位相限定相関法に基づく多視点画像からの3次元復元に関する研究

Tohoku University青木孝

Novel robust computer vision algorithms for micro autonomous systems

People detection and tracking are an essential component of many autonomous platforms, interactive systems and intelligent vehicles used in various search and rescues operations and similar humanitarian applications. Currently, researchers are focusing on the use of vision sensors such as cameras due to their advantages over other sensor types. Cameras are information rich, relatively inexpensive and easily available. Additionally, 3D information is obtained from stereo vision, or by triangulating over several frames in monocular configurations. Another method to obtain 3D data is by using RGB-D sensors (e.g. Kinect) that provide both image and depth data. This method is becoming more attractive over the past few years due to its affordable price and availability for researchers. The aim of this research was to find robust multi-target detection and tracking algorithms for Micro Autonomous Systems (MAS) that incorporate the use of the RGB-D sensor. Contributions include the discovery of novel robust computer vision algorithms. It proposed a new framework for human body detection, from video file, to detect a single person adapted from Viola and Jones framework. The 2D Multi Targets Detection and Tracking (MTDT) algorithm applied the Gaussian Mixture Model (GMM) to reduce noise in the pre-processing stage. Blob analysis was used to detect targets, and Kalman filter was used to track targets. The 3D MTDT extends beyond 2D with the use of depth data from the RGB-D sensor in the pre-processing stage. Bayesian model was employed to provide multiple cues. It includes detection of the upper body, face, skin colour, motion and shape. Kalman filter proved for speed and robustness of the track management. Simultaneous Localisation and Mapping (SLAM) fusing with 3D information was investigated. The new framework introduced front end and back end processing. The front end consists of localisation steps, post refinement and loop closing system. The back-end focus on the post-graph optimisation to eliminate errors.The proposed computer vision algorithms proved for better speed and robustness. The frameworks produced impressive results. New algorithms can be used to improve performances in real time applications including surveillance, vision navigation, environmental perception and vision-based control system on MAS

NASA Strategic Roadmap Committees Final Roadmaps

Volume 1 contains NASA strategic roadmaps for the following Advanced Planning and Integration Office (APIO) committees: Earth Science and Applications from Space; Sun - Solar System Connection. Volume 2 contains NASA strategic roadmaps for the following APIO committees: Robotic and Human Exploration of Mars; Solar System Exploration; Search for Earth-like Planets; Universe Exploration, as well as membership rosters and charters for all APIO committees, including those above and the following: Exploration Transportation System; Nuclear Systems; Robotic and Human Lunar Exploration; Aeronautical Technologies; Space Shuttle; International Space Station; Education

A review of carbon monitoring in wet carbon systems using remote sensing

Carbon monitoring is critical for the reporting and verification of carbon stocks and change. Remote sensing is a tool increasingly used to estimate the spatial heterogeneity, extent and change of carbon stocks within and across various systems. We designate the use of the term wet carbon system to the interconnected wetlands, ocean, river and streams, lakes and ponds, and permafrost, which are carbon-dense and vital conduits for carbon throughout the terrestrial and aquatic sections of the carbon cycle. We reviewed wet carbon monitoring studies that utilize earth observation to improve our knowledge of data gaps, methods, and future research recommendations. To achieve this, we conducted a systematic review collecting 1622 references and screening them with a combination of text matching and a panel of three experts. The search found 496 references, with an additional 78 references added by experts. Our study found considerable variability of the utilization of remote sensing and global wet carbon monitoring progress across the nine systems analyzed. The review highlighted that remote sensing is routinely used to globally map carbon in mangroves and oceans, whereas seagrass, terrestrial wetlands, tidal marshes, rivers, and permafrost would benefit from more accurate and comprehensive global maps of extent. We identified three critical gaps and twelve recommendations to continue progressing wet carbon systems and increase cross system scientific inquiry

Single Muon Production and Implications for Charm in √sN N = 200 GeV Au+Au Collisions

The PHENIX experiment, located at the Brookhaven National Laboratory’s Rela- tivistic Heavy Ion Collider, is designed to study high energy proton+proton and nu- cleus+nucleus collisions in order to characterize hot and dense nuclear matter. This dissertation presents the first analysis of single muon production in √sN N = 200 GeV Au+Au reactions. Implications of the forward rapidity measurements for charm pro- duction are discussed. Motivation for charm production measurements and the role of open charm in characterizing the medium created in relativistic heavy ion collisions are presented, and the importance of measurements at forward rapidity is established. The results of this study are compared to relevant calculations and related measurements at RHIC. The number of muons produced from charm decays is found to scale with the number of binary collisions within large experimental errors over the studied kinematic region

The applications of InSAR time series analysis for monitoring long-term surface change in peatlands

In the past three decades, peatlands all over the world such as upland bogs, tropical fens, have been undergoing significant and rapid degradations. These degradations cause carbon loss and CO2 emissions, and also fuel climate change. In this research, I present three case studies on how space geodetic tools, especially Radar Interferometry (InSAR), can be used to monitor and to advance our understanding of the long-term surface changes in peatlands. First, I investigate the eroding extent and severity of upland UK peatlands using InSAR. Both short wavelength C-band and long wavelength L-band data are explored in this study. I detect a long-term peat subsidence rate of about 0.3 cm/yr, and 2 cm of decrease in peat height between 2002 and 2010. I also examine the coherence performance of C- and L-band over upland bogs. I find L-band data provides better coherence than C-band in upland bogs. Second, I use InSAR time series generated by L-band images to map the spatial and temporal subsidence of drained tropical peatlands in Sumatra, Indonesia. And based on InSAR-derived subsidence rate data, I estimate carbon loss or CO2 emission. Third, I assess the effectiveness of peatland restoration work in in Central Kalimantan, Indonesia using InSAR (L-band images). Restoration effects and impact factors are investigated by the spatial and temporal changes of peat height, which also provide useful information for guiding future restoration activities in this region. Overall, this research suggests that InSAR time series is feasible to monitor long-term peat height change in peatlands, provides new insights into the dynamic surface changes in peatlands, and helps to study the carbon loss and CO2 emissions from peatlands, and understand restoration effects