Tropical prawn trawl bycatch of fish and seasnakes reduced by Yarrow Fisheye Bycatch Reduction Device

Reducing unwanted trawl bycatch is actively encouraged in Australia, particularly in prawn trawl fisheries. We tested the performance of a Bycatch Reduction Device, the Yarrow Fisheye, during two periods of commercial fishing operations in Australia's Northern Prawn Fishery, by comparing the catches of paired treatment and control nets. We compared the catch weights of the small fish and invertebrate bycatch, and the commercially important tiger prawns, from 42 trawls in 2002. The Yarrow Fisheye reduced the weight of small bycatch by a mean of 22.7%, with no loss of tiger prawn. We also compared the numbers of seasnakes caught in 41 and 72 trawls during the spring trawling seasons of 2004 and 2005, respectively. The Yarrow Fisheye reduced the catches by a mean of 43.3%. Flume-tank tests of the Yarrow Fisheye showed that this device created a slow water-flow region extending over 2 m downstream from its position in the net, and close to where the catch accumulates. Finfish and seasnakes may be exploiting this slow water-flow region to escape via the eye, Although the reductions in fish and seasnake bycatch were excellent, we think they could be further improved by relating differences in fisheye position and localised water displacements, to design and rigging changes.

Wide-angle visual feature matching for outdoor localization

Wide-angle images exhibit significant distortion for which existing scale-space detectors such as the scale-invariant feature transform (SIFT) are inappropriate. The required scale-space images for feature detection are correctly obtained through the convolution of the image, mapped to the sphere, with the spherical Gaussian. A new visual key-point detector, based on this principle, is developed and several computational approaches to the convolution are investigated in both the spatial and frequency domain. In particular, a close approximation is developed that has comparable computation time to conventional SIFT but with improved matching performance. Results are presented for monocular wide-angle outdoor image sequences obtained using fisheye and equiangular catadioptric cameras. We evaluate the overall matching performance (recall versus 1-precision) of these methods compared to conventional SIFT. We also demonstrate the use of the technique for variable frame-rate visual odometry and its application to place recognition.

Generic decoupled image-based visual servoing for cameras obeying the unified projection model

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform.

Combined optic-flow and stereo-based navigation of urban canyons for a UAV

We present a novel vision-based technique for navigating an Unmanned Aerial Vehicle (UAV) through urban canyons. Our technique relies on both optic flow and stereo vision information. We show that the combination of stereo and optic-flow (stereo-flow) is more effective at navigating urban canyons than either technique alone. Optic flow from a pair of sideways-looking cameras is used to stay centered in a canyon and initiate turns at junctions, while stereo vision from a forward-facing stereo head is used to avoid obstacles to the front. The technique was tested in full on an autonomous tractor at CSIRO and in part on the USC autonomous helicopter. Experimental results are presented from these two robotic platforms operating in outdoor environments. We show that the autonomous tractor can navigate urban canyons using stereoflow, and that the autonomous helicopter can turn away from obstacles to the side using optic flow. In addition, preliminary results show that a single pair of forward-facing fisheye cameras can be used for both stereo and optic flow. The center portions of the fisheye images are used for stereo, while flow is measured in the periphery of the images.

Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation

This thesis addresses the problem of detecting and describing the same scene points in different wide-angle images taken by the same camera at different viewpoints. This is a core competency of many vision-based localisation tasks including visual odometry and visual place recognition. Wide-angle cameras have a large field of view that can exceed a full hemisphere, and the images they produce contain severe radial distortion. When compared to traditional narrow field of view perspective cameras, more accurate estimates of camera egomotion can be found using the images obtained with wide-angle cameras. The ability to accurately estimate camera egomotion is a fundamental primitive of visual odometry, and this is one of the reasons for the increased popularity in the use of wide-angle cameras for this task. Their large field of view also enables them to capture images of the same regions in a scene taken at very different viewpoints, and this makes them suited for visual place recognition. However, the ability to estimate the camera egomotion and recognise the same scene in two different images is dependent on the ability to reliably detect and describe the same scene points, or ‘keypoints’, in the images. Most algorithms used for this purpose are designed almost exclusively for perspective images. Applying algorithms designed for perspective images directly to wide-angle images is problematic as no account is made for the image distortion. The primary contribution of this thesis is the development of two novel keypoint detectors, and a method of keypoint description, designed for wide-angle images. Both reformulate the Scale- Invariant Feature Transform (SIFT) as an image processing operation on the sphere. As the image captured by any central projection wide-angle camera can be mapped to the sphere, applying these variants to an image on the sphere enables keypoints to be detected in a manner that is invariant to image distortion. Each of the variants is required to find the scale-space representation of an image on the sphere, and they differ in the approaches they used to do this. Extensive experiments using real and synthetically generated wide-angle images are used to validate the two new keypoint detectors and the method of keypoint description. The best of these two new keypoint detectors is applied to vision based localisation tasks including visual odometry and visual place recognition using outdoor wide-angle image sequences. As part of this work, the effect of keypoint coordinate selection on the accuracy of egomotion estimates using the Direct Linear Transform (DLT) is investigated, and a simple weighting scheme is proposed which attempts to account for the uncertainty of keypoint positions during detection. A word reliability metric is also developed for use within a visual ‘bag of words’ approach to place recognition.

Decoupled image-based visual servoing for cameras obeying the unified projection model

This paper proposes a generic decoupled imagebased control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom. Importantly we form invariants which decrease the sensitivity of the interaction matrix to object depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.

Empirical modelling of rolling shutter effect

We propose and evaluate a novel methodology to identify the rolling shutter parameters of a real camera. We also present a model for the geometric distortion introduced when a moving camera with a rolling shutter views a scene. Unlike previous work this model allows for arbitrary camera motion, including accelerations, is exact rather than a linearization and allows for arbitrary camera projection models, for example fisheye or panoramic. We show the significance of the errors introduced by a rolling shutter for typical robot vision problems such as structure from motion, visual odometry and pose estimation.

Informational report: Bycatch reduction devices used in the Pink Shrimp trawl fishery

The California Fish and Game Commission (Commission) has the authority to require one or any combination of Bycatch Reduction Device (BRD) types in the trawl fishery within California waters for Pacific ocean shrimp (Pandalus jordani), most commonly referred to as pink shrimp. The purpose of this report is to provide the Commission with the best available information about the BRDs used in the pink shrimp trawl fishery. The mandatory requirement for BRDs occurred in California in 2002, and in Oregon and Washington in 2003, resulting from an effort to minimize bycatch of overfished and quota managed groundfish species. Three types of BRDs currently satisfy the requirement for this device in the California fishery: 1) the Nordmøre grate (rigid-grate excluder); 2) soft-panel excluder; and 3) fisheye excluder; however, the design, specifications, and efficacy differ by BRD type. Although no data has been collected on BRDs directly from the California pink shrimp fishery, extensive research on the efficacy and differences among BRD types has been conducted by the Oregon Department of Fish and Wildlife (ODFW) since the mid-1990s. Rigid-grate excluders are widely considered to be the most effective of the three BRD types at reducing groundfish bycatch. Over 90 percent of the Oregon pink shrimp fleet use rigid-grate excluders. The majority of the current California pink shrimp fleet also uses rigid-grate excluders, according to a telephone survey conducted by the California Department of Fish and Game (Department) in 2007-2008 of pink shrimp fishermen who have been active in the California fishery in recent years. Hinged rigid-grate excluders have been developed in recent years to reduce the bending of the BRD on vessels that employ net reels to stow and deploy their trawl nets, and they have been used successfully on both single- and double-rig vessels in Oregon. Soft-panel excluders have been demonstrated to be effective at reducing groundfish bycatch, although excessive shrimp loss and other problems have also been associated with this design. Fisheye excluders have been used in the California fishery in the past, but they were disapproved in Oregon and Washington in 2003 because they were found to be less effective at reducing groundfish bycatch than other designs. The reputation of the United States west coast pink shrimp fishery as one of the cleanest shrimp fisheries in the world is largely attributed to the effectiveness of BRDs at reducing groundfish bycatch. Nevertheless, BRD research and development is still a relatively new field and additional modifications and methods may further reduce bycatch rates in the pink shrimp fishery.(PDF contains 12 pages.)

Efficiency of bycatch reduction devices in small otter trawls used in the Florida shrimp fishery

Two bycatch reduction devices (BRDs)—the extended mesh funnel (EMF) and the Florida fisheye (FFE)—were evaluated in otter trawls with net mouth circumferences of 14 m, 17 m, and 20 m and total net areas of 45 m2. Each test net was towed 20 times in parallel with a control net that had the same dimensions and configuration but no BRD. Both BRDs were tested at night during fall 1996 and winter 1997 in Tampa Bay, Florida. Usually, the bycatch was composed principally of finfish (44 species were captured); horseshoe crabs and blue crabs seasonally predominated in some trawls. Ten finfish species composed 92% of the total finfish catch; commercially or recreationally valuable species accounted for 7% of the catch. Mean finfish size in the BRD-equipped nets was usually slightly smaller than that in the control nets. Compared with the corresponding control nets, both biomass and number of finfish were almost always less in the BRD-equipped nets but neither shrimp number nor biomass were significantly reduced. The differences in proportions of both shrimp and finfish catch between the BRD-equipped and control nets varied between seasons and among net sizes, and differences in finfish catch were specific for each BRD type and season. In winter, shrimp catch was highest and size range of shrimp was greater than in fall. Season-specific differences in shrimp catch among the BRD types occurred only in the 14-m, EMF nets. Finfish bycatch species composition was also highly seasonal; each species was captured mainly during only one season. However, regardless of the finfish composition, the shrimp catch was relatively constant. In part as a result of this study, the State of Florida now requires the use of BRDs in state waters.

面向海量层次信息可视化的嵌套圆鱼眼视图

针对海量层次信息可视化问题,提出嵌套圆鱼眼视图及实现方法.首先分析了相关工作;然后构造了针对同层兄弟节点的变形函数,给出了针对焦点节点同层兄弟节点的外切圆变形排列算法、变形后节点的子节点的嵌套圆递归排列算法及将二维鱼眼视图映射为三维鱼眼视图的方法;最后将该方法应用于计算机文件系统可视化.实验结果表明:该方法在相对小的显示空间内,既能显示海量信息的整体视图,又能突出局部焦点细节信息,具有较高的任务完成效率与用户满意度.

processline: visualizing time-series data in process industry

In modern process industry, it is often difficult to analyze a manufacture process due to its umerous time-series data. Analysts wish to not only interpret the evolution of data over time in a working procedure, but also examine the changes in the whole production process through time. To meet such analytic requirements, we have developed ProcessLine, an interactive visualization tool for a large amount of time-series data in process industry. The data are displayed in a fisheye timeline. ProcessLine provides good overviews for the whole production process and details for the focused working procedure. A preliminary user study using beer industry production data has shown that the tool is effective.

Investigation of high cycle and Very-High-Cycle Fatigue behaviors for a structural steel with smooth and notched specimens

The high cycle and Very-High-Cycle Fatigue (VHCF) properties of a structural steel with smooth and notched specimens were studied by employing a rotary bending machine with frequency of 52.5 Hz. For smooth specimens, VHCF failure did occur at fatigue cycles of 7.1 x 10(8) with the related S-N curve of stepwise tendency. Scanning Electron Microscopy (SEM) was used for the observations of the fracture surfaces It shows that for smooth specimens the crack origination is surface mode in the failure regime of less than 10(7) cycles While at VHCF regime, the material failed from the nonmetallic inclusion lies in the interior of material, leading to the formation of fisheye pattern. The dimensions of crack initiation region were measured and discussed with respect to the number of cycles to failure. The mechanism analysis by means of low temperature fracture technique shows that the nonmetallic inclusion in the interior of specimen tends to debond from surrounding matrix and form a crack. The crack propagates and results to the final failure. The stress intensity factor and fatigue strength were calculated to investigate the crack initiation properties. VHCF study on the notched specimens shows that the obtained S-N curve decreases continuously. SEM analysis reveals that multiple crack origins are dominant on specimen surface and that fatigue crack tends to initiate from the surface of the specimen. Based on the fatigue tests and observations, a model of crack initiation was used to describe the transition of fatigue initiation site from subsurface to surface for smooth and notched specimens. The model reveals the influences of load, grain size, inclusion size and surface notch on the crack initiation transition. (C) 2010 Elsevier Ltd. All rights reserved