DETERMINATION of THE INDIRECT ORIENTATION of ORBITAL PUSHBROOM IMAGES USING CONTROL STRAIGHT LINES

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A recursive approach to space resection using straight lines

An approach using straight lines as features to solve the photogrammetric space resection problem is presented. An explicit mathematical model relating straight lines, in both object and image space, is used. Based on this model, Kalman Filtering is applied to solve the space resection problem. The recursive property of the filter is used in an iterative process which uses the sequentially estimated camera location parameters to feedback to the feature extraction process in the image. This feedback process leads to a gradual reduction of the image space for feature searching, and consequently eliminates the bottleneck due to the high computational cost of the image segmentation phase. It also enables feature extraction and the determination of feature correspondence in image and object space in an automatic way, i.e., without operator interference. Results obtained from simulated and real data show that highly accurate space resection parameters are obtained as well as a progressive processing time reduction. The obtained accuracy, the automatic correspondence process, and the short related processing time show that the proposed approach can be used in many real-time machine vision systems, making possible the implementation of applications not feasible until now.

Bundle Block Adjustment of CBERS-2B HRC Imagery Combining Control Points and Lines

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

A semi-automatic method for indirect orientation of aerial images using ground control lines extracted from airborne laser scanner data

This paper presents a method for indirect orientation of aerial images using ground control lines extracted from airborne Laser system (ALS) data. This data integration strategy has shown good potential in the automation of photogrammetric tasks, including the indirect orientation of images. The most important characteristic of the proposed approach is that the exterior orientation parameters (EOP) of a single or multiple images can be automatically computed with a space resection procedure from data derived from different sensors. The suggested method works as follows. Firstly, the straight lines are automatically extracted in the digital aerial image (s) and in the intensity image derived from an ALS data-set (S). Then, correspondence between s and S is automatically determined. A line-based coplanarity model that establishes the relationship between straight lines in the object and in the image space is used to estimate the EOP with the iterated extended Kalman filtering (IEKF). Implementation and testing of the method have employed data from different sensors. Experiments were conducted to assess the proposed method and the results obtained showed that the estimation of the EOP is function of ALS positional accuracy.

Indirect georeferencing of terrestrial laser scanning data using control lines

An indirect method for the georeferencing of 3D point clouds obtained with terrestrial laser scanning (TLS) data using control lines is presented. This technique could be used for rapid data acquisition where resources do not permit the use of expensive navigation sensors or the placement of pre-signalised targets. The most important characteristic is the development of a mathematical model based on the principle that the direction vector of the TLS straight line is coplanar with the plane defined by the origin of the TLS system, one endpoint of a control line and the direction vector of the control line in the ground reference coordinate system. The transformation parameters are estimated by minimising the distance between the control lines and their corresponding TLS straight lines. The proposed method was tested using both simulated and real data, and the advantages of this new approach are compared with conventional surveying methods. © 2013 This article is a U.S. Government work and is in the public domain in the USA.

Extração de feições retas com precisão subpixel: estudo comparativo entre três métodos

In the fields of Machine Vision and Photogrammetry, extracted straight lines from digital images can be used either as vector elements of a digital representation or as control entities that allow the determination of the camera interior and exterior orientation parameters. Applications related with image orientation require feature extraction with subpixel precision, to guarantee the reliability of the estimated parameters. This paper presents three approaches for straight line extraction with subpixel precision. The first approach considers the subpixel refinement based on the weighted average of subpixel positions calculated on the direction perpendicular to the segmented straight line. In the second approach, a parabolic function is adjusted to the grey level profile of neighboring pixels in a perpendicular direction to the segmented line, followed by an interpolation of this model to estimate subpixel coordinates of the line center. In the third approach, the subpixel refinement is performed with a parabolic surface adjustment to the grey level values of neighboring pixels around the segmented line. The intersection of this surface with a normal plane to the line direction generates a parabolic equation that allows estimating the subpixel coordinates of the point in the straight line, assuming that this is the critical point of this function. Three experiments with real images were made and the approach based on parabolic surface adjustment has presented better results.

Predição de sombras de edifícios sobre vias urbanas com base em modelos digitais de elevações e dados de imagens aéreas de alta resolução

This research presents a methodology for prediction of building shadows cast on urban roads existing on high-resolution aerial imagery. Shadow elements can be used in the modeling of contextual information, whose use has become more and more common in image analysis complex processes. The proposed methodology consists in three sequential steps. First, the building roof contours are manually extracted from an intensity image generated by the transformation of a digital elevation model (DEM) obtained from airborne laser scanning data. In similarly, the roadside contours are extracted, now from the radiometric information of the laser scanning data. Second, the roof contour polygons are projected onto the adjacent roads by using the parallel projection straight lines, whose directions are computed from the solar ephemeris, which depends on the aerial image acquisition time. Finally, parts of shadow polygons that are free from building perspective obstructions are determined, given rise to new shadow polygons. The results obtained in the experimental evaluation of the methodology showed that the method works properly, since it allowed the prediction of shadow in high-resolution imagery with high accuracy and reliability.

Uso de dados fotogramétricos no refinamento geométrico de contornos de telhados de edifícios extraídos de dados laser

In this paper, a methodology is proposed for the geometric refinement of laser scanning building roof contours using high-resolution aerial images and Markov Random Field (MRF) models. The proposed methodology takes for granted that the 3D description of each building roof reconstructed from the laser scanning data (i.e., a polyhedron) is topologically correct and that it is only necessary to improve its accuracy. Since roof ridges are accurately extracted from laser scanning data, our main objective is to use high-resolution aerial images to improve the accuracy of roof outlines. In order to meet this goal, the available roof contours are first projected onto the image-space. After that, the projected polygons and the straight lines extracted from the image are used to establish an MRF description, which is based on relations ( relative length, proximity, and orientation) between the two sets of straight lines. The energy function associated with the MRF is minimized by using a modified version of the brute force algorithm, resulting in the grouping of straight lines for each roof object. Finally, each grouping of straight lines is topologically reconstructed based on the topology of the corresponding laser scanning polygon projected onto the image-space. The preliminary results showed that the proposed methodology is promising, since most sides of the refined polygons are geometrically better than corresponding projected laser scanning straight lines.

Orientação indireta de imagens com uso de apoio fotogramétrico extraído a partir da integração de dados derivados do sistema lidar e fotogrametria

In this work a method is proposed to allow the indirect orientation of images using photogrammetric control extracted through integration of data derived from Photogrammetry and Light Detection and Ranging (LiDAR) system. The photogrammetric control is obtained by using an inverse photogrammetric model, which allows the projection of image space straight lines onto the object space. This mathematical model is developed based on the intersection between the collinearity-based straight line and a DSM of region, derived from LiDAR data. The mathematical model used in the indirect orientation of the image is known as the model of equivalent t planes. This mathematical model is based on the equivalence between the vector normal to the projection plane in the image space and to the vector normal to the rotated projection plane in the object space. The goal of this work is to verify the quality, efficiency and potential of photogrammetric control straight lines obtained with proposed method applied to the indirect orientation of images. The quality of generated photogrammetric control was statistically available and the results showed that proposed method is promising and it has potential for the indirect orientation of images.

Large amplitude oscillations for a class of symmetric polynomial differential systems in R³

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Utilização do esforço percebido na determinação da velocidade crítica em corrida aquática

A relação linear entre intensidade do exercício e taxa de aumento da atividade neuromuscular avaliada pela eletromiografia permite a estimativa do limiar de fadiga, que seria a intensidade que poderia ser mantida indefinidamente sem aumento dos sinais eletromiográficos ao longo do tempo. Levantou-se a hipótese de que a percepção subjetiva de esforço teria comportamento semelhante ao da ativação neuromuscular e que um limiar de esforço percebido (LEP), identificado de forma semelhante ao limiar de fadiga eletromiográfica, poderia coincidir com a velocidade crítica (VCrit). Treze indivíduos de ambos os sexos (23,0 ± 2,5 anos), em uma piscina de 15m de extensão e 2,5m de profundidade, realizaram três testes exaustivos de corrida aquática para determinação dos parâmetros do modelo de velocidade crítica, reportando o esforço percebido (escala de Borg de 6-20 pontos), a cada 15m. Para identificação do LEP, os coeficientes de inclinação das retas do aumento do esforço percebido no tempo (ordenada) e velocidades utilizadas (abscissa) foram ajustados a uma função linear que fornecia um ponto no eixo da velocidade onde, teoricamente, o esforço percebido seria estável indefinidamente. A VCrit foi estimada pelas equações usadas no modelo de velocidade crítica. Para comparação das estimativas de VCrit e do LEP, e de suas associações, foi feita ANOVA para medidas repetidas (p < 0,05) e calculada a correlação de Pearson. Os dados obtidos para a determinação da VCrit atenderam aos critérios adotados para a validade do modelo; a VCrit e o LEP não apresentaram diferença estatística (0,23 ± 0,02m/s x 0,24 ± 0,03m/s) e foram significativamente correlacionados (r = 0,85). Esses resultados sugerem que o LEP parece representar a intensidade máxima de exercício em que variáveis fisiológicas e psicofísicas encontrariam estabilidade, e que esse índice pode ser utilizado na determinação da VCrit.

O treinamento da operação osteoplástica usando o seio frontal do cão

O acesso ao seio frontal usando a técnica do retalho osteoplástico está indicada em lesões que não podem ser abordadas pela via endonasal. O aprendizado da técnica pode ser realizado em cães, mas a delimitação do seio do cão, de forma como se faz no homem, não é facilmente realizável. OBJETIVO: Apresentar um método de localização e delimitação do seio frontal do cão que permita reproduzir a técnica osteoplástica. FORMA DE ESTUDO: Técnica cirúrgica em animal. MATERIAL E MÉTODO: em cães traçaram-se duas linhas retas, uma delas ao longo da linha média da região frontal, outra passando pela pupila, inclinada 45º em direção à linha anterior. No ponto de intersecção, mede-se um ou um centímetro e meio para frente e um centímetro para trás. A partir destas medidas desenha-se um retângulo incompleto que delineia os limites aproximados do seio frontal. RESULTADOS: O procedimento foi realizado 12 vezes com a participação de médicos residentes. O seio frontal foi aberto facilmente em todos os animais, reproduzindo a técnica osteoplástica sem erros de localização do seio. CONCLUSÃO: O método de localização e de limitação do seio frontal do cão mostrou-se útil no ensino da técnica osteoplástica de acesso por ser reproduzível de forma realística.

Raman scattering study of zincblende InxGa1-xN alloys

We report on first-order micro-Raman and resonant micro-Raman scattering measurements on c-InxGa1-xN (0 ≤ x ≤ 0.31) epitaxial layers. We have found that both, the transverse-optical (TO) and longitudinal-optical (LO) phonons of InxGa1-xN alloy exhibit a one-mode-type behavior. Their frequencies at Γ lie on straight lines connecting the corresponding values obtained for the c-GaN and c-InN binary compounds. Evidence for phase separation is shown in the sample with the alloy composition x = 0.31. The Raman spectra, with excitation energy close to 2.4 eV, show an enhanced additional peak, with frequency between the values found for the LO and TO phonon modes of the C-In0.31Ga0.69N epitaxial layer. We ascribed this peak to the LO phonon mode of a minority phase with In content of ≈0.80.

Line based camera calibration in machine vision dynamic applications

The problem of dynamic camera calibration considering moving objects in close range environments using straight lines as references is addressed. A mathematical model for the correspondence of a straight line in the object and image spaces is discussed. This model is based on the equivalence between the vector normal to the interpretation plane in the image space and the vector normal to the rotated interpretation plane in the object space. In order to solve the dynamic camera calibration, Kalman Filtering is applied; an iterative process based on the recursive property of the Kalman Filter is defined, using the sequentially estimated camera orientation parameters to feedback the feature extraction process in the image. For the dynamic case, e.g. an image sequence of a moving object, a state prediction and a covariance matrix for the next instant is obtained using the available estimates and the system model. Filtered state estimates can be computed from these predicted estimates using the Kalman Filtering approach and based on the system model parameters with good quality, for each instant of an image sequence. The proposed approach was tested with simulated and real data. Experiments with real data were carried out in a controlled environment, considering a sequence of images of a moving cube in a linear trajectory over a flat surface.