42,482 research outputs found
Vision-model-based Real-time Localization of Unmanned Aerial Vehicle for Autonomous Structure Inspection under GPS-denied Environment
UAVs have been widely used in visual inspections of buildings, bridges and
other structures. In either outdoor autonomous or semi-autonomous flights
missions strong GPS signal is vital for UAV to locate its own positions.
However, strong GPS signal is not always available, and it can degrade or fully
loss underneath large structures or close to power lines, which can cause
serious control issues or even UAV crashes. Such limitations highly restricted
the applications of UAV as a routine inspection tool in various domains. In
this paper a vision-model-based real-time self-positioning method is proposed
to support autonomous aerial inspection without the need of GPS support.
Compared to other localization methods that requires additional onboard
sensors, the proposed method uses a single camera to continuously estimate the
inflight poses of UAV. Each step of the proposed method is discussed in detail,
and its performance is tested through an indoor test case.Comment: 8 pages, 5 figures, submitted to i3ce 201
Test Results on the Silicon Pixel Detector for the TTF-FEL Beam Trajectory Monitor
Test measurements on the silicon pixel detector for the beam trajectory
monitor at the free electron laser of the TESLA test facility are presented. To
determine the electronic noise of detector and read-out and to calibrate the
signal amplitude of different pixels the 6 keV photons of the manganese K line
are used. Two different methods determine the spatial accuracy of the detector:
In one setup a laser beam is focused to a straight line and moved across the
pixel structure. In the other the detector is scanned using a low-intensity
electron beam of an electron microscope. Both methods show that the symmetry
axis of the detector defines a straight line within 0.4 microns. The
sensitivity of the detector to low energy X-rays is measured using a vacuum
ultraviolet beam at the synchrotron light source HASYLAB. Additionally, the
electron microscope is used to study the radiation hardness of the detector.Comment: 14 pages (Latex), 13 figures (Postscript), submitted to Nuclear
Instruments and Methods
A new protocol for texture mapping process and 2d representation of rupestrian architecture
The development of the survey techniques for architecture and archaeology requires a general review in the methods used for the representation of numerical data. The possibilities offered by data processing allow to find new paths for studying issues connected to the drawing discipline. The research project aimed at experimenting different approaches for the representation of the rupestrian architecture and the texture mapping process. The nature of the rupestrian architecture does not allow a traditional representation of sections and projections of edges and outlines. The paper presents a method, the Equidistant Multiple Sections (EMS), inspired by cartography and based on the use of isohipses generated from different geometric plane. A specific paragraph is dedicated to the
texture mapping process for unstructured surface models. One of the main difficulty in the image projection consists in the recognition of homologous points between image and point cloud, above all in the areas with most deformations. With the aid of the “virtual scan” tool a different procedure was developed for improving the correspondences of the image. The result show a sensible improvement of the entire process above all for the architectural vaults. A detailed study concerned the unfolding of the straight line surfaces; the barrel vault of the analyzed chapel has been unfolded for observing the paintings in the real shapes out of the morphological context
Micro Fourier Transform Profilometry (FTP): 3D shape measurement at 10,000 frames per second
Recent advances in imaging sensors and digital light projection technology
have facilitated a rapid progress in 3D optical sensing, enabling 3D surfaces
of complex-shaped objects to be captured with improved resolution and accuracy.
However, due to the large number of projection patterns required for phase
recovery and disambiguation, the maximum fame rates of current 3D shape
measurement techniques are still limited to the range of hundreds of frames per
second (fps). Here, we demonstrate a new 3D dynamic imaging technique, Micro
Fourier Transform Profilometry (FTP), which can capture 3D surfaces of
transient events at up to 10,000 fps based on our newly developed high-speed
fringe projection system. Compared with existing techniques, FTP has the
prominent advantage of recovering an accurate, unambiguous, and dense 3D point
cloud with only two projected patterns. Furthermore, the phase information is
encoded within a single high-frequency fringe image, thereby allowing
motion-artifact-free reconstruction of transient events with temporal
resolution of 50 microseconds. To show FTP's broad utility, we use it to
reconstruct 3D videos of 4 transient scenes: vibrating cantilevers, rotating
fan blades, bullet fired from a toy gun, and balloon's explosion triggered by a
flying dart, which were previously difficult or even unable to be captured with
conventional approaches.Comment: This manuscript was originally submitted on 30th January 1
Stereo image processing system for robot vision
More and more applications (path planning, collision avoidance
methods) require 3D description of the surround world. This paper
describes a stereo vision system that uses 2D (grayscale or color) images
to extract simple 2D geometric entities (points, lines) applying a
low-level feature detector. The features are matched across views with a
graph matching algorithm. During the projective reconstruction the 3D
description of the scene is recovered. The developed system uses uncalibrated
cameras, therefore only projective 3D structure can be detected
defined up to a collineation. Using the Euclidean information about a
known set of predefined objects stored in database and the results of the
recognition algorithm, the description can be updated to a metric one
Multiresolution analysis using wavelet, ridgelet, and curvelet transforms for medical image segmentation
Copyright @ 2011 Shadi AlZubi et al. This article has been made available through the Brunel Open Access Publishing Fund.The experimental study presented in this paper is aimed at the development of an automatic image segmentation system for classifying region of interest (ROI) in medical images which are obtained from different medical scanners such as PET, CT, or MRI. Multiresolution analysis (MRA) using wavelet, ridgelet, and curvelet transforms has been used in the proposed segmentation system. It is particularly a challenging task to classify cancers in human organs in scanners output using shape or gray-level information; organs shape changes throw different slices in medical stack and the gray-level intensity overlap in soft tissues. Curvelet transform is a new extension of wavelet and ridgelet transforms which aims to deal with interesting phenomena occurring along curves. Curvelet transforms has been tested on medical data sets, and results are compared with those obtained from the other transforms. Tests indicate that using curvelet significantly improves the classification of abnormal tissues in the scans and reduce the surrounding noise
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