Resolving depth measurement ambiguity with commercially available range imaging cameras

Time-of-flight range imaging is typically performed with the amplitude modulated continuous wave method. This involves illuminating a scene with amplitude modulated light. Reflected light from the scene is received by the sensor with the range to the scene encoded as a phase delay of the modulation envelope. Due to the cyclic nature of phase, an ambiguity in the measured range occurs every half wavelength in distance, thereby limiting the maximum useable range of the camera. This paper proposes a procedure to resolve depth ambiguity using software post processing. First, the range data is processed to segment the scene into separate objects. The average intensity of each object can then be used to determine which pixels are beyond the non-ambiguous range. The results demonstrate that depth ambiguity can be resolved for various scenes using only the available depth and intensity information. This proposed method reduces the sensitivity to objects with very high and very low reflectance, normally a key problem with basic threshold approaches. This approach is very flexible as it can be used with any range imaging camera. Furthermore, capture time is not extended, keeping the artifacts caused by moving objects at a minimum. This makes it suitable for applications such as robot vision where the camera may be moving during captures. The key limitation of the method is its inability to distinguish between two overlapping objects that are separated by a distance of exactly one non-ambiguous range. Overall the reliability of this method is higher than the basic threshold approach, but not as high as the multiple frequency method of resolving ambiguity

Advantages of 3D time-of-flight range imaging cameras in machine vision applications

Machine vision using image processing of traditional intensity images is in wide spread use. In many situations environmental conditions or object colours or shades cannot be controlled, leading to difficulties in correctly processing the images and requiring complicated processing algorithms. Many of these complications can be avoided by using range image data, instead of intensity data. This is because range image data represents the physical properties of object location and shape, practically independently of object colour or shading. The advantages of range image processing are presented, along with three example applications that show how robust machine vision results can be obtained with relatively simple range image processing in real-time applications

Measurement of a Magnetic Field in a Leading Arm High Velocity Cloud

Using a recent catalogue of extragalactic Faraday rotation derived from the NRAO VLA Sky Survey we have found an agreement between Faraday rotation structure and the HI emission structure of a High Velocity Cloud (HVC) associated with the Leading Arm of the Magellanic System. We suggest that this morphological agreement is indicative of Faraday rotation through the HVC. Under this assumption we have used 48 rotation measures through the HVC, together with estimates of the electron column density from H-\alpha\ measurements and QSO absorption lines to estimate a strength for the line-of-sight component of the coherent magnetic field in the HVC of > 6 {\rm \mu G}$. A coherent magnetic field of this strength is more than sufficient to dynamically stabilize the cloud against ram pressure stripping by the Milky Way halo and may also provide thermal insulation for the cold cloud. We estimate an upper limit to the ratio of random to coherent magnetic field of$B_{r}/B_{||} < 0.8$, which suggests that the random field does not dominate over the coherent field as it does in the Magellanic Clouds from which this HVC likely originates.Comment: 17 pages, 3 figure

An Interaction of a Magellanic Leading Arm High Velocity Cloud with the Milky Way Disk

The Leading Arm of the Magellanic System is a tidally formed HI feature extending \sim 60\arcdeg from the Magellanic Clouds ahead of their direction of motion. Using atomic hydrogen (HI) data from the Galactic All Sky-Survey (GASS), supplemented with data from the Australia Telescope Compact Array, we have found evidence for an interaction between a cloud in the Leading Arm and the Galactic disk where the Leading Arm crosses the Galactic plane. The interaction occurs at velocities permitted by Galactic rotation, which allows us to derive a kinematic distance to the cloud of 21 kpc, suggesting that the Leading Arm crosses the Galactic Plane at a Galactic radius of $R\approx 17$ kpc.Comment: 14 pages, 5 figures, accepted to Astrophysical Journal Letters. Full resolution version available at ftp://ftp.atnf.csiro.au/pub/people/nmcclure/papers/LeadingArm_apjl.pd

A genome-wide association study for genetic susceptibility to Mycobacterium bovis infection in dairy cattle identifies a susceptibility QTL on chromosome 23

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.BACKGROUND: Bovine tuberculosis (bTB) infection in cattle is a significant economic concern in many countries, with annual costs to the UK and Irish governments of approximately €190 million and €63 million, respectively, for bTB control. The existence of host additive and non-additive genetic components to bTB susceptibility has been established. METHODS: Two approaches i.e. single-SNP (single nucleotide polymorphism) regression and a Bayesian method were applied to genome-wide association studies (GWAS) using high-density SNP genotypes (n = 597,144 SNPs) from 841 dairy artificial insemination (AI) sires. Deregressed estimated breeding values for bTB susceptibility were used as the quantitative dependent variable. Network analysis was performed using the quantitative trait loci (QTL) that were identified as significant in the single-SNP regression and Bayesian analyses separately. In addition, an identity-by-descent analysis was performed on a subset of the most prolific sires in the dataset that showed contrasting prevalences of bTB infection in daughters. RESULTS: A significant QTL region was identified on BTA23 (P value >1 × 10(-5), Bayes factor >10) across all analyses. Sires with the minor allele (minor allele frequency = 0.136) for this QTL on BTA23 had estimated breeding values that conferred a greater susceptibility to bTB infection than those that were homozygous for the major allele. Imputation of the regions that flank this QTL on BTA23 to full sequence indicated that the most significant associations were located within introns of the FKBP5 gene. CONCLUSIONS: A genomic region on BTA23 that is strongly associated with host susceptibility to bTB infection was identified. This region contained FKBP5, a gene involved in the TNFα/NFκ-B signalling pathway, which is a major biological pathway associated with immune response. Although there is no study that validates this region in the literature, our approach represents one of the most powerful studies for the analysis of bTB susceptibility to date

The Southern Galactic Plane Survey: The Test Region

The Southern Galactic Plane Survey (SGPS) is a project to image the HI line emission and 1.4 GHz continuum in the fourth quadrant of the Milky Way at high resolution using the Australia Telescope Compact Array (ATCA) and the Parkes Radio Telescope. In this paper we describe the survey details and goals, present lambda 21-cm continuum data, and discuss HI absorption and emission characteristics of the SGPS Test Region (325.5 deg < l < 333.5 deg; -0.5 deg < b < +3.5 deg). We explore the effects of massive stars on the interstellar medium (ISM) through a study of HI shells and the HI environments of HII regions and supernova remnants. We find an HI shell surrounding the HII region RCW 94 which indicates that the region is embedded in a molecular cloud. We give lower limits for the kinematic distances to SNRs G327.4+0.4 and G330.2+1.0 of 4.3 kpc and 4.9 kpc, respectively. We find evidence of interaction with the surrounding HI for both of these remnants. We also present images of a possible new SNR G328.6-0.0. Additionally, we have discovered two small HI shells with no counterparts in continuum emission.Comment: 17 pages, 7 embedded EPS figures, 10 low-res jpeg figures, uses emulateapj5.sty. Accepted for publication in the Astrophysical Journal. Version with all full resolution figures embedded is available at http://www.astro.umn.edu/~naomi/sgps/papers/SGPS.ps.g

Tunable Noise Cross-Correlations in a Double Quantum Dot

We report measurements of the cross-correlation between current noise fluctuations in two capacitively coupled quantum dots in the Coulomb blockade regime. The sign of the cross-spectral density is found to be tunable by gate voltage and source-drain bias. Good agreement is found with a model of sequential tunneling through the dots in the presence of inter-dot capacitive coupling.Comment: related papers available at http://marcuslab.harvard.ed

The Spitzer Infrared Spectrograph Survey of T Tauri Stars in Taurus

We present 161 Spitzer Infrared Spectrograph (IRS) spectra of T Tauri stars and young brown dwarfs in the Taurus star-forming region. All of the targets were selected based on their infrared excess and are therefore surrounded by protoplanetary disks; they form the complete sample of all available IRS spectra of T Tauri stars with infrared excesses in Taurus. We also present the IRS spectra of seven Class 0/I objects in Taurus to complete the sample of available IRS spectra of protostars in Taurus. We use spectral indices that are not significantly affected by extinction to distinguish between envelope-and disk-dominated objects. Together with data from the literature, we construct spectral energy distributions for all objects in our sample. With spectral indices derived from the IRS spectra we infer disk properties such as dust settling and the presence of inner disk holes and gaps. We find a transitional disk frequency, which is based on objects with unusually large 13-31 mu m spectral indices indicative of a wall surrounding an inner disk hole, of about 3%, and a frequency of about 20% for objects with unusually large 10 mu m features, which could indicate disk gaps. The shape and strength of the 10 mu m silicate emission feature suggests weaker 10 mu m emission and more processed dust for very low mass objects and brown dwarfs (spectral types M6-M9). These objects also display weaker infrared excess emission from their disks, but do not appear to have more settled disks than their higher-mass counterparts. We find no difference for the spectral indices and properties of the dust between single and multiple systems.NASANASA through JPL/CaltechNASA through the Spitzer Space TelescopeNational Science Foundation AST-0544588, 0901947Pennsylvania State UniversityEberly College of SciencePennsylvania Space Grant ConsortiumNSFAstronom