Towards Reliable and Accurate Global Structure-from-Motion

Reconstruction of objects or scenes from sparse point detections across multiple views is one of the most tackled problems in computer vision. Given the coordinates of 2D points tracked in multiple images, the problem consists of estimating the corresponding 3D points and cameras\u27 calibrations (intrinsic and pose), and can be solved by minimizing reprojection errors using bundle adjustment. However, given bundle adjustment\u27s nonlinear objective function and iterative nature, a good starting guess is required to converge to global minima. Global and Incremental Structure-from-Motion methods appear as ways to provide good initializations to bundle adjustment, each with different properties. While Global Structure-from-Motion has been shown to result in more accurate reconstructions compared to Incremental Structure-from-Motion, the latter has better scalability by starting with a small subset of images and sequentially adding new views, allowing reconstruction of sequences with millions of images. Additionally, both Global and Incremental Structure-from-Motion methods rely on accurate models of the scene or object, and under noisy conditions or high model uncertainty might result in poor initializations for bundle adjustment. Recently pOSE, a class of matrix factorization methods, has been proposed as an alternative to conventional Global SfM methods. These methods use VarPro - a second-order optimization method - to minimize a linear combination of an approximation of reprojection errors and a regularization term based on an affine camera model, and have been shown to converge to global minima with a high rate even when starting from random camera calibration estimations.This thesis aims at improving the reliability and accuracy of global SfM through different approaches. First, by studying conditions for global optimality of point set registration, a point cloud averaging method that can be used when (incomplete) 3D point clouds of the same scene in different coordinate systems are available. Second, by extending pOSE methods to different Structure-from-Motion problem instances, such as Non-Rigid SfM or radial distortion invariant SfM. Third and finally, by replacing the regularization term of pOSE methods with an exponential regularization on the projective depth of the 3D point estimations, resulting in a loss that achieves reconstructions with accuracy close to bundle adjustment

A Parallactic Distance of 389 +24/-21 parsecs to the Orion Nebula Cluster from Very Long Baseline Array Observations

We determine the parallax and proper motion of the flaring, non-thermal radio star GMR A, a member of the Orion Nebula Cluster, using Very Long Baseline Array observations. Based on the parallax, we measure a distance of 389 +24/-21 parsecs to the source. Our measurement places the Orion Nebula Cluster considerably closer than the canonical distance of 480 +/- 80 parsecs determined by Genzel et al. (1981). A change of this magnitude in distance lowers the luminosities of the stars in the cluster by a factor of ~ 1.5. We briefly discuss two effects of this change--an increase in the age spread of the pre-main sequence stars and better agreement between the zero-age main-sequence and the temperatures and luminosities of massive stars.Comment: 10 pages, 4 figures, emulateapj, accepted to Ap

A Precise Distance to IRAS 00420+5530 via H2O Maser Parallax with the VLBA

We have used the VLBA to measure the annual parallax of the H2O masers in the star-forming region IRAS 00420+5530. This measurement yields a direct distance estimate of 2.17 +/- 0.05 kpc (<3%), which disagrees substantially with the standard kinematic distance estimate of ~4.6 kpc (according to the rotation curve of Brand and Blitz 1993), as well as most of the broad range of distances (1.7-7.7 kpc) used in various astrophysical analyses in the literature. The 3-dimensional space velocity of IRAS 00420+5530 at this new, more accurate distance implies a substantial non-circular and anomalously slow Galactic orbit, consistent with similar observations of W3(OH) (Xu et al., 2006; Hachisuka et al. 2006), as well as line-of-sight velocity residuals in the rotation curve analysis of Brand and Blitz (1993). The Perseus spiral arm of the Galaxy is thus more than a factor of two closer than previously presumed, and exhibits motions substantially at odds with axisymmetric models of the rotating Galaxy.Comment: 33 pages, 12 figures; Accepted by ApJ (to appear March 2009

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection

Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as visual navigation and obstacle detection. We can use a surround multi-camera system to cover the full 360-degree field-of-view around the car. In this way, we avoid blind spots which can otherwise lead to accidents. To minimize the number of cameras needed for surround perception, we utilize fisheye cameras. Consequently, standard vision pipelines for 3D mapping, visual localization, obstacle detection, etc. need to be adapted to take full advantage of the availability of multiple cameras rather than treat each camera individually. In addition, processing of fisheye images has to be supported. In this paper, we describe the camera calibration and subsequent processing pipeline for multi-fisheye-camera systems developed as part of the V-Charge project. This project seeks to enable automated valet parking for self-driving cars. Our pipeline is able to precisely calibrate multi-camera systems, build sparse 3D maps for visual navigation, visually localize the car with respect to these maps, generate accurate dense maps, as well as detect obstacles based on real-time depth map extraction

High precision motion control of parallel robots with imperfections and manufacturing tolerances

This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system’s sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties

Precision Astrometry with the Very Long Baseline Array: Parallaxes and Proper Motions for 14 Pulsars

Astrometry can bring powerful constraints to bear on a variety of scientific questions about neutron stars, including their origins, astrophysics, evolution, and environments. Using phase-referenced observations at the VLBA, in conjunction with pulsar gating and in-beam calibration, we have measured the parallaxes and proper motions for 14 pulsars. The smallest measured parallax in our sample is 0.13+-0.02 mas for PSR B1541+09, which has a most probable distance of 7.2+1.3-1.1 kpc. We detail our methods, including initial VLA surveys to select candidates and find in-beam calibrators, VLBA phase-referencing, pulsar gating, calibration, and data reduction. The use of the bootstrap method to estimate astrometric uncertainties in the presence of unmodeled systematic errors is also described. Based on our new model-independent estimates for distance and transverse velocity, we investigate the kinematics and birth sites of the pulsars and revisit models of the Galactic electron density distribution. We find that young pulsars are moving away from the Galactic plane, as expected, and that age estimates from kinematics and pulsar spindown are generally in agreement, with certain notable exceptions. Given its present trajectory, the pulsar B2045-16 was plausibly born in the open cluster NGC 6604. For several high-latitude pulsars, the NE2001 electron density model underestimates the parallax distances by a factor of two, while in others the estimates agree with or are larger than the parallax distances, suggesting that the interstellar medium is irregular on relevant length scales. The VLBA astrometric results for the recycled pulsar J1713+0747 are consistent with two independent estimates from pulse timing, enabling a consistency check between the different reference frames.Comment: 16 pages, 9 figures, 4 tables; results unchanged; revised version accepted by Ap

Concept and architecture of a new apparatus for cylindrical form measurement with a nanometric level of accuracy

In relation to the industrial need and to the progress of technology, Laboratoire National de M´etrologie et d’Essais (LNE) would like to improve the measurement of its primary pressure standards, spherical and flick standards. The spherical and flick standards are, respectively, used to calibrate the spindle motion error and the probe, which equip commercial conventional cylindricity-measuring machines. The primary pressure standards are obtained using pressure balances equipped with rotary pistons. To reach a relative uncertainty of 10−6 in the pressure measurement, it is necessary to know the diameters of both the piston and the cylinder with an uncertainty of 5 nm for a piston diameter of 10 mm. Conventional machines are not able to reach such an uncertainty level. That is why the development of a new machine is necessary. The purpose of this paper is to present the concepts and the architecture adopted in the development of the new equipment dedicated to cylindricity measurement at a nanometric level of a accuracy. The choice of these concepts is based on the analysis of the uncertainty sources encountered in conventional architectures. The architecture of the new ultra-high equipment as well as the associated calibration procedures will be described and detailed.Thèse CIFR