Towards dynamic camera calibration for constrained flexible mirror imaging

Flexible mirror imaging systems consisting of a perspective camera viewing a scene reflected in a flexible mirror can provide direct control over image field-of-view and resolution. However, calibration of such systems is difficult due to the vast range of possible mirror shapes and the flexible nature of the system. This paper proposes the fundamentals of a dynamic calibration approach for flexible mirror imaging systems by examining the constrained case of single dimensional flexing. The calibration process consists of an initial primary calibration stage followed by in-service dynamic calibration. Dynamic calibration uses a linear approximation to initialise a non-linear minimisation step, the result of which is the estimate of the mirror surface shape. The method is easier to implement than existing calibration methods for flexible mirror imagers, requiring only two images of a calibration grid for each dynamic calibration update. Experimental results with both simulated and real data are presented that demonstrate the capabilities of the proposed approach

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

Dimer models from mirror symmetry and quivering amoebae

Dimer models are 2-dimensional combinatorial systems that have been shown to encode the gauge groups, matter content and tree-level superpotential of the world-volume quiver gauge theories obtained by placing D3-branes at the tip of a singular toric Calabi-Yau cone. In particular the dimer graph is dual to the quiver graph. However, the string theoretic explanation of this was unclear. In this paper we use mirror symmetry to shed light on this: the dimer models live on a T^2 subspace of the T^3 fiber that is involved in mirror symmetry and is wrapped by D6-branes. These D6-branes are mirror to the D3-branes at the singular point, and geometrically encode the same quiver theory on their world-volume

Dimer Models from Mirror Symmetry and Quivering Amoebae

Dimer models are 2-dimensional combinatorial systems that have been shown to encode the gauge groups, matter content and tree-level superpotential of the world-volume quiver gauge theories obtained by placing D3-branes at the tip of a singular toric Calabi-Yau cone. In particular the dimer graph is dual to the quiver graph. However, the string theoretic explanation of this was unclear. In this paper we use mirror symmetry to shed light on this: the dimer models live on a T^2 subspace of the T^3 fiber that is involved in mirror symmetry and is wrapped by D6-branes. These D6-branes are mirror to the D3-branes at the singular point, and geometrically encode the same quiver theory on their world-volume.Comment: 55 pages, 27 figures, LaTeX2

Generating new dualities through the orbifold equivalence: a demonstration in ABJM and four-dimensional quivers

We show that the recently proposed large $N$ equivalence between ABJM theories with Chern-Simons terms of different rank and level, U(N_1)_{k_1}\times U(N_1)_{-k_1} and U(N_2)_{k_2}\times U(N_2)_{-k_2}, but the same value of N' =N_1 k_1=N_2 k_2, can be explained using planar equivalence in the mirror duals. The combination of S-dualities and orbifold equivalence can be applied to other cases as well, with very appealing results. As an example we show that two different quiver theories with k nodes can be easily shown to be Seiberg dual through the orbifold equivalence, but it requires order k^2 steps to give a proof when Seiberg duality is performed node by node.Comment: 18 pages, 7 figures, minor changes and references adde

Generic decoupled image-based visual servoing for cameras obeying the unified projection model

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform