Modeling kinect sensor noise for improved 3D reconstruction and tracking

We contribute an empirically derived noise model for the Kinect sensor. We systematically measure both lateral and axial noise distributions, as a function of both distance and angle of the Kinect to an observed surface. The derived noise model can be used to filter Kinect depth maps for a variety of applications. Our second contribution applies our derived noise model to the KinectFusion system to extend filtering, volumetric fusion, and pose estimation within the pipeline. Qualitative results show our method allows reconstruction of finer details and the ability to reconstruct smaller objects and thinner surfaces. Quantitative results also show our method improves pose estimation accuracy. © 2012 IEEE.

Unmanned Aerial Vehicles (UAVs) and artificial intelligence revolutionizing wildlife monitoring and conservation

Surveying threatened and invasive species to obtain accurate population estimates is an important but challenging task that requires a considerable investment in time and resources. Estimates using existing ground-based monitoring techniques, such as camera traps and surveys performed on foot, are known to be resource intensive, potentially inaccurate and imprecise, and difficult to validate. Recent developments in unmanned aerial vehicles (UAV), artificial intelligence and miniaturized thermal imaging systems represent a new opportunity for wildlife experts to inexpensively survey relatively large areas. The system presented in this paper includes thermal image acquisition as well as a video processing pipeline to perform object detection, classification and tracking of wildlife in forest or open areas. The system is tested on thermal video data from ground based and test flight footage, and is found to be able to detect all the target wildlife located in the surveyed area. The system is flexible in that the user can readily define the types of objects to classify and the object characteristics that should be considered during classification.

MRT Letter: Experimental Verification of Vectorial Theory to Determine Field at the Geometrical Focus of a Cylindrical Lens

We provide experimental evidence supporting the vectorial theory for determining electric field at and near the geometrical focus of a cylindrical lens. This theory provides precise distribution of field and its polarization effects. Experimental results show a close match (approximate to 95% using (2)-test) with the simulation results (obtained using vectorial theory). Light-sheet generated both at low and high NA cylindrical lens shows the importance of vectorial theory for further development of light-sheet techniques. Potential applications are in planar imaging systems (such as, SPIM, IML-SPIM, imaging cytometry) and spectroscopy. Microsc. Res. Tech. 77:105-109, 2014. (c) 2014 Wiley Periodicals, Inc.

Coral Remote Sensing Workshop: Proceedings and Recommendations, 17-18 September, Sheraton, Brickell Ave, Miami FL

Coral reefs exist in warm, clear, and relatively shallow marine waters worldwide. These complex assemblages of marine organisms are unique, in that they support highly diverse, luxuriant, and essentially self-sustaining ecosystems in otherwise nutrient-poor and unproductive waters. Coral reefs are highly valued for their great beauty and for their contribution to marine productivity. Coral reefs are favorite destinations for recreational diving and snorkeling, as well as commercial and recreational fishing activities. The Florida Keys reef tract draws an estimated 2 million tourists each year, contributing nearly $800 million to the economy. However, these reef systems represent a very delicate ecological balance, and can be easily damaged and degraded by direct or indirect human contact. Indirect impacts from human activity occurs in a number of different forms, including runoff of sediments, nutrients, and other pollutants associated with forest harvesting, agricultural practices, urbanization, coastal construction, and industrial activities. Direct impacts occur through overfishing and other destructive fishing practices, mining of corals, and overuse of many reef areas, including damage from souvenir collection, boat anchoring, and diver contact. In order to protect and manage coral reefs within U.S. territorial waters, the National Oceanic and Atmospheric Administration (NOAA) of the U.S. Department of Commerce has been directed to establish and maintain a system of national marine sanctuaries and reserves, and to monitor the condition of corals and other marine organisms within these areas. To help carry out this mandate the NOAA Coastal Services Center convened a workshop in September, 1996, to identify current and emerging sensor technologies, including satellite, airborne, and underwater systems with potential application for detecting and monitoring corals. For reef systems occurring within depths of 10 meters or less (Figure 1), mapping location and monitoring the condition of corals can be accomplished through use of aerial photography combined with diver surveys. However, corals can exist in depths greater than 90 meters (Figure 2), well below the limits of traditional optical imaging systems such as aerial or surface photography or videography. Although specialized scuba systems can allow diving to these depths, the thousands of square kilometers included within these management areas make diver surveys for deeper coral monitoring impractical. For these reasons, NOAA is investigating satellite and airborne sensor systems, as well as technologies which can facilitate the location, mapping, and monitoring of corals in deeper waters. The following systems were discussed as having potential application for detecting, mapping, and assessing the condition of corals. However, no single system is capable of accomplishing all three of these objectives under all depths and conditions within which corals exist. Systems were evaluated for their capabilities, including advantages and disadvantages, relative to their ability to detect and discriminate corals under a variety of conditions. (PDF contains 55 pages)

Enlarging the depth of focus by filtering in the phase-space domain

The ambiguity function was employed as a merit function to design an optical system with a high depth of focus. The ambiguity function with the desired enlarged-depth-of-focus characteristics was obtained by using a properly designed joint filter to modify the ambiguity function of the original pupil in the phase-space domain. From the viewpoint of the filter theory, we roughly propose that the constraints of the spatial filters that are used to enlarge the focal depth must be satisfied. These constraints coincide with those that appeared in the previous literature on this topic. Following our design procedure, several sets of apodizers were synthesized, and their performances in the defocused imagery were compared with each other and with other previous designs. (c) 2005 Optical Society of America.

径向双折射滤波器的超分辨性能研究

超分辨技术因其可以超越经典的衍射极限而为人们所熟知．并且．在光存储和共焦扫描成像系统中有着广泛的应用。把由两个偏振器和一个圆对称的双折射元件组成的径向双折射滤波器引入超分辨技术，借助琼斯算法推导出其光瞳函数的表达式。由分析得出通过改变径向双折射滤波器中偏振器的偏振方向和双折射元件的主轴之间的夹角，即可实现光学系统的横向超分辨或轴向超分辨。同时对评价该器件超分辨性能的参量第一零点比、斯特尔比和旁瓣强度抑制比做了详细的讨论。该滤波器用于超分辨技术的优点在于其制作不涉及相位的变化而比较简单，且费用比较低。缺点是

扩大景深的波前编码成像系统特性分析

从空域和频域两个方面利用新的数学工具对扩大景深的波前编码成像系统的一些重要特性进行了阐释和分析。空域中，主要利用维格纳分布函数的正则投影来分析系统的点扩展函数对离焦像差的变化不敏感特性；频域中，则利用考纽螺线的图解方法来分析系统的光学传递函数对离焦像差的变化不敏感特性。简单讨论了波前编码成像技术所涉及的数字图像处理方法，并且用数值仿真实验验证了波前编码成像系统的这些优越特性。

复振幅光瞳滤波器的三维超分辨性能研究

超分辨技术中现有的纯振幅型或纯相位型光瞳滤波器，大部分只能实现轴向或横向超分辨而不能实现三维超分辨，三维超分辨在三维成像系统中有着重要的作用。因此为提高成像系统中的三维分辨能力，设计了一种复振幅光瞳滤波器，并对其三维超分辨性能进行了研究。详细分析了该光瞳滤波器的第一区半径和透射率对施特雷尔比、轴向和横向超分辨因子以及旁瓣能量的影响。通过一系列的模拟证明，借助于复振幅光瞳滤波器可以实现三维超分辨。该滤波器的优点是容易实现三维超分辨，且有比较高的施特雷尔比，缺点是三维超分辨的实现总是伴随着旁瓣能量的增加，但可

Vertical CNT-Si photodiode array.

A photodiode consisting of nanopillars of thin-film silicon p-i-n on an array of vertically aligned carbon nanotubes (CNTs) with a noncontinuous cathode electrode is demonstrated. The structure exploits the intrinsic enhancement of the CNTs' electric field, which leads to reduction in the photodiode's operating voltage and response time and enhancement of optical coupling due to better light trapping, as compared with the conventional planar photodiode. These improvements translate to higher resolution and higher frame rate flat-panel imaging systems for a broad range of applications, including computed tomography and particle detection.

Mixing and internal dynamics of droplets impacting and coalescing on a solid surface.

The coalescence and mixing of a sessile and an impacting liquid droplet on a solid surface are studied experimentally and numerically in terms of lateral separation and droplet speed. Two droplet generators are used to produce differently colored droplets. Two high-speed imaging systems are used to investigate the impact and coalescence of the droplets in color from a side view with a simultaneous gray-scale view from below. Millimeter-sized droplets were used with dynamical conditions, based on the Reynolds and Weber numbers, relevant to microfluidics and commercial inkjet printing. Experimental measurements of advancing and receding static contact angles are used to calibrate a contact angle hysteresis model within a lattice Boltzmann framework, which is shown to capture the observed dynamics qualitatively and the final droplet configuration quantitatively. Our results show that no detectable mixing occurs during impact and coalescence of similar-sized droplets, but when the sessile droplet is sufficiently larger than the impacting droplet vortex ring generation can be observed. Finally we show how a gradient of wettability on the substrate can potentially enhance mixing.

基于RTLinux构建机载SAR实时成像处理器嵌入式控制系统

面向地学处理的机载SAR实时成像处理器由一组连接在工业总线上的数据处理板和一个嵌入式主控子系统构成 ,成像处理器的总体设计对主控系统的实时性、稳定性及可扩展性提出了严格的要求 比较了传统的嵌入式工业控制系统的设计方法 ,设计并实现一个基于廉价的PC与RTLinux的主控系统 ,分析了主控系统的两个重点 :DSP宿主环境和RTLinux下的混合任务集 ,并通过给出一个RTLinux与Linux调度精度和误差的对比试验及其结果 ,证明了基于RTLinux的主控系统对支持细粒度调度方面的优越性

机载SAR实时成像系统中的数据可视化研究

SAR实时成像系统在国防等很多领域都有着重要的应用 ,系统对数据可视化方面的要求也越来越高 ,但目前国内对SAR实时成像系统的数据可视化方面的研究还不多 提出了一种针对SAR实时成像系统的新的数据可视化方案 ,并已在实际的飞行成像中得到了检验 新方案实时提供的信息更全面、更直观、可分析性更强 ,具有较强的信息表现能力和双向实时交互能力 ,能够较好地辅助对图像的在线分析 还对方案的重要组成部分———缩略图的原理和实现算法做了概括介绍

Image reconstruction by an alternating minimisation

This paper focuses on the problem of incomplete data in the applications of the circular cone-beam computed tomography. This problem is frequently encountered in medical imaging sciences and some other industrial imaging systems. For example, it is crucial when the high density region of objects can only be penetrated by X-rays in a limited angular range. As the projection data are only available in an angular range, the above mentioned incomplete data problem can be attributed to the limited angle problem, which is an ill-posed inverse problem. This paper reports a modified total variation minimisation method to reduce the data insufficiency in tomographic imaging. This proposed method is robust and efficient in the task of reconstruction by showing the convergence of the alternating minimisation method. The results demonstrate that this new reconstruction method brings reasonable performance. (C) 2010 Elsevier B.V. All rights reserved.

Towards Autonomous Motion Vision

Earlier, we introduced a direct method called fixation for the recovery of shape and motion in the general case. The method uses neither feature correspondence nor optical flow. Instead, it directly employs the spatiotemporal gradients of image brightness. This work reports the experimental results of applying some of our fixation algorithms to a sequence of real images where the motion is a combination of translation and rotation. These results show that parameters such as the fization patch size have crucial effects on the estimation of some motion parameters. Some of the critical issues involved in the implementaion of our autonomous motion vision system are also discussed here. Among those are the criteria for automatic choice of an optimum size for the fixation patch, and an appropriate location for the fixation point which result in good estimates for important motion parameters. Finally, a calibration method is described for identifying the real location of the rotation axis in imaging systems.