On the AER Stereo-Vision Processing: A Spike Approach to Epipolar Matching

Image processing in digital computer systems usually considers visual information as a sequence of frames. These frames are from cameras that capture reality for a short period of time. They are renewed and transmitted at a rate of 25-30 fps (typical real-time scenario). Digital video processing has to process each frame in order to detect a feature on the input. In stereo vision, existing algorithms use frames from two digital cameras and process them pixel by pixel until it finds a pattern match in a section of both stereo frames. To process stereo vision information, an image matching process is essential, but it needs very high computational cost. Moreover, as more information is processed, the more time spent by the matching algorithm, the more inefficient it is. Spike-based processing is a relatively new approach that implements processing by manipulating spikes one by one at the time they are transmitted, like a human brain. The mammal nervous system is able to solve much more complex problems, such as visual recognition by manipulating neuron’s spikes. The spike-based philosophy for visual information processing based on the neuro-inspired Address-Event- Representation (AER) is achieving nowadays very high performances. The aim of this work is to study the viability of a matching mechanism in a stereo-vision system, using AER codification. This kind of mechanism has not been done before to an AER system. To do that, epipolar geometry basis applied to AER system are studied, and several tests are run, using recorded data and a computer. The results and an average error are shown (error less than 2 pixels per point); and the viability is proved

Method And Apparatus For Optically Digitizing A Three-dimensional Object

An apparatus and method for digitizing an object for creating a three-dimensional digital model of the object comprises a turntable for rotating the object about a rotation axis, at least first and second light sources positioned and oriented for directing a thin sheet of light toward the object along an illumination plane substantially parallel to and substantially intersecting with the rotation axis, a first detector positioned to one side of the illumination plane and oriented for detecting light reflected along a first detection plane from the object for creating a plurality of first side contours as the object rotates, a second detector positioned to a side of the illumination plane, opposite the one side, for detecting light reflected along a second detection plane from the object for creating a plurality of second side contours as the object rotates, a third detector for capturing illumination on-axis contours in the form of a vertical straight line to derive an instantaneous color of the object's surface as a function of the height of the object, and a combining and evaluating computer for combining the first side contours, the second side contours, and the illumination on-axis contours for generating a plurality of composite contours and for evaluating the composite contours for creating a three-dimensional digital model of the object.Georgia Tech Research Corporatio

GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, the depth of field of the camera, and the size of the tactile sensing area. The sensor sustains the wear from continuous use -- and abuse -- in grasping tasks by combining tougher materials for the compliant soft gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments.Comment: RA-L Pre-print. 8 page

Automated archiving of archaeological aerial images

The main purpose of any aerial photo archive is to allow quick access to images based on content and location. Therefore, next to a description of technical parameters and depicted content, georeferencing of every image is of vital importance. This can be done either by identifying the main photographed object (georeferencing of the image content) or by mapping the center point and/or the outline of the image footprint. The paper proposes a new image archiving workflow. The new pipeline is based on the parameters that are logged by a commercial, but cost-effective GNSS/IMU solution and processed with in-house-developed software. Together, these components allow one to automatically geolocate and rectify the (oblique) aerial images (by a simple planar rectification using the exterior orientation parameters) and to retrieve their footprints with reasonable accuracy, which is automatically stored as a vector file. The data of three test flights were used to determine the accuracy of the device, which turned out to be better than 1° for roll and pitch (mean between 0.0 and 0.21 with a standard deviation of 0.17–0.46) and better than 2.5° for yaw angles (mean between 0.0 and −0.14 with a standard deviation of 0.58–0.94). This turned out to be sufficient to enable a fast and almost automatic GIS-based archiving of all of the imagery

Testing of the LSST's photometric calibration strategy at the CTIO 0.9 meter telescope

The calibration hardware system of the Large Synoptic Survey Telescope (LSST) is designed to measure two quantities: a telescope's instrumental response and atmospheric transmission, both as a function of wavelength. First of all, a "collimated beam projector" is designed to measure the instrumental response function by projecting monochromatic light through a mask and a collimating optic onto the telescope. During the measurement, the light level is monitored with a NIST-traceable photodiode. This method does not suffer from stray light effects or the reflections (known as ghosting) present when using a flat-field screen illumination, which has a systematic source of uncertainty from uncontrolled reflections. It allows for an independent measurement of the throughput of the telescope's optical train as well as each filter's transmission as a function of position on the primary mirror. Second, CALSPEC stars can be used as calibrated light sources to illuminate the atmosphere and measure its transmission. To measure the atmosphere's transfer function, we use the telescope's imager with a Ronchi grating in place of a filter to configure it as a low resolution slitless spectrograph. In this paper, we describe this calibration strategy, focusing on results from a prototype system at the Cerro Tololo Inter-American Observatory (CTIO) 0.9 meter telescope. We compare the instrumental throughput measurements to nominal values measured using a laboratory spectrophotometer, and we describe measurements of the atmosphere made via CALSPEC standard stars during the same run

The StarScan plate measuring machine: overview and calibrations

The StarScan machine at the U.S. Naval Observatory (USNO) completed measuring photographic astrograph plates to allow determination of proper motions for the USNO CCD Astrograph Catalog (UCAC) program. All applicable 1940 AGK2 plates, about 2200 Hamburg Zone Astrograph plates, 900 Black Birch (USNO Twin Astrograph) plates, and 300 Lick Astrograph plates have been measured. StarScan comprises of a CCD camera, telecentric lens, air-bearing granite table, stepper motor screws, and Heidenhain scales to operate in a step-stare mode. The repeatability of StarScan measures is about 0.2 micrometer. The CCD mapping as well as the global table coordinate system has been calibrated using a special dot calibration plate and the overall accuracy of StarScan x,y data is derived to be 0.5 micrometer. Application to real photographic plate data shows that position information of at least 0.65 micrometer accuracy can be extracted from course grain 103a-type emulsion astrometric plates. Transformations between "direct" and "reverse" measures of fine grain emulsion plate measures are obtained on the 0.3 micrometer level per well exposed stellar image and coordinate, which is at the limit of the StarScan machine.Comment: 24 pages, 8 figures, accepted for PAS