Geometrical Calibration for the Panrover: a Stereo Omnidirectional System for Planetary Rover

Abstract. A novel panoramic stereo imaging system is proposed in this paper. The system is able to carry out a 360° stereoscopic vision, useful for rover autonomous-driving, and capture simultaneously a high-resolution stereo scene. The core of the concept is a novel "bifocal panoramic lens" (BPL) based on hyper hemispheric model (Pernechele et al. 2016). This BPL is able to record a panoramic field of view (FoV) and, simultaneously, an area (belonging to the panoramic FoV) with a given degree of magnification by using a unique image sensor. This strategy makes possible to avoid rotational mechanisms. Using two BPLs settled in a vertical baseline (system called PANROVER) allows the monitoring of the surrounding environment in stereoscopic (3D) mode and, simultaneously, capturing an high-resolution stereoscopic images to analyse scientific cases, making it a new paradigm in the planetary rovers framework.Differently from the majority of the Mars systems which are based on rotational mechanisms for the acquisition of the panoramic images (mosaicked on ground), the PANROVER does not contain any moving components and can rescue a hi-rate stereo images of the context panorama.Scope of this work is the geometric calibration of the panoramic acquisition system by the omnidirectional calibration methods (Scaramuzza et al. 2006) based on Zhang calibration grid. The procedures are applied in order to obtain well rectified synchronized stereo images to be available for 3D reconstruction. We applied a Zhang chess boards based approach even during STC/SIMBIO-SYS stereo camera calibration (Simioni et al. 2014, 2017). In this case the target of the calibration will be the stereo heads (the BPLs) of the PANROVER with the scope of extracting the intrinsic parameters of the optical systems. Differently by previous pipelines, using the same data bench the estimate of the extrinsic parameters is performed

Remote LED lighting technology for producing and processing food

Food producing and processing industries face with several challenges regarding food illumination (e.g., providing a high quality light experience and color rendering while facilitating inspections) and using Ultraviolet (UV) light for sanitizing, disinfection or germicidal treatments both in food production lines and for the food itself directly or through tools (i.e., used in packaging and processing). The paper describes the development of an innovative product, called RLTProFood (remote LED light technology for processing and producing food), that was designed for giving a customized LED-based lighting system able to deliver different source light from visible to UV according the benefits required by customers. Currently developed in two main configurations (e.g., LED visible light and UV LED light), the product has its main application in the context of processing and producing fresh and possibly organic food especially fruits and vegetables

Fisheye Lens Geometric Calibration

In this report we will show the calibration procedure and the obtained results for the definition of the intrinsic parameters of a wide-angle system through the use of a set of acquisitions of a well-known calibration target. In this case the method is applied to a Fujinon fish-eye camera hereafter called FEL (Fish-Eye Lens)

Hyperhemispheric Lens Geometric Calibration

In this report we will show the calibration procedure and the obtained results for the definition of the intrinsic parameters of a wide-angle lens through the use of a set of acquisitions of a well-known calibration target. In this case the method is applied to INAF payload panoramic hereafter called BPL (Bifocal Panoramic Lens

Models for the active optics system of the ASTRI SST-2M prototype proposed for the Cherenkov Telescope Array

ASTRI SST-2M is an end-to-end prototype of Small Size class of Telescope proposed for the Cherenkov Telescope Array (CTA). Currently under completion at the Serra La Nave observing station (Mt. Etna, Catania, Italy), the ASTRI SST- 2M telescope is the first imaging dual-mirror telescope ever realized for Cherenkov telescopes. A mini-array of nine such telescopes will form the ASTRI mini-array proposed as a precursor and initial seed of CTA to be installed at the final CTA southern site. ASTRI SST-2M is equipped with an active optics system, controlling both the segmented primary mirror and the monolithic secondary mirror, which allows optical re-alignment during telescope slew. We describe the hardware and software solution that have been implemented for optics control and the models we developed for the system

Qualification and Testing of a Large Hot Slumped Secondary Mirror for Schwarzschild-Couder Imaging Air Cherenkov Telescopes

Dual-mirror Schwarzschild-Couder (SC) telescopes are based on highly aspherical optics, and they represent a novel design in the world of very high energy astrophysics. This work addresses the realization and the qualification of the secondary mirror for an SC telescope, named ASTRI, developed in the context of the Cherenkov Telescope Array Observatory. The discussion surveys the overall development from the early design concept to the final acceptance optical tests

UVC-Mirror for effective pathogens inactivation in air ducts

Improving the air quality of indoor environments (IAQ) is of utmost importance to safeguard public health as people spend about 80–90% of their time indoor. Efficient Ultraviolet germicidal irradiation (UVGI) system represents a strategic and sustainable solution to protect from recurrent and new airborne pathogens. Here, we present a new approach to design highly efficient UVGI systems, which can be installed in existing Air Treatment Units (ATU) plants with minimal effort. The increased efficiency relies on the concept of an optical cavity, thanks to its shape and source position. The internal volume consists of a highly reflective cavity illuminated with UV-C lamps. Optical simulations permitted the variation of the parameters to maximize the internal irradiance and, thus, the performance. The sanitation efficacy of the system was assessed on a full-scale pilot system. Tests were carried out under normal operating conditions against various microorganisms showed an inactivation rate of > 99%. The benefits of such systems are triple and encompass economic, environmental, and societal aspects. Since the system requires little energy to operate, its application for air disinfection may yield significant energy savings and ensure a balance between energy sustainability and good IAQ

In-lab characterization of HYPSOS, a novel stereo hyperspectral observing system: first results

HYPSOS (HYPerspectral Stereo Observing System, patented) is a novel remote sensing instrument able to extract the spectral information from the two channels of a pushbroom stereo camera; thus it simultaneously provides 4D information, spatial and spectral, of the observed features. HYPSOS has been designed to be a compact instrument, compatible with small satellite applications, to be suitable both for planetary exploration as well for terrestrial environmental monitoring. An instrument with such global capabilities, both in terms of scientific return and needed resources, is optimal for fully characterizing the observed surface of investigation. HYPSOS optical design couples a pair of folding mirrors to a modified three mirror anastigmat telescope for collecting the light beams from the optical paths of the two stereo channels; then, on the telescope focal plane, there is the entrance slit of an imaging spectrograph, which selects and disperses the light from the two stereo channels on a bidimensional detector. With this optical design, the two stereo channels share the large majority of the optical elements: this allowed to realize a very compact instrument, which needs much less resources than an equivalent system composed by a stereo camera and a spectrometer. To check HYPSOS actual performance, we realized an instrument prototype to be operated in a laboratory environment. The laboratory setup is representative of a possible flight configuration: the light diffused by a surface target is collimated on the HYPSOS channel entrance apertures, and the target is moved with respect to the instrument to reproduce the in- flight pushbroom acquisition mode. Here we describe HYPSOS and the ground support equipment used to characterize the instrument, and show the preliminary results of the instrument alignment activities