Enhanced Image-Aided Navigation Algorithm with Automatic Calibration and Affine Distortion Prediction

This research aims at improving two key steps within the image aided navigation process: camera calibration and landmark tracking. The camera calibration step is improved by automating the point correspondence calculation within the standard camera calibration algorithm, thereby reducing the required time for calibration while maintaining the output model accuracy. The feature landmark tracking step is improved by digitally simulating affine distortions on input images in order to calculate more accurate feature descriptors for improved feature matching in high relative viewpoint change. These techniques are experimentally demonstrated in an outdoor environment with a consumer-grade inertial sensor and three imaging sensors, one of which is orthogonal to the rest. Using a tactical-grade inertial sensor coupled with GPS position data for comparison, the improved image aided navigation algorithm is shown to reduce navigation errors by 24% in position, 16% in velocity and 35% in attitude when compared to the standard image-aided navigation algorithm

Assessing Seagrass Restoration Actions through a Micro-Bathymetry Survey Approach (Italy, Mediterranean Sea)

Underwater photogrammetry provides a means of generating high-resolution products such as dense point clouds, 3D models, and orthomosaics with centimetric scale resolutions. Underwater photogrammetric models can be used to monitor the growth and expansion of benthic communities, including the assessment of the conservation status of seagrass beds and their change over time (time lapse micro-bathymetry) with OBIA classifications (Object-Based Image Analysis). However, one of the most complex aspects of underwater photogrammetry is the accuracy of the 3D models for both the horizontal and vertical components used to estimate the surfaces and volumes of biomass. In this study, a photogrammetry-based micro-bathymetry approach was applied to monitor Posidonia oceanica restoration actions. A procedure for rectifying both the horizontal and vertical elevation data was developed using soundings from high-resolution multibeam bathymetry. Furthermore, a 3D trilateration technique was also tested to collect Ground Control Points (GCPs) together with reference scale bars, both used to estimate the accuracy of the models and orthomosaics. The root mean square error (RMSE) value obtained for the horizontal planimetric measurements was 0.05 m, while the RMSE value for the depth was 0.11 m. Underwater photogrammetry, if properly applied, can provide very high-resolution and accurate models for monitoring seagrass restoration actions for ecological recovery and can be useful for other research purposes in geological and environmental monitoring

Temporal Mapping of Surveillance Video for Indexing and Summarization

This work converts the surveillance video to a temporal domain image called temporal profile that is scrollable and scalable for quick searching of long surveillance video by human operators. Such a profile is sampled with linear pixel lines located at critical locations in the video frames. It has precise time stamp on the target passing events through those locations in the field of view, shows target shapes for identification, and facilitates the target search in long videos. In this paper, we first study the projection and shape properties of dynamic scenes in the temporal profile so as to set sampling lines. Then, we design methods to capture target motion and preserve target shapes for target recognition in the temporal profile. It also provides the uniformed resolution of large crowds passing through so that it is powerful in target counting and flow measuring. We also align multiple sampling lines to visualize the spatial information missed in a single line temporal profile. Finally, we achieve real time adaptive background removal and robust target extraction to ensure long-term surveillance. Compared to the original video or the shortened video, this temporal profile reduced data by one dimension while keeping the majority of information for further video investigation. As an intermediate indexing image, the profile image can be transmitted via network much faster than video for online video searching task by multiple operators. Because the temporal profile can abstract passing targets with efficient computation, an even more compact digest of the surveillance video can be created

Video guidance, landing, and imaging systems

The adaptive potential of video guidance technology for earth orbital and interplanetary missions was explored. The application of video acquisition, pointing, tracking, and navigation technology was considered to three primary missions: planetary landing, earth resources satellite, and spacecraft rendezvous and docking. It was found that an imaging system can be mechanized to provide a spacecraft or satellite with a considerable amount of adaptability with respect to its environment. It also provides a level of autonomy essential to many future missions and enhances their data gathering ability. The feasibility of an autonomous video guidance system capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was successfully demonstrated in the laboratory. The techniques developed for acquisition, pointing, and tracking show promise for recognizing and tracking coastlines, rivers, and other constituents of interest. Routines were written and checked for rendezvous, docking, and station-keeping functions

Examining the Cycling Behaviour of Li-Ion Batteries Using Ultrasonic Time-of-Flight Measurements

Diagnostic systems for Li-ion batteries have become increasingly important due to the larger size, and cost of the batteries being deployed in increasingly demanding applications, including electric vehicles. Here, ultrasound acoustic time-of-flight (ToF) analysis is conducted under a range of operating conditions. Measurements are performed on a commercial pouch cell during varying discharge rates to identify a range of effects that influence the acoustic ToF measurements. The cell was examined using X-ray computed tomography to ensure no significant defects were present and to confirm the layered structure in the region being investigated, validating the signal pattern observed. Analyses of the acoustic signals obtained suggest that stresses are generated in the electrodes during both the charge and discharge of the cell with the magnitude of Young's modulus for the component materials being both a function of the state-of-charge and applied current. Characteristic responses for both electrodes during the charge/discharge cycle highlight the potential application of the technique as a real-time diagnostic tool