A REVIEW OF GEOMETRIC MODELS AND SELF-CALIBRATION METHODS FOR TERRESTRIAL LASER SCANNERS

Terrestrial laser scanning has been shown to be an invaluable technology for engineering measurement applications such as structural deformation measurement and rockfall monitoring. In order to ensure the quality of the data captured for these and other applications, all systematic instrument errors must be properly modelled, calibrated and corrected prior to using the data in subsequent stability or deformation analyses. In one popular modelling approach, the range and angular observations from a laser scanner are augmented with additive model terms that describe the systematic errors. Self-calibration methods can then be used in order to estimate the coefficients of these models. This paper provides a review of the current state-of-the-art of terrestrial laser scanner systematic error models and self-calibration methods, supported by real-dataset examples that demonstrate the need for these processes

Correcting the Eccentricity Error of Projected Spherical Objects in Perspective Cameras

Projective transformation of spheres onto images produce ellipses, whose centers do not coincide with the projected center of the sphere. This results in an eccentricity error, which must be treated in high precision metrology. This article provides closed formulations for modeling this error in images to enable 3-dimensional (3D) reconstruction of the center of spherical objects. The article also provides a new direct robust method for detecting spherical pattern in point clouds. It was shown that the eccentricity error in an image has only one component in the direction of the major axis of the ellipse. It was also revealed that the eccentricity is zero if and only if the center of the projected sphere lies on the camera’s perspective center. The effectiveness of the robust sphere detection and the eccentricity error modeling method was evaluated on simulated point clouds of spheres and real-world images, respectively. It was observed that the proposed robust sphere fitting method outperformed the popular M-estimator sample consensus in terms of radius and center estimation accuracy by a factor of 13, and 14 on average, respectively. Using the proposed eccentricity adjustment, the estimated 3D center of the sphere using modeled eccentricity was superior to the unmodeled case. It was also observed that the accuracy of the estimated 3D center using modeled eccentricity continuously improved as the number of images increased, whereas the unmodeled eccentricity did not show improvements after eight image views. The results of the investigation show that: (i) the proposed method effectively modeled the eccentricity error, and (ii) the effects of eliminating the eccentricity error in the 3D reconstruction become even more pronounced in a larger number of image views

Fitting gravimetric geoid models to vertical deflections

Regional gravimetric geoid and quasigeoid models are now commonly fitted to GPS-levelling data, which simultaneously absorbs levelling, GPS and quasi/geoid errors due to their inseparability. We propose that independent vertical deflections are used instead, which are not affected by this inseparability problem. The formulation is set out for geoid slopes and changes in slopes. Application to 1080 astrogeodetic deflections over Australia for the AUSGeoid98 model shows that it is feasible, but the poor quality of the historical astrogeodetic deflections led to some unrealistic values

Automated calibration of smartphone cameras for 3D reconstruction of mechanical pipes

This paper outlines a new framework for the calibration of optical instruments, in particular smartphone cameras, using highly redundant circular black-and-white target fields. New methods were introduced for (i) matching targets between images; (ii) adjusting the systematic eccentricity error of target centres; and (iii) iteratively improving the calibration solution through a free-network self-calibrating bundle adjustment. The proposed method effectively matched circular targets in 270 smartphone images, taken within a calibration laboratory, with robustness to type II errors (false negatives). The proposed eccentricity adjustment, which requires only camera projective matrices from two views, behaved comparably to available closed-form solutions, which require additional a priori object-space target information. Finally, specifically for the case of mobile devices, the calibration parameters obtained using the framework were found to be superior compared to in situ calibration for estimating the 3D reconstructed radius of a mechanical pipe (approximately 45% improvement on average)

The first giant flare from SGR 1806-20: observations with the INTEGRAL SPI Anti-Coincidence Shield

A giant flare from the Soft Gamma-ray Repeater SGR 1806-20 has been detected by several satellites on 2004 December 27. This tremendous outburst, the first one observed from this source, was a hundred times more powerful than the two previous giant flares from SGR 0525-66 and SGR 1900+14. We report the results obtained for this event with the Anticoincidence Shield of the SPI spectrometer on board the INTEGRAL satellite, which provides a high-statistics light curve at E>~80 keV. The flare started with a very strong pulse, which saturated the detector for ~0.7 s, and whose backscattered radiation from the Moon was detected 2.8 s later. This was followed by a ~400 s long tail modulated at the neutron star rotation period of 7.56 s. The tail fluence corresponds to an energy in photons above 3 keV of 1.6x10^44 (d/15 kpc)^2 erg. This is of the same order of the energy emitted in the pulsating tails of the two giant flares seen from other soft repeaters, despite the hundredfold larger overall emitted energy of the SGR 1806-20 giant flare. Long lasting (~1 hour) hard X-ray emission, decaying in time as t^-0.85, and likely associated to the SGR 1806-20 giant flare afterglow has also been detected.Comment: revised version - Accepted for publication on The Astrophysical Journal Letter

Three Dimensional Simulation of Gamma Ray Emission from Asymmetric Supernovae and Hypernovae

Hard X- and $\gamma$-ray spectra and light curves resulting from radioactive decays are computed for aspherical (jet-like) and energetic supernova models (representing a prototypical hypernova SN 1998bw), using a 3D energy- and time-dependent Monte Carlo scheme. The emission is characterized by (1) early emergence of high energy emission, (2) large line-to-continuum ratio, and (3) large cut-off energy by photoelectric absorptions in hard X-ray energies. These three properties are not sensitively dependent on the observer's direction. On the other hand, fluxes and line profiles depend sensitively on the observer's direction, showing larger luminosity and larger degree of blueshift for an observer closer to the polar ($z$) direction. Strategies to derive the degree of asphericity and the observer's direction from (future) observations are suggested on the basis of these features, and an estimate on detectability of the high energy emission by the {\it INTEGRAL} and future observatories is presented. Also presented is examination on applicability of a gray effective $\gamma$-ray opacity for computing the energy deposition rate in the aspherical SN ejecta. The 3D detailed computations show that the effective $\gamma$-ray opacity $\kappa_{\gamma} \sim 0.025 - 0.027$ cm$^{2}$ g$^{-1}$ reproduces the detailed energy-dependent transport for both spherical and aspherical (jet-like) geometry.Comment: 24 pages, 13 figures. Figure 7 added in the accepted version. ApJ, 644 (01 June 2006 issue), in press. Resolution of figures lower than the published versio

ASSESSMENT OF CHROMATIC ABERRATIONS FOR GOPRO 3 CAMERAS IN UNDERWATER ENVIRONMENTS

With underwater photogrammetric mapping becoming more prominent due to the lower costs for waterproof cameras as well as lower costs for underwater platforms, the aim of this research is to investigate chromatic aberration in underwater environments. Chromatic aberration in in-air applications is to be known to systematically influence the observations of up to a few pixels. In order to achieve pixel-level positioning accuracy, this systematic influence needs further investigation. However, while chromatic aberration studies have been performed for in-air environments, there is a lack of research to quantify the influence of chromatic aberration in underwater environments. Using images captured in a water tank from three different GoPro cameras in five datasets, we investigate possible chromatic aberration by running two different adjustments on the extracted red (R), green (G) and blue (B) bands. The first adjustment is an adjustment that calculates the interior orientation parameters for each set of images independently in a free network adjustment. The second adjustment solves for all interior orientation parameters (for R, G, and B channels) in a combined adjustment per camera, constraining the point observations in object space. We were able to quantify significant chromatic aberrations in our evaluation, with the largest aberrations observed for red band followed by green and blue

Improvement in measurement accuracy for hybrid scanner

The capability to provide dense three-dimensional (3D) data (point clouds) at high speed and at high accuracy has made terrestrial laser scanners (TLS) widely used for many purposes especially for documentation, management and analysis. However, similar to other 3D sensors, proper understanding regarding the error sources is necessary to ensure high quality data. A procedure known as calibration is employed to evaluate these errors. This process is crucial for TLS in order to make it suitable for accurate 3D applications (e.g. industrial measurement, reverse engineering and monitoring). Two calibration procedures available for TLS: 1) component, and 2) system calibration. The requirements of special laboratories and tools which are not affordable by most TLS users have become principle drawback for component calibration. In contrast, system calibration only requires a room with appropriate targets. By employing optimal network configuration, this study has performed system calibration through self-calibration for Leica ScanStation C10 scanner. A laboratory with dimensions of 15.5m x 9m x 3m and 138 well-distributed planar targets were used to derive four calibration parameters. Statistical analysis (e.g. t-test) has shown that only two calculated parameters, the constant rangefinder offset error (0.7mm) and the vertical circle index error (-45.4inch were significant for the calibrated scanner. Photogrammetric technique was utilised to calibrate the 3D test points at the calibration field. By using the test points, the residual pattern of raw data and self-calibration results were plotted into the graph to visually demonstrate the improvement in accuracy for Leica ScanStation C10 scanner

Transformation Properties of External Radiation Fields, Energy-Loss Rates and Scattered Spectra, and a Model for Blazar Variability

We treat transformation properties of external radiation fields in the proper frame of a plasma moving with constant speed. The specific spectral energy densities of external isotropic and accretion-disk radiation fields are derived in the comoving frame of relativistic outflows, such as those thought to be found near black-hole jet and gamma-ray burst sources. Nonthermal electrons and positrons Compton-scatter this radiation field, and high-energy protons and ions interact with this field through photomeson and photopair production. We revisit the problem of the Compton-scattered spectrum associated with an external accretion-disk radiation field, and clarify a past treatment by the authors. Simple expressions for energy-loss rates and Thomson-scattered spectra are given for ambient soft photon fields consisting either of a surrounding external isotropic monochromatic radiation field, or of an azimuthally symmetric, geometrically thin accretion-disk radiation field. A model for blazar emission is presented that displays a characteristic spectral and variability behavior due to the presence of a direct accretion-disk component. The disk component and distinct flaring behavior can be bright enough to be detected from flat spectrum radio quasars with {\it GLAST}. Spectral states of blazars are characterized by the relative importance of the accretion-disk and scattered radiation fields and, in the extended jet, by the accretion disk, inner jet, and cosmic microwave background radiation fields.Comment: 43 pages, 12 figures, ApJ, in press; includes improvements in response to referee report, added references, section of detectability with GLAS

INTEGRAL observations of the blazar Mrk 421 in outburst (Results of a multi-wavelength campaign)

We report the results of a multi-wavelength campaign on the blazar Mrk 421 during outburst. We observed four strong flares at X-ray energies that were not seen at other wavelengths (partially because of missing data). From the fastest rise in the X-rays, an upper limit could be derived on the extension of the emission region. A time lag between high-energy and low-energy X-rays was observed, which allowed an estimation of the magnetic-field strength. The spectral analysis of the X-rays revealed a slight spectral hardening of the low-energy (3 - 43 keV) spectral index. The hardness-ratio analysis of the Swift-XRT (0.2 - 10 keV) data indicated a small correlation with the intensity; i. e., a hard-to-soft evolution was observed. At the energies of IBIS/ISGRI (20 - 150 keV), such correlations are less obvious. A multiwavelength spectrum was composed and the X-ray and bolometric luminosities are calculated.Comment: 15 pages, 18 figures; accepted by Astronomy & Astrophysic