Estimating Epipolar Geometry With The Use of a Camera Mounted Orientation Sensor

Context: Image processing and computer vision are rapidly becoming more and more commonplace, and the amount of information about a scene, such as 3D geometry, that can be obtained from an image, or multiple images of the scene is steadily increasing due to increasing resolutions and availability of imaging sensors, and an active research community. In parallel, advances in hardware design and manufacturing are allowing for devices such as gyroscopes, accelerometers and magnetometers and GPS receivers to be included alongside imaging devices at a consumer level. Aims: This work aims to investigate the use of orientation sensors in the field of computer vision as sources of data to aid with image processing and the determination of a scene’s geometry, in particular, the epipolar geometry of a pair of images - and devises a hybrid methodology from two sets of previous works in order to exploit the information available from orientation sensors alongside data gathered from image processing techniques. Method: A readily available consumer-level orientation sensor was used alongside a digital camera to capture images of a set of scenes and record the orientation of the camera. The fundamental matrix of these pairs of images was calculated using a variety of techniques - both incorporating data from the orientation sensor and excluding its use Results: Some methodologies could not produce an acceptable result for the Fundamental Matrix on certain image pairs, however, a method described in the literature that used an orientation sensor always produced a result - however in cases where the hybrid or purely computer vision methods also produced a result - this was found to be the least accurate. Conclusion: Results from this work show that the use of an orientation sensor to capture information alongside an imaging device can be used to improve both the accuracy and reliability of calculations of the scene’s geometry - however noise from the orientation sensor can limit this accuracy and further research would be needed to determine the magnitude of this problem and methods of mitigation

The Limits of In-run Calibration of MEMS and the Effect of New Techniques

Inertial sensors can significantly increase the robustness of an integrated navigation system by bridging gaps in the coverage of other positioning technologies, such as GNSS or Wi-Fi positioning [1]. A full set of chip-scale MEMS accelerometers and gyros can now be bought for less than $10, potentially opening up a wide range of new applications. However, these sensors require calibration before they can be used for navigation[2]. Higher quality inertial sensors may be calibrated “in-run” using Kalman filter-based estimation as part of their integration with GNSS or other position-fixing techniques. However, this approach can fail when applied to sensors with larger errors which break the Kalman filter due to the linearity and small-angle approximations within its system model not being valid. Possible solutions include: replacing the Kalman filter with a non-linear estimation algorithm, a pre-calibration procedure and smart array [3]. But these all have costs in terms of user effort, equipment or processing load. This paper makes two key contributions to knowledge. Firstly, it determines the maximum tolerable sensor errors for any in-run calibration technique using a basic Kalman filter by developing clear criteria for filter failure and performing Monte-Carlo simulations for a range of different sensor specifications. Secondly, it assesses the extent to which pre-calibration and smart array techniques enable Kalman filter-based in-run calibration to be applied to lower-quality sensors. Armed with this knowledge of the Kalman filter’s limits, the community can avoid both the unnecessary design complexity and computational power consumption caused by over-engineering the filter and the poor navigation performance that arises from an inadequate filter. By establishing realistic limits, one can determine whether real sensors are suitable for in-run calibration with simple characterization tests, rather than having to perform time-consuming empirical testing

Use of motion sensors for autonomous monitoring of hydraulic environments

Low cost, miniaturized, commercial-off-the-shelf (COTS) motion sensors, collectively with processors, an energy source and other electronic circuitry can be packaged into very small volumes for autonomous operation. If such a system operates over short periods of time, or data acquisitions occur at a very low frequency, processor resources should be sufficient to manage offsets and errors. The paper analyzes a typical set of COTS accelerometers and gyroscopes, to indicate how best these can be used in hydraulic environments. Application examples such as river bed sediment monitoring, milk vat monitoring etc. are briefly discussed, with application oriented design approaches. Minimizing the power consumption to introduce a novel, rechargeable power supply design is briefly outlined

Optical fibre sensors - applications and potential

Fibre optic sensors have progressed considerably during the past few years and are now establishing their potential as very real contenders in the environmental, structural monitoring and industrial sensing areas. This paper will explore some examples of these emerging applications and analyse the benefits which optical fibre technology offers within these measurement sectors. We shall then continue to explore emerging prospects which offer new opportunities for future research and exploitation

Biomimetic direction of arrival estimation for resolving front-back confusions in hearing aids

Sound sources at the same angle in front or behind a two-microphone array (e.g., bilateral hearing aids) produce the same time delay and two estimates for the direction of arrival: A front-back confusion. The auditory system can resolve this issue using head movements. To resolve front-back confusion for hearing-aid algorithms, head movement was measured using an inertial sensor. Successive time-delay estimates between the microphones are shifted clockwise and counterclockwise by the head movement between estimates and aggregated in two histograms. The histogram with the largest peak after multiple estimates predicted the correct hemifield for the source, eliminating the front-back confusions

On active disturbance rejection based control design for superconducting RF cavities

Superconducting RF (SRF) cavities are key components of modern linear particle accelerators. The National Superconducting Cyclotron Laboratory (NSCL) is building a 3 MeV/u re-accelerator (ReA3) using SRF cavities. Lightly loaded SRF cavities have very small bandwidths (high Q) making them very sensitive to mechanical perturbations whether external or self-induced. Additionally, some cavity types exhibit mechanical responses to perturbations that lead to high-order non-stationary transfer functions resulting in very complex control problems. A control system that can adapt to the changing perturbing conditions and transfer functions of these systems would be ideal. This paper describes the application of a control technique known as “Active Disturbance Rejection Control” (ARDC) to this problem

Design and Simulation of a MEMS Control Moment Gyroscope for the Sub-Kilogram Spacecraft

A novel design of a microelectromechanical systems (MEMS) control moment gyroscope (MCMG) was proposed in this paper in order to generate a torque output with a magnitude of 10−6 N·m. The MCMG consists of two orthogonal angular vibration systems, i.e., the rotor and gimbal; the coupling between which is based on the Coriolis effect and will cause a torque output in the direction perpendicular to the two vibrations. The angular rotor vibration was excited by the in-plane electrostatic rotary comb actuators, while the angular gimbal vibration was driven by an out-of-plane electrostatic parallel plate actuator. A possible process flow to fabricate the structure was proposed and discussed step by step. Furthermore, an array configuration using four MCMGs as an effective element, in which the torque was generated with a phase difference of 90 degrees between every two MCMGs, was proposed to smooth the inherent fluctuation of the torque output for a vibrational MCMG. The parasitic torque was cancelled by two opposite MCMGs with a phase difference of 180 degrees. The designed MCMG was about 1.1 cm × 1.1 cm × 0.04 cm in size and 0.1 g in weight. The simulation results showed that the maximum torque output of a MCMG, the resonant frequency of which was approximately 1,000 Hz, was about 2.5 × 10−8 N·m. The element with four MCMGs could generate a torque of 5 × 10−8 N·m. The torque output could reach a magnitude of 10−6 N·m when the frequency was improved from 1,000 Hz to 10,000 Hz. Using arrays of 4 × 4 effective elements on a 1 kg spacecraft with a standard form factor of 10 cm × 10 cm × 10 cm, a 10 degrees attitude change could be achieved in 26.96 s