Registration of Sub-Sequence and Multi-Camera Reconstructions for Camera Motion Estimation

This paper presents different application scenarios for which the registration of sub-sequence reconstructions or multi-camera reconstructions is essential for successful camera motion estimation and 3D reconstruction from video. The registration is achieved by merging unconnected feature point tracks between the reconstructions. One application is drift removal for sequential camera motion estimation of long sequences. The state-of-the-art in drift removal is to apply a RANSAC approach to find unconnected feature point tracks. In this paper an alternative spectral algorithm for pairwise matching of unconnected feature point tracks is used. It is then shown that the algorithms can be combined and applied to novel scenarios where independent camera motion estimations must be registered into a common global coordinate system. In the first scenario multiple moving cameras, which capture the same scene simultaneously, are registered. A second new scenario occurs in situations where the tracking of feature points during sequential camera motion estimation fails completely, e.g., due to large occluding objects in the foreground, and the unconnected tracks of the independent reconstructions must be merged. In the third scenario image sequences of the same scene, which are captured under different illuminations, are registered. Several experiments with challenging real video sequences demonstrate that the presented techniques work in practice.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2015S22, deployed during the Norwegian Young sea ICE cruise (N-ICE 2015) project

Snow height was measured by the Snow Depth Buoy 2015S22, an autonomous platform, drifting on Arctic sea ice, deployed during the Norwegian Young sea ICE cruise (N-ICE 2015) project. The resulting time series describes the evolution of snow depth as a function of place and time between 2015-03-01 and 2015-05-06 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow depth occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow depth may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2015S26, deployed during the Norwegian Young sea ICE cruise (N-ICE 2015) project

Snow height was measured by the Snow Depth Buoy 2015S26, an autonomous platform, drifting on Arctic sea ice, deployed during the Norwegian Young sea ICE cruise (N-ICE 2015) project. The resulting time series describes the evolution of snow depth as a function of place and time between 2015-01-24 and 2015-02-21 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow depth occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow depth may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2015S18, deployed during POLARSTERN cruise ANT-XXX/2 (PS89)

Snow height was measured by the Snow Depth Buoy 2015S18, an autonomous platform, drifting on Antarctic sea ice, deployed during POLARSTERN cruise ANT-XXX/2 (PS89). The resulting time series describes the evolution of snow depth as a function of place and time between 2015-01-03 and 2015-01-18 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow depth occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow depth may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2014S13, deployed during the CryoVEx2014 field campaign

Snow height was measured by the Snow Depth Buoy 2014S13, an autonomous platform, drifting on Arctic sea ice, deployed during the CryoVEx2014 field campaign. The resulting time series describes the evolution of snow height as a function of place and time between 2014-03-30 and 2014-07-20 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on multi year ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses. Note: This data set contains only relative changes in snow height, because no initial readings of absolute snow height are available.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S1, deployed during Antarctic Fast Ice Network 2013 (AFIN 2013)

Snow height was measured by the Snow Depth Buoy 2013S1, an autonomous platform, installed close to Neumayer III Base, Antarctic during Antarctic Fast Ice Network 2013 (AFIN 2013). The resulting time series describes the evolution of snow height as a function of place and time between 2013-02-11 and 2013-04-29 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on the ice shelf. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses. Note: This data set contains only relative changes in snow height, because no initial readings of absolute snow height are available.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S3, deployed at the Barneo ice camp 2013

Snow height was measured by the Snow Depth Buoy 2013S3, an autonomous platform, drifting on Arctic sea ice. This buoy was deployed at the Barneo ice camp 2013. The resulting time series describes the evolution of snow height as a function of place and time between 2013-04-09 and 2013-06-13 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on multi year ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S4, deployed during SIZONet 2013

Snow height was measured by the Snow Depth Buoy 2013S4, an autonomous platform, installed on land-fast sea ice off Barrow, Alaska during SIZONet 2013. The resulting time series describes the evolution of snow height as a function of place and time between 2013-04-09 and 2013-06-28 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on land-fast sea ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses. Note: This data set contains only relative changes in snow height, because no initial readings of absolute snow height are available.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S6, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81)

Snow height was measured by the Snow Depth Buoy 2013S6, an autonomous platform, drifting on Antarctic sea ice, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81). The resulting time series describes the evolution of snow height as a function of place and time between 2013-06-24 and 2013-09-27 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S8, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81)

Snow height was measured by the Snow Depth Buoy 2013S8, an autonomous platform, drifting on Antarctic sea ice, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81). The resulting time series describes the evolution of snow height as a function of place and time between 2013-07-09 and 2014-01-05 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2013S7, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81)

Snow height was measured by the Snow Depth Buoy 2013S7, an autonomous platform, drifting on Antarctic sea ice, deployed during POLARSTERN cruise ANT-XXIX/6 (PS81). The resulting time series describes the evolution of snow height as a function of place and time between 2013-07-06 and 2013-09-13 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow height, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow height occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow height may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2014S15, deployed during POLARSTERN cruise ARK-XXVIII/4 (PS87)

Snow height was measured by the Snow Depth Buoy 2014S15, an autonomous platform, drifting on Arctic sea ice, deployed during POLARSTERN cruise ARK-XXVIII/4 (PS87). The resulting time series describes the evolution of snow depth as a function of place and time between 2014-08-29 and 2014-12-31 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). The buoy was installed on multi year ice. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Records without any snow depth may still be used for sea ice drift analyses. Note: This data set contains only relative changes in snow depth, because no initial readings of absolute snow depth are available.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2014S17, deployed during POLARSTERN cruise ANT-XXX/2 (PS89)

Snow height was measured by the Snow Depth Buoy 2014S17, an autonomous platform, drifting on Antarctic sea ice, deployed during POLARSTERN cruise ANT-XXX/2 (PS89). The resulting time series describes the evolution of snow depth as a function of place and time between 2014-12-20 and 2015-02-01 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on first year ice. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow depth occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). In this data set, diurnal variations occur in the data set, although the sonic readings were compensated for temperature changes. Records without any snow depth may still be used for sea ice drift analyses.

Snow height on sea ice and sea ice drift from autonomous measurements from buoy 2014S24, deployed during Antarctic Fast Ice Network 2014 (AFIN 2014)

Snow height was measured by the Snow Depth Buoy 2014S24, an autonomous platform, installed close to Neumayer III Base, Antarctic during Antarctic Fast Ice Network 2014 (AFIN 2014). The resulting time series describes the evolution of snow depth as a function of place and time between 2014-03-07 and 2014-05-16 in sample intervals of 1 hour. The Snow Depth Buoy consists of four independent sonar measurements representing the area (approx. 10 m**2) around the buoy. The buoy was installed on the ice shelf. In addition to snow depth, geographic position (GPS), barometric pressure, air temperature, and ice surface temperature were measured. Negative values of snow depth occur if surface ablation continues into the sea ice. Thus, these measurements describe the position of the sea ice surface relative to the original snow-ice interface. Differences between single sensors indicate small-scale variability of the snow pack around the buoy. The data set has been processed, including the removal of obvious inconsistencies (missing values). Records without any snow depth may still be used for sea ice drift analyses. Note: This data set contains only relative changes in snow depth, because no initial readings of absolute snow depth are available.