17,905 research outputs found

    In-Flight CCD Distortion Calibration for Pushbroom Satellites Based on Subpixel Correlation

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    We describe a method that allows for accurate inflight calibration of the interior orientation of any pushbroom camera and that in particular solves the problem of modeling the distortions induced by charge coupled device (CCD) misalignments. The distortion induced on the ground by each CCD is measured using subpixel correlation between the orthorectified image to be calibrated and an orthorectified reference image that is assumed distortion free. Distortions are modeled as camera defects, which are assumed constant over time. Our results show that in-flight interior orientation calibration reduces internal camera biases by one order of magnitude. In particular, we fully characterize and model the Satellite Pour l'Observation de la Terre (SPOT) 4-HRV1 sensor, and we conjecture that distortions mostly result from the mechanical strain produced when the satellite was launched rather than from effects of on-orbit thermal variations or aging. The derived calibration models have been integrated to the software package Coregistration of Optically Sensed Images and Correlation (COSI-Corr), freely available from the Caltech Tectonics Observatory website. Such calibration models are particularly useful in reducing biases in digital elevation models (DEMs) generated from stereo matching and in improving the accuracy of change detection algorithms

    Keyframe-based visual–inertial odometry using nonlinear optimization

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    Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that nonlinear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual–inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter. This competitive reference implementation performs tightly coupled filtering-based visual–inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy

    Mariner Mars 1971 optical navigation demonstration

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    The feasibility of using a combination of spacecraft-based optical data and earth-based Doppler data to perform near-real-time approach navigation was demonstrated by the Mariner Mars 71 Project. The important findings, conclusions, and recommendations are documented. A summary along with publications and papers giving additional details on the objectives of the demonstration are provided. Instrument calibration and performance as well as navigation and science results are reported

    The Motions of Clusters of Galaxies and the Dipoles of the Peculiar Velocity Field

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    In preceding papers of this series, TF relations for galaxies in 24 clusters with radial velocities between 1000 and 9200 km/s (SCI sample) were obtained, a Tully-Fisher (TF) template relation was constructed and mean offsets of each cluster with respect to the template obtained. Here, an estimate of the line-of-sight peculiar velocities of the clusters and their associated errors are given. It is found that cluster peculiar velocities in the Cosmic Microwave Background reference frame do not exceed 600 k/ms and that their distribution has a line-of-sight dispersion of 300 k/ms, suggesting a more quiescent cluster peculiar velocity field than previously reported. When measured in a reference frame in which the Local Group is at rest, the set of clusters at cz > 3000 km/s exhibits a dipole moment in agreement with that of the CMB, both in amplitude and apex direction. It is estimated that the bulk flow of a sphere of 6000 km/s radius in the CMB reference frame is between 140 and 320 km/s. These results are in agreement with those obtained from an independent sample of field galaxies (Giovanelli et al. 1998; see astro-ph/9807274)Comment: 9 pages, 2 tables, 7 figures, uses AAS LaTex; to appear in A

    Automatic Spatial Calibration of Ultra-Low-Field MRI for High-Accuracy Hybrid MEG--MRI

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    With a hybrid MEG--MRI device that uses the same sensors for both modalities, the co-registration of MRI and MEG data can be replaced by an automatic calibration step. Based on the highly accurate signal model of ultra-low-field (ULF) MRI, we introduce a calibration method that eliminates the error sources of traditional co-registration. The signal model includes complex sensitivity profiles of the superconducting pickup coils. In ULF MRI, the profiles are independent of the sample and therefore well-defined. In the most basic form, the spatial information of the profiles, captured in parallel ULF-MR acquisitions, is used to find the exact coordinate transformation required. We assessed our calibration method by simulations assuming a helmet-shaped pickup-coil-array geometry. Using a carefully constructed objective function and sufficient approximations, even with low-SNR images, sub-voxel and sub-millimeter calibration accuracy was achieved. After the calibration, distortion-free MRI and high spatial accuracy for MEG source localization can be achieved. For an accurate sensor-array geometry, the co-registration and associated errors are eliminated, and the positional error can be reduced to a negligible level.Comment: 11 pages, 8 figures. This work is part of the BREAKBEN project and has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 68686

    Astrometry with the Wide-Field InfraRed Space Telescope

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    The Wide-Field InfraRed Space Telescope (WFIRST) will be capable of delivering precise astrometry for faint sources over the enormous field of view of its main camera, the Wide-Field Imager (WFI). This unprecedented combination will be transformative for the many scientific questions that require precise positions, distances, and velocities of stars. We describe the expectations for the astrometric precision of the WFIRST WFI in different scenarios, illustrate how a broad range of science cases will see significant advances with such data, and identify aspects of WFIRST's design where small adjustments could greatly improve its power as an astrometric instrument.Comment: version accepted to JATI

    A simultaneous planar laser-induced fluorescence, particle image velocimetry and particle tracking velocimetry technique for the investigation of thin liquid-film flows

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    AbstractA simultaneous measurement technique based on planar laser-induced fluorescence imaging (PLIF) and particle image/tracking velocimetry (PIV/PTV) is described for the investigation of the hydrodynamic characteristics of harmonically excited liquid thin-film flows. The technique is applied as part of an extensive experimental campaign that covers four different Kapitza (Ka) number liquids, Reynolds (Re) numbers spanning the range 2.3–320, and inlet-forced/wave frequencies in the range 1–10Hz. Film thicknesses (from PLIF) for flat (viscous and unforced) films are compared to micrometer stage measurements and analytical predictions (Nusselt solution), with a resulting mean deviation being lower than the nominal resolution of the imaging setup (around 20ÎŒm). Relative deviations are calculated between PTV-derived interfacial and bulk velocities and analytical results, with mean values amounting to no more than 3.2% for both test cases. In addition, flow rates recovered using LIF/PTV (film thickness and velocity profile) data are compared to direct flowmeter readings. The mean relative deviation is found to be 1.6% for a total of six flat and nine wavy flows. The practice of wave/phase-locked flow-field averaging is also implemented, allowing the generation of highly localized velocity profile, bulk velocity and flow rate data along the wave topology. Based on this data, velocity profiles are extracted from 20 locations along the wave topology and compared to analytically derived ones based on local film thickness measurements and the Nusselt solution. Increasing the waviness by modulating the forcing frequency is found to result in lower absolute deviations between experiments and theoretical predictions ahead of the wave crests, and higher deviations behind the wave crests. At the wave crests, experimentally derived interfacial velocities are overestimated by nearly 100%. Finally, locally non-parabolic velocity profiles are identified ahead of the wave crests; a phenomenon potentially linked to the cross-stream velocity field
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