaller parameters, the continuity constraint is weakened, which will cause significant noises in planar and textureless areas, reflected as the fluctuations on the final surface reconstruction. On the other hands, larger parameters will impose too much constraints on continuities, which may lead to losses of sharp features. To address this problem, this paper proposes an adaptive dense stereo matching methods for airborne images using with texture information. Firstly, the texture is quantified, and under the assumption that disparity variation is directly proportional to the texture information, the adaptive parameters are gauged accordingly. Second, SGM is adopted to optimize the discrete disparities using the adaptively tuned parameters. Experimental evaluations using the ISPRS benchmark dataset and images obtained by the SWDC-5 have revealed that the proposed method will significantly improve the visual qualities of the point clouds.

3D Laser Scanner for Underwater Manipulation

Directory of Open Access Journals (Sweden)

Albert Palomer

2018-04-01

Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

DEFF Research Database (Denmark)

Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

2015-01-01

The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation an...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....

Equipment and appliances for underwater operations. Pt. 2

International Nuclear Information System (INIS)

Krueger, P.

1976-01-01

The 6/75 edition of 'mt' reported on the 'ARGE underwater appliances' and the study on 'design development of appliances and equipment for underwater use' in a brief summary. One of these designs, the 'unmanned DSWS underwater appliance' was described in detail. The present article describes three further design developments mentioned in the above study and which are based on unmanned appliances connected to the mother-ship. These designs were developed by Preussag-Meerestechnik. (orig.) [de

IMPROVED TOPOGRAPHIC MODELS VIA CONCURRENT AIRBORNE LIDAR AND DENSE IMAGE MATCHING

Directory of Open Access Journals (Sweden)

G. Mandlburger

2017-09-01

Full Text Available Modern airborne sensors integrate laser scanners and digital cameras for capturing topographic data at high spatial resolution. The capability of penetrating vegetation through small openings in the foliage and the high ranging precision in the cm range have made airborne LiDAR the prime terrain acquisition technique. In the recent years dense image matching evolved rapidly and outperforms laser scanning meanwhile in terms of the achievable spatial resolution of the derived surface models. In our contribution we analyze the inherent properties and review the typical processing chains of both acquisition techniques. In addition, we present potential synergies of jointly processing image and laser data with emphasis on sensor orientation and point cloud fusion for digital surface model derivation. Test data were concurrently acquired with the RIEGL LMS-Q1560 sensor over the city of Melk, Austria, in January 2016 and served as basis for testing innovative processing strategies. We demonstrate that (i systematic effects in the resulting scanned and matched 3D point clouds can be minimized based on a hybrid orientation procedure, (ii systematic differences of the individual point clouds are observable at penetrable, vegetated surfaces due to the different measurement principles, and (iii improved digital surface models can be derived combining the higher density of the matching point cloud and the higher reliability of LiDAR point clouds, especially in the narrow alleys and courtyards of the study site, a medieval city.

Trajectory-Based Visual Localization in Underwater Surveying Missions

Directory of Open Access Journals (Sweden)

Antoni Burguera

2015-01-01

Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

Trajectory-Based Visual Localization in Underwater Surveying Missions

Science.gov (United States)

Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

2015-01-01

We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates. PMID:25594602

Underwater cladding with laser beam and plasma arc welding

International Nuclear Information System (INIS)

White, R.A.; Fusaro, R.; Jones, M.G.; Solomon, H.D.; Milian-Rodriguez, R.R.

1997-01-01

Two welding processes, plasma arc (transferred arc) (PTA) and laser beam, were investigated to apply cladding to austenitic stainless steels and Inconel 600. These processes have long been used to apply cladding layers , but the novel feature being reported here is that these cladding layers were applied underwater, with a water pressure equivalent to 24 m (80 ft). Being able to apply the cladding underwater is very important for many applications, including the construction of off-shore oil platforms and the repair of nuclear reactors. In the latter case, being able to weld underwater eliminates the need for draining the reactor and removing the fuel. Welding underwater in reactors presents numerous challenges, but the ability to weld without having to drain the reactor and remove the fuel provides a huge cost savings. Welding underwater in reactors must be done remotely, but because of the radioactive corrosion products and neutron activation of the steels, remote welding would also be required even if the reactor is drained and the fuel removed. In fact, without the shielding of the water, the remote welding required if the reactor is drained might be even more difficult than that required with underwater welds. Furthermore, as shall be shown, the underwater welds that the authors have made were of high quality and exhibit compressive rather than tensile residual stresses

Underwater Gliders: A Review

Directory of Open Access Journals (Sweden)

Javaid Muhammad Yasar

2014-07-01

Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

Frameless image registration of X-ray CT and SPECT by volume matching

International Nuclear Information System (INIS)

Tanaka, Yuko; Kihara, Tomohiko; Yui, Nobuharu; Kinoshita, Fujimi; Kamimura, Yoshitsugu; Yamada, Yoshifumi.

1998-01-01

Image registration of functional (SPECT) and morphological (X-ray CT/MRI) images is studied in order to improve the accuracy and the quantity of the image diagnosis. We have developed a new frameless registration method of X-ray CT and SPECT image using transmission CT image acquired for absorption correction of SPECT images. This is the automated registration method and calculates the transformation matrix between the two coordinate systems of image data by the optimization method. This registration method is based on the similar physical property of X-ray CT and transmission CT image. The three-dimensional overlap of the bone region is used for image matching. We verified by a phantom test that it can provide a good result of within two millimeters error. We also evaluated visually the accuracy of the registration method by the application study of SPECT, X-ray CT, and transmission CT head images. This method can be carried out accurately without any frames. We expect this registration method becomes an efficient tool to improve image diagnosis and medical treatment. (author)

Object-based connectedness facilitates matching

NARCIS (Netherlands)

Koning, A.R.; Lier, R.J. van

2003-01-01

In two matching tasks, participants had to match two images of object pairs. Image-based (113) connectedness refers to connectedness between the objects in an image. Object-based (OB) connectedness refers to connectedness between the interpreted objects. In Experiment 1, a monocular depth cue

Investigation on dissimilar underwater friction stir lap welding of 6061-T6 aluminum alloy to pure copper

International Nuclear Information System (INIS)

Zhang, Jingqing; Shen, Yifu; Yao, Xin; Xu, Haisheng; Li, Bo

2014-01-01

Highlights: • 6061-T6 Al and pure Cu were successfully underwater friction stir lap welded. • The underwater weld was analyzed via comparing with the classical weld. • The oxidation of Cu was prevented via the external water. • The amount of Al–Cu intermetallic was decreased by the external water. • The thickness of Al–Cu diffusion interlayer was decreased by the external water. - Abstract: Friction stir welding (classical FSW) is considered to offer advantages over the traditional fusion welding techniques in terms of dissimilar welding. However, some challenges still exist in the dissimilar friction stir lap welding of the aluminum/copper (Al/Cu) metallic couple, among which the formation of the Al–Cu intermetallic compounds is the major problem. In the present research, due to the fact that the formation and growth of the intermetallic are significantly controlled by the thermal history, the underwater friction stir welding (underwater FSW) was employed for fabricating the weld, and the weld obtained by underwater FSW (underwater weld) was analyzed via comparing with the weld obtained under same parameters by classical FSW (classical weld). In order to investigate the effect of the external water on the thermal history, the K-type thermocouple was utilized to measure the weld temperature, and it is found that the water could decrease the peak temperature and shorten the thermal cycle time. The XRD results illustrate that the interface of the welds mainly consist of the Al–Cu intermetallic compounds such as CuAl 2 and Cu 9 Al 4 together with some amounts of Al and Cu, and it is also found that the amount of the intermetallic in the underwater weld is obvious less than in the classical weld. The SEM images and the EDS line scan results also illustrate that the Al–Cu diffusion interlayer at the Al–Cu interface of the underwater weld was obviously thinner than that of the classical weld

Thin plate spline feature point matching for organ surfaces in minimally invasive surgery imaging

Science.gov (United States)

Lin, Bingxiong; Sun, Yu; Qian, Xiaoning

2013-03-01

Robust feature point matching for images with large view angle changes in Minimally Invasive Surgery (MIS) is a challenging task due to low texture and specular reflections in these images. This paper presents a new approach that can improve feature matching performance by exploiting the inherent geometric property of the organ surfaces. Recently, intensity based template image tracking using a Thin Plate Spline (TPS) model has been extended for 3D surface tracking with stereo cameras. The intensity based tracking is also used here for 3D reconstruction of internal organ surfaces. To overcome the small displacement requirement of intensity based tracking, feature point correspondences are used for proper initialization of the nonlinear optimization in the intensity based method. Second, we generate simulated images from the reconstructed 3D surfaces under all potential view positions and orientations, and then extract feature points from these simulated images. The obtained feature points are then filtered and re-projected to the common reference image. The descriptors of the feature points under different view angles are stored to ensure that the proposed method can tolerate a large range of view angles. We evaluate the proposed method with silicon phantoms and in vivo images. The experimental results show that our method is much more robust with respect to the view angle changes than other state-of-the-art methods.

Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

Directory of Open Access Journals (Sweden)

Shaorong XIE

2014-02-01

Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

Shadow Areas Robust Matching Among Image Sequence in Planetary Landing

Science.gov (United States)

Ruoyan, Wei; Xiaogang, Ruan; Naigong, Yu; Xiaoqing, Zhu; Jia, Lin

2017-01-01

In this paper, an approach for robust matching shadow areas in autonomous visual navigation and planetary landing is proposed. The approach begins with detecting shadow areas, which are extracted by Maximally Stable Extremal Regions (MSER). Then, an affine normalization algorithm is applied to normalize the areas. Thirdly, a descriptor called Multiple Angles-SIFT (MA-SIFT) that coming from SIFT is proposed, the descriptor can extract more features of an area. Finally, for eliminating the influence of outliers, a method of improved RANSAC based on Skinner Operation Condition is proposed to extract inliers. At last, series of experiments are conducted to test the performance of the approach this paper proposed, the results show that the approach can maintain the matching accuracy at a high level even the differences among the images are obvious with no attitude measurements supplied.

A patch-based method for the evaluation of dense image matching quality

NARCIS (Netherlands)

Zhang, Zhenchao; Gerke, Markus; Vosselman, George; Yang, Michael Ying

2018-01-01

Airborne laser scanning and photogrammetry are two main techniques to obtain 3D data representing the object surface. Due to the high cost of laser scanning, we want to explore the potential of using point clouds derived by dense image matching (DIM), as effective alternatives to laser scanning

Advanced Tie Feature Matching for the Registration of Mobile Mapping Imaging Data and Aerial Imagery

Science.gov (United States)

Jende, P.; Peter, M.; Gerke, M.; Vosselman, G.

2016-06-01

Mobile Mapping's ability to acquire high-resolution ground data is opposing unreliable localisation capabilities of satellite-based positioning systems in urban areas. Buildings shape canyons impeding a direct line-of-sight to navigation satellites resulting in a deficiency to accurately estimate the mobile platform's position. Consequently, acquired data products' positioning quality is considerably diminished. This issue has been widely addressed in the literature and research projects. However, a consistent compliance of sub-decimetre accuracy as well as a correction of errors in height remain unsolved. We propose a novel approach to enhance Mobile Mapping (MM) image orientation based on the utilisation of highly accurate orientation parameters derived from aerial imagery. In addition to that, the diminished exterior orientation parameters of the MM platform will be utilised as they enable the application of accurate matching techniques needed to derive reliable tie information. This tie information will then be used within an adjustment solution to correct affected MM data. This paper presents an advanced feature matching procedure as a prerequisite to the aforementioned orientation update. MM data is ortho-projected to gain a higher resemblance to aerial nadir data simplifying the images' geometry for matching. By utilising MM exterior orientation parameters, search windows may be used in conjunction with a selective keypoint detection and template matching. Originating from different sensor systems, however, difficulties arise with respect to changes in illumination, radiometry and a different original perspective. To respond to these challenges for feature detection, the procedure relies on detecting keypoints in only one image. Initial tests indicate a considerable improvement in comparison to classic detector/descriptor approaches in this particular matching scenario. This method leads to a significant reduction of outliers due to the limited availability

A segmentation and point-matching enhanced efficient deformable image registration method for dose accumulation between HDR CT images

International Nuclear Information System (INIS)

Zhen, Xin; Chen, Haibin; Zhou, Linghong; Yan, Hao; Jiang, Steve; Jia, Xun; Gu, Xuejun; Mell, Loren K; Yashar, Catheryn M; Cervino, Laura

2015-01-01

Deformable image registration (DIR) of fractional high-dose-rate (HDR) CT images is challenging due to the presence of applicators in the brachytherapy image. Point-to-point correspondence fails because of the undesired deformation vector fields (DVF) propagated from the applicator region (AR) to the surrounding tissues, which can potentially introduce significant DIR errors in dose mapping. This paper proposes a novel segmentation and point-matching enhanced efficient DIR (named SPEED) scheme to facilitate dose accumulation among HDR treatment fractions. In SPEED, a semi-automatic seed point generation approach is developed to obtain the incremented fore/background point sets to feed the random walks algorithm, which is used to segment and remove the AR, leaving empty AR cavities in the HDR CT images. A feature-based ‘thin-plate-spline robust point matching’ algorithm is then employed for AR cavity surface points matching. With the resulting mapping, a DVF defining on each voxel is estimated by B-spline approximation, which serves as the initial DVF for the subsequent Demons-based DIR between the AR-free HDR CT images. The calculated DVF via Demons combined with the initial one serve as the final DVF to map doses between HDR fractions. The segmentation and registration accuracy are quantitatively assessed by nine clinical HDR cases from three gynecological cancer patients. The quantitative analysis and visual inspection of the DIR results indicate that SPEED can suppress the impact of applicator on DIR, and accurately register HDR CT images as well as deform and add interfractional HDR doses. (paper)

A segmentation and point-matching enhanced efficient deformable image registration method for dose accumulation between HDR CT images

Science.gov (United States)

Zhen, Xin; Chen, Haibin; Yan, Hao; Zhou, Linghong; Mell, Loren K.; Yashar, Catheryn M.; Jiang, Steve; Jia, Xun; Gu, Xuejun; Cervino, Laura

2015-04-01

Deformable image registration (DIR) of fractional high-dose-rate (HDR) CT images is challenging due to the presence of applicators in the brachytherapy image. Point-to-point correspondence fails because of the undesired deformation vector fields (DVF) propagated from the applicator region (AR) to the surrounding tissues, which can potentially introduce significant DIR errors in dose mapping. This paper proposes a novel segmentation and point-matching enhanced efficient DIR (named SPEED) scheme to facilitate dose accumulation among HDR treatment fractions. In SPEED, a semi-automatic seed point generation approach is developed to obtain the incremented fore/background point sets to feed the random walks algorithm, which is used to segment and remove the AR, leaving empty AR cavities in the HDR CT images. A feature-based ‘thin-plate-spline robust point matching’ algorithm is then employed for AR cavity surface points matching. With the resulting mapping, a DVF defining on each voxel is estimated by B-spline approximation, which serves as the initial DVF for the subsequent Demons-based DIR between the AR-free HDR CT images. The calculated DVF via Demons combined with the initial one serve as the final DVF to map doses between HDR fractions. The segmentation and registration accuracy are quantitatively assessed by nine clinical HDR cases from three gynecological cancer patients. The quantitative analysis and visual inspection of the DIR results indicate that SPEED can suppress the impact of applicator on DIR, and accurately register HDR CT images as well as deform and add interfractional HDR doses.

Experimental studies on the deformation and rupture of thin metal plates subject to underwater shock wave loading

Directory of Open Access Journals (Sweden)

Chen Pengwan

2015-01-01

Full Text Available In this paper, the dynamic deformation and rupture of thin metal plates subject to underwater shock wave loading are studied by using high-speed 3D digital image correlation (3D-DIC. An equivalent device consist of a gas gun and a water anvil tube was used to supplying an exponentially decaying pressure in lieu of explosive detonation which acted on the panel specimen. The thin metal plate is clamped on the end of the shock tube by a flange. The deformation and rupture process of the metal plates subject to underwater shock waves are recorded by two high-speed cameras. The shape, displacement fields and strain fields of the metal plates under dynamic loading are obtained by using VIC-3D digital image correlation software. The strain gauges also were used to monitor the structural response on the selected position for comparison. The DIC data and the strain gauges results show a high level of correlation, and 3D-DIC is proven to be an effective method to measure 3D full-field dynamic response of structures under underwater impact loading. The effects of pre-notches on the failure modes of thin circular plate were also discussed.

Optimal Node Placement in Underwater Wireless Sensor Networks

KAUST Repository

Felamban, M.; Shihada, Basem; Jamshaid, K.

2013-01-01

Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance

Operational experience in underwater photogrammetry

Science.gov (United States)

Leatherdale, John D.; John Turner, D.

Underwater photogrammetry has become established as a cost-effective technique for inspection and maintenance of platforms and pipelines for the offshore oil industry. A commercial service based in Scotland operates in the North Sea, USA, Brazil, West Africa and Australia. 70 mm cameras and flash units are built for the purpose and analytical plotters and computer graphics systems are used for photogrammetric measurement and analysis of damage, corrosion, weld failures and redesign of underwater structures. Users are seeking simple, low-cost systems for photogrammetric analysis which their engineers can use themselves.

Evaluating the SCC resistance of underwater welds in sodium tetrathionate

International Nuclear Information System (INIS)

White, R.A.; Angeliu, T.M.

1997-01-01

The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA) and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H 2 SO 4 . The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process

Spontaneous reorientation is guided by perceived surface distance, not by image matching or comparison.

Directory of Open Access Journals (Sweden)

Sang Ah Lee

Full Text Available Humans and animals recover their sense of position and orientation using properties of the surface layout, but the processes underlying this ability are disputed. Although behavioral and neurophysiological experiments on animals long have suggested that reorientation depends on representations of surface distance, recent experiments on young children join experimental studies and computational models of animal navigation to suggest that reorientation depends either on processing of any continuous perceptual variables or on matching of 2D, depthless images of the landscape. We tested the surface distance hypothesis against these alternatives through studies of children, using environments whose 3D shape and 2D image properties were arranged to enhance or cancel impressions of depth. In the absence of training, children reoriented by subtle differences in perceived surface distance under conditions that challenge current models of 2D-image matching or comparison processes. We provide evidence that children's spontaneous navigation depends on representations of 3D layout geometry.

MO-C-17A-11: A Segmentation and Point Matching Enhanced Deformable Image Registration Method for Dose Accumulation Between HDR CT Images

International Nuclear Information System (INIS)

Zhen, X; Chen, H; Zhou, L; Yan, H; Jiang, S; Jia, X; Gu, X; Mell, L; Yashar, C; Cervino, L

2014-01-01

Purpose: To propose and validate a novel and accurate deformable image registration (DIR) scheme to facilitate dose accumulation among treatment fractions of high-dose-rate (HDR) gynecological brachytherapy. Method: We have developed a method to adapt DIR algorithms to gynecologic anatomies with HDR applicators by incorporating a segmentation step and a point-matching step into an existing DIR framework. In the segmentation step, random walks algorithm is used to accurately segment and remove the applicator region (AR) in the HDR CT image. A semi-automatic seed point generation approach is developed to obtain the incremented foreground and background point sets to feed the random walks algorithm. In the subsequent point-matching step, a feature-based thin-plate spline-robust point matching (TPS-RPM) algorithm is employed for AR surface point matching. With the resulting mapping, a DVF characteristic of the deformation between the two AR surfaces is generated by B-spline approximation, which serves as the initial DVF for the following Demons DIR between the two AR-free HDR CT images. Finally, the calculated DVF via Demons combined with the initial one serve as the final DVF to map doses between HDR fractions. Results: The segmentation and registration accuracy are quantitatively assessed by nine clinical HDR cases from three gynecological cancer patients. The quantitative results as well as the visual inspection of the DIR indicate that our proposed method can suppress the interference of the applicator with the DIR algorithm, and accurately register HDR CT images as well as deform and add interfractional HDR doses. Conclusions: We have developed a novel and robust DIR scheme that can perform registration between HDR gynecological CT images and yield accurate registration results. This new DIR scheme has potential for accurate interfractional HDR dose accumulation. This work is supported in part by the National Natural ScienceFoundation of China (no 30970866 and no

Trade-off Analysis of Underwater Acoustic Sensor Networks

Science.gov (United States)

Tuna, G.; Das, R.

2017-09-01

In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

Nonlinear matching measure for the analysis of on-off type DNA microarray images

Science.gov (United States)

Kim, Jong D.; Park, Misun; Kim, Jongwon

2003-07-01

In this paper, we propose a new nonlinear matching measure for automatic analysis of the on-off type DNA microarray images in which the hybridized spots are detected by the template matching method. The targeting spots of HPV DNA chips are designed for genotyping the human papilloma virus(HPV). The proposed measure is obtained by binarythresholding over the whole template region and taking the number of white pixels inside the spotted area. This measure is evaluated in terms of the accuracy of the estimated marker location to show better performance than the normalized covariance.

Filming Underwater in 3d Respecting Stereographic Rules

Science.gov (United States)

Rinaldi, R.; Hordosch, H.

2015-04-01

After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

Directory of Open Access Journals (Sweden)

R. Rinaldi

2015-04-01

Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity" and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

Wireless Underwater Monitoring Systems Based on Energy Harvestings

Directory of Open Access Journals (Sweden)

Sea-Hee HWANGBO

2013-01-01

Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

Automatic stabilization of underwater robots in the time manipulation operations

International Nuclear Information System (INIS)

Filaretov, V.F.; Koval, E.V.

1994-01-01

When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

WODA technical guidance on underwater sound from dredging

NARCIS (Netherlands)

Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

2016-01-01

The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

Directory of Open Access Journals (Sweden)

Tianhong Yan

2011-11-01

Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

Science.gov (United States)

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1996-12-31

This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

Design and Evaluation Methods for Underwater Control Systems

Energy Technology Data Exchange (ETDEWEB)

Chi, Lin

1997-12-31

This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

A PROPOSAL FOR A SUSTAINABLE MODEL BASED UPON UNDERWATER TOURISM RESEARCH IN AYVALIK

Directory of Open Access Journals (Sweden)

A. GÖKDENİZ

2013-03-01

Full Text Available Underwater sports are the activities being done with the aims of witnessing the beauties, hunting, taking photos, the ecology and the archaeology of underwater analysing or finding out the human being’s boundaries by improving the physical and psychological skills of men. The initial aim of this project is to increase the underwater flora and the fauna heritage of Ayvalık and to bring them in tourism. Ayvalık is on the west coast of Turkey. It is getting more and more famous with its underwater richness. Also, to form a new underwater sports centre in order to contribute to the improvement of the region. By providing visual attractiveness, the tourists related to underwater sports will pay attention to Ayvalık and underwater tourism will contribute much to the economy of the region. The aim of this project is to improve the underwater sports which is now a hobby than a sport. In Ayvalık Underwater World study, we dealt with 247 divers and 4 underwater sports club. In this study, we analysed the expectation, satisfaction, demographic and economic level of 247 divers about the services in the region. Interview technique has been used in the study on the 4 underwater sports clubs which are hosting divers. As a conclusion, a report has been prepared in which detailed information and proposals are presented by developing a sustainable marketing model concerned with the underwater sports for those who want to possess information, shareholders of the sector and make analyse about tourism.

Least median of squares filtering of locally optimal point matches for compressible flow image registration

International Nuclear Information System (INIS)

Castillo, Edward; Guerrero, Thomas; Castillo, Richard; White, Benjamin; Rojo, Javier

2012-01-01

Compressible flow based image registration operates under the assumption that the mass of the imaged material is conserved from one image to the next. Depending on how the mass conservation assumption is modeled, the performance of existing compressible flow methods is limited by factors such as image quality, noise, large magnitude voxel displacements, and computational requirements. The Least Median of Squares Filtered Compressible Flow (LFC) method introduced here is based on a localized, nonlinear least squares, compressible flow model that describes the displacement of a single voxel that lends itself to a simple grid search (block matching) optimization strategy. Spatially inaccurate grid search point matches, corresponding to erroneous local minimizers of the nonlinear compressible flow model, are removed by a novel filtering approach based on least median of squares fitting and the forward search outlier detection method. The spatial accuracy of the method is measured using ten thoracic CT image sets and large samples of expert determined landmarks (available at www.dir-lab.com). The LFC method produces an average error within the intra-observer error on eight of the ten cases, indicating that the method is capable of achieving a high spatial accuracy for thoracic CT registration. (paper)

The detection of objects in a turbid underwater medium using orbital angular momentum (OAM)

Science.gov (United States)

Cochenour, Brandon; Rodgers, Lila; Laux, Alan; Mullen, Linda; Morgan, Kaitlyn; Miller, Jerome K.; Johnson, Eric G.

2017-05-01

We present an investigation of the optical property of orbital angular momentum (OAM) for use in the detection of objects obscured by a turbid underwater channel. In our experiment, a target is illuminated by a Gaussian beam. An optical vortex is formed by passing the object-reflected and backscattered light through a diffractive spiral phase plate at the receiver, which allows for the spatial separation of coherent and non-coherent light. This provides a method for discriminating target from environment. Initial laboratory results show that the ballistic target return can be detected 2-3 orders of magnitude below the backscatter clutter level. Furthermore, the detection of this coherent component is accomplished with the use of a complicated optical heterodyning scheme. The results suggest new optical sensing techniques for underwater imaging or LIDAR.

Blue-light digital communication in underwater environments utilizing orbital angular momentum

Science.gov (United States)

Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon

2016-05-01

Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.

Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices.

Science.gov (United States)

Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther

2015-12-23

In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given.

Study of archaeological underwater finds: deterioration and conservation

Science.gov (United States)

Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

2010-09-01

This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.

Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

KAUST Repository

Oubei, Hassan M.; Zedini, Emna; Elafandy, Rami T.; Kammoun, Abla; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.

2017-01-01

Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels

Underwater laser cutting of metallic structures

International Nuclear Information System (INIS)

Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

1993-01-01

In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

Digital sonar design in underwater acoustics principles and applications

CERN Document Server

Li, Qihu

2012-01-01

"Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

Underwater wireless optical communications: From system-level demonstrations to channel modelling

KAUST Repository

Oubei, Hassan M.

2018-01-09

In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

Underwater Communications for Video Surveillance Systems at 2.4 GHz

Directory of Open Access Journals (Sweden)

Sandra Sendra

2016-10-01

Full Text Available Video surveillance is needed to control many activities performed in underwater environments. The use of wired media can be a problem since the material specially designed for underwater environments is very expensive. In order to transmit the images and videos wirelessly under water, three main technologies can be used: acoustic waves, which do not provide high bandwidth, optical signals, although the effect of light dispersion in water severely penalizes the transmitted signals and therefore, despite offering high transfer rates, the maximum distance is very small, and electromagnetic (EM waves, which can provide enough bandwidth for video delivery. In the cases where the distance between transmitter and receiver is short, the use of EM waves would be an interesting option since they provide high enough data transfer rates to transmit videos with high resolution. This paper presents a practical study of the behavior of EM waves at 2.4 GHz in freshwater underwater environments. First, we discuss the minimum requirements of a network to allow video delivery. From these results, we measure the maximum distance between nodes and the round trip time (RTT value depending on several parameters such as data transfer rate, signal modulations, working frequency, and water temperature. The results are statistically analyzed to determine their relation. Finally, the EM waves’ behavior is modeled by a set of equations. The results show that there are some combinations of working frequency, modulation, transfer rate and temperature that offer better results than others. Our work shows that short communication distances with high data transfer rates is feasible.

WODA Technical Guidance on Underwater Sound from Dredging.

Science.gov (United States)

Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders

2016-01-01

The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.

Communication and cooperation in underwater acoustic networks

Science.gov (United States)

Yerramalli, Srinivas

In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of

Survivability design for a hybrid underwater vehicle

Energy Technology Data Exchange (ETDEWEB)

Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

2015-03-10

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

Survivability design for a hybrid underwater vehicle

International Nuclear Information System (INIS)

Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

2015-01-01

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

Fixed-pattern noise correction method based on improved moment matching for a TDI CMOS image sensor.

Science.gov (United States)

Xu, Jiangtao; Nie, Huafeng; Nie, Kaiming; Jin, Weimin

2017-09-01

In this paper, an improved moment matching method based on a spatial correlation filter (SCF) and bilateral filter (BF) is proposed to correct the fixed-pattern noise (FPN) of a time-delay-integration CMOS image sensor (TDI-CIS). First, the values of row FPN (RFPN) and column FPN (CFPN) are estimated and added to the original image through SCF and BF, respectively. Then the filtered image will be processed by an improved moment matching method with a moving window. Experimental results based on a 128-stage TDI-CIS show that, after correcting the FPN in the image captured under uniform illumination, the standard deviation of row mean vector (SDRMV) decreases from 5.6761 LSB to 0.1948 LSB, while the standard deviation of the column mean vector (SDCMV) decreases from 15.2005 LSB to 13.1949LSB. In addition, for different images captured by different TDI-CISs, the average decrease of SDRMV and SDCMV is 5.4922/2.0357 LSB, respectively. Comparative experimental results indicate that the proposed method can effectively correct the FPNs of different TDI-CISs while maintaining image details without any auxiliary equipment.

Feasibility of in situ beta ray measurements in underwater environment.

Science.gov (United States)

Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

2017-09-01

We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

Directory of Open Access Journals (Sweden)

M. Fauzi Nor Shah

2011-08-01

Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.

Quantifying Multiscale Habitat Structural Complexity: A Cost-Effective Framework for Underwater 3D Modelling

Directory of Open Access Journals (Sweden)

Renata Ferrari

2016-02-01

Full Text Available Coral reef habitat structural complexity influences key ecological processes, ecosystem biodiversity, and resilience. Measuring structural complexity underwater is not trivial and researchers have been searching for accurate and cost-effective methods that can be applied across spatial extents for over 50 years. This study integrated a set of existing multi-view, image-processing algorithms, to accurately compute metrics of structural complexity (e.g., ratio of surface to planar area underwater solely from images. This framework resulted in accurate, high-speed 3D habitat reconstructions at scales ranging from small corals to reef-scapes (10s km2. Structural complexity was accurately quantified from both contemporary and historical image datasets across three spatial scales: (i branching coral colony (Acropora spp.; (ii reef area (400 m2; and (iii reef transect (2 km. At small scales, our method delivered models with <1 mm error over 90% of the surface area, while the accuracy at transect scale was 85.3% ± 6% (CI. Advantages are: no need for an a priori requirement for image size or resolution, no invasive techniques, cost-effectiveness, and utilization of existing imagery taken from off-the-shelf cameras (both monocular or stereo. This remote sensing method can be integrated to reef monitoring and improve our knowledge of key aspects of coral reef dynamics, from reef accretion to habitat provisioning and productivity, by measuring and up-scaling estimates of structural complexity.

Data extraction system for underwater particle holography

Science.gov (United States)

Nebrensky, J. J.; Craig, Gary; Hobson, Peter R.; Lampitt, R. S.; Nareid, Helge; Pescetto, A.; Trucco, Andrea; Watson, John

2000-08-01

Pulsed laser holography in an extremely powerful technique for the study of particle fields as it allows instantaneous, non-invasive high- resolution recording of substantial volumes. By relaying the real image one can obtain the size, shape, position and - if multiple exposures are made - velocity of every object in the recorded field. Manual analysis of large volumes containing thousands of particles is, however, an enormous and time-consuming task, with operator fatigue an unpredictable source of errors. Clearly the value of holographic measurements also depends crucially on the quality of the reconstructed image: not only will poor resolution degrade the size and shape measurements, but aberrations such as coma and astigmatism can change the perceived centroid of a particle, affecting position and velocity measurements. For large-scale applications of particle field holography, specifically the in situ recording of marine plankton with Holocam, we have developed an automated data extraction system that can be readily switched between the in-line and off-axis geometries and provides optimised reconstruction from holograms recorded underwater. As a videocamera is automatically stepped through the 200 by 200 by 1000mm sample volume, image processing and object tracking routines locate and extract particle images for further classification by a separate software module.

Developing national on-line services to annotate and analyse underwater imagery in a research cloud

Science.gov (United States)

Proctor, R.; Langlois, T.; Friedman, A.; Davey, B.

2017-12-01

Fish image annotation data is currently collected by various research, management and academic institutions globally (+100,000's hours of deployments) with varying degrees of standardisation and limited formal collaboration or data synthesis. We present a case study of how national on-line services, developed within a domain-oriented research cloud, have been used to annotate habitat images and synthesise fish annotation data sets collected using Autonomous Underwater Vehicles (AUVs) and baited remote underwater stereo-video (stereo-BRUV). Two developing software tools have been brought together in the marine science cloud to provide marine biologists with a powerful service for image annotation. SQUIDLE+ is an online platform designed for exploration, management and annotation of georeferenced images & video data. It provides a flexible annotation framework allowing users to work with their preferred annotation schemes. We have used SQUIDLE+ to sample the habitat composition and complexity of images of the benthos collected using stereo-BRUV. GlobalArchive is designed to be a centralised repository of aquatic ecological survey data with design principles including ease of use, secure user access, flexible data import, and the collection of any sampling and image analysis information. To easily share and synthesise data we have implemented data sharing protocols, including Open Data and synthesis Collaborations, and a spatial map to explore global datasets and filter to create a synthesis. These tools in the science cloud, together with a virtual desktop analysis suite offering python and R environments offer an unprecedented capability to deliver marine biodiversity information of value to marine managers and scientists alike.

A bio-inspired electrocommunication system for small underwater robots.

Science.gov (United States)

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

Underwater Shock Wave Research Applied to Therapeutic Device Developments

Science.gov (United States)

Takayama, K.; Yamamoto, H.; Shimokawa, H.

2013-07-01

The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.

Local coding based matching kernel method for image classification.

Directory of Open Access Journals (Sweden)

Yan Song

Full Text Available This paper mainly focuses on how to effectively and efficiently measure visual similarity for local feature based representation. Among existing methods, metrics based on Bag of Visual Word (BoV techniques are efficient and conceptually simple, at the expense of effectiveness. By contrast, kernel based metrics are more effective, but at the cost of greater computational complexity and increased storage requirements. We show that a unified visual matching framework can be developed to encompass both BoV and kernel based metrics, in which local kernel plays an important role between feature pairs or between features and their reconstruction. Generally, local kernels are defined using Euclidean distance or its derivatives, based either explicitly or implicitly on an assumption of Gaussian noise. However, local features such as SIFT and HoG often follow a heavy-tailed distribution which tends to undermine the motivation behind Euclidean metrics. Motivated by recent advances in feature coding techniques, a novel efficient local coding based matching kernel (LCMK method is proposed. This exploits the manifold structures in Hilbert space derived from local kernels. The proposed method combines advantages of both BoV and kernel based metrics, and achieves a linear computational complexity. This enables efficient and scalable visual matching to be performed on large scale image sets. To evaluate the effectiveness of the proposed LCMK method, we conduct extensive experiments with widely used benchmark datasets, including 15-Scenes, Caltech101/256, PASCAL VOC 2007 and 2011 datasets. Experimental results confirm the effectiveness of the relatively efficient LCMK method.

Underwater photogrammetry successful in Spain and France

International Nuclear Information System (INIS)

Anon.

1988-01-01

Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

Deep Learning Methods for Underwater Target Feature Extraction and Recognition

Directory of Open Access Journals (Sweden)

Gang Hu

2018-01-01

Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

Remote sensing of deep hermatypic coral reefs in Puerto Rico and the U.S. Virgin Islands using the Seabed autonomous underwater vehicle

Science.gov (United States)

Armstrong, Roy A.; Singh, Hanumant

2006-09-01

Optical imaging of coral reefs and other benthic communities present below one attenuation depth, the limit of effective airborne and satellite remote sensing, requires the use of in situ platforms such as autonomous underwater vehicles (AUVs). The Seabed AUV, which was designed for high-resolution underwater optical and acoustic imaging, was used to characterize several deep insular shelf reefs of Puerto Rico and the US Virgin Islands using digital imagery. The digital photo transects obtained by the Seabed AUV provided quantitative data on living coral, sponge, gorgonian, and macroalgal cover as well as coral species richness and diversity. Rugosity, an index of structural complexity, was derived from the pencil-beam acoustic data. The AUV benthic assessments could provide the required information for selecting unique areas of high coral cover, biodiversity and structural complexity for habitat protection and ecosystem-based management. Data from Seabed sensors and related imaging technologies are being used to conduct multi-beam sonar surveys, 3-D image reconstruction from a single camera, photo mosaicking, image based navigation, and multi-sensor fusion of acoustic and optical data.

SU-E-I-74: Image-Matching Technique of Computed Tomography Images for Personal Identification: A Preliminary Study Using Anthropomorphic Chest Phantoms

Energy Technology Data Exchange (ETDEWEB)

Matsunobu, Y; Shiotsuki, K [Department of Health Sciences, Graduate School of Medical Sciences, Kyushu University, Fukuoka (Japan); Morishita, J [Department of Health Sciences, Faculty of Medical Sciences, Kyushu University, Fukuoka, JP (Japan)

2015-06-15

Purpose: Fingerprints, dental impressions, and DNA are used to identify unidentified bodies in forensic medicine. Cranial Computed tomography (CT) images and/or dental radiographs are also used for identification. Radiological identification is important, particularly in the absence of comparative fingerprints, dental impressions, and DNA samples. The development of an automated radiological identification system for unidentified bodies is desirable. We investigated the potential usefulness of bone structure for matching chest CT images. Methods: CT images of three anthropomorphic chest phantoms were obtained on different days in various settings. One of the phantoms was assumed to be an unidentified body. The bone image and the bone image with soft tissue (BST image) were extracted from the CT images. To examine the usefulness of the bone image and/or the BST image, the similarities between the two-dimensional (2D) or threedimensional (3D) images of the same and different phantoms were evaluated in terms of the normalized cross-correlation value (NCC). Results: For the 2D and 3D BST images, the NCCs obtained from the same phantom assumed to be an unidentified body (2D, 0.99; 3D, 0.93) were higher than those for the different phantoms (2D, 0.95 and 0.91; 3D, 0.89 and 0.80). The NCCs for the same phantom (2D, 0.95; 3D, 0.88) were greater compared to those of the different phantoms (2D, 0.61 and 0.25; 3D, 0.23 and 0.10) for the bone image. The difference in the NCCs between the same and different phantoms tended to be larger for the bone images than for the BST images. These findings suggest that the image-matching technique is more useful when utilizing the bone image than when utilizing the BST image to identify different people. Conclusion: This preliminary study indicated that evaluating the similarity of bone structure in 2D and 3D images is potentially useful for identifying of an unidentified body.

SU-E-I-74: Image-Matching Technique of Computed Tomography Images for Personal Identification: A Preliminary Study Using Anthropomorphic Chest Phantoms

International Nuclear Information System (INIS)

Matsunobu, Y; Shiotsuki, K; Morishita, J

2015-01-01

Purpose: Fingerprints, dental impressions, and DNA are used to identify unidentified bodies in forensic medicine. Cranial Computed tomography (CT) images and/or dental radiographs are also used for identification. Radiological identification is important, particularly in the absence of comparative fingerprints, dental impressions, and DNA samples. The development of an automated radiological identification system for unidentified bodies is desirable. We investigated the potential usefulness of bone structure for matching chest CT images. Methods: CT images of three anthropomorphic chest phantoms were obtained on different days in various settings. One of the phantoms was assumed to be an unidentified body. The bone image and the bone image with soft tissue (BST image) were extracted from the CT images. To examine the usefulness of the bone image and/or the BST image, the similarities between the two-dimensional (2D) or threedimensional (3D) images of the same and different phantoms were evaluated in terms of the normalized cross-correlation value (NCC). Results: For the 2D and 3D BST images, the NCCs obtained from the same phantom assumed to be an unidentified body (2D, 0.99; 3D, 0.93) were higher than those for the different phantoms (2D, 0.95 and 0.91; 3D, 0.89 and 0.80). The NCCs for the same phantom (2D, 0.95; 3D, 0.88) were greater compared to those of the different phantoms (2D, 0.61 and 0.25; 3D, 0.23 and 0.10) for the bone image. The difference in the NCCs between the same and different phantoms tended to be larger for the bone images than for the BST images. These findings suggest that the image-matching technique is more useful when utilizing the bone image than when utilizing the BST image to identify different people. Conclusion: This preliminary study indicated that evaluating the similarity of bone structure in 2D and 3D images is potentially useful for identifying of an unidentified body

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.

GOTHIC CHURCHES IN PARIS ST GERVAIS ET ST PROTAIS IMAGE MATCHING 3D RECONSTRUCTION TO UNDERSTAND THE VAULTS SYSTEM GEOMETRY

Directory of Open Access Journals (Sweden)

M. Capone

2015-02-01

benefits and the troubles. From a methodological point of view this is our workflow: - theoretical study about geometrical configuration of rib vault systems; - 3D model based on theoretical hypothesis about geometric definition of the vaults' form; - 3D model based on image matching 3D reconstruction methods; - comparison between 3D theoretical model and 3D model based on image matching;

Underwater inverse LIBS (iLIBS) for marine archaeology

Science.gov (United States)

Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.

2013-05-01

In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique

Lattice and strain analysis of atomic resolution Z-contrast images based on template matching

Energy Technology Data Exchange (ETDEWEB)

Zuo, Jian-Min, E-mail: jianzuo@uiuc.edu [Department of Materials Science and Engineering, University of Illinois, Urbana, IL 61801 (United States); Seitz Materials Research Laboratory, University of Illinois, Urbana, IL 61801 (United States); Shah, Amish B. [Center for Microanalysis of Materials, Materials Research Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801 (United States); Kim, Honggyu; Meng, Yifei; Gao, Wenpei [Department of Materials Science and Engineering, University of Illinois, Urbana, IL 61801 (United States); Seitz Materials Research Laboratory, University of Illinois, Urbana, IL 61801 (United States); Rouviére, Jean-Luc [CEA-INAC/UJF-Grenoble UMR-E, SP2M, LEMMA, Minatec, Grenoble 38054 (France)

2014-01-15

A real space approach is developed based on template matching for quantitative lattice analysis using atomic resolution Z-contrast images. The method, called TeMA, uses the template of an atomic column, or a group of atomic columns, to transform the image into a lattice of correlation peaks. This is helped by using a local intensity adjusted correlation and by the design of templates. Lattice analysis is performed on the correlation peaks. A reference lattice is used to correct for scan noise and scan distortions in the recorded images. Using these methods, we demonstrate that a precision of few picometers is achievable in lattice measurement using aberration corrected Z-contrast images. For application, we apply the methods to strain analysis of a molecular beam epitaxy (MBE) grown LaMnO{sub 3} and SrMnO{sub 3} superlattice. The results show alternating epitaxial strain inside the superlattice and its variations across interfaces at the spatial resolution of a single perovskite unit cell. Our methods are general, model free and provide high spatial resolution for lattice analysis. - Highlights: • A real space approach is developed for strain analysis using atomic resolution Z-contrast images and template matching. • A precision of few picometers is achievable in the measurement of lattice displacements. • The spatial resolution of a single perovskite unit cell is demonstrated for a LaMnO{sub 3} and SrMnO{sub 3} superlattice grown by MBE.

Fusing Multiscale Charts into 3D ENC Systems Based on Underwater Topography and Remote Sensing Image

Directory of Open Access Journals (Sweden)

Tao Liu

2015-01-01

Full Text Available The purpose of this study is to propose an approach to fuse multiscale charts into three-dimensional (3D electronic navigational chart (ENC systems based on underwater topography and remote sensing image. This is the first time that the fusion of multiscale standard ENCs in the 3D ENC system has been studied. First, a view-dependent visualization technology is presented for the determination of the display condition of a chart. Second, a map sheet processing method is described for dealing with the map sheet splice problem. A process order called “3D order” is designed to adapt to the characteristics of the chart. A map sheet clipping process is described to deal with the overlap between the adjacent map sheets. And our strategy for map sheet splice is proposed. Third, the rendering method for ENC objects in the 3D ENC system is introduced. Fourth, our picking-up method for ENC objects is proposed. Finally, we implement the above methods in our system: automotive intelligent chart (AIC 3D electronic chart display and information systems (ECDIS. And our method can handle the fusion problem well.

A Directional Antenna in a Matching Liquid for Microwave Radar Imaging

Directory of Open Access Journals (Sweden)

Saeed I. Latif

2015-01-01

Full Text Available The detailed design equations and antenna parameters for a directional antenna for breast imaging are presented in this paper. The antenna was designed so that it could be immersed in canola oil to achieve efficient coupling of the electromagnetic energy to the breast tissue. Ridges were used in the horn antenna to increase the operating bandwidth. The antenna has an exponentially tapered section for impedance matching. The double-ridged horn antenna has a wideband performance from 1.5 GHz to 5 GHz (3.75 GHz or 110% of impedance bandwidth, which is suitable for breast microwave radar imaging. The fabricated antenna was tested and compared with simulated results, and similar bandwidths were obtained. Experiments were conducted on breast phantoms using these antennas, to detect a simulated breast lesion. The reconstructed image from the experiments shows distinguishable tumor responses indicating promising results for successful breast cancer detection.

Remarks on the observability of single beacon underwater navigation

DEFF Research Database (Denmark)

Jouffroy, Jerome; Ross, Andrew

This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...

Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

KAUST Repository

Oubei, Hassan M.

2017-12-13

Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

BisQue: cloud-based system for management, annotation, visualization, analysis and data mining of underwater and remote sensing imagery

Science.gov (United States)

Fedorov, D.; Miller, R. J.; Kvilekval, K. G.; Doheny, B.; Sampson, S.; Manjunath, B. S.

2016-02-01

Logistical and financial limitations of underwater operations are inherent in marine science, including biodiversity observation. Imagery is a promising way to address these challenges, but the diversity of organisms thwarts simple automated analysis. Recent developments in computer vision methods, such as convolutional neural networks (CNN), are promising for automated classification and detection tasks but are typically very computationally expensive and require extensive training on large datasets. Therefore, managing and connecting distributed computation, large storage and human annotations of diverse marine datasets is crucial for effective application of these methods. BisQue is a cloud-based system for management, annotation, visualization, analysis and data mining of underwater and remote sensing imagery and associated data. Designed to hide the complexity of distributed storage, large computational clusters, diversity of data formats and inhomogeneous computational environments behind a user friendly web-based interface, BisQue is built around an idea of flexible and hierarchical annotations defined by the user. Such textual and graphical annotations can describe captured attributes and the relationships between data elements. Annotations are powerful enough to describe cells in fluorescent 4D images, fish species in underwater videos and kelp beds in aerial imagery. Presently we are developing BisQue-based analysis modules for automated identification of benthic marine organisms. Recent experiments with drop-out and CNN based classification of several thousand annotated underwater images demonstrated an overall accuracy above 70% for the 15 best performing species and above 85% for the top 5 species. Based on these promising results, we have extended bisque with a CNN-based classification system allowing continuous training on user-provided data.

A Secure Communication Suite for Underwater Acoustic Sensor Networks

Directory of Open Access Journals (Sweden)

Angelica Lo Duca

2012-11-01

Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

Automatic block-matching registration to improve lung tumor localization during image-guided radiotherapy

Science.gov (United States)

Robertson, Scott Patrick

To improve relatively poor outcomes for locally-advanced lung cancer patients, many current efforts are dedicated to minimizing uncertainties in radiotherapy. This enables the isotoxic delivery of escalated tumor doses, leading to better local tumor control. The current dissertation specifically addresses inter-fractional uncertainties resulting from patient setup variability. An automatic block-matching registration (BMR) algorithm is implemented and evaluated for the purpose of directly localizing advanced-stage lung tumors during image-guided radiation therapy. In this algorithm, small image sub-volumes, termed "blocks", are automatically identified on the tumor surface in an initial planning computed tomography (CT) image. Each block is independently and automatically registered to daily images acquired immediately prior to each treatment fraction. To improve the accuracy and robustness of BMR, this algorithm incorporates multi-resolution pyramid registration, regularization with a median filter, and a new multiple-candidate-registrations technique. The result of block-matching is a sparse displacement vector field that models local tissue deformations near the tumor surface. The distribution of displacement vectors is aggregated to obtain the final tumor registration, corresponding to the treatment couch shift for patient setup correction. Compared to existing rigid and deformable registration algorithms, the final BMR algorithm significantly improves the overlap between target volumes from the planning CT and registered daily images. Furthermore, BMR results in the smallest treatment margins for the given study population. However, despite these improvements, large residual target localization errors were noted, indicating that purely rigid couch shifts cannot correct for all sources of inter-fractional variability. Further reductions in treatment uncertainties may require the combination of high-quality target localization and adaptive radiotherapy.

Underwater Acoustic Target Tracking: A Review

Science.gov (United States)

Han, Ying; Fan, Liying

2018-01-01

Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

Photogrammetry in maritime and underwater archaeology: two marble wrecks from Sicily

Science.gov (United States)

Balletti, C.; Beltrame, C.; Costa, E.; Guerra, F.; Vernier, P.

2015-06-01

Underwater survey, compared to land archaeology, needs some specific techniques, because the application of some active 3D sensor, such as laser scanner, is obviously impossible. The necessity to produce three-dimensional survey, offering the same accuracy of classical terrestrial laserscanning or photogrammetric methods, combined with the request of low costs and rapid solutions, led the researchers to test and apply oftentimes image-based techniques. In the last two years the Ca' Foscari University and University IUAV of Venice are conducting a research on the application of integrated techniques to support underwater metric documentation, comparing them to the manual traditional one. The gained experience (and confirmed by other recently published papers) shows that the actual multiimage digital photogrammetry is a good solution for the underwater archaeology. This approach is useful both from a metric and from a recording point of view, because it achieves high quality results, such as accurate 3D models or 2D representations, offering a complete documentation of underwater sites. But photogrammetry has to be supported by a topographical survey (to acquire ground control points - GCP) to georeference all the finds in the same reference system. This paper presents the integrated survey of two roman shipwrecks, approaching differently in the GCP's acquisition just for the different morphological characteristic of the sites. The wrecks' cargos are huge marble blocks, presenting differences in quantities, layout and depths. Those characteristics determine the choice of the topographic survey. The results of the survey are two 3D polygonal textured models of the sites, which can be easily used for different analyses and reconstructive hypothesis, opening new possibilities of documentation with both specialists and the wider public. Furthermore, 3D models are the geometric base for 2D orthophoto and cross section extraction. The paper will illustrate all the phases

Underwater running device

International Nuclear Information System (INIS)

Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

1996-01-01

An underwater running device for an underwater inspection device for detecting inner surfaces of a reactor or a water vessel has an outer frame and an inner frame, and both of them are connected slidably by an air cylinder and connected rotatably by a shaft. The outer frame has four outer frame legs, and each of the outer frame legs is equipped with a sucker at the top end. The inner frame has four inner frame legs each equipped with a sucker at the top end. The outer frame legs and the inner frame legs are each connected with the outer frame and the inner frame by the air cylinder. The outer and the inner frame legs can be elevated or lowered (or extended or contracted) by the air cylinder. The sucker is connected with a jet pump-type negative pressure generator. The device can run and move by repeating attraction and releasing of the outer frame legs and the inner frame legs alternately while maintaining the posture of the inspection device stably. (I.N.)

Smelling and Tasting Underwater.

Science.gov (United States)

Atema, Jelle

1980-01-01

Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

Underwater Coatings for Contamination Control

International Nuclear Information System (INIS)

Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

2004-01-01

The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

Application of underwater radon measurements in geology

Energy Technology Data Exchange (ETDEWEB)

Varhegyi, A.; Baranyi, I.; Gerzson, I. (Mecsek Ore Mining Enterprise, Pecs (Hungary)); Somogyi, G.; Hakl, J.; Hunyadi, I. (Magyar Tudomanyos Akademia, Debrecen (Hungary). Atommag Kutato Intezete)

1988-01-01

Based on the observed phenomenon of geogas migration in microbubble form from deeper regions, the authors have developed a new model for the vertical transport of radon released from deeper sources. The physical properties of the rock relating to the upflow of microbubbles below the groundwater level are considered and the radon transport parameter of rocks is introduced. The vertical distribution of radon concentration in the case of a multi-layered geological model is given and the penetration depth of underwater radon measurements is examined. Aspects of underwater radon detection by the nuclear track detector technique are analyzed. The radon transport model gives a new theoretical basis for several applications of radon measurements in geology. The advantages of underwater radon detection have already been proved in uranium exploration. Further geological applications are proposed in earthquake prediction, in volcanology, in the survey of active faults and thermal waters. (author).

Remote Underwater Characterization System - Innovative Technology Summary Report

International Nuclear Information System (INIS)

Willis, W.D.

1999-01-01

Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

Science.gov (United States)

Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

2018-05-25

Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

Model-based processing for underwater acoustic arrays

CERN Document Server

Sullivan, Edmund J

2015-01-01

This monograph presents a unified approach to model-based processing for underwater acoustic arrays. The use of physical models in passive array processing is not a new idea, but it has been used on a case-by-case basis, and as such, lacks any unifying structure. This work views all such processing methods as estimation procedures, which then can be unified by treating them all as a form of joint estimation based on a Kalman-type recursive processor, which can be recursive either in space or time, depending on the application. This is done for three reasons. First, the Kalman filter provides a natural framework for the inclusion of physical models in a processing scheme. Second, it allows poorly known model parameters to be jointly estimated along with the quantities of interest. This is important, since in certain areas of array processing already in use, such as those based on matched-field processing, the so-called mismatch problem either degrades performance or, indeed, prevents any solution at all. Third...

Hausdorff-Based RC and IESIL Combined Positioning Algorithm for Underwater Geomagnetic Navigation

Directory of Open Access Journals (Sweden)

Lin Yi

2010-01-01

Full Text Available This paper presents a primitive solution with novel scheme and algorithm for Underwater geoMagnetic Navigation (UMN, which now occurs as the hot-point in the research field of navigation. UMN as an independent or supplementary technique can theoretically supply accurate locations for marine vehicles, but in practice there are plenty of restrictions for UMN's application (e.g., geomagnetic daily variation. After analysis of the theoretical model of geomagnetic positioning in the correlation-matching mode from the viewpoint of pattern recognition, this paper proposed an appropriate matching scenario and a combined positioning algorithm for UMN. The subalgorithm of Hausdorff-based Relative Correlation (RC corresponding to the pattern classification module implements the coarse positioning, and the subalgorithm of Isograms Equidistance-Segmenting theIntersection Lines (IESILs associated with the module of feature extraction continues the fine positioning. The experiments based on the simulation platform and the real-surveyed data both validate the new algorithm, and its efficiency and accuracy are also discussed. It can be concluded that the work introduced in this paper gives an initial and real validation of UMN's potentiality.

A review of underwater bio-mimetic propulsion: cruise and fast-start

Science.gov (United States)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang

2017-08-01

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.

A review of underwater bio-mimetic propulsion: cruise and fast-start

Energy Technology Data Exchange (ETDEWEB)

Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang, E-mail: PanGuang_010@163.com [School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072 (China)

2017-08-15

This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion. (review)

Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

Science.gov (United States)

Yoo, Jeehyun; Lim, Kil-Byung; Lee, Hong-Jae; Kwon, Yong-Geol

2014-10-01

To evaluate the cardiovascular response during head-out water immersion, underwater treadmill gait, and land treadmill gait in stroke patients. Ten stroke patients were recruited for underwater and land treadmill gait sessions. Each session was 40 minutes long; 5 minutes for standing rest on land, 5 minutes for standing rest in water or on treadmill, 20 minutes for treadmill walking in water or on land, 5 minutes for standing rest in water or on treadmill, and 5 minutes for standing rest on land. Blood pressure (BP) and heart rate (HR) were measured during each session. In order to estimate the cardiovascular workload and myocardial oxygen demand, the rate pressure product (RPP) value was calculated by multiplying systolic BP (SBP) by HR. SBP, DBP, mean BP (mBP), and RPP decreased significantly after water immersion, but HR was unchanged. During underwater and land treadmill gait, SBP, mBP, DBP, RPP, and HR increased. However, the mean maximum increases in BP, HR and RPP of underwater treadmill walking were significantly lower than that of land treadmill walking. Stroke patients showed different cardiovascular responses during water immersion and underwater gait as opposed to standing and treadmill-walking on land. Water immersion and aquatic treadmill gait may reduce the workload of the cardiovascular system. This study suggested that underwater treadmill may be a safe and useful option for cardiovascular fitness and early ambulation in stroke rehabilitation.

Channel coding for underwater acoustic single-carrier CDMA communication system

Science.gov (United States)

Liu, Lanjun; Zhang, Yonglei; Zhang, Pengcheng; Zhou, Lin; Niu, Jiong

2017-01-01

CDMA is an effective multiple access protocol for underwater acoustic networks, and channel coding can effectively reduce the bit error rate (BER) of the underwater acoustic communication system. For the requirements of underwater acoustic mobile networks based on CDMA, an underwater acoustic single-carrier CDMA communication system (UWA/SCCDMA) based on the direct-sequence spread spectrum is proposed, and its channel coding scheme is studied based on convolution, RA, Turbo and LDPC coding respectively. The implementation steps of the Viterbi algorithm of convolutional coding, BP and minimum sum algorithms of RA coding, Log-MAP and SOVA algorithms of Turbo coding, and sum-product algorithm of LDPC coding are given. An UWA/SCCDMA simulation system based on Matlab is designed. Simulation results show that the UWA/SCCDMA based on RA, Turbo and LDPC coding have good performance such that the communication BER is all less than 10-6 in the underwater acoustic channel with low signal to noise ratio (SNR) from -12 dB to -10dB, which is about 2 orders of magnitude lower than that of the convolutional coding. The system based on Turbo coding with Log-MAP algorithm has the best performance.

A Review of the Emerging Field of Underwater Mass Spectrometry

Directory of Open Access Journals (Sweden)

Emily Chua

2016-11-01

Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

State-of-the-Art System Solutions for Unmanned Underwater Vehicles

Directory of Open Access Journals (Sweden)

A. E. Yilmaz

2009-12-01

Full Text Available Unmanned Underwater Vehicles (UUVs have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in navigation, control and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this paper, we first revisit the existing technology and methodology for the solution of aforementioned problems, then we try to come up with a system solution of a generic unmanned underwater vehicles.

Text Character Extraction Implementation from Captured Handwritten Image to Text Conversionusing Template Matching Technique

Directory of Open Access Journals (Sweden)

Barate Seema

2016-01-01

Full Text Available Images contain various types of useful information that should be extracted whenever required. A various algorithms and methods are proposed to extract text from the given image, and by using that user will be able to access the text from any image. Variations in text may occur because of differences in size, style,orientation, alignment of text, and low image contrast, composite backgrounds make the problem during extraction of text. If we develop an application that extracts and recognizes those texts accurately in real time, then it can be applied to many important applications like document analysis, vehicle license plate extraction, text- based image indexing, etc and many applications have become realities in recent years. To overcome the above problems we develop such application that will convert the image into text by using algorithms, such as bounding box, HSV model, blob analysis,template matching, template generation.

The aquatic tympanic ear: convergent adaptations for underwater hearing in three tetrapods

DEFF Research Database (Denmark)

Christensen-Dalsgaard, Jakob; Wahlberg, Magnus; Larsen, Ole Næsbye

pressure, low particle motion medium, and the consequence is that an efficient underwater ear is sensitive to sound pressure. It is often stated that underwater hearing can work efficiently without a middle ear apparatus by bone conduction, since sound is transmitted from water to inner ear tissue...... is modified (cartilaginous or partly cartilaginous). In all three species, the lowest threshold to underwater sound is at this peak frequency and is around 80 dB re 1 µPa. The sensitivity to sound pressure is slightly lower in water than in air, making underwater hearing much more efficient in terms of sound...

Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

DEFF Research Database (Denmark)

Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

NARCIS (Netherlands)

Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

2012-01-01

The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

Underwater methods for study of salmonids in the Intermountain West

Science.gov (United States)

Russell F. Thurow

1994-01-01

This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.

Underwater detection by using ultrasonic sensor

Science.gov (United States)

Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

2017-09-01

This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

Aerial image geolocalization by matching its line structure with route map

Science.gov (United States)

Kunina, I. A.; Terekhin, A. P.; Khanipov, T. M.; Kuznetsova, E. G.; Nikolaev, D. P.

2017-03-01

The classic way of aerial photographs geolocation is to bind their local coordinates to a geographic coordinate system using GPS and IMU data. At the same time the possibility of geolocation in a jammed navigation field is also of interest for practical purposes. In this paper we consider one approach to visual localization relatively to a vector road map without GPS. We suggest a geolocalization algorithm which detects image line segments and looks for a geometrical transformation which provides the best mapping between the obtained segments set and line segments in the road map. We consider IMU and altimeter data still known which allows to work with orthorectified images. The problem is hence reduced to a search for a transformation which contains an arbitrary shift and bounded rotation and scaling relatively to the vector map. These parameters are estimated using RANSAC by matching straight line segments from the image to vector map segments. We also investigate how the proposed algorithm's stability is influenced by segment coordinates (two spatial and one angular).

Mix-and-match holography

KAUST Repository

Peng, Yifan

2017-11-22

Computational caustics and light steering displays offer a wide range of interesting applications, ranging from art works and architectural installations to energy efficient HDR projection. In this work we expand on this concept by encoding several target images into pairs of front and rear phase-distorting surfaces. Different target holograms can be decoded by mixing and matching different front and rear surfaces under specific geometric alignments. Our approach, which we call mix-and-match holography, is made possible by moving from a refractive caustic image formation process to a diffractive, holographic one. This provides the extra bandwidth that is required to multiplex several images into pairing surfaces.

Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Directory of Open Access Journals (Sweden)

Yueyue Deng

2013-01-01

Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

Cooperative OFDM underwater acoustic communications

CERN Document Server

Cheng, Xilin; Cheng, Xiang

2016-01-01

Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

Underwater laser cladding and seal welding for INCONEL 52

International Nuclear Information System (INIS)

Tamura, Masataka; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Yoda, Masaki

2007-01-01

Recently, stress corrosion cracking (SCC) has been observed at aged components of nuclear power plants under water environment and high exposure of radiation. Toshiba has been developing both an underwater laser welding directly onto surface of the aged components as maintenance and repair techniques. This paper reports underwater laser cladding and seal welding for INCONEL 52. (author)

Constructing New Biorthogonal Wavelet Type which Matched for Extracting the Iris Image Features

International Nuclear Information System (INIS)

Isnanto, R Rizal; Suhardjo; Susanto, Adhi

2013-01-01

Some former research have been made for obtaining a new type of wavelet. In case of iris recognition using orthogonal or biorthogonal wavelets, it had been obtained that Haar filter is most suitable to recognize the iris image. However, designing the new wavelet should be done to find a most matched wavelet to extract the iris image features, for which we can easily apply it for identification, recognition, or authentication purposes. In this research, a new biorthogonal wavelet was designed based on Haar filter properties and Haar's orthogonality conditions. As result, it can be obtained a new biorthogonal 5/7 filter type wavelet which has a better than other types of wavelets, including Haar, to extract the iris image features based on its mean-squared error (MSE) and Euclidean distance parameters.

Inversion of Side Scan Sonar Motion and Posture in Seabed Geomorphology

Directory of Open Access Journals (Sweden)

Tao Weiliang

2017-08-01

Full Text Available Side scan sonar measurement platform, affected by underwater environment and its own motion precision, inevitably has posture and motion disturbance, which greatly affects accuracy of geomorphic image formation. It is difficult to sensitively and accurately capture these underwater disturbances by relying on auxiliary navigation devices. In this paper, we propose a method to invert motion and posture information of the measurement platform by using the matching relation between the strip images. The inversion algorithm is the key link in the image mosaic frame of side scan sonar, and the acquired motion posture information can effectively improve seabed topography and plotting accuracy and stability. In this paper, we first analyze influence of platform motion and posture on side scan sonar mapping, and establish the correlation model between motion, posture information and strip image matching information. Then, based on the model, a reverse neural network is established. Based on input, output of neural network, design of and test data set, a motion posture inversion mechanism based on strip image matching information is established. Accuracy and validity of the algorithm are verified by the experimental results.

Safety aspects for underwater vehicles

Digital Repository Service at National Institute of Oceanography (India)

Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1], etc. The ultimate aim in all autonomous platforms research and development is to reach the stage of unescorted missions with minimum failures...

The WODA guidance paper on underwater sound from dredging (abstract)

NARCIS (Netherlands)

Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

2013-01-01

The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

MR angiography with a matched filter

International Nuclear Information System (INIS)

De Castro, J.B.; Riederer, S.J.; Lee, J.N.

1987-01-01

The technique of matched filtering was applied to a series of cine MR images. The filter was devised to yield a subtraction angiographic image in which direct current components present in the cine series are removed and the signal-to-noise ratio (S/N) of the vascular structures is optimized. The S/N of a matched filter was compared with that of a simple subtraction, in which an image with high flow is subtracted from one with low flow. Experimentally, a range of results from minimal improvement to significant (60%) improvement in S/N was seen in the comparisons of matched filtered subtraction with simple subtraction

Defect detectability of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro

2011-01-01

We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)

Experimental Study on the Measurement of Water Bottom Vibration Induced by Underwater Drilling Blasting

OpenAIRE

Wenbin, Gu; Jianghai, Chen; Zhenxiong, Wang; Zhihua, Wang; Jianqing, Liu; Ming, Lu

2015-01-01

Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater ...

A tiger cannot change its stripes: using a three-dimensional model to match images of living tigers and tiger skins.

Science.gov (United States)

Hiby, Lex; Lovell, Phil; Patil, Narendra; Kumar, N Samba; Gopalaswamy, Arjun M; Karanth, K Ullas

2009-06-23

The tiger is one of many species in which individuals can be identified by surface patterns. Camera traps can be used to record individual tigers moving over an array of locations and provide data for monitoring and studying populations and devising conservation strategies. We suggest using a combination of algorithms to calculate similarity scores between pattern samples scanned from the images to automate the search for a match to a new image. We show how using a three-dimensional surface model of a tiger to scan the pattern samples allows comparison of images that differ widely in camera angles and body posture. The software, which is free to download, considerably reduces the effort required to maintain an image catalogue and we suggest it could be used to trace the origin of a tiger skin by searching a central database of living tigers' images for matches to an image of the skin.

Applicability evaluation of eddy current testing for underwater laser beam welding

International Nuclear Information System (INIS)

Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro

2010-01-01

We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)

A Survey of Routing Issues and Associated Protocols in Underwater Wireless Sensor Networks

Directory of Open Access Journals (Sweden)

Muhammad Khalid

2017-01-01

Full Text Available Underwater wireless sensor networks are a newly emerging wireless technology in which small size sensors with limited energy and limited memory and bandwidth are deployed in deep sea water and various monitoring operations like tactical surveillance, environmental monitoring, and data collection are performed through these tiny sensors. Underwater wireless sensor networks are used for the exploration of underwater resources, oceanographic data collection, flood or disaster prevention, tactical surveillance systems, and unmanned underwater vehicles. Sensor nodes consist of a small memory, a central processing unit, and an antenna. Underwater networks are much different from terrestrial sensor networks as radio waves cannot be used in underwater wireless sensor networks. Acoustic channels are used for communication in deep sea water. Acoustic signals have many limitations, such as limited bandwidth, higher end-to-end delay, network path loss, higher propagation delay, and dynamic topology. Usually, these limitations result in higher energy consumption with a smaller number of packets delivered. The main aim nowadays is to operate sensor nodes having a smaller battery for a longer time in the network. This survey has discussed the state-of-the-art localization based and localization-free routing protocols. Routing associated issues in the area of underwater wireless sensor networks have also been discussed.

Spin-image surface matching based target recognition in laser radar range imagery

International Nuclear Information System (INIS)

Li, Wang; Jian-Feng, Sun; Qi, Wang

2010-01-01

We explore the problem of in-plane rotation-invariance existing in the vertical detection of laser radar (Ladar) using the algorithm of spin-image surface matching. The method used to recognize the target in the range imagery of Ladar is time-consuming, owing to its complicated procedure, which violates the requirement of real-time target recognition in practical applications. To simplify the troublesome procedures, we improve the spin-image algorithm by introducing a statistical correlated coefficient into target recognition in range imagery of Ladar. The system performance is demonstrated on sixteen simulated noise range images with targets rotated through an arbitrary angle in plane. A high efficiency and an acceptable recognition rate obtained herein testify the validity of the improved algorithm for practical applications. The proposed algorithm not only solves the problem of in-plane rotation-invariance rationally, but also meets the real-time requirement. This paper ends with a comparison of the proposed method and the previous one. (classical areas of phenomenology)

Stereo matching using epipolar distance transform.

Science.gov (United States)

Yang, Qingxiong; Ahuja, Narendra

2012-10-01

In this paper, we propose a simple but effective image transform, called the epipolar distance transform, for matching low-texture regions. It converts image intensity values to a relative location inside a planar segment along the epipolar line, such that pixels in the low-texture regions become distinguishable. We theoretically prove that the transform is affine invariant, thus the transformed images can be directly used for stereo matching. Any existing stereo algorithms can be directly used with the transformed images to improve reconstruction accuracy for low-texture regions. Results on real indoor and outdoor images demonstrate the effectiveness of the proposed transform for matching low-texture regions, keypoint detection, and description for low-texture scenes. Our experimental results on Middlebury images also demonstrate the robustness of our transform for highly textured scenes. The proposed transform has a great advantage, its low computational complexity. It was tested on a MacBook Air laptop computer with a 1.8 GHz Core i7 processor, with a speed of about 9 frames per second for a video graphics array-sized image.

Efficient line matching with homography

Science.gov (United States)

Shen, Yan; Dai, Yuxing; Zhu, Zhiliang

2018-03-01

In this paper, we propose a novel approach to line matching based on homography. The basic idea is to use cheaply obtainable matched points to boost the similarity between two images. Two types of homography method, which are estimated by direct linear transformation, transform images and extract their similar parts, laying a foundation for the use of optical flow tracking. The merit of the similarity is that rapid matching can be achieved by regionalizing line segments and local searching. For multiple homography estimation that can perform better than one global homography, we introduced the rank-one modification method of singular value decomposition to reduce the computation cost. The proposed approach results in point-to-point matches, which can be utilized with state-of-the-art point-match-based structures from motion (SfM) frameworks seamlessly. The outstanding performance and feasible robustness of our approach are demonstrated in this paper.

Bayesian grid matching

DEFF Research Database (Denmark)

Hartelius, Karsten; Carstensen, Jens Michael

2003-01-01

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

Study on underwater plasma arc cutting technology

International Nuclear Information System (INIS)

Yada, Toshio; Nakamura, Uhachiro; Tomidokoro, Sakae; Fukuzawa, Mitsuo

1980-01-01

The zirconium alloy tube of the impile creep test facility had been subjected to inner pressure in the Japan Material Testing Reactor (JMTR) environment. In the near future, it will be necessary to dismantle the facility and to take out the tube for such examinations as irradiation effects on material properties. In order to establish the dismantling technology for the radioactive facility, a study on underwater plasma arc cutting has been carried out since 1977. Primarily, optimum underwater cutting sequence and conditions were studied in details for developing the remote control handling and the cutting system. Further, the amounts of particles suspended in water as well as those contained in bubbled gas were quantitatively analyzed for developing a safe removal system for contaminants which were produced by cutting the radioactive material. As a result of this study, it has been concluded that the underwater plasma arc cutting method is generally suitable and effective for dismantling such radioactive material as the impile creep test facility of the JMTR. (author)

Modeling and Control of Underwater Robotic Systems

Energy Technology Data Exchange (ETDEWEB)

Schjoelberg, I:

1996-12-31

This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

Supervised retinal vessel segmentation from color fundus images based on matched filtering and AdaBoost classifier.

Directory of Open Access Journals (Sweden)

Nogol Memari

Full Text Available The structure and appearance of the blood vessel network in retinal fundus images is an essential part of diagnosing various problems associated with the eyes, such as diabetes and hypertension. In this paper, an automatic retinal vessel segmentation method utilizing matched filter techniques coupled with an AdaBoost classifier is proposed. The fundus image is enhanced using morphological operations, the contrast is increased using contrast limited adaptive histogram equalization (CLAHE method and the inhomogeneity is corrected using Retinex approach. Then, the blood vessels are enhanced using a combination of B-COSFIRE and Frangi matched filters. From this preprocessed image, different statistical features are computed on a pixel-wise basis and used in an AdaBoost classifier to extract the blood vessel network inside the image. Finally, the segmented images are postprocessed to remove the misclassified pixels and regions. The proposed method was validated using publicly accessible Digital Retinal Images for Vessel Extraction (DRIVE, Structured Analysis of the Retina (STARE and Child Heart and Health Study in England (CHASE_DB1 datasets commonly used for determining the accuracy of retinal vessel segmentation methods. The accuracy of the proposed segmentation method was comparable to other state of the art methods while being very close to the manual segmentation provided by the second human observer with an average accuracy of 0.972, 0.951 and 0.948 in DRIVE, STARE and CHASE_DB1 datasets, respectively.

Hydrodynamic design of an underwater hull cleaning robot and its evaluation

Directory of Open Access Journals (Sweden)

Man Hyung Lee

2012-12-01

Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

Monterey Bay ambient noise profiles using underwater gliders

OpenAIRE

Chandrayadula, Tarun K.; Miller, Chris W.; Joseph, John

2013-01-01

The article of record as published may be found at http://dx.doi.org/10.1121/1.4799131 In 2012, during two separate week-long deployments, underwater gliders outfitted with external hydrophones profiled the upper 100-200 m of the Monterey Bay. The environment contained various noises made by marine mammals, ships, winds, and earthquakes. Unlike hydrophone receivers moored to a fixed location, moving gliders measure noise variability across a wide terrain. However, underwater mobile s...

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

Directory of Open Access Journals (Sweden)

Nasir Saeed

2017-12-01

Full Text Available Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.

Science.gov (United States)

Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y; Alouini, Mohamed-Slim

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

2017-01-01

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

KAUST Repository

Saeed, Nasir

2017-12-26

Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

Cutting method and device underwater

International Nuclear Information System (INIS)

Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

1998-01-01

A place of material to be cut is surrounded by an openable/closable box. The material to be cut is cut underwater, and materials generated in this case are removed from the cut portion by a pressurized water jet. The removed materials are sucked and recovered together with water in the box. Among the materials caused by the cutting underwater, solid materials not floating on water are caused to stay in the midway of a sucking and recovering channel. A large sucking force might be required for the entire region of the sucking and recovering channel when sucking and recovering large sized solid materials not floating on water, but even large sized materials can be recovered easily according to the present invention since they are recovered after being sucked and stayed in the midway of the sucking and recovering channel. (N.H.)

Underwater Optical Wireless Communications, Networking, and Localization: A Survey

KAUST Repository

Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

2018-01-01

Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

Underwater Optical Wireless Communications, Networking, and Localization: A Survey

KAUST Repository

Saeed, Nasir

2018-02-28

Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

Laser-Generated Shocks and Bubbles as Laboratory-Scale Models of Underwater Explosions

Directory of Open Access Journals (Sweden)

Theodore G. Jones

2003-01-01

Full Text Available Underwater shocks and bubbles were generated using a high energy pulsed laser system. The advantages of this experimental approach are: (1 precisely controlled and measured experimental conditions; (2 improved diagnostics, including extensive imaging capabilities; (3 unique experiments, including a simultaneously detonated line charge; and (4 the ability to provide validation quality data for hydrodynamic simulation codes. Bubble sensitivity to variation of several experimental parameters was examined. Numerical simulations were performed corresponding to the experimental shots, showing that empirical bubble theory, experimental bubble data, and simulations were all in good agreement.

A thermal engine for underwater glider driven by ocean thermal energy

International Nuclear Information System (INIS)

Yang, Yanan; Wang, Yanhui; Ma, Zhesong; Wang, Shuxin

2016-01-01

Highlights: • Thermal engine with a double-tube structure is developed for underwater glider. • Isostatic pressing technology is effective to increase volumetric change rate. • Actual volumetric change rate reaches 89.2% of the theoretical value. • Long term sailing of 677 km and 27 days is achieved by thermal underwater glider. - Graphical Abstract: - Abstract: Underwater glider is one of the most popular platforms for long term ocean observation. Underwater glider driven by ocean thermal energy extends the duration and range of underwater glider powered by battery. Thermal engine is the core device of underwater glider to harvest ocean thermal energy. In this paper, (1) model of thermal engine was raised by thermodynamics method and the performance of thermal engine was investigated, (2) thermal engine with a double-tube structure was developed and isostatic pressing technology was applied to improve the performance for buoyancy driven, referencing powder pressing theory, (3) wall thickness of thermal engine was optimized to reduce the overall weight of thermal engine, (4) material selection and dimension determination were discussed for a faster heat transfer design, by thermal resistance analysis, (5) laboratory test and long term sea trail were carried out to test the performance of thermal engine. The study shows that volumetric change rate is the most important indicator to evaluating buoyancy-driven performance of a thermal engine, isostatic pressing technology is effective to improve volumetric change rate, actual volumetric change rate can reach 89.2% of the theoretical value and the average power is about 124 W in a typical diving profile. Thermal engine developed by Tianjin University is a superior thermal energy conversion device for underwater glider. Additionally, application of thermal engine provides a new solution for miniaturization of ocean thermal energy conversion.

Summary of the guideline on underwater laser beam repair welding

International Nuclear Information System (INIS)

Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

2013-01-01

It is known that stress corrosion cracking (SCC) might occur at the weld of a reactor pressure vessel or core internals. Underwater laser beam clad welding for mitigation of SCC has been already established and the guideline 'Underwater laser beam clad welding' was published. Moreover, the guideline 'Seal welding' was also published as a repair method for SCC. In addition to these guidelines, the guideline 'Underwater laser beam repair welding' was newly published in November, 2012 for the repair welding after completely removing a SCC crack occurred in weld or base metal. This paper introduces the summary of this guideline. (author)

Application of YAG laser processing in underwater welding and cutting

Energy Technology Data Exchange (ETDEWEB)

Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

2002-09-01

The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

Matched-Filter Thermography

Directory of Open Access Journals (Sweden)

Nima Tabatabaei

2018-04-01

Full Text Available Conventional infrared thermography techniques, including pulsed and lock-in thermography, have shown great potential for non-destructive evaluation of broad spectrum of materials, spanning from metals to polymers to biological tissues. However, performance of these techniques is often limited due to the diffuse nature of thermal wave fields, resulting in an inherent compromise between inspection depth and depth resolution. Recently, matched-filter thermography has been introduced as a means for overcoming this classic limitation to enable depth-resolved subsurface thermal imaging and improving axial/depth resolution. This paper reviews the basic principles and experimental results of matched-filter thermography: first, mathematical and signal processing concepts related to matched-fileting and pulse compression are discussed. Next, theoretical modeling of thermal-wave responses to matched-filter thermography using two categories of pulse compression techniques (linear frequency modulation and binary phase coding are reviewed. Key experimental results from literature demonstrating the maintenance of axial resolution while inspecting deep into opaque and turbid media are also presented and discussed. Finally, the concept of thermal coherence tomography for deconvolution of thermal responses of axially superposed sources and creation of depth-selective images in a diffusion-wave field is reviewed.

Polarimetry and Schlieren diagnostics of underwater exploding wires

Science.gov (United States)

Fedotov-Gefen, A. V.; Krasik, Ya. E.

2009-11-01

Nondisturbing laser-probing polarimetry (based on the Faraday and Kerr effects) and Schlieren diagnostics were used in the investigation of underwater electrical wire explosion. Measuring the polarization plane rotation angle of a probing laser beam due to the Faraday effect allows one to determine an axially resolved current flowing through the exploding wire, unlike commonly used current probes. This optical method of measuring current yields results that match those obtained using a current viewing resistor within an accuracy of 10%. The same optical setup allows simultaneous space-resolved measurement of the electric field using the Kerr effect. It was shown that the maximal amplitude of the electric field in the vicinity of the high-voltage electrode is ˜80 kV/cm and that the radial electric field is <1 MV/cm during the wire explosion. Finally, it was shown that the use of Schlieren diagnostics allows one to obtain qualitatively the density distribution behind the shock wave front, which is important for the determination of the energy transfer from the discharge channel to the generated water flow.

Polarimetry and Schlieren diagnostics of underwater exploding wires

International Nuclear Information System (INIS)

Fedotov-Gefen, A. V.; Krasik, Ya. E.

2009-01-01

Nondisturbing laser-probing polarimetry (based on the Faraday and Kerr effects) and Schlieren diagnostics were used in the investigation of underwater electrical wire explosion. Measuring the polarization plane rotation angle of a probing laser beam due to the Faraday effect allows one to determine an axially resolved current flowing through the exploding wire, unlike commonly used current probes. This optical method of measuring current yields results that match those obtained using a current viewing resistor within an accuracy of 10%. The same optical setup allows simultaneous space-resolved measurement of the electric field using the Kerr effect. It was shown that the maximal amplitude of the electric field in the vicinity of the high-voltage electrode is ∼80 kV/cm and that the radial electric field is <1 MV/cm during the wire explosion. Finally, it was shown that the use of Schlieren diagnostics allows one to obtain qualitatively the density distribution behind the shock wave front, which is important for the determination of the energy transfer from the discharge channel to the generated water flow.

Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

Digital Repository Service at National Institute of Oceanography (India)

Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

Underwater nuclear power plant structure

International Nuclear Information System (INIS)

Severs, S.; Toll, H.V.

1982-01-01

A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

The Modular Optical Underwater Survey System

Directory of Open Access Journals (Sweden)

Ruhul Amin

2017-10-01

Full Text Available The Pacific Islands Fisheries Science Center deploys the Modular Optical Underwater Survey System (MOUSS to estimate the species-specific, size-structured abundance of commercially-important fish species in Hawaii and the Pacific Islands. The MOUSS is an autonomous stereo-video camera system designed for the in situ visual sampling of fish assemblages. This system is rated to 500 m and its low-light, stereo-video cameras enable identification, counting, and sizing of individuals at a range of 0.5–10 m. The modular nature of MOUSS allows for the efficient and cost-effective use of various imaging sensors, power systems, and deployment platforms. The MOUSS is in use for surveys in Hawaii, the Gulf of Mexico, and Southern California. In Hawaiian waters, the system can effectively identify individuals to a depth of 250 m using only ambient light. In this paper, we describe the MOUSS’s application in fisheries research, including the design, calibration, analysis techniques, and deployment mechanism.

Analysing deterioration of marble stones exposed to underwater conditions

Science.gov (United States)

Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

2016-04-01

The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

OpenAIRE

R. Rinaldi; H. Hordosch

2015-01-01

After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Under...

Multi-modal image registration: matching MRI with histology

Science.gov (United States)

Alic, Lejla; Haeck, Joost C.; Klein, Stefan; Bol, Karin; van Tiel, Sandra T.; Wielopolski, Piotr A.; Bijster, Magda; Niessen, Wiro J.; Bernsen, Monique; Veenland, Jifke F.; de Jong, Marion

2010-03-01

Spatial correspondence between histology and multi sequence MRI can provide information about the capabilities of non-invasive imaging to characterize cancerous tissue. However, shrinkage and deformation occurring during the excision of the tumor and the histological processing complicate the co registration of MR images with histological sections. This work proposes a methodology to establish a detailed 3D relation between histology sections and in vivo MRI tumor data. The key features of the methodology are a very dense histological sampling (up to 100 histology slices per tumor), mutual information based non-rigid B-spline registration, the utilization of the whole 3D data sets, and the exploitation of an intermediate ex vivo MRI. In this proof of concept paper, the methodology was applied to one tumor. We found that, after registration, the visual alignment of tumor borders and internal structures was fairly accurate. Utilizing the intermediate ex vivo MRI, it was possible to account for changes caused by the excision of the tumor: we observed a tumor expansion of 20%. Also the effects of fixation, dehydration and histological sectioning could be determined: 26% shrinkage of the tumor was found. The annotation of viable tissue, performed in histology and transformed to the in vivo MRI, matched clearly with high intensity regions in MRI. With this methodology, histological annotation can be directly related to the corresponding in vivo MRI. This is a vital step for the evaluation of the feasibility of multi-spectral MRI to depict histological groundtruth.

Block matching sparsity regularization-based image reconstruction for incomplete projection data in computed tomography

Science.gov (United States)

Cai, Ailong; Li, Lei; Zheng, Zhizhong; Zhang, Hanming; Wang, Linyuan; Hu, Guoen; Yan, Bin

2018-02-01

In medical imaging many conventional regularization methods, such as total variation or total generalized variation, impose strong prior assumptions which can only account for very limited classes of images. A more reasonable sparse representation frame for images is still badly needed. Visually understandable images contain meaningful patterns, and combinations or collections of these patterns can be utilized to form some sparse and redundant representations which promise to facilitate image reconstructions. In this work, we propose and study block matching sparsity regularization (BMSR) and devise an optimization program using BMSR for computed tomography (CT) image reconstruction for an incomplete projection set. The program is built as a constrained optimization, minimizing the L1-norm of the coefficients of the image in the transformed domain subject to data observation and positivity of the image itself. To solve the program efficiently, a practical method based on the proximal point algorithm is developed and analyzed. In order to accelerate the convergence rate, a practical strategy for tuning the BMSR parameter is proposed and applied. The experimental results for various settings, including real CT scanning, have verified the proposed reconstruction method showing promising capabilities over conventional regularization.

Development of underwater and hyperbaric medicine in Malaysia.

Science.gov (United States)

Rozali, A; Rampal, K G; Zin, B Mohd; Sherina, M S; Khairuddin, H; Abd Halim, M; Sulaiman, A

2006-12-01

Underwater and Hyperbaric Medicine is a treatment modality gaining recognition in Malaysia. It uses the hyperbaric oxygen therapy (HBOT) approach where patients are placed in recompression chambers and subjected to oxygen therapy under pressure. In Malaysia it was introduced as early as the 1960's by the Royal Malaysian Navy to treat their divers for decompression illness (DCI), arterial gas embolism (AGE) and barotraumas. Other sectors in the armed forces, universities and private health centres began developing this approach too in the late 1990's, for similar purposes. In 1996, Underwater and Hyperbaric Medicine began gaining its popularity when the Institute of Underwater and Hyperbaric Medicine at the Armed Forces Hospital in Lumut started treating specific clinical diseases such as diabetic foot ulcers, osteomyelitis, and carbon monoxide poisoning and other diseases using HBOT. This paper discusses the development of this interesting treatment modality, giving a brief historical overview to its current development, as well as provides some thought for its future development in Malaysia.

Optimal Node Placement in Underwater Wireless Sensor Networks

KAUST Repository

Felamban, M.

2013-03-25

Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

Underwater colorectal EMR: remodeling endoscopic mucosal resection.

Science.gov (United States)

Curcio, Gabriele; Granata, Antonino; Ligresti, Dario; Tarantino, Ilaria; Barresi, Luca; Liotta, Rosa; Traina, Mario

2015-05-01

Underwater EMR (UEMR) has been reported as a new technique for the removal of large sessile colorectal polyps without need for submucosal injection. To evaluate (1) outcomes of UEMR, (2) whether UEMR can be easily performed by an endoscopist skilled in traditional EMR without specific dedicated training in UEMR, and (3) whether EUS is required before UEMR. Prospective, observational study. Single, tertiary-care referral center. Underwater EMR. Complete resection and adverse events. A total of 72 consecutive patients underwent UEMR of 81 sessile colorectal polyps. EUS was performed before UEMR in 9 cases (11.1%) with a suspicious mucosal/vascular pattern. The mean polyp size was 18.7 mm (range 10-50 mm); the mean UEMR time was 11.8 minutes. Fifty-five polyps (68%) were removed en bloc, and 26 (32%) were removed with a piecemeal technique. Histopathology consisted of tubular adenomas (25.9%), tubulovillous adenomas (5%), adenomas with high-grade dysplasia (42%), serrated polyps (4.9%), carcinoma in situ (13.6%), and hyperplastic polyps (8.6%). Surveillance colonoscopy was scheduled at 3 months. Complete resection was successful in all patients. No adverse events or recurrence was recorded in any of the patients. Limited follow-up; single-center, uncontrolled study. Interventional endoscopists skilled in conventional EMR performed UEMR without specific dedicated training. EUS may not be required for lesions with no invasive features on high-definition narrow-band imaging. UEMR appears to be an effective and safe alternative to traditional EMR and could eventually improve the way in which we can effectively and safely treat colorectal lesions. Copyright © 2015 American Society for Gastrointestinal Endoscopy. Published by Elsevier Inc. All rights reserved.

PIMR: Parallel and Integrated Matching for Raw Data.

Science.gov (United States)

Li, Zhenghao; Yang, Junying; Zhao, Jiaduo; Han, Peng; Chai, Zhi

2016-01-02

With the trend of high-resolution imaging, computational costs of image matching have substantially increased. In order to find the compromise between accuracy and computation in real-time applications, we bring forward a fast and robust matching algorithm, named parallel and integrated matching for raw data (PIMR). This algorithm not only effectively utilizes the color information of raw data, but also designs a parallel and integrated framework to shorten the time-cost in the demosaicing stage. Experiments show that compared to existing state-of-the-art methods, the proposed algorithm yields a comparable recognition rate, while the total time-cost of imaging and matching is significantly reduced.

Histogram Matching Extends Acceptable Signal Strength Range on Optical Coherence Tomography Images

Science.gov (United States)

Chen, Chieh-Li; Ishikawa, Hiroshi; Wollstein, Gadi; Bilonick, Richard A.; Sigal, Ian A.; Kagemann, Larry; Schuman, Joel S.

2015-01-01

Purpose. We minimized the influence of image quality variability, as measured by signal strength (SS), on optical coherence tomography (OCT) thickness measurements using the histogram matching (HM) method. Methods. We scanned 12 eyes from 12 healthy subjects with the Cirrus HD-OCT device to obtain a series of OCT images with a wide range of SS (maximal range, 1–10) at the same visit. For each eye, the histogram of an image with the highest SS (best image quality) was set as the reference. We applied HM to the images with lower SS by shaping the input histogram into the reference histogram. Retinal nerve fiber layer (RNFL) thickness was automatically measured before and after HM processing (defined as original and HM measurements), and compared to the device output (device measurements). Nonlinear mixed effects models were used to analyze the relationship between RNFL thickness and SS. In addition, the lowest tolerable SSs, which gave the RNFL thickness within the variability margin of manufacturer recommended SS range (6–10), were determined for device, original, and HM measurements. Results. The HM measurements showed less variability across a wide range of image quality than the original and device measurements (slope = 1.17 vs. 4.89 and 1.72 μm/SS, respectively). The lowest tolerable SS was successfully reduced to 4.5 after HM processing. Conclusions. The HM method successfully extended the acceptable SS range on OCT images. This would qualify more OCT images with low SS for clinical assessment, broadening the OCT application to a wider range of subjects. PMID:26066749

Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

Science.gov (United States)

1998-03-31

fire supercavitating bullets, requires that 20 the new projectile launchers be tested. The firing of projectile 21 launchers involving a high...of projectile launcher 12 includes an underwater gun 15 that fires supercavitating bullets underwater and has a high 16 discharge energy. However

Strong underwater adhesives made by self-assembling multi-protein nanofibres.

Science.gov (United States)

Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K

2014-10-01

Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.

On the Performance of the Underwater Acoustic Sensor Networks

Science.gov (United States)

2015-05-01

performance of UWSN. 5.1 Hardware and Software Details 5.1.1 Equipment Our experimental model consisted of an indoor swimming pool , two pairs...UWSN has many constraints mainly due to limited capacity, propagation loss, as well as power limitation since in underwater environment solar energy ...since in underwater environment solar energy cannot be used to recharge batteries. In our approach, we estimate the number of operating receivers

International Conference on Underwater Environment

CERN Document Server

Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

2016-01-01

This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

Underwater electric field detection system based on weakly electric fish

Science.gov (United States)

Xue, Wei; Wang, Tianyu; Wang, Qi

2018-04-01

Weakly electric fish sense their surroundings in complete darkness by their active electric field detection system. However, due to the insufficient detection capacity of the electric field, the detection distance is not enough, and the detection accuracy is not high. In this paper, a method of underwater detection based on rotating current field theory is proposed to improve the performance of underwater electric field detection system. First of all, we built underwater detection system based on the theory of the spin current field mathematical model with the help of the results of previous researchers. Then we completed the principle prototype and finished the metal objects in the water environment detection experiments, laid the foundation for the further experiments.

Airborne lidar detection of an underwater thermal vent

Science.gov (United States)

Roddewig, Michael R.; Churnside, James H.; Shaw, Joseph A.

2017-07-01

We report the lidar detection of an underwater feature that appears to be a thermal vent in Yellowstone Lake, Yellowstone National Park, USA, with the Montana State University Fish Lidar. The location of the detected vent was 30 m from the closest vent identified in a United States Geological Survey of Yellowstone Lake in 2008. A second possible vent is also presented, and the appearance of both vents in the lidar data is compared to descriptions of underwater thermal vents in Yellowstone Lake from the geological literature.

Underwater Shock Response Analysis of a Floating Vessel

Directory of Open Access Journals (Sweden)

J.E. van Aanhold

1998-01-01

Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

An energy-harvesting power supply for underwater bridge scour monitoring sensors

Science.gov (United States)

Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.

2018-03-01

The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations

The Basic Research for Pulverization of Rice Using Underwater Shock Wave by Electric Discharge

Directory of Open Access Journals (Sweden)

M Ide

2016-09-01

Full Text Available In recent years, the food self-support rate of Japan is 40%, and this value is the lowest level in major developed countries. This reason includes decreasing of diverting rice consumption in Japan and increasing abandonment of cultivation. Therefore, these problems are solved by using rice powder instead of expensive flour, and we manage to increase the food selfsupport rate. Previously, the rice powder is manufactured by two methods. One is dry type, and the other is wet type. The former is the method getting rice powder by running dried rice to rotating metal, and has a problem which that starch is damaged by heat when processing was performed. The latter is performed same method against wet rice, and has a problem which a large quantity of water is used. As a method to solve these problems, an underwater shock wave is used. Shock wave is the pressure wave which is over speed of sound by discharging high energy in short time. Propagating shock wave in water is underwater shock wave. The characters of underwater shock wave are long duration of shock wave because water density is uniform, water is low price and easy to get and not heat processing. Thinking of industrialization, the electric discharge is used as the generating source of underwater shock wave in the experiment. As the results, the efficiency of obtaining enough grain size, 100ìm, of rice powder was too bad only using the simple processing using underwater shock wave. Therefore, in Okinawa National College of Technology collaborating with us, obtaining rice powder with higher efficiency by using converged underwater shock wave is the goal of this research. In this research, the underwater shock wave with equal energy of the experimental device of underwater shock wave is measured by the optical observation. In addition, the appearance converging underwater shock wave is simulated by numerical analysis, and the pressure appreciation rate between the first wave and converged

The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

Science.gov (United States)

1997-04-01

P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system

Processing and evaluation of image matching tools in radiotherapy; Mise en oeuvre et evaluation d'outils de fusion d'image en radiotherapie

Energy Technology Data Exchange (ETDEWEB)

Bondiau, P Y

2004-11-15

Cancer is a major problem of public health. Treatment can be done in a general or loco-regional way, in this last case medical images are important as they specify the localization of the tumour. The objective of the radiotherapy is to deliver a curative dose of radiation in the target volume while sparing the organs at risks (O.A.R.). The determination of the accurate localization of the targets volume as well as O.A.R. make it possible to define the ballistic of irradiation beams. After the description of the principles of radiotherapy and cancers treatment, we specify the clinical stakes of ocular, cerebral and prostatic tumours. We present a state of the art of image matching, the various techniques reviewed with an aim of being didactic with respect to the medical community. The results of matching are presented within the framework of the planning of the cerebral and prostatic radiotherapy in order to specify the types of applicable matching in oncology and more particularly in radiotherapy. Then, we present the prospects for this type of application according to various anatomical areas. Applications of automatic segmentation and the evaluation of the results in the framework of brain tumour are described after a review of the various segmentation methods according to anatomical localizations. We will see an original application: the digital simulation of the virtual tumoral growth and the comparison with the real growth of a cerebral tumour presented by a patient. Lastly, we will expose the future developments possible of the tools for image processing in radiotherapy as well as the tracks of research to be explored in oncology. (author)

Underwater Welding Techniques

OpenAIRE

Esam F. Alajmi; Ahmad A. Alqenaei

2017-01-01

Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...

Iris Matching Based on Personalized Weight Map.

Science.gov (United States)

Dong, Wenbo; Sun, Zhenan; Tan, Tieniu

2011-09-01

Iris recognition typically involves three steps, namely, iris image preprocessing, feature extraction, and feature matching. The first two steps of iris recognition have been well studied, but the last step is less addressed. Each human iris has its unique visual pattern and local image features also vary from region to region, which leads to significant differences in robustness and distinctiveness among the feature codes derived from different iris regions. However, most state-of-the-art iris recognition methods use a uniform matching strategy, where features extracted from different regions of the same person or the same region for different individuals are considered to be equally important. This paper proposes a personalized iris matching strategy using a class-specific weight map learned from the training images of the same iris class. The weight map can be updated online during the iris recognition procedure when the successfully recognized iris images are regarded as the new training data. The weight map reflects the robustness of an encoding algorithm on different iris regions by assigning an appropriate weight to each feature code for iris matching. Such a weight map trained by sufficient iris templates is convergent and robust against various noise. Extensive and comprehensive experiments demonstrate that the proposed personalized iris matching strategy achieves much better iris recognition performance than uniform strategies, especially for poor quality iris images.

Coarse-to-fine region selection and matching

KAUST Repository

Yang, Yanchao

2015-10-15

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

Computer face-matching technology using two-dimensional photographs accurately matches the facial gestalt of unrelated individuals with the same syndromic form of intellectual disability.

Science.gov (United States)

Dudding-Byth, Tracy; Baxter, Anne; Holliday, Elizabeth G; Hackett, Anna; O'Donnell, Sheridan; White, Susan M; Attia, John; Brunner, Han; de Vries, Bert; Koolen, David; Kleefstra, Tjitske; Ratwatte, Seshika; Riveros, Carlos; Brain, Steve; Lovell, Brian C

2017-12-19

Massively parallel genetic sequencing allows rapid testing of known intellectual disability (ID) genes. However, the discovery of novel syndromic ID genes requires molecular confirmation in at least a second or a cluster of individuals with an overlapping phenotype or similar facial gestalt. Using computer face-matching technology we report an automated approach to matching the faces of non-identical individuals with the same genetic syndrome within a database of 3681 images [1600 images of one of 10 genetic syndrome subgroups together with 2081 control images]. Using the leave-one-out method, two research questions were specified: 1) Using two-dimensional (2D) photographs of individuals with one of 10 genetic syndromes within a database of images, did the technology correctly identify more than expected by chance: i) a top match? ii) at least one match within the top five matches? or iii) at least one in the top 10 with an individual from the same syndrome subgroup? 2) Was there concordance between correct technology-based matches and whether two out of three clinical geneticists would have considered the diagnosis based on the image alone? The computer face-matching technology correctly identifies a top match, at least one correct match in the top five and at least one in the top 10 more than expected by chance (P syndromes except Kabuki syndrome. Although the accuracy of the computer face-matching technology was tested on images of individuals with known syndromic forms of intellectual disability, the results of this pilot study illustrate the potential utility of face-matching technology within deep phenotyping platforms to facilitate the interpretation of DNA sequencing data for individuals who remain undiagnosed despite testing the known developmental disorder genes.