Calibration and Sensitivity Analysis of a Stereo Vision-Based Driver Assistance System

Az http://intechweb.org/ alatti "Books" fül alatt kell rákeresni a "Stereo Vision" címre és az 1. fejezetre

Estimating Epipolar Geometry With The Use of a Camera Mounted Orientation Sensor

Context: Image processing and computer vision are rapidly becoming more and more commonplace, and the amount of information about a scene, such as 3D geometry, that can be obtained from an image, or multiple images of the scene is steadily increasing due to increasing resolutions and availability of imaging sensors, and an active research community. In parallel, advances in hardware design and manufacturing are allowing for devices such as gyroscopes, accelerometers and magnetometers and GPS receivers to be included alongside imaging devices at a consumer level. Aims: This work aims to investigate the use of orientation sensors in the field of computer vision as sources of data to aid with image processing and the determination of a scene’s geometry, in particular, the epipolar geometry of a pair of images - and devises a hybrid methodology from two sets of previous works in order to exploit the information available from orientation sensors alongside data gathered from image processing techniques. Method: A readily available consumer-level orientation sensor was used alongside a digital camera to capture images of a set of scenes and record the orientation of the camera. The fundamental matrix of these pairs of images was calculated using a variety of techniques - both incorporating data from the orientation sensor and excluding its use Results: Some methodologies could not produce an acceptable result for the Fundamental Matrix on certain image pairs, however, a method described in the literature that used an orientation sensor always produced a result - however in cases where the hybrid or purely computer vision methods also produced a result - this was found to be the least accurate. Conclusion: Results from this work show that the use of an orientation sensor to capture information alongside an imaging device can be used to improve both the accuracy and reliability of calculations of the scene’s geometry - however noise from the orientation sensor can limit this accuracy and further research would be needed to determine the magnitude of this problem and methods of mitigation

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio

SKA Weak Lensing III: Added Value of Multi-Wavelength Synergies for the Mitigation of Systematics

In this third paper of a series on radio weak lensing for cosmology with the Square Kilometre Array, we scrutinise synergies between cosmic shear measurements in the radio and optical/near-IR bands for mitigating systematic effects. We focus on three main classes of systematics: (i) experimental systematic errors in the observed shear; (ii) signal contamination by intrinsic alignments; and (iii) systematic effects due to an incorrect modelling of non-linear scales. First, we show that a comprehensive, multi-wavelength analysis provides a self-calibration method for experimental systematic effects, only implying <50% increment on the errors on cosmological parameters. We also illustrate how the cross-correlation between radio and optical/near-IR surveys alone is able to remove residual systematics with variance as large as 0.00001, i.e. the same order of magnitude of the cosmological signal. This also opens the possibility of using such a cross-correlation as a means to detect unknown experimental systematics. Secondly, we demonstrate that, thanks to polarisation information, radio weak lensing surveys will be able to mitigate contamination by intrinsic alignments, in a way similar but fully complementary to available self-calibration methods based on position-shear correlations. Lastly, we illustrate how radio weak lensing experiments, reaching higher redshifts than those accessible to optical surveys, will probe dark energy and the growth of cosmic structures in regimes less contaminated by non-linearities in the matter perturbations. For instance, the higher-redshift bins of radio catalogues peak at z~0.8-1, whereas their optical/near-IR counterparts are limited to z<0.5-0.7. This translates into having a cosmological signal 2 to 5 times less contaminated by non-linear perturbations.Comment: 16 pages, 10 figures, 2 tables; improved discussion of experimental systematics in Sec. 2; updated to match published versio

Spatial and Temporal Stability of Airglow Measured in the Meinel Band Window at 1191.3 nm

We report on the temporal and spatial fluctuations in the atmospheric brightness in the narrow band between Meinel emission lines at 1191.3 nm using an R=320 near-infrared instrument. We present the instrument design and implementation, followed by a detailed analysis of data taken over the course of a night from Table Mountain Observatory. The absolute sky brightness at this wavelength is found to be 5330 +/- 30 nW m^-2 sr^-1, consistent with previous measurements of the inter-band airglow at these wavelengths. This amplitude is larger than simple models of the continuum component of the airglow emission at these wavelengths, confirming that an extra emissive or scattering component is required to explain the observations. We perform a detailed investigation of the noise properties of the data and find no evidence for a noise component associated with temporal instability in the inter-line continuum. This result demonstrates that in several hours of ~100s integrations the noise performance of the instrument does not appear to significantly degrade from expectations, giving a proof of concept that near-IR line intensity mapping may be feasible from ground-based sites.Comment: 15 figures, submitted to PAS

Radio-Optical Galaxy Shape Correlations in the COSMOS Field

We investigate the correlations in galaxy shapes between optical and radio wavelengths using archival observations of the COSMOS field. Cross-correlation studies between different wavebands will become increasingly important for precision cosmology as future large surveys may be dominated by systematic rather than statistical errors. In the case of weak lensing, galaxy shapes must be measured to extraordinary accuracy (shear systematics of $< 0.01\%$) in order to achieve good constraints on dark energy parameters. By using shape information from overlapping surveys in optical and radio bands, robustness to systematics may be significantly improved without loss of constraining power. Here we use HST-ACS optical data, VLA radio data, and extensive simulations to investigate both our ability to make precision measurements of source shapes from realistic radio data, and to constrain the intrinsic astrophysical scatter between the shapes of galaxies as measured in the optical and radio wavebands. By producing a new image from the VLA-COSMOS L-band radio visibility data that is well suited to galaxy shape measurements, we are able to extract precise measurements of galaxy position angles. Comparing to corresponding measurements from the HST optical image, we set a lower limit on the intrinsic astrophysical scatter in position angles, between the optical and radio bands, of $\sigma_\alpha > 0.212\pi$ radians (or $38.2^{\circ}$) at a $95\%$ confidence level.Comment: 17 pages, 13 figure, 5 tables. Updated to match published version with a number of typographical correction

The Dark Energy Survey

We describe the Dark Energy Survey (DES), a proposed optical-near infrared survey of 5000 sq. deg of the South Galactic Cap to ~24th magnitude in SDSS griz, that would use a new 3 sq. deg CCD camera to be mounted on the Blanco 4-m telescope at Cerro Telolo Inter-American Observatory (CTIO). The survey data will allow us to measure the dark energy and dark matter densities and the dark energy equation of state through four independent methods: galaxy clusters, weak gravitational lensing tomography, galaxy angular clustering, and supernova distances. These methods are doubly complementary: they constrain different combinations of cosmological model parameters and are subject to different systematic errors. By deriving the four sets of measurements from the same data set with a common analysis framework, we will obtain important cross checks of the systematic errors and thereby make a substantial and robust advance in the precision of dark energy measurements.Comment: White Paper submitted to the Dark Energy Task Force, 42 page

Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect

Recently, the new Kinect One has been issued by Microsoft, providing the next generation of real-time range sensing devices based on the Time-of-Flight (ToF) principle. As the first Kinect version was using a structured light approach, one would expect various differences in the characteristics of the range data delivered by both devices. This paper presents a detailed and in-depth comparison between both devices. In order to conduct the comparison, we propose a framework of seven different experimental setups, which is a generic basis for evaluating range cameras such as Kinect. The experiments have been designed with the goal to capture individual effects of the Kinect devices as isolatedly as possible and in a way, that they can also be adopted, in order to apply them to any other range sensing device. The overall goal of this paper is to provide a solid insight into the pros and cons of either device. Thus, scientists that are interested in using Kinect range sensing cameras in their specific application scenario can directly assess the expected, specific benefits and potential problem of either device.Comment: 58 pages, 23 figures. Accepted for publication in Computer Vision and Image Understanding (CVIU