Metrological characterization of a vision-based system for relative pose measurements with fiducial marker mapping for spacecrafts

An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface

Robust Subspace Learning: Robust PCA, Robust Subspace Tracking, and Robust Subspace Recovery

PCA is one of the most widely used dimension reduction techniques. A related easier problem is "subspace learning" or "subspace estimation". Given relatively clean data, both are easily solved via singular value decomposition (SVD). The problem of subspace learning or PCA in the presence of outliers is called robust subspace learning or robust PCA (RPCA). For long data sequences, if one tries to use a single lower dimensional subspace to represent the data, the required subspace dimension may end up being quite large. For such data, a better model is to assume that it lies in a low-dimensional subspace that can change over time, albeit gradually. The problem of tracking such data (and the subspaces) while being robust to outliers is called robust subspace tracking (RST). This article provides a magazine-style overview of the entire field of robust subspace learning and tracking. In particular solutions for three problems are discussed in detail: RPCA via sparse+low-rank matrix decomposition (S+LR), RST via S+LR, and "robust subspace recovery (RSR)". RSR assumes that an entire data vector is either an outlier or an inlier. The S+LR formulation instead assumes that outliers occur on only a few data vector indices and hence are well modeled as sparse corruptions.Comment: To appear, IEEE Signal Processing Magazine, July 201

Registration and Fusion of Multi-Spectral Images Using a Novel Edge Descriptor

In this paper we introduce a fully end-to-end approach for multi-spectral image registration and fusion. Our method for fusion combines images from different spectral channels into a single fused image by different approaches for low and high frequency signals. A prerequisite of fusion is a stage of geometric alignment between the spectral bands, commonly referred to as registration. Unfortunately, common methods for image registration of a single spectral channel do not yield reasonable results on images from different modalities. For that end, we introduce a new algorithm for multi-spectral image registration, based on a novel edge descriptor of feature points. Our method achieves an accurate alignment of a level that allows us to further fuse the images. As our experiments show, we produce a high quality of multi-spectral image registration and fusion under many challenging scenarios

Automatic aerial target detection and tracking system in airborne FLIR images based on efficient target trajectory filtering

Common strategies for detection and tracking of aerial moving targets in airborne Forward-Looking Infrared (FLIR) images offer accurate results in images composed by a non-textured sky. However, when cloud and earth regions appear in the image sequence, those strategies result in an over-detection that increases very significantly the false alarm rate. Besides, the airborne camera induces a global motion in the image sequence that complicates even more detection and tracking tasks. In this work, an automatic detection and tracking system with an innovative and efficient target trajectory filtering is presented. It robustly compensates the global motion to accurately detect and track potential aerial targets. Their trajectories are analyzed by a curve fitting technique to reliably validate real targets. This strategy allows to filter false targets with stationary or erratic trajectories. The proposed system makes special emphasis in the use of low complexity video analysis techniques to achieve real-time operation. Experimental results using real FLIR sequences show a dramatic reduction of the false alarm rate, while maintaining the detection rate

Unusual manganese enrichment in the Mesoarchean Mozaan Group, Pongola Supergroup, South Africa

An unusual sediment-hosted manganese deposit is described from the Mesoarchean Mozaan Group, Pongola Supergroup, South Africa. MnO contents up to 15 wt.% were observed in marine clastic and chemical sedimentary rocks. Mn enrichment is interpreted to have resulted from the hydrothermal alteration of manganiferous shale and BIF parent rocks, the primary MnO contents of which are as high as 8.5 wt.%. A detailed mineralogical and petrographic study shows that these parent rocks are characterized by manganoan siderite, ferroan rhodochrosite and other Mn-Fe-rich mineral phases, such as kutnohorite and Fe-Mn-chlorite. Their hypogene alteration gave rise to a diversification of mineral assemblages where ferroan tephroite, calcian rhodochrosite, rhodochrosite, pyrochroite, pyrophanite, cronstedtite, manganoan Fe-rich chlorite and manganoan phlogopite partially or totally replaced the previous mineral assemblage. Thermodynamic modeling performed on chlorite phases associated with the described mineral assemblages illustrates a decrease of average crystallization temperatures from ca. 310 °C during early metamorphic stages to ca. 250 °C during a hydrothermal stage. Mineral transformation processes were thus related to retrograde metamorphism and/or hydrothermal alteration post-dating metamorphism and gave rise to progressive Mn enrichment from unaltered parent to altered rocks. The timing of hypogene alteration was constrained by 40Ar/39Ar dating to between about 1500 and 1100 Ma ago, reflecting tectonic processes associated with the Namaqua-Natal orogeny along the southern Kaapvaal Craton margin. Manganiferous shale and BIF of the Mozaan Group may represent the oldest known examples of primary sedimentary Mn deposition, related to oxidation of dissolved Mn(II) by free oxygen in a shallow marine environment. Oxygenic photosynthesis would have acted as a first-order control during Mn precipitation. This hypothesis opens a new perspective for better constraining secular evolution of sediment-hosted mineral deposits linked to oxygen levels in the atmosphere-hydrosphere system during the Archean Eon

RES-Q: Robust Outlier Detection Algorithm for Fundamental Matrix Estimation

Detection of outliers present in noisy images for an accurate fundamental matrix estimation is an important research topic in the field of 3-D computer vision. Although a lot of research is conducted in this domain, not much study has been done in utilizing the robust statistics for successful outlier detection algorithms. This paper proposes to utilize a reprojection residual error-based technique for outlier detection. Given a noisy stereo image pair obtained from a pair of stereo cameras and a set of initial point correspondences between them, reprojection residual error and 3-sigma principle together with robust statistic-based Qn estimator (RES-Q) is proposed to efficiently detect the outliers and estimate the fundamental matrix with superior accuracy. The proposed RES-Q algorithm demonstrates greater precision and lower reprojection residual error than the state-of-the-art techniques. Moreover, in contrast to the assumption of Gaussian noise or symmetric noise model adopted by most previous approaches, the RES-Q is found to be robust for both symmetric and asymmetric random noise assumptions. The proposed algorithm is experimentally tested on both synthetic and real image data sets, and the experiments show that RES-Q is more effective and efficient than the classical outlier detection algorithms

BuFF: Burst Feature Finder for Light-Constrained 3D Reconstruction

Robots operating at night using conventional vision cameras face significant challenges in reconstruction due to noise-limited images. Previous work has demonstrated that burst-imaging techniques can be used to partially overcome this issue. In this paper, we develop a novel feature detector that operates directly on image bursts that enhances vision-based reconstruction under extremely low-light conditions. Our approach finds keypoints with well-defined scale and apparent motion within each burst by jointly searching in a multi-scale and multi-motion space. Because we describe these features at a stage where the images have higher signal-to-noise ratio, the detected features are more accurate than the state-of-the-art on conventional noisy images and burst-merged images and exhibit high precision, recall, and matching performance. We show improved feature performance and camera pose estimates and demonstrate improved structure-from-motion performance using our feature detector in challenging light-constrained scenes. Our feature finder provides a significant step towards robots operating in low-light scenarios and applications including night-time operations.Comment: 7 pages, 9 figures, 2 tables, for associated project page, see https://roboticimaging.org/Projects/BuFF

Stay True to the Sound of History: Philology, Phylogenetics and Information Engineering in Musicology

This work investigates computational musicology for the study of tape music works tackling the problems concerning stemmatics. These philological problems have been analyzed with an innovative approach considering the peculiarities of audio tape recordings. The paper presents a phylogenetic reconstruction strategy that relies on digitizing the analyzed tapes and then converting each audio track into a two-dimensional spectrogram. This conversion allows adopting a set of computer vision tools to align and equalize different tracks in order to infer the most likely transformation that converts one track into another. In the presented approach, the main editing techniques, intentional and unintentional alterations and different configurations of a tape recorded are estimated in phylogeny analysis. The proposed solution presents a satisfying robustness to the adoption of the wrong reading setup together with a good reconstruction accuracy of the phylogenetic tree. The reconstructed dependencies proved to be correct or plausible in 90% of the experimental cases

Geological and structural analysis of the Hwange area-Northwest Zimbabwe: using remotely sensed data and geographic information systems (GIS)

There is a continuous need to locate more targets for coal exploration and evaluation of geological structures in the north-west coalfields in Zimbabwe. Conventional methods of analysing geological structures and field mapping are being hindered by inaccessibility of some areas and thick covers of Recent sediments. Remote sensing has been found to be a valuable method of identifying lithologic units and geological structures in the· area. Integration of the remotely sensed data in a 2D GIS resulted in recognition of spatial relationships between lithologic units, geological structures , coal seams and vegetation patterns. The Hwange area constitutes the western part of the Mid-Zambezi Karoo basin. The area consist of a wide spectrum of rocks ranging from Precambrian gneisses, Proterozoic schists and granulites, Karoo sediments to Tertiary and Recent sands. The area has been affected by a number of faults and shears some of which post date the Karoo sediments. These faults are an expression of the major tectonic events associated with this area. Some of the faults have been attributed to the effects of the Zambezi Rift System. Fault zones in the area, such as the Deka, Entuba and Inyantue Zones have been recognised as part of this system and these divide the Lower Karoo rocks into different coalfields. To try and evaluate the outcrop patterns and geological structures in the Hwange area, all the available geological and structural data were captured in a spatial database. The diversity of data incorporated in the spatial database demanded the need for a structured database design approach. The Entity-Relationship model was used to conceptualise the geological data of the ' Hwange area This model was transformed into the Relational Model that formed the implementation model of the database. Landsat 5 TM data covering the area from the Zimbabwean winter (20 June 1984) path 172, row 73 were also analysed for the information required to locate Karoo rift faults and the distribution of lithologic units associated with coal. The use of directional filters in the E-W and NE-SW directions and vegetation reflection characteristics during the dry season (June 1984) proved very effective in mapping fractures in the Karoo rocks. Landsat TM image enhancement techniques such as principal components analysis, edge enhancement, decorrelation stretching, band ratios; and colour composites made following these techniques, allowed mapping of different lithological units and discrimination between Karoo rocks and the crystalline basement rocks. Lineament analysis defined E-W, ENE-WSW, NE-SW and NW-SE conjugate sets of lineaments. The first three sets are related to the regional fracture zones of the Zambezi rift system The Entuba fault zone was found to be associated with most of the fractures affecting the Hwange coalfields. These have a dominant NE-SW and ENE-WSW trend in the Western Areas, Wankie Concession, Chaba, Entuba and Sinamatella coalfields. The E-W trending fracture set is dominated by joint sets in the Karoo basalt covering the north-west portion of the Hwange Coalfields. These show no relationship with the linear features of the Zambezi Rift system The NW-SE trending lineaments are dominantly developed on tilted bedding planes in the Karoo rocks as well as a few sparse joints in the Karoo basalt. Overlaying enhanced Landsat TM images on mapped faults and lithology data in a GIS revealed a number of features along the Entuba zone which were not previously known. The south-western part of the Entuba inlier was shown to consist of a synformal fold plunging to the south and bound on both sides by strike slip faults. Several kinematic indicators such as displacement of sedimentary strata have shown that the Entuba fault displays right lateral strike-slip coupled with dipslip movement. Proximity analysis using borehole data (depth to top and bottom of a coal seam) showed that most of the lineaments in the area are normal faults which have caused considerable displacements of the main coal seam Comparison of seam depth across most of these faults within coalfields and from one field to another shows that local and regional variations in depths of the main seam is primarily a function of vertical displacements along the faults over and above variations in the morphology of the pre-Karoo floor. The Entuba field was found to have greatest vertical variations over very short distances across faults, with depths varying from 60m to 520m from west to east over distances of less than 500m This part of the field has been partly affected by extensive normal faults, some of which can be traced for more than 10km. In the Hwange area, the Karoo rocks have been down faulted into a rift margin which is in turn divided into smaller fault blocks by intra-rift faulting. The shape of the fault blocks are further controlled by the orientation of the post-Karoo faults which have also down faulted the main coal seam Exploration activity in the area should also seek to establish the locations of these faults to help further decipher variations in depths of coal seams