Star Camera Calibration Combined with Independent Spacecraft Attitude Determination

A methodology for determining spacecraft attitude and autonomously calibrating star camera, both independent of each other, is presented in this paper. Unlike most of the attitude determination algorithms where attitude of the satellite depend on the camera calibrating parameters (like principal point offset, focal length etc.), the proposed method has the advantage of computing spacecraft attitude independently of camera calibrating parameters except lens distortion. In the proposed method both attitude estimation and star camera calibration is done together independent of each other by directly utilizing the star coordinate in image plane and corresponding star vector in inertial coordinate frame. Satellite attitude, camera principal point offset, focal length (in pixel), lens distortion coefficient are found by a simple two step method. In the first step, all parameters (except lens distortion) are estimated using a closed-form solution based on a distortion free camera model. In the second step lens distortion coefficient is estimated by linear least squares method using the solution of the first step to be used in the camera model that incorporates distortion. These steps are applied in an iterative manner to refine the estimated parameters. The whole procedure is faster enough for onboard implementation.

A low temperature Weissenberg camera

Details of the design and operation of a Weissenberg camera suitable for x-ray investigations between -180°c and 200°c are presented. The camera employs a novel arrangement of spur and bevel gears to couple the goniometer spindle to the worm rod which controls the range of oscillation. The entire drive system and the goniometer assembly are mounted on a support which permits the insertion or removal of a cylindrical cassette from the gear-box side without disturbing the cooling assembly and the layer-line screen. The cassette can also be inserted from the opposite side. The specimen can be cooled either directly by a stream of liquid air or by the cold gas from its evaporation. Condensation of moisture at low temperatures is prevented by heating the layer-line tubes internally.

Autonomous Star Camera Calibration and Spacecraft Attitude Determination

This paper presents two methods of star camera calibration to determine camera calibrating parameters (like principal point, focal length etc) along with lens distortions (radial and decentering). First method works autonomously utilizing star coordinates in three consecutive image frames thus independent of star identification or biased attitude information. The parameters obtained in autonomous self-calibration technique helps to identify the imaged stars with the cataloged stars. Least Square based second method utilizes inertial star coordinates to determine satellite attitude and star camera parameters with lens radial distortion, both independent of each other. Camera parameters determined by the second method are more accurate than the first method of camera self calibration. Moreover, unlike most of the attitude determination algorithms where attitude of the satellite depend on the camera calibrating parameters, the second method has the advantage of computing spacecraft attitude independent of camera calibrating parameters except lens distortions (radial). Finally Kalman filter based sequential estimation scheme is employed to filter out the noise of the LS based estimation.

Strategies for collecting screen-less oscillation data

Screen-less oscillation photography is the method of choice for recording three-dimensional X-ray diffraction data for crystals of biological macromolecules. The geometry of an oscillation camera is extremely simple. However, the manner in which the reciprocal lattice is recorded in any experiment is fairly complex. This depends on the Laue symmetry of the reciprocal lattice, the lattice type, the orientation of the crystal on the camera and to a lesser extent on the unit-cell dimensions. Exploring the relative efficiency of collecting X-ray diffraction data for different crystal orientations prior to data collection might reduce the number of films required to record most of the unique data and the consequent amount of time required for processing these films. Here algorithms are presented suitable for this purpose and results are reported for the 11 Laue groups, different lattice types and crystal orientations often employed in data collection.

Attitude estimation using moment invariants

The problem of estimating the three-dimensional rotational parameters of a rigid body from its monocular image data has been considered using the method of moment invariants. Second- and third-order moment invariants are used to construct the feature vector for the scale and orientation independent identification of the camera view axis direction in the body-fixed reference frame. The camera rotation angle about the view axis is derived from second-order central moments. The relative attitude of the rigid body is then expressed in terms of quaternion parameters to model the outputs of a video sensor in attitude control simulations. Experimental results and simulation outputs are presented using the mathematical model of a spacecraft.

Spectrographic technique for determining refractive indices

A new experimental technique is proposed to determine refractive indices of liquids and isotropic solids at different wavelengths. A Pellin-Broca hollow prism filled with a liquid sample produces the spectrum (of the liquid prism) on the photographic plate of the camera. A plane reflector, mounted at a small angle to the normal of the exit face of the prism, also forms a direct image of the collimator slit in the plane of the same photographic plate. All the necessary information for determining the refractive indices (for different wavelengths) is extracted directly from the spectrogram without using any goniometric system. Experiments are conducted with the liquid prisms of isopropyl alcohol, water, and benzene. The results of the experiments are compared with those obtained by a Pulfrich refractometer (critical angle method). The proposed new technique gives the refractive indices for visible and invisible spectral lines to an accuracy of 2x10(-5). (C) 1997 Society of Photo-Optical Instrumentation Engineers.

Motion segmentation using curve fitting on Lagrangian particle trajectories

In this paper we present a segmentation algorithm to extract foreground object motion in a moving camera scenario without any preprocessing step such as tracking selected features, video alignment, or foreground segmentation. By viewing it as a curve fitting problem on advected particle trajectories, we use RANSAC to find the polynomial that best fits the camera motion and identify all trajectories that correspond to the camera motion. The remaining trajectories are those due to the foreground motion. By using the superposition principle, we subtract the motion due to camera from foreground trajectories and obtain the true object-induced trajectories. We show that our method performs on par with state-of-the-art technique, with an execution time speed-up of 10x-40x. We compare the results on real-world datasets such as UCF-ARG, UCF Sports and Liris-HARL. We further show that it can be used toper-form video alignment.

Who really ate the fruit? A novel approach to camera trapping for quantifying frugivory by ruminants

Tropical forest ruminants disperse several plants; yet, their effectiveness as seed dispersers is not systematically quantified. Information on frequency and extent of frugivory by ruminants is lacking. Techniques such as tree watches or fruit traps adapted from avian frugivore studies are not suitable to study terrestrial frugivores, and conventional camera traps provide little quantitative information. We used a novel time-delay camera-trap technique to assess the effectiveness of ruminants as seed dispersers for Phyllanthus emblica at Mudumalai, southern India. After being triggered by animal movement, cameras were programmed to take pictures every 2 min for the next 6 min, yielding a sequence of four pictures. Actual frugivores were differentiated from mere visitors, who did not consume fruit, by comparing the number of fruit remaining across the time-delay photograph sequence. During a 2-year study using this technique, we found that six terrestrial mammals consumed fallen P. emblica fruit. Additionally, seven mammals and one bird species visited fruiting trees but did not consume fallen fruit. Two ruminants, the Indian chevrotain Moschiola indica and chital Axis axis, were P. emblica's most frequent frugivores and they accounted for over 95% of fruit removal, while murid rodents accounted for less than 1%. Plants like P. emblica that are dispersed mainly by large mammalian frugivores are likely to have limited ability to migrate across fragmented landscapes in response to rapidly changing climates. We hope that more quantitative information on ruminant frugivory will become available with a wider application of our time-delay camera-trap technique.

Photometric calibration of the CCD camera of 1-m telescope at VBO

Calibration of the CCD camera of the 1-m telescope at the Vainu Bappu Observatory, Kavalur, to the BVR system is reported here based on the observations of stars in the 'dipper asterism' in the open cluster M 67 (NGC 2682). Transformations involving B and V have negligible colour terms, while those involving R are slightly colour dependent. The possibility of using scale-down R band fluxes to estimate the continuum flux at H-alpha is investigated by comparing the counts in R band with those through an interference filter centred at H-alpha. The scaling factor is found to remain constant over a wide range of colours. The sensitivity of the telescope-filter-CCD combination is estimated to be 2.0 per cent, 8.3 per cent and 9.7 per cent in B, V and R bands, respectively. The star F117 appears to be a small-amplitude (approximately 0.05 mag) variable.

CCD: Connected Component Descriptor for Robust Mosaicing of Camera-Captured Document Images

We propose a robust method for mosaicing of document images using features derived from connected components. Each connected component is described using the Angular Radial Tran. form (ART). To ensure geometric consistency during feature matching, the ART coefficients of a connected component are augmented with those of its two nearest neighbors. The proposed method addresses two critical issues often encountered in correspondence matching: (i) The stability of features and (ii) Robustness against false matches due to the multiple instances of characters in a document image. The use of connected components guarantees a stable localization across images. The augmented features ensure a successful correspondence matching even in the presence of multiple similar regions within the page. We illustrate the effectiveness of the proposed method on camera captured document images exhibiting large variations in viewpoint, illumination and scale.

The onset of warps in Spitzer observations of edge-on spiral galaxies

We analyse warps in the nearby edge-on spiral galaxies observed in the Spitzer/Infrared Array Camera (IRAC)4.5-mu m band. In our sample of 24 galaxies, we find evidence of warp in 14 galaxies. We estimate the observed onset radii for the warps in a subsample of 10 galaxies. The dark matter distribution in each of these galaxies are calculated using the mass distribution derived from the observed light distribution and the observed rotation curves. The theoretical predictions of the onset radii for the warps are then derived by applying a self-consistent linear response theory to the obtained mass models for six galaxies with rotation curves in the literature. By comparing the observed onset radii to the theoretical ones, we find that discs with constant thickness can not explain the observations; moderately flaring discs are needed. The required flaring is consistent with the observations. Our analysis shows that the onset of warp is not symmetric in our sample of galaxies. We define a new quantity called the onset-asymmetry index and study its dependence on galaxy properties. The onset asymmetries in warps tend to be larger in galaxies with smaller dis scalelengths. We also define and quantify the global asymmetry in the stellar light distribution, that we call the edge-on asymmetry in edge-on galaxies. It is shown that in most cases the onset asymmetry in warp is actually anticorrelated with the measured edge-on asymmetry in our sample of edge-on galaxies and this could plausibly indicate that the surrounding dark matter distribution is asymmetric.

A need for re-examination of the fibre diffraction data of A-DNA

A-DNA pattern, obtained using a flat plat camera, was indexed by Fuller Image on the basis of a c-face centred monoclinic cell with A = 22.24 Å, B = 40.62 Å, C = 28.15 Å and β = 97.0°. A precession photograph of A-DNA which gives an undistorted picture of the lattice, showed that the unit cell parameters as given by Fuller Image were not quite correct. The precession photograph showed a strong meridional reflection (R = 0.00 Å−1) on the 11th layer line. But the occurrence of the meridional reflection on the 11th layer line could not be explained on the basis of the cell parameters given by Fuller Image ; using those cell parameters the reflection which comes closest to the meridian on 11th layer line is at R = 0.025 Å−1. However, a simple interchange of a and b values accounted for the meridional reflection on 11th layer line. The corrected cell parameter refined against 28 strong spots are A = 40.75 Å, B = 22.07 Å, C = 28.16 Å and β = 97.5°. In the new unit cell of A-DNA, the packing arrangement of the two molecules is different from that in the old one. Nonetheless, our earlier contention is again reaffirmed that both right and left-handed A-DNA are stereochemically allowed and consistent with the observed fibre pattern.

Block-based feature detection and matching for mosaicing of camera-captured document images

In this paper, we present a new feature-based approach for mosaicing of camera-captured document images. A novel block-based scheme is employed to ensure that corners can be reliably detected over a wide range of images. 2-D discrete cosine transform is computed for image blocks defined around each of the detected corners and a small subset of the coefficients is used as a feature vector A 2-pass feature matching is performed to establish point correspondences from which the homography relating the input images could be computed. The algorithm is tested on a number of complex document images casually taken from a hand-held camera yielding convincing results.

A split cassette attachment for recording all the reflections on the upper level Weissenberg photographs either as elongated or as contracted spots

A split-cassette arrangement has been incorporated in the Weissenberg camera for recording all reflections on the upper level photographs either as elongated or as contracted spots. This arrangement employs two semicylindrical cassettes which are separated by a horizontal plane. These half-cassettes are translated in opposite directions. A suitable split-cassette attachment has been constructed for the Unicam Weissenberg goniometer S-35 The subject of 'displaced-film' Weissenberg photograph is also discussed.

Binarization and localization of text images captured on a mobile phone camera

This paper proposes and compares four methods of binarzing text images captured using a camera mounted on a cell phone. The advantages and disadvantages(image clarity and computational complexity) of each method over the others are demonstrated through binarized results. The images are of VGA or lower resolution.