An automated calibration method for non-see-through head mounted displays

Accurate calibration of a head mounted display (HMD) is essential both for research on the visual system and for realistic interaction with virtual objects. Yet, existing calibration methods are time consuming and depend on human judgements, making them error prone, and are often limited to optical see-through HMDs. Building on our existing approach to HMD calibration Gilson et al. (2008), we show here how it is possible to calibrate a non-see-through HMD. A camera is placed inside a HMD displaying an image of a regular grid, which is captured by the camera. The HMD is then removed and the camera, which remains fixed in position, is used to capture images of a tracked calibration object in multiple positions. The centroids of the markers on the calibration object are recovered and their locations re-expressed in relation to the HMD grid. This allows established camera calibration techniques to be used to recover estimates of the HMD display's intrinsic parameters (width, height, focal length) and extrinsic parameters (optic centre and orientation of the principal ray). We calibrated a HMD in this manner and report the magnitude of the errors between real image features and reprojected features. Our calibration method produces low reprojection errors without the need for error-prone human judgements.

Visual sensor fusion for active security in robotic industrial environments

This work presents a method of information fusion involving data captured by both a standard CCD camera and a ToF camera to be used in the detection of the proximity between a manipulator robot and a human. Both cameras are assumed to be located above the work area of an industrial robot. The fusion of colour images and time of light information makes it possible to know the 3D localization of objects with respect to a world coordinate system. At the same time this allows to know their colour information. Considering that ToF information given by the range camera contains innacuracies including distance error, border error, and pixel saturation, some corrections over the ToF information are proposed and developed to improve the results. The proposed fusion method uses the calibration parameters of both cameras to reproject 3D ToF points, expressed in a common coordinate system for both cameras and a robot arm, in 2D colour images. In addition to this, using the 3D information, the motion detection in a robot industrial environment is achieved, and the fusion of information is applied to the foreground objects previously detected. This combination of information results in a matrix that links colour and 3D information, giving the possibility of characterising the object by its colour in addition to its 3D localization. Further development of these methods will make it possible to identify objects and their position in the real world, and to use this information to prevent possible collisions between the robot and such objects.

Visual sensor fusion for active security in robotic industrial environments

This work presents a method of information fusion involving data captured by both a standard charge-coupled device (CCD) camera and a time-of-flight (ToF) camera to be used in the detection of the proximity between a manipulator robot and a human. Both cameras are assumed to be located above the work area of an industrial robot. The fusion of colour images and time-of-flight information makes it possible to know the 3D localization of objects with respect to a world coordinate system. At the same time, this allows to know their colour information. Considering that ToF information given by the range camera contains innacuracies including distance error, border error, and pixel saturation, some corrections over the ToF information are proposed and developed to improve the results. The proposed fusion method uses the calibration parameters of both cameras to reproject 3D ToF points, expressed in a common coordinate system for both cameras and a robot arm, in 2D colour images. In addition to this, using the 3D information, the motion detection in a robot industrial environment is achieved, and the fusion of information is applied to the foreground objects previously detected. This combination of information results in a matrix that links colour and 3D information, giving the possibility of characterising the object by its colour in addition to its 3D localisation. Further development of these methods will make it possible to identify objects and their position in the real world and to use this information to prevent possible collisions between the robot and such objects.

Evaluation of positioning error-induced pixel shifts on satellite linear push-broom imagery

Georeferencing is one of the major tasks of satellite-borne remote sensing. Compared to traditional indirect methods, direct georeferencing through a Global Positioning System/inertial navigation system requires fewer and simpler steps to obtain exterior orientation parameters of remotely sensed images. However, the pixel shift caused by geographic positioning error, which is generally derived from boresight angle as well as terrain topography variation, can have a great impact on the precision of georeferencing. The distribution of pixel shifts introduced by the positioning error on a satellite linear push-broom image is quantitatively analyzed. We use the variation of the object space coordinate to simulate different kinds of positioning errors and terrain topography. Then a total differential method was applied to establish a rigorous sensor model in order to mathematically obtain the relationship between pixel shift and positioning error. Finally, two simulation experiments are conducted using the imaging parameters of Chang’ E-1 satellite to evaluate two different kinds of positioning errors. The experimental results have shown that with the experimental parameters, the maximum pixel shift could reach 1.74 pixels. The proposed approach can be extended to a generic application for imaging error modeling in remote sensing with terrain variation.

Controlling the relative orientation between the two magnetic fields of a synchronous motor

A simple and reliable method for controlling the relative orientation between the two magnetic fields of a permanent magnet synchronous motor is presented. Finding the initial (at motor powering-up time) value of this relative location is essential for the proper operation of the motor. The feedback control loop used finds this initial relative orientation quickly. Further, using the proposed method allows considerable cost saving, as a transducer that is usually used for this purpose can be eliminated. The cost saving is most obvious in the case of linear motors and angle motors with large diameters. The way the problem is posed is an essential part of this work and it is the reason behind the apparent simplicity of the solution. The method relied upon a single sensor, and it has been tested when a relative encoder was used

Wireless sensor networks for in-situ image validation for water and nutrient management

Water and Nitrogen (N) are critical inputs for crop production. Remote sensing data collected from multiple scales, including ground-based, aerial, and satellite, can be used for the formulation of an efficient and cost effective algorithm for the detection of N and water stress. Formulation and validation of such techniques require continuous acquisition of ground based spectral data over the canopy enabling field measurements to coincide exactly with aerial and satellite observations. In this context, a wireless sensor in situ network was developed and this paper describes the results of the first phase of the experiment along with the details of sensor development and instrumentation set up. The sensor network was established based on different spatial sampling strategies and each sensor collected spectral data in seven narrow wavebands (470, 550, 670, 700, 720, 750, 790 nm) critical for monitoring crop growth. Spectral measurements recorded at required intervals (up to 30 seconds) were relayed through a multi-hop wireless network to a base computer at the field site. These data were then accessed by the remote sensing centre computing system through broad band internet. Comparison of the data from the WSN and an industry standard ground based hyperspectral radiometer indicated that there were no significant differences in the spectral measurements for all the wavebands except for 790nm. Combining sensor and wireless technologies provides a robust means of aerial and satellite data calibration and an enhanced understanding of issues of variations in the scale for the effective water and nutrient management in wheat.

Calibration of audio-video sensors for multi-modal event indexing

This paper addresses the coordinated use of video and audio cues to capture and index surveillance events with multimodal labels. The focus of this paper is the development of a joint-sensor calibration technique that uses audio-visual observations to improve the calibration process. One significant feature of this approach is the ability to continuously check and update the calibration status of the sensor suite, making it resilient to independent drift in the individual sensors. We present scenarios in which this system is used to enhance surveillance.

A novel non-enzymatic glucose sensor based on nickel (II) oxide electrospun nanofibers

A new enzymeless glucose sensor has been fabricated via electrospinning technology and subsequent calcination. The morphology and structure of the as-prepared nanofibers have been characterized by scanning electron microscopy (SEM), transmission electron microscopy (TEM), and X-ray diffraction (XRD). The electrocatalytic oxidation of glucose in alkaline medium at nickel oxide modified glassy carbon electrodes has been investigated. The modified electrodes offer excellent electrocatalytic activity toward the glucose oxidation at low positive potential (0.3 V). Glucose has been determined chronoamperometrically at the surface of NiO nanofibers modified electrode in 0.5 mM NaOH. Under the optimized condition, the calibration curve is linear in the concentration range of 2 × 10−3 mM∼1 mM, and 1 mM∼9.5 mM. The detection limit (signal-to-noise 3) and response time are 3.394 × 10−6 M and 2 s, respectively. The NiO electrospun nanofibers is easy to prepare and feasible in economy. The modified electrode is steady and can be used repeatedly, so it is reasonable to expect its broad use in non-enzymatic glucose sensor.

Remote monitoring system enabling cloud technology upon smart phones and inertial sensors for human kinematics

Stroke is a common neurological condition which is becoming increasingly common as the population ages. This entails healthcare monitoring systems suitable for home use, with remote access for medical professionals and emergency responders. The mobile phone is becoming the easy access tool for self-evaluation of health, but it is hindered by inherent problems including computational power and storage capacity. This research proposes a novel cloud based architecture of a biomedical system for a wearable motion kinematic analysis system which mitigates the above mentioned deficiencies of mobile devices. The system contains three subsystems: 1. Bio Kin WMS for measuring the acceleration and rotation of movement 2. Bio Kin Mobi for Mobile phone based data gathering and visualization 3. Bio Kin Cloud for data intensive computations and storage. The system is implemented as a web system and an android based mobile application. The web system communicates with the mobile application using an encrypted data structure containing sensor data and identifiable headings. The raw data, according to identifiable headings, is stored in the Amazon Relational Database Service which is automatically backed up daily. The system was deployed and tested in Amazon Web Services.

A disposaable electrochemical sensor for the rapid determination of levodopa

Levodopa (L-dopa), the biological precursor of catecholamines, is the most widely prescribed drug in the treatment of Parkinson's disease. The present work presents a proposal for the application of a gold screen-printed electrode an electrochemical sensor for monitoring L-dopa in stationary solution and a flow system. Using the electrooxidation of L-dopa at +0.63 V in acetate buffer pH 3.0 on a gold screen-printed electrode it is possible to obtain a linear calibration curve from 9.9 x 10(-5) to 1.2 x 10(-3) mol L-1 and a detection limit of 6.8 x 10(-5) mol L-1. Under amperometric conditions (E-app = 0.8 V; flow rate = 14.1 ml, min(-1); pH 3.0), an analytical calibration graph for L-dopa was obtained from 1.0 x 10(-6) mol L-1 6.6 x 10(-4) mol L-1 with a detection limit of 9.9 x 10(-7) mol L-1. The method was successfully applied to the determination of L-dopa in commercial dosage forms without any pre-treatment. (c) 2005 Elsevier B.V. All rights reserved.

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.

A photogrammetric method for single image orientation and measurement

The aim of this paper is to present a photogrammetric method for determining the dimensions of flat surfaces, such as billboards, based on a single digital image. A mathematical model was adapted to generate linear equations for vertical and horizontal lines in the object space. These lines are identified and measured in the image and the rotation matrix is computed using an indirect method. The distance between the camera and the surface is measured using a lasermeter, providing the coordinates of the camera perspective center. Eccentricity of the lasermeter center related to the camera perspective center is modeled by three translations, which are computed using a calibration procedure. Some experiments were performed to test the proposed method and the achieved results are within a relative error of about 1 percent in areas and distances in the object space. This accuracy fulfills the requirements of the intended applications. © 2005 American Society for Photogrammetry and Remote Sensing.

The influence of subpixel measurement on digital camera calibration

The aim of this work is to evaluate the influence of point measurements in images, with subpixel accuracy, and its contribution in the calibration of digital cameras. Also, the effect of subpixel measurements in 3D coordinates of check points in the object space will be evaluated. With this purpose, an algorithm that allows subpixel accuracy was implemented for semi-automatic determination of points of interest, based on Fõrstner operator. Experiments were accomplished with a block of images acquired with the multispectral camera DuncanTech MS3100-CIR. The influence of subpixel measurements in the adjustment by Least Square Method (LSM) was evaluated by the comparison of estimated standard deviation of parameters in both situations, with manual measurement (pixel accuracy) and with subpixel estimation. Additionally, the influence of subpixel measurements in the 3D reconstruction was also analyzed. Based on the obtained results, i.e., on the quantification of the standard deviation reduction in the Inner Orientation Parameters (IOP) and also in the relative error of the 3D reconstruction, it was shown that measurements with subpixel accuracy are relevant for some tasks in Photogrammetry, mainly for those in which the metric quality is of great relevance, as Camera Calibration.

Influência da injunção da base na fototriangulação de imagens obtidas com uma unidade de mapeamento móvel

Pós-graduação em Ciências Cartográficas - FCT

A Multivariate Calibration Procedure for UV/VIS Spectrometric Monitoring of BHK-21 Cell Metabolism and Growth

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