Ionization Electron Signal Processing in Single Phase LArTPCs II. Data/Simulation Comparison and Performance in MicroBooNE

The single-phase liquid argon time projection chamber (LArTPC) provides a large amount of detailed information in the form of fine-grained drifted ionization charge from particle traces. To fully utilize this information, the deposited charge must be accurately extracted from the raw digitized waveforms via a robust signal processing chain. Enabled by the ultra-low noise levels associated with cryogenic electronics in the MicroBooNE detector, the precise extraction of ionization charge from the induction wire planes in a single-phase LArTPC is qualitatively demonstrated on MicroBooNE data with event display images, and quantitatively demonstrated via waveform-level and track-level metrics. Improved performance of induction plane calorimetry is demonstrated through the agreement of extracted ionization charge measurements across different wire planes for various event topologies. In addition to the comprehensive waveform-level comparison of data and simulation, a calibration of the cryogenic electronics response is presented and solutions to various MicroBooNE-specific TPC issues are discussed. This work presents an important improvement in LArTPC signal processing, the foundation of reconstruction and therefore physics analyses in MicroBooNE.Comment: 54 pages, 36 figures; the first part of this work can be found at arXiv:1802.0870

GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201

Direct Monocular Odometry Using Points and Lines

Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry algorithm that combines points and edges to benefit from the advantages of both direct and feature based methods. It works better in texture-less environments and is also more robust to lighting changes and fast motion by increasing the convergence basin. We maintain a depth map for the keyframe then in the tracking part, the camera pose is recovered by minimizing both the photometric error and geometric error to the matched edge in a probabilistic framework. In the mapping part, edge is used to speed up and increase stereo matching accuracy. On various public datasets, our algorithm achieves better or comparable performance than state-of-the-art monocular odometry methods. In some challenging texture-less environments, our algorithm reduces the state estimation error over 50%.Comment: ICRA 201

3D Image Reconstruction Using Multiple Images

The point in this thesis is to use a robot using which we can get photographs of a given thing from known edges. We mean to repeat and model these 2D photos to get the 3D sort of the article, which will be created and demonstrated in MATLAB. Demonstrating of 3D items from different pictures is one of the testing undertakings. Therefore our endeavor does not keep itself to giving the customer the adaptability of survey the article at any edge and in any presentation however outfits him with the complete model in space. This is an approach which retrieves the calibration from the image sequence only. A 3D image reconstruction strategy from stereo pictures is displayed next that needs insignificant mediation from the client .The upside of this framework is that the stereo pictures don't have to be calibrated to acquire a remaking. Results for both the cam alignment and reproduction are displayed to confirm that it is conceivable to acquire a 3D model specifically from features of pictures 3D reproduction and demonstrating is utilized as a part of numerous fields like Virtual Reality, perceiving and controlling items and so on

Exploiting low-cost 3D imagery for the purposes of detecting and analyzing pavement distresses

Road pavement conditions have significant impacts on safety, travel times, costs, and environmental effects. It is the responsibility of road agencies to ensure these conditions are kept in an acceptable state. To this end, agencies are tasked with implementing pavement management systems (PMSs) which effectively allocate resources towards maintenance and rehabilitation. These systems, however, require accurate data. Currently, most agencies rely on manual distress surveys and as a result, there is significant research into quick and low-cost pavement distress identification methods. Recent proposals have included the use of structure-from-motion techniques based on datasets from unmanned aerial vehicles (UAVs) and cameras, producing accurate 3D models and associated point clouds. The challenge with these datasets is then identifying and describing distresses. This paper focuses on utilizing images of pavement distresses in the city of Palermo, Italy produced by mobile phone cameras. The work aims at assessing the accuracy of using mobile phones for these surveys and also identifying strategies to segment generated 3D imagery by considering the use of algorithms for 3D Image segmentation to detect shapes from point clouds to enable measurement of physical parameters and severity assessment. Case studies are considered for pavement distresses defined by the measurement of the area affected such as different types of cracking and depressions. The use of mobile phones and the identification of these patterns on the 3D models provide further steps towards low-cost data acquisition and analysis for a PMS

Noise Characterization and Filtering in the MicroBooNE Liquid Argon TPC

The low-noise operation of readout electronics in a liquid argon time projection chamber (LArTPC) is critical to properly extract the distribution of ionization charge deposited on the wire planes of the TPC, especially for the induction planes. This paper describes the characteristics and mitigation of the observed noise in the MicroBooNE detector. The MicroBooNE's single-phase LArTPC comprises two induction planes and one collection sense wire plane with a total of 8256 wires. Current induced on each TPC wire is amplified and shaped by custom low-power, low-noise ASICs immersed in the liquid argon. The digitization of the signal waveform occurs outside the cryostat. Using data from the first year of MicroBooNE operations, several excess noise sources in the TPC were identified and mitigated. The residual equivalent noise charge (ENC) after noise filtering varies with wire length and is found to be below 400 electrons for the longest wires (4.7 m). The response is consistent with the cold electronics design expectations and is found to be stable with time and uniform over the functioning channels. This noise level is significantly lower than previous experiments utilizing warm front-end electronics.Comment: 36 pages, 20 figure