Three-dimensional measurements with a novel technique combination of confocal and focus variation with a simultaneous scan

The most common optical measurement technologies used today for the three dimensional measurement of technical surfaces are Coherence Scanning Interferometry (CSI), Imaging Confocal Microscopy (IC), and Focus Variation (FV). Each one has its benefits and its drawbacks. FV will be the ideal technology for the measurement of those regions where the slopes are high and where the surface is very rough, while CSI and IC will provide better results for smoother and flatter surface regions. In this work we investigated the benefits and drawbacks of combining Interferometry, Confocal and focus variation to get better measurement of technical surfaces. We investigated a way of using Microdisplay Scanning type of Confocal Microscope to acquire on a simultaneous scan confocal and focus Variation information to reconstruct a three dimensional measurement. Several methods are presented to fuse the optical sectioning properties of both techniques as well as the topographical information. This work shows the benefit of this combination technique on several industrial samples where neither confocal nor focus variation is able to provide optimal results.Postprint (author's final draft

Consistent ICP for the registration of sparse and inhomogeneous point clouds

In this paper, we derive a novel iterative closest point (ICP) technique that performs point cloud alignment in a robust and consistent way. Traditional ICP techniques minimize the point-to-point distances, which are successful when point clouds contain no noise or clutter and moreover are dense and more or less uniformly sampled. In the other case, it is better to employ point-to-plane or other metrics to locally approximate the surface of the objects. However, the point-to-plane metric does not yield a symmetric solution, i.e. the estimated transformation of point cloud p to point cloud q is not necessarily equal to the inverse transformation of point cloud q to point cloud p. In order to improve ICP, we will enforce such symmetry constraints as prior knowledge and make it also robust to noise and clutter. Experimental results show that our method is indeed much more consistent and accurate in presence of noise and clutter compared to existing ICP algorithms

Learning and Matching Multi-View Descriptors for Registration of Point Clouds

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the one hand, and the development of robust matching strategies on the other hand. In this work, we first propose a multi-view local descriptor, which is learned from the images of multiple views, for the description of 3D keypoints. Then, we develop a robust matching approach, aiming at rejecting outlier matches based on the efficient inference via belief propagation on the defined graphical model. We have demonstrated the boost of our approaches to registration on the public scanning and multi-view stereo datasets. The superior performance has been verified by the intensive comparisons against a variety of descriptors and matching methods

An eccentric companion at the edge of the brown dwarf desert orbiting the 2.4 Msun giant star HIP67537

We report the discovery of a substellar companion around the giant star HIP67537. Based on precision radial velocity measurements from CHIRON and FEROS high-resolution spectroscopic data, we derived the following orbital elements for HIP67537$\,b$: m$_b$sin$i$ = 11.1$^{+0.4}_{-1.1}$ M$_{\rm {\tiny jup}}$, $a$ = 4.9$^{+0.14}_{-0.13}$ AU and $e$ = 0.59$^{+0.05}_{-0.02}$. Considering random inclination angles, this object has $\gtrsim$ 65% probability to be above the theoretical deuterium-burning limit, thus it is one of the few known objects in the planet to brown-dwarf transition region. In addition, we analyzed the Hipparcos astrometric data of this star, from which we derived a minimum inclination angle for the companion of $\sim$ 2 deg. This value corresponds to an upper mass limit of $\sim$ 0.3 M$_\odot$, therefore the probability that HIP67537$\,b$ is stellar in nature is $\lesssim$ 7%. The large mass of the host star and the high orbital eccentricity makes HIP67537$\,b$ a very interesting and rare substellar object. This is the second candidate companion in the brown dwarf desert detected in the sample of intermediate-mass stars targeted by the EXPRESS radial velocity program, which corresponds to a detection fraction of $f$ = 1.6$^{+2.0}_{-0.5}$%. This value is larger than the fraction observed in solar-type stars, providing new observational evidence of an enhanced formation efficiency of massive substellar companions in massive disks. Finally, we speculate about different formation channels for this object.Comment: Accepted for publication to A&

Fetal whole-heart 4D imaging using motion-corrected multi-planar real-time MRI

Purpose: To develop a MRI acquisition and reconstruction framework for volumetric cine visualisation of the fetal heart and great vessels in the presence of maternal and fetal motion. Methods: Four-dimensional depiction was achieved using a highly-accelerated multi-planar real-time balanced steady state free precession acquisition combined with retrospective image-domain techniques for motion correction, cardiac synchronisation and outlier rejection. The framework was evaluated and optimised using a numerical phantom, and evaluated in a study of 20 mid- to late-gestational age human fetal subjects. Reconstructed cine volumes were evaluated by experienced cardiologists and compared with matched ultrasound. A preliminary assessment of flow-sensitive reconstruction using the velocity information encoded in the phase of dynamic images is included. Results: Reconstructed cine volumes could be visualised in any 2D plane without the need for highly-specific scan plane prescription prior to acquisition or for maternal breath hold to minimise motion. Reconstruction was fully automated aside from user-specified masks of the fetal heart and chest. The framework proved robust when applied to fetal data and simulations confirmed that spatial and temporal features could be reliably recovered. Expert evaluation suggested the reconstructed volumes can be used for comprehensive assessment of the fetal heart, either as an adjunct to ultrasound or in combination with other MRI techniques. Conclusion: The proposed methods show promise as a framework for motion-compensated 4D assessment of the fetal heart and great vessels

Deep learning‐based method for reducing residual motion effects in diffusion parameter estimation

PURPOSE: Conventional motion-correction techniques for diffusion MRI can introduce motion-level-dependent bias in derived metrics. To address this challenge, a deep learning-based technique was developed to minimize such residual motion effects. METHODS: The data-rejection approach was adopted in which motion-corrupted data are discarded before model-fitting. A deep learning-based parameter estimation algorithm, using a hierarchical convolutional neural network (H-CNN), was combined with motion assessment and corrupted volume rejection. The method was designed to overcome the limitations of existing methods of this kind that produce parameter estimations whose quality depends strongly on a proportion of the data discarded. Evaluation experiments were conducted for the estimation of diffusion kurtosis and diffusion-tensor-derived measures at both the individual and group levels. The performance was compared with the robust approach of iteratively reweighted linear least squares (IRLLS) after motion correction with and without outlier replacement. RESULTS: Compared with IRLLS, the H-CNN-based technique is minimally sensitive to motion effects. It was tested at severe motion levels when 70% to 90% of the data are rejected and when random motion is present. The technique had a stable performance independent of the numbers and schemes of data rejection. A further test on a data set from children with attention-deficit hyperactivity disorder shows the technique can potentially ameliorate spurious group-level difference caused by head motion. CONCLUSION: This method shows great potential for reducing residual motion effects in motion-corrupted diffusion-weighted-imaging data, bringing benefits that include reduced bias in derived metrics in individual scans and reduced motion-level-dependent bias in population studies employing diffusion MRI

Studying the photometric and spectroscopic variability of the magnetic hot supergiant ζ\zeta Orionis Aa

Massive stars play a significant role in the chemical and dynamical evolution of galaxies. However, much of their variability, particularly during their evolved supergiant stage, is poorly understood. To understand the variability of evolved massive stars in more detail, we present a study of the O9.2Ib supergiant $\zeta$ Ori Aa, the only currently confirmed supergiant to host a magnetic field. We have obtained two-color space-based BRIght Target Explorer photometry (BRITE) for $\zeta$ Ori Aa during two observing campaigns, as well as simultaneous ground-based, high-resolution optical CHIRON spectroscopy. We perform a detailed frequency analysis to detect and characterize the star's periodic variability. We detect two significant, independent frequencies, their higher harmonics, and combination frequencies: the stellar rotation period $P_{\mathrm{rot}} = 6.82\pm0.18$ d, most likely related to the presence of the stable magnetic poles, and a variation with a period of $10.0\pm0.3$ d attributed to circumstellar environment, also detected in the H$\alpha$ and several He I lines, yet absent in the purely photospheric lines. We confirm the variability with $P_{\mathrm{rot}}$/4, likely caused by surface inhomogeneities, being the possible photospheric drivers of the discrete absorption components. No stellar pulsations were detected in the data. The level of circumstellar activity clearly differs between the two BRITE observing campaigns. We demonstrate that $\zeta$ Ori Aa is a highly variable star with both periodic and non-periodic variations, as well as episodic events. The rotation period we determined agrees well with the spectropolarimetric value from the literature. The changing activity level observed with BRITE could explain why the rotational modulation of the magnetic measurements was not clearly detected at all epochs.Comment: 20 pages, 5 tables, 12 figures, accepted for publication in A&

RadarSLAM: Radar based Large-Scale SLAM in All Weathers

Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper, RadarSLAM, a full radar based graph SLAM system, is proposed for reliable localization and mapping in large-scale environments. It is composed of pose tracking, local mapping, loop closure detection and pose graph optimization, enhanced by novel feature matching and probabilistic point cloud generation on radar images. Extensive experiments are conducted on a public radar dataset and several self-collected radar sequences, demonstrating the state-of-the-art reliability and localization accuracy in various adverse weather conditions, such as dark night, dense fog and heavy snowfall