Self-Calibration of Cameras with Euclidean Image Plane in Case of Two Views and Known Relative Rotation Angle

The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said to have Euclidean image plane. In this paper, we propose a non-iterative self-calibration algorithm for a camera with Euclidean image plane in case the remaining three internal parameters --- the focal length and the principal point coordinates --- are fixed but unknown. The algorithm requires a set of $N \geq 7$ point correspondences in two views and also the measured relative rotation angle between the views. We show that the problem generically has six solutions (including complex ones). The algorithm has been implemented and tested both on synthetic data and on publicly available real dataset. The experiments demonstrate that the method is correct, numerically stable and robust.Comment: 13 pages, 7 eps-figure

Relating vanishing points to catadioptric camera calibration

This paper presents the analysis and derivation of the geometric relation between vanishing points and camera parameters of central catadioptric camera systems. These vanishing points correspond to the three mutually orthogonal directions of 3D real world coordinate system (i.e. X, Y and Z axes). Compared to vanishing points (VPs) in the perspective projection, the advantages of VPs under central catadioptric projection are that there are normally two vanishing points for each set of parallel lines, since lines are projected to conics in the catadioptric image plane. Also, their vanishing points are usually located inside the image frame. We show that knowledge of the VPs corresponding to XYZ axes from a single image can lead to simple derivation of both intrinsic and extrinsic parameters of the central catadioptric system. This derived novel theory is demonstrated and tested on both synthetic and real data with respect to noise sensitivity

Hierarchical structure-and-motion recovery from uncalibrated images

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.Comment: Accepted for publication in CVI

Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern

Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world coordinates, an accurate estimate of the camera's 6D pose is required. This paper focuses on the common case where a mobile platform is equipped with a rigidly mounted line scanning camera, whose pose is unknown, and a navigation system providing vehicle body pose estimates. We propose a novel method that estimates the camera's pose relative to the navigation system. The approach involves imaging and manually labelling a calibration pattern with distinctly identifiable points, triangulating these points from camera and navigation system data and reprojecting them in order to compute a likelihood, which is maximised to estimate the 6D camera pose. Additionally, a Markov Chain Monte Carlo (MCMC) algorithm is used to estimate the uncertainty of the offset. Tested on two different platforms, the method was able to estimate the pose to within 0.06 m / 1.05$^{\circ}$ and 0.18 m / 2.39$^{\circ}$. We also propose several approaches to displaying and interpreting the 6D results in a human readable way.Comment: Published in MDPI Sensors, 30 October 201

Calibrating CHIME, A New Radio Interferometer to Probe Dark Energy

The Canadian Hydrogen Intensity Mapping Experiment (CHIME) is a transit interferometer currently being built at the Dominion Radio Astrophysical Observatory (DRAO) in Penticton, BC, Canada. We will use CHIME to map neutral hydrogen in the frequency range 400 -- 800\,MHz over half of the sky, producing a measurement of baryon acoustic oscillations (BAO) at redshifts between 0.8 -- 2.5 to probe dark energy. We have deployed a pathfinder version of CHIME that will yield constraints on the BAO power spectrum and provide a test-bed for our calibration scheme. I will discuss the CHIME calibration requirements and describe instrumentation we are developing to meet these requirements

BICEP2 II: Experiment and Three-Year Data Set

We report on the design and performance of the BICEP2 instrument and on its three-year data set. BICEP2 was designed to measure the polarization of the cosmic microwave background (CMB) on angular scales of 1 to 5 degrees ($\ell$=40-200), near the expected peak of the B-mode polarization signature of primordial gravitational waves from cosmic inflation. Measuring B-modes requires dramatic improvements in sensitivity combined with exquisite control of systematics. The BICEP2 telescope observed from the South Pole with a 26~cm aperture and cold, on-axis, refractive optics. BICEP2 also adopted a new detector design in which beam-defining slot antenna arrays couple to transition-edge sensor (TES) bolometers, all fabricated on a common substrate. The antenna-coupled TES detectors supported scalable fabrication and multiplexed readout that allowed BICEP2 to achieve a high detector count of 500 bolometers at 150 GHz, giving unprecedented sensitivity to B-modes at degree angular scales. After optimization of detector and readout parameters, BICEP2 achieved an instrument noise-equivalent temperature of 15.8 $\mu$K sqrt(s). The full data set reached Stokes Q and U map depths of 87.2 nK in square-degree pixels (5.2 $\mu$K arcmin) over an effective area of 384 square degrees within a 1000 square degree field. These are the deepest CMB polarization maps at degree angular scales to date. The power spectrum analysis presented in a companion paper has resulted in a significant detection of B-mode polarization at degree scales.Comment: 30 pages, 24 figure

Calibrating and Stabilizing Spectropolarimeters with Charge Shuffling and Daytime Sky Measurements

Well-calibrated spectropolarimetry studies at resolutions of $R>$10,000 with signal-to-noise ratios (SNRs) better than 0.01\% across individual line profiles, are becoming common with larger aperture telescopes. Spectropolarimetric studies require high SNR observations and are often limited by instrument systematic errors. As an example, fiber-fed spectropolarimeters combined with advanced line-combination algorithms can reach statistical error limits of 0.001\% in measurements of spectral line profiles referenced to the continuum. Calibration of such observations is often required both for cross-talk and for continuum polarization. This is not straightforward since telescope cross-talk errors are rarely less than $\sim$1\%. In solar instruments like the Daniel K. Inouye Solar Telescope (DKIST), much more stringent calibration is required and the telescope optical design contains substantial intrinsic polarization artifacts. This paper describes some generally useful techniques we have applied to the HiVIS spectropolarimeter at the 3.7m AEOS telescope on Haleakala. HiVIS now yields accurate polarized spectral line profiles that are shot-noise limited to 0.01\% SNR levels at our full spectral resolution of 10,000 at spectral sampling of $\sim$100,000. We show line profiles with absolute spectropolarimetric calibration for cross-talk and continuum polarization in a system with polarization cross-talk levels of essentially 100\%. In these data the continuum polarization can be recovered to one percent accuracy because of synchronized charge-shuffling model now working with our CCD detector. These techniques can be applied to other spectropolarimeters on other telescopes for both night and day-time applications such as DKIST, TMT and ELT which have folded non-axially symmetric foci.Comment: Accepted to A&

QUBIC: The QU Bolometric Interferometer for Cosmology

One of the major challenges of modern cosmology is the detection of B-mode polarization anisotropies in the CMB. These originate from tensor fluctuations of the metric produced during the inflationary phase. Their detection would therefore constitute a major step towards understanding the primordial Universe. The expected level of these anisotropies is however so small that it requires a new generation of instruments with high sensitivity and extremely good control of systematic effects. We propose the QUBIC instrument based on the novel concept of bolometric interferometry, bringing together the sensitivity advantages of bolometric detectors with the systematics effects advantages of interferometry. Methods: The instrument will directly observe the sky through an array of entry horns whose signals will be combined together using an optical combiner. The whole set-up is located inside a cryostat. Polarization modulation will be achieved using a rotating half-wave plate and interference fringes will be imaged on two focal planes (separated by a polarizing grid) tiled with bolometers. We show that QUBIC can be considered as a synthetic imager, exactly similar to a usual imager but with a synthesized beam formed by the array of entry horns. Scanning the sky provides an additional modulation of the signal and improve the sky coverage shape. The usual techniques of map-making and power spectrum estimation can then be applied. We show that the sensitivity of such an instrument is comparable with that of an imager with the same number of horns. We anticipate a low level of beam-related systematics thanks to the fact that the synthesized beam is determined by the location of the primary horns. Other systematics should be under good control thanks to an autocalibration technique, specific to our concept, that will permit the accurate determination of most of the systematics parameters.Comment: 12 pages, 10 figures, submitted to Astronomy and Astrophysic

Towards A Self-calibrating Video Camera Network For Content Analysis And Forensics

Due to growing security concerns, video surveillance and monitoring has received an immense attention from both federal agencies and private firms. The main concern is that a single camera, even if allowed to rotate or translate, is not sufficient to cover a large area for video surveillance. A more general solution with wide range of applications is to allow the deployed cameras to have a non-overlapping field of view (FoV) and to, if possible, allow these cameras to move freely in 3D space. This thesis addresses the issue of how cameras in such a network can be calibrated and how the network as a whole can be calibrated, such that each camera as a unit in the network is aware of its orientation with respect to all the other cameras in the network. Different types of cameras might be present in a multiple camera network and novel techniques are presented for efficient calibration of these cameras. Specifically: (i) For a stationary camera, we derive new constraints on the Image of the Absolute Conic (IAC). These new constraints are shown to be intrinsic to IAC; (ii) For a scene where object shadows are cast on a ground plane, we track the shadows on the ground plane cast by at least two unknown stationary points, and utilize the tracked shadow positions to compute the horizon line and hence compute the camera intrinsic and extrinsic parameters; (iii) A novel solution to a scenario where a camera is observing pedestrians is presented. The uniqueness of formulation lies in recognizing two harmonic homologies present in the geometry obtained by observing pedestrians; (iv) For a freely moving camera, a novel practical method is proposed for its self-calibration which even allows it to change its internal parameters by zooming; and (v) due to the increased application of the pan-tilt-zoom (PTZ) cameras, a technique is presented that uses only two images to estimate five camera parameters. For an automatically configurable multi-camera network, having non-overlapping field of view and possibly containing moving cameras, a practical framework is proposed that determines the geometry of such a dynamic camera network. It is shown that only one automatically computed vanishing point and a line lying on any plane orthogonal to the vertical direction is sufficient to infer the geometry of a dynamic network. Our method generalizes previous work which considers restricted camera motions. Using minimal assumptions, we are able to successfully demonstrate promising results on synthetic as well as on real data. Applications to path modeling, GPS coordinate estimation, and configuring mixed-reality environment are explored