Calibration of scanning laser range cameras with applications for machine vision

Range images differ from conventional reflectance images because they give direct 3-D information about a scene. The last five years have seen a substantial increase in the use of range imaging technology in the areas of robotics, hazardous materials handling, and manufacturing. This has been fostered by a cost reduction of reliable range scanning products, resulting primarily from advanced development of computing resources. In addition, the improved performance of modern range cameras has spurred an interest in new calibrations which take account of their unconventional design. Calibration implies both modeling and a numerical technique for finding parameters within the model. Researchers often refer to spherical coordinates when modeling range cameras. Spherical coordinates, however, only approximate the behavior of the cameras. We seek, therefore, a more analytical approach based on analysis of the internal scanning mechanisms of the cameras. This research demonstrates that the Householder matrix [14] is a better tool for modeling these devices. We develop a general calibration technique which is both accurate and simple to implement. The method proposed here compares target points taken from range images to the known geometry of the target. The calibration is considered complete if the two point sets can be made to match closely in a least squares sense by iteratively modifying model parameters. The literature, fortunately, is replete with numerical algorithms suited to this task. We have selected the simplex algorithm because it is particularly well suited for solving systems with many unknown parameters. In the course of this research, we implement the proposed calibration. We will find that the error in the range image data can be reduced from more that 60 mm per point rms to less than 10 mm per point. We consider this result to be a success because analysis of the results shows the residual error of 10 mm is due solely to random noise in the range values, not from calibration. This implies that accuracy is limited only by the quality of the range measuring device inside the camera

Social Justice as an Organizational Identity: An Inductive Case Study Examining the Role of Diversity and Inclusivity Initiatives in Corporate Climate and Productivity

Although research has begun to establish the benefits of implementing disability inclusion initiatives within companies, there is relatively limited research examining the impact of applied diversity management practices in the employment of PWDs. This study explores the disability initiatives of an exemplar midwestern company through an in-depth case study. An inductive, qualitative design was utilized to identify themes from interviews with multiple employees. Interviews were examined to understand how the company’s social mission and corporate identity impacted productivity and perceptions. Results suggest that employees are drawn to the company by their social justice mission in hiring and creating meaningful employment for persons with disabilities. Moreover, the fact that the company sees this mission as a central part of its organizational identity rather than as an ancillary initiative motivates employees. Findings indicate that centering a commitment to hire and support persons with disabilities within the organizational identity, forming partnerships within the community, and connecting employees with a sense of meaning in their work generates greater productivity, engagement, and commitment from employees

Education and Government in the Eyes of a Confucian Scholar in Modern China

About the Author Payton Jay Dison hails from Henry County, Georgia and is currently pursuing a B.A. in English with a focus on professional communication. He is a member of the Sigma Alpha Epsilon fraternity and interested in video games, soccer, and studying other languages. Fred Smithberg is a retired military officer and commercial pilot, currently participating in Armstrong\u27s Over Sixtytwo Program. Michael Chase Freeman is graduating with honors from Armstrong University with a B.A. in Liberal studies with a focus in History and minors in anthropology and biology. His focus is in archaeology and physical anthropology with an interest in ancient history. Brian Lee is a junior history major at Armstrong State University. He plans on pursuing a master\u27s degree after finishing the undergraduate program

Residual phase noise measurements of the input section in a receiver

If not designed properly, the input section of an analog down-converter can introduce phase noise that can prevail over other noise sources in the system. In the paper we present residual phase noise measurements of a simplified input section of a classical receiver that is composed of various commercially available mixers and driven by an LO amplifier

Challenges and Opportunities of International Cooperation for Safety & Mission Assurance (SMA) on the European Service Module (ESM) of the Orion Program

ESA is providing the ESM to NASA for the Orion Program in accordance with the Implementing Arrangement (IA) established between the two Agencies in 2012. This IA is a barter agreement, in which ESA provides Service Module vehicles for the first two flights of Orion in exchange for two servicing missions to the ISS. This arrangement has provided opportunities and challenges to both communities. It represents an important opportunity for ESA to build on its experience in the development and operations of ATV and play an active role in the development and flight of a manned space vehicle. This paper will explore some of the unique aspects of this arrangement as it affects Safety & Mission Assurance (SMA).The assessment of ESM compliance with applicable safety requirements is the responsibility of the Joint Safety and Engineering Review Panel (JSERP). The JSERP has two features that are relatively unique amongst NASA safety panels. First, NASA Engineering and SMA organizations co-chair this Panel. Previously, Safety has chaired, with Engineering as a member of the Panel. Inclusion of Engineering as a co-chair has offered greater leverage within the technical community. Second, the JSERP includes a second set of co-chairs from ESA Engineering and ESA Product Assurance and Safety (PA/S) organizations. This recognizes the international arrangement as one of partnership.Another source of both opportunity and challenge is the differing experience base of ESA and NASA. NASA has decades of experience in manned spaceflight, dating back to the Mercury program and following through Gemini, Apollo, Apollo-Soyuz, Skylab, Shuttle and the International Space Station. The risk posture for manned missions is much more rigorous than for unmanned missions. ESA brings a wealth of knowledge as well, with their flights of Ariane and Automated Transfer Vehicle (ATV), development and operation of the Columbus module on ISS, and satellite programs. The result is that both parties have developed paradigms related to risk and failure that contribute to ESM discussions.Orion represents humanity's first venture beyond Low-Earth Orbit (LEO) in over fifty years. Much of that experience is captured in program documents, but first-hand knowledge is limited to a few spaceflight veterans. Missions to LEO have offered the opportunity of direct, near-instantaneous communications and assistance, and the ability to return to Earth within a matter of hours in case of emergency. Outward-bound missions do not have these features and will require a more autonomous spacecraft with attendant safety-related issues.This paper will explore these and other challenges as we approach the flight of the first Orion vehicle