Joint 4-D variational stereo reconstruction and camera calibration refinement for oceanic sea state measurements

Validating modern oceanographic theories using models produced through stereo computer vision principles has recently emerged. Space-time (4-D) models of the ocean surface may be generated by stacking a series of 3-D reconstructions independently generated for each time instant or, in a more robust manner, by simultaneously processing several snapshots coherently in a true ?4-D reconstruction.? However, the accuracy of these computer-vision-generated models is subject to the estimations of camera parameters, which may be corrupted under the influence of natural factors such as wind and vibrations. Therefore, removing the unpredictable errors of the camera parameters is necessary for an accurate reconstruction. In this paper, we propose a novel algorithm that can jointly perform a 4-D reconstruction as well as correct the camera parameter errors introduced by external factors. The technique is founded upon variational optimization methods to benefit from their numerous advantages: continuity of the estimated surface in space and time, robustness, and accuracy. The performance of the proposed algorithm is tested using synthetic data produced through computer graphics techniques, based on which the errors of the camera parameters arising from natural factors can be simulated.

Singularities and undefinitions in the calibration functions of sonic anemometers

A mathematical model of the process employed by a sonic anemometer to build up the measured wind vector in a steady flow is presented to illustrate the way the geometry of these sensors as well as the characteristics of aerodynamic disturbance on the acoustic path can lead to singularities in the transformation function that relates the measured (disturbed) wind vector with the real (corrected) wind vector, impeding the application of correction/calibration functions for some wind conditions. An implicit function theorem allows for the identification of those combinations of real wind conditions and design parameters that lead to undefined correction/ calibration functions. In general, orthogonal path sensors do not show problematic combination of parameters. However, some geometric sonic sensor designs, available in the market, with paths forming smaller angles could lead to undefined correction functions for some levels of aerodynamic disturbances and for certain wind directions. The parameters studied have a strong influence on the existence and number of singularities in the correction/ calibration function as well as on the number of singularities for some combination of parameters. Some conclusions concerning good design practices are included.

Calibration of accelerometers for the measurement of microvibrations

The accelerometers used for the measurement of microvibrations or microgravity applications, such as active control of space structures, attitude control, scientific payloads, or even on-Earth testing of structures at very low-excitation levels, require a dedicated calibration procedure that includes the gravitational effects. Otherwise, on-Earth calibrations can be inaccurate due to the collateral projection of the local gravity onto the sensitive axis. An on-Earth calibration technique for the 107102s amplitude range and 0-100-Hz frequency range is described. Special attention has been given to the modeling of gravitational effects on the response of the calibration device and the accelerometer itself. The sensitivity and resolution tests performed on piezoelectric accelerometers showthe accuracy andthe potential of thistechnique. Typical scale factorun certainty, which hasbeen carefully analyzed, is of the order of 2% at acceleration levels of 10sg.

Substitution rate calibration of small subunit ribosomal RNA identifies chlorarachniophyte endosymbionts as remnants of green algae.

Chlorarachniophytes are amoeboid algae with chlorophyll a and b containing plastids that are surrounded by four membranes instead of two as in plants and green algae. These extra membranes form important support for the hypothesis that chlorarachniophytes have acquired their plastids by the ingestion of another eukaryotic plastid-containing alga. Chlorarachniophytes also contain a small nucleus-like structure called the nucleomorph situated between the two inner and the two outer membranes surrounding the plastid. This nucleomorph is a remnant of the endosymbiont's nucleus and encodes, among other molecules, small subunit ribosomal RNA. Previous phylogenetic analyses on the basis of this molecule provided unexpected and contradictory evidence for the origin of the chlorarachniophyte endosymbiont. We developed a new method for measuring the substitution rates of the individual nucleotides of small subunit ribosomal RNA. From the resulting substitution rate distribution, we derived an equation that gives a more realistic relationship between sequence dissimilarity and evolutionary distance than equations previously available. Phylogenetic trees constructed on the basis of evolutionary distances computed by this new method clearly situate the chlorarachniophyte nucleomorphs among the green algae. Moreover, this relationship is confirmed by transversion analysis of the Chlorarachnion plastid small subunit ribosomal RNA.

Aladdin's Magic Lamp: Developing Methods for Calibration and Geolocation Accuracy Assessment of the DMSP OLS

Nighttime satellite imagery from the Defense Meteorological Satellite Program (DMSP) Operational Linescan System (OLS) has a unique capability to observe nocturnal light emissions from sources including cities, wild fires, and gas flares. Data from the DMSP OLS is used in a wide range of studies including mapping urban areas, estimating informal economies, and estimating urban populations. Given the extensive and increasing list of applications a repeatable method for assessing geolocation accuracy, performing inter-calibration, and defining the minimum detectable brightness would be beneficial. An array of portable lights was designed and taken to multiple field sites known to have no other light sources. The lights were operated during nighttime overpasses by the DMSP OLS and observed in the imagery. A first estimate of the minimum detectable brightness is presented based on the field experiments conducted. An assessment of the geolocation accuracy was performed by measuring the distance between the GPS measured location of the lights and the observed location in the imagery. A systematic shift was observed and the mean distance was measured at 2.9km. A method for in situ radiance calibration of the DMSP OLS using a ground based light source as an active target is presented. The wattage of light used by the active target strongly correlates with the signal measured by the DMSP OLS. This approach can be used to enhance our ability to make inter-temporal and inter-satellite comparisons of DMSP OLS imagery. Exploring the possibility of establishing a permanent active target for the calibration of nocturnal imaging systems is recommended. The methods used to assess the minimum detectable brightness, assess the geolocation accuracy, and build inter-calibration models lay the ground work for assessing the energy expended on light emitted into the sky at night. An estimate of the total energy consumed to light the night sky globally is presented.

Calibration of the length of a chain of single gold atoms

Using a scanning tunnelling microscope or mechanically controllable break junction it has been shown that it is possible to control the formation of a wire made of single gold atoms. In these experiments an interatomic distance between atoms in the chain of ∼3.6 Å was reported which is not consistent with recent theoretical calculations. Here, using precise calibration procedures for both techniques, we measure the length of the atomic chains. Based on the distance between the peaks observed in the chain length histogram we find the mean value of the interatomic distance before chain rupture to be 2.5±0.2 Å. This value agrees with the theoretical calculations for the bond length. The discrepancy with the previous experimental measurements was due to the presence of He gas, that was used to promote the thermal contact, and which affects the value of the work function that is commonly used to calibrate distances in scanning tunnelling microscopy and mechanically controllable break junctions at low temperatures.

Portable 3D laser-camera calibration system with color fusion for SLAM

Nowadays, the use of RGB-D sensors have focused a lot of research in computer vision and robotics. These kinds of sensors, like Kinect, allow to obtain 3D data together with color information. However, their working range is limited to less than 10 meters, making them useless in some robotics applications, like outdoor mapping. In these environments, 3D lasers, working in ranges of 20-80 meters, are better. But 3D lasers do not usually provide color information. A simple 2D camera can be used to provide color information to the point cloud, but a calibration process between camera and laser must be done. In this paper we present a portable calibration system to calibrate any traditional camera with a 3D laser in order to assign color information to the 3D points obtained. Thus, we can use laser precision and simultaneously make use of color information. Unlike other techniques that make use of a three-dimensional body of known dimensions in the calibration process, this system is highly portable because it makes use of small catadioptrics that can be placed in a simple manner in the environment. We use our calibration system in a 3D mapping system, including Simultaneous Location and Mapping (SLAM), in order to get a 3D colored map which can be used in different tasks. We show that an additional problem arises: 2D cameras information is different when lighting conditions change. So when we merge 3D point clouds from two different views, several points in a given neighborhood could have different color information. A new method for color fusion is presented, obtaining correct colored maps. The system will be tested by applying it to 3D reconstruction.

Portable 3D laser-camera calibration system with color fusion for SLAM

Paper submitted to the 43rd International Symposium on Robotics (ISR2012), Taipei, Taiwan, Aug. 29-31, 2012.

High-Resolution N2 Adsorption Isotherms at 77.4 K: Critical Effect of the He Used During Calibration

Accurate characterization of the microporous structure in porous solids is of paramount importance for several applications such as energy and gas storage, nanoconfinement reactions, and so on. Among the different techniques for precise textural characterization, high-precision gas adsorption measurement of probe molecules at cryogenic temperatures (e.g., N2 at 77.4 K and Ar at 87.3 K) is the most widely used, after appropriate calibration of the sample holder with a probe gas, which does not experience physisorption processes. Although traditionally helium has been considered not to be adsorbed in porous solids at cryogenic temperatures, here we show that even at 77.4 K (high above its boiling temperature, 4 K) the use of He in the calibration step can give rise to erroneous interpretations when narrow micropores/constrictions are present.