Correcting Decalibration of Stereo Cameras in Self-Driving Vehicles

We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated mechanical stress (vibration, rough handling, collisions). Mechanical stress changes the geometry between the cameras that make up the stereo pair, and as a consequence, the pre-calculated epipolar geometry is no longer valid. Our method is based on optimization of camera geometry parameters and plugs directly into the output of the stereo matching algorithm. Therefore, it is able to recover calibration parameters on image pairs obtained from a decalibrated stereo system with minimal use of additional computing resources. The number of successfully recovered depth pixels is used as an objective function, which we aim to maximize. Our simulation confirms that the method can run constantly in parallel to stereo estimation and thus help keep the system calibrated in real time. Results confirm that the method is able to recalibrate all the parameters except for the baseline distance, which scales the absolute depth readings. However, that scaling factor could be uniquely determined using any kind of absolute range finding methods (e.g. a single beam time-of-flight sensor).Comment: 8 pages, 9 figure

Using a situation awareness approach to determine decision-making behaviour in squash

Situation awareness (SA) refers to the awareness of all relevant sources of information, an ability to synthesise this information using domain knowledge gained from past experiences and the ability to physically respond to a situation. Expert-novice differences have been widely reported in decision-making in complex situations although determining the small differences in expert behaviour are more elusive. This study considered how expert squash players use SA to decide on what shot to play. Matches at the 2010 (n = 14) and 2011 (n = 27) Rowe British Grand Prix were recorded and processed using Tracker software. Shot type, ball location, players' positions on court and movement parameters between the time an opponent played a shot prior to the player's shot to the time of the opponent's following shot were captured 25 times per second. Six SA clusters were named to relate to the outcome of a shot ranging from a defensive shot played under pressure to create time to an attempted winner played under no pressure with the opponent out of position. This new methodology found fine-grained SA differences in expert behaviour, even for the same shot type played from the same court area, beyond the usual expert-novice differences

A time-motion analysis of turns performed by highly ranked Viennese waltz dancers

Twenty-four dance couples performing at the 2011 IDSF (International DanceSport Federation) International Slovenia Open were divided into two groups: the first twelve placed couples (top ranked) and the last twelve placed couples (lower ranked). Video recordings were processed automatically using computer vision tracking algorithms under operator supervision to calculate movement parameters. Time and speed of movement were analysed during single natural (right) and reverse (left) turns performed during the Viennese waltz. Both top and lower ranked dancers tended to perform similar proportionate frequencies of reverse (≈ 35%) and natural (≈ 65%) turns. Analysis of reverse turns showed that the top ranked dancers performed less turns on a curved trajectory (16%) than the lower ranked dancers (33%). The top ranked couples performed all turns at similar speeds (F = 1.31, df = 3, p = 0.27; mean = 2.09m/s) all of which were significantly quicker than the lower ranked couples (mean = 1.94m/s), the greatest differences found for reverse turns (12.43% faster for curved trajectories, 8.42% for straight trajectories). This suggests that the ability to maintain a high speed in the more difficult turns, particularly the reverse turns on a curved trajectory, results in the overall dance appearing more fluent as the speed of movement does not fluctuate as much. This aspect of performance needs to be improved by lower ranked dancers if they wish to improve rating of their performance. Future research should determine which factors relate to the speed of turns

Using a situation awareness approach to identify differences in the performance profiles of the world’s top two squash players and their opponents

Purpose The pressure exerted on a squash player is a consequence of the quality of a shot coupled with the ability of the player to return the ball, namely, the coupling of the two players’ situation awareness (SA) abilities. SA refers to an awareness of all relevant sources of information, the ability to synthesize this information using domain knowledge and the ability to physically respond to a situation. Methods Matches involving the two best players in the world (n = 9) at the 2011 Rowe British Grand Prix, held in Manchester, United Kingdom were recorded and processed using Tracker software. Shot type, ball location, players’ positions on court and movement parameters between the time an opponent played a shot prior to the player’s shot to the time of the opponent’s following shot were captured 25 times per second. All shots (excluding serves and rally ending shots) produced five main SA clusters, similar to those presented by Murray et al. (2018), except a greater proportion of shots were categorized in the greater pressure clusters and less in the lower pressure ones. Results Individual matches were presented using cluster performance profile infographics which demonstrated how individual player’s performance profiles differed between matches. Conclusion It is suggested that it is the coupling, of the two player’s behaviors, that makes the examination of tactics so challenging. This inherently means that performance profiles vary in subtle ways, making consistent profiles that are independent of the opponent very unlikely for elite players. This approach should be further modified to determine within match changes in performance

A time-motion analysis of turns performed by highly ranked Viennese waltz dancers

Twenty-four dance couples performing at the 2011 IDSF (International DanceSport Federation) International Slovenia Open were divided into two groups: the first twelve placed couples (top ranked) and the last twelve placed couples (lower ranked). Video recordings were processed automatically using computer vision tracking algorithms under operator supervision to calculate movement parameters. Time and speed of movement were analysed during single natural (right) and reverse (left) turns performed during the Viennese waltz. Both top and lower ranked dancers tended to perform similar proportionate frequencies of reverse (≈ 35%) and natural (≈ 65%) turns. Analysis of reverse turns showed that the top ranked dancers performed less turns on a curved trajectory (16%) than the lower ranked dancers (33%). The top ranked couples performed all turns at similar speeds (F = 1.31, df = 3, p = 0.27; mean = 2.09m/s) all of which were significantly quicker than the lower ranked couples (mean = 1.94m/s), the greatest differences found for reverse turns (12.43% faster for curved trajectories, 8.42% for straight trajectories). This suggests that the ability to maintain a high speed in the more difficult turns, particularly the reverse turns on a curved trajectory, results in the overall dance appearing more fluent as the speed of movement does not fluctuate as much. This aspect of performance needs to be improved by lower ranked dancers if they wish to improve rating of their performance. Future research should determine which factors relate to the speed of turns

Effects of rule changes on physical demands and shot characteristics of elite-standard men’s squash and implications for training

The physical demands and rally characteristics of elite-standard men's squash have not been well documented since recent rule changes (scoring and tin height). This information is needed to design optimal training drills for physical conditioning, provided here based on an analysis of movement and shot information. Matches at the 2010 (n = 14) and 2011 (n = 27) Rowe British Grand Prix were analysed. Rallies were split into four ball-in-play duration categories using the 25th (short), 75th (medium), 95th percentiles (long) and maximum values. Cohen’s d and Chi squared tests of independence evaluated effects of rally and rule changes on patterns of play. The proportion of long, middle and short shots was related to the duration of the rally with more shots played in the middle and front of the court in short rallies (phi = 0.12). The frequencies of shots played from different areas of the court have not changed after the adoption of new rules but there is less time available to return shots that reflects the attacking nature of match play for elite-standard men players. Aspiring and current elite-standard players need to condition themselves to improve their ability to cope with these demands using the ghosting patterns presented that mimic demands of modern match play

A new method for assessing squash tactics using 15 court areas for ball locations

Tactics in squash have typically been assessed using the frequency of different shot types played at different locations on the court either without reference to other relevant information or on the basis of the preceding shot. This paper presents a new squash specific method for categorising court locations in which the ball was played, a novel techniques for assessing the reliability of this method and presents typical shots responses in these new areas controlled for preceding shot as well as the time between shots and the handedness of the players. Twelve games were viewed using the SAGIT/Squash software and 2907 shots viewed a second time from a video image taken from behind the court with an overall agreement of 88.90% for the court location data and 99.52% for shot type. 3,192 shots from 9 matches from the 2003 World Team Championships were analysed in SAGIT/Squash. In the court areas analysed between 2 and 7 shot responses were predominant suggesting tactical patterns were evident. This was supported by differences evident between shot responses played from the two back corners where the backhand side was characterised by a predominance of straight drives whereas straight and crosscourt drives were played on the forehand side. These results tended to confirm that tactics i.e. consistent shot types, are played although these are only apparent when factors that determine shot selection are accounted for. This paper has controlled for some of these factors but others need to be considered e.g. if individual player profiles are to be ascertaine

Using a situation awareness approach to identify differences in the performance profiles of the world’s top two squash players and their opponents

Purpose The pressure exerted on a squash player is a consequence of the quality of a shot coupled with the ability of the player to return the ball, namely, the coupling of the two players’ situation awareness (SA) abilities. SA refers to an awareness of all relevant sources of information, the ability to synthesize this information using domain knowledge and the ability to physically respond to a situation. Methods Matches involving the two best players in the world (n = 9) at the 2011 Rowe British Grand Prix, held in Manchester, United Kingdom were recorded and processed using Tracker software. Shot type, ball location, players’ positions on court and movement parameters between the time an opponent played a shot prior to the player’s shot to the time of the opponent’s following shot were captured 25 times per second. All shots (excluding serves and rally ending shots) produced five main SA clusters, similar to those presented by Murray et al. (2018), except a greater proportion of shots were categorized in the greater pressure clusters and less in the lower pressure ones. Results Individual matches were presented using cluster performance profile infographics which demonstrated how individual player’s performance profiles differed between matches. Conclusion It is suggested that it is the coupling, of the two player’s behaviors, that makes the examination of tactics so challenging. This inherently means that performance profiles vary in subtle ways, making consistent profiles that are independent of the opponent very unlikely for elite players. This approach should be further modified to determine within match changes in performance