220,806 research outputs found

    A New Solution to the Relative Orientation Problem using only 3 Points and the Vertical Direction

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    This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU (inertial measurement unit), 2- using vertical vanishing point. This knowledge of the vertical direction solves 2 unknowns among the 3 parameters of the relative rotation, so that only 3 homologous points are requested to position a couple of images. Rewriting the coplanarity equations leads to a simpler solution. The remaining unknowns resolution is performed by an algebraic method using Grobner bases. The elements necessary to build a specific algebraic solver are given in this paper, allowing for a real-time implementation. The results on real and synthetic data show the efficiency of this method

    The Grid Dependence of Well Inflow Performance in Reservoir Simulation

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    Neural Dynamics of Motion Grouping: From Aperture Ambiguity to Object Speed and Direction

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    A neural network model of visual motion perception and speed discrimination is developed to simulate data concerning the conditions under which components of moving stimuli cohere or not into a global direction of motion, as in barberpole and plaid patterns (both Type 1 and Type 2). The model also simulates how the perceived speed of lines moving in a prescribed direction depends upon their orientation, length, duration, and contrast. Motion direction and speed both emerge as part of an interactive motion grouping or segmentation process. The model proposes a solution to the global aperture problem by showing how information from feature tracking points, namely locations from which unambiguous motion directions can be computed, can propagate to ambiguous motion direction points, and capture the motion signals there. The model does this without computing intersections of constraints or parallel Fourier and non-Fourier pathways. Instead, the model uses orientationally-unselective cell responses to activate directionally-tuned transient cells. These transient cells, in turn, activate spatially short-range filters and competitive mechanisms over multiple spatial scales to generate speed-tuned and directionally-tuned cells. Spatially long-range filters and top-down feedback from grouping cells are then used to track motion of featural points and to select and propagate correct motion directions to ambiguous motion points. Top-down grouping can also prime the system to attend a particular motion direction. The model hereby links low-level automatic motion processing with attention-based motion processing. Homologs of model mechanisms have been used in models of other brain systems to simulate data about visual grouping, figure-ground separation, and speech perception. Earlier versions of the model have simulated data about short-range and long-range apparent motion, second-order motion, and the effects of parvocellular and magnocellular LGN lesions on motion perception.Office of Naval Research (N00014-920J-4015, N00014-91-J-4100, N00014-95-1-0657, N00014-95-1-0409, N00014-91-J-0597); Air Force Office of Scientific Research (F4620-92-J-0225, F49620-92-J-0499); National Science Foundation (IRI-90-00530

    The Perception of Globally Coherent Motion

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    How do human observers perceive a coherent pattern of motion from a disparate set of local motion measures? Our research has examined how ambiguous motion signals along straight contours are spatially integrated to obtain a globally coherent perception of motion. Observers viewed displays containing a large number of apertures, with each aperture containing one or more contours whose orientations and velocities could be independently specified. The total pattern of the contour trajectories across the individual apertures was manipulated to produce globally coherent motions, such as rotations, expansions, or translations. For displays containing only straight contours extending to the circumferences of the apertures, observers' reports of global motion direction were biased whenever the sampling of contour orientations was asymmetric relative to the direction of motion. Performance was improved by the presence of identifiable features, such as line ends or crossings, whose trajectories could be tracked over time. The reports of our observers were consistent with a pooling process involving a vector average of measures of the component of velocity normal to contour orientation, rather than with the predictions of the intersection-of-constraints analysis in velocity space.Air Force Office of Scientific Research (90-0175, 89-0016); National Science Foundation, Office of Naval Research, Air Force Office of Scientific Research (BNS-8908426

    Metrological characterization of a vision-based system for relative pose measurements with fiducial marker mapping for spacecrafts

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    An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface

    Mosaic Maps: 2D Information from Perspective Data

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