A Lens-Calibrated Active Marker Metrology System

This paper presents a prototypical marker tracking system, MT, which is capable of recording multiple mobile robot trajectories in parallel for offline analysis. The system is also capable of providing trajectory data in realtime to agents (such as robots in an arena) and implements several multi-agent operators to simplify agent-based perception. The latter characteristic provides an ability to minimise the normally expensive process of implementing agent-centric perceptual mechanisms and provides a means for multiagent "global knowledge" (Parker 1993)

Per-Pixel Calibration for RGB-Depth Natural 3D Reconstruction on GPU

Ever since the Kinect brought low-cost depth cameras into consumer market, great interest has been invigorated into Red-Green-Blue-Depth (RGBD) sensors. Without calibration, a RGBD camera’s horizontal and vertical field of view (FoV) could help generate 3D reconstruction in camera space naturally on graphics processing unit (GPU), which however is badly deformed by the lens distortions and imperfect depth resolution (depth distortion). The camera’s calibration based on a pinhole-camera model and a high-order distortion removal model requires a lot of calculations in the fragment shader. In order to get rid of both the lens distortion and the depth distortion while still be able to do simple calculations in the GPU fragment shader, a novel per-pixel calibration method with look-up table based 3D reconstruction in real-time is proposed, using a rail calibration system. This rail calibration system offers possibilities of collecting infinite calibrating points of dense distributions that can cover all pixels in a sensor, such that not only lens distortions, but depth distortion can also be handled by a per-pixel D to ZW mapping. Instead of utilizing the traditional pinhole camera model, two polynomial mapping models are employed. One is a two-dimensional high-order polynomial mapping from R/C to XW=YW respectively, which handles lens distortions; and the other one is a per-pixel linear mapping from D to ZW, which can handle depth distortion. With only six parameters and three linear equations in the fragment shader, the undistorted 3D world coordinates (XW, YW, ZW) for every single pixel could be generated in real-time. The per-pixel calibration method could be applied universally on any RGBD cameras. With the alignment of RGB values using a pinhole camera matrix, it could even work on a combination of a random Depth sensor and a random RGB sensor

Combining Passive Thermography and Acoustic Emission for Large Area Fatigue Damage Growth Assessment of a Composite Structure

Passive thermography and acoustic emission data were obtained for improved real time damage detection during fatigue loading. A strong positive correlation was demonstrated between acoustic energy event location and thermal heating, especially if the structure under load was nearing ultimate failure. An image processing routine was developed to map the acoustic emission data onto the thermal imagery. This required removing optical barrel distortion and angular rotation from the thermal data. The acoustic emission data were then mapped onto thermal data, revealing the cluster of acoustic emission event locations around the thermal signatures of interest. By combining both techniques, progression of damage growth is confirmed and areas of failure are identified. This technology provides improved real time inspections of advanced composite structures during fatigue testing.Keywords: Thermal nondestructive evaluation, fatigue damage detection, aerospace composite inspection, acoustic emission, passive thermograph

Towards High-Frequency Tracking and Fast Edge-Aware Optimization

This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of interacting with computers, where the physical and digital worlds coexist. We are on the cusp of a radical change in how humans perform and interact with computing. Humans are sensitive to small misalignments between the real and the virtual world, and tracking at kilo-Hertz frequencies becomes essential. Current vision-based systems fall short, as their tracking frequency is implicitly limited by the frame-rate of the camera. This thesis presents a prototype system which can track at orders of magnitude higher than the state-of-the-art methods using multiple commodity cameras. The proposed system exploits characteristics of the camera traditionally considered as flaws, namely rolling shutter and radial distortion. The experimental evaluation shows the effectiveness of the method for various degrees of motion. Furthermore, edge-aware optimization is an indispensable tool in the computer vision arsenal for accurate filtering of depth-data and image-based rendering, which is increasingly being used for content creation and geometry processing for AR/VR. As applications increasingly demand higher resolution and speed, there exists a need to develop methods that scale accordingly. This dissertation proposes such an edge-aware optimization framework which is efficient, accurate, and algorithmically scales well, all of which are much desirable traits not found jointly in the state of the art. The experiments show the effectiveness of the framework in a multitude of computer vision tasks such as computational photography and stereo.Comment: PhD thesi

Design of a Novel Low Cost Point of Care Tampon (POCkeT) Colposcope for Use in Resource Limited Settings

Introduction: Current guidelines by WHO for cervical cancer screening in low- and middle-income countries involves visual inspection with acetic acid (VIA) of the cervix, followed by treatment during the same visit or a subsequent visit with cryotherapy if a suspicious lesion is found. Implementation of these guidelines is hampered by a lack of: trained health workers, reliable technology, and access to screening facilities. A low cost ultra-portable Point of Care Tampon based digital colposcope (POCkeT Colposcope) for use at the community level setting, which has the unique form factor of a tampon, can be inserted into the vagina to capture images of the cervix, which are on par with that of a state of the art colposcope, at a fraction of the cost. A repository of images to be compiled that can be used to empower front line workers to become more effective through virtual dynamic training. By task shifting to the community setting, this technology could potentially provide significantly greater cervical screening access to where the most vulnerable women live. The POCkeT Colposcope’s concentric LED ring provides comparable white and green field illumination at a fraction of the electrical power required in commercial colposcopes. Evaluation with standard optical imaging targets to assess the POCkeT Colposcope against the state of the art digital colposcope and other VIAM technologies. Results: Our POCkeT Colposcope has comparable resolving power, color reproduction accuracy, minimal lens distortion, and illumination when compared to commercially available colposcopes. In vitro and pilot in vivo imaging results are promising with our POCkeT Colposcope capturing comparable quality images to commercial systems. Methods: Rapid 3D printing, consumer grade light sources, and cameras were used to construct the TVDC. The TVDC’s concentric LED ring provides comparable white and green field illumination at a fraction of the electrical power required in commercial colposcopes, and crossed polarizers provide a reduction in glare. Evaluation was performed using standard optical imaging targets to assess the TVDC against the state of the art digital colposcope and other VIA technologies. Results: Our TVDC has comparable resolving power, color reproduction accuracy, minimal lens distortion, and illumination when compared to commercially available colposcopes. In vitro and pilot in vivo imaging results are promising with our TVDC capturing images of comparable quality to commercial systems. Conclusion: The TVDC is capable of capturing images suitable for cervical lesion analysis. Our portable low cost system will be useful for increasing access to cervical cancer screening and diagnostics in resource-limited settings by providing a more readily portable and easy to use device for medical personnel.The image data and support information that is published in the article "Design of a Novel Low Cost Trans-Vaginal Digital Colposcope for use in Resource Limited Settings" are available at: http://dukespace.lib.duke.edu/dspace/handle/10161/8357.National Institutes of Health (US) 5R21CA162747-0