Camera Shooting Research Articles

Design and calibration of a three-dimensional localization system for automatic measurement of long and thin tube based on camera and laser displacement sensor

An integrated system consisting of robot and laser scanner is considered as a promising alternative measurement device for three-dimensional tube which is long and thin. A key to achieving automatic measurement is to locate tube accurately and robustly, which is precondition for scanning path planning. Thus, a novel three-dimensional localization system consisting of camera and laser displacement senor is proposed. When fixed on robot, the camera can search tube quickly in large view and the laser displacement sensor obtains depth information of key points. Measurement principles are presented firstly, including four main steps: camera shooting, key points extraction, laser displacement sensor shooting, and coordinate calculation. Then, the location error influenced by parameters of camera model and laser displacement sensor is analyzed and illustrated by a specific camera and laser displacement sensor. Furthermore, a scan strategy is proposed for quite thin tube localization. Location error caused by perspective is also analyzed and a compensation method is proposed for decreasing the error. Additionally, a sensor transformation calibration method is presented for identifying the relationship between camera and laser displacement sensor, which is verified with high accuracy by calibration experiments. A contrast experiment of a cylinder bar localization shows that the maximum location error of the camera and laser displacement sensor is no more than 3.5 mm, which is only one-eighth of that of Kinect sensor. The mean and maximum location errors are within 2 mm and 3 mm when locating a car brake and fuel tube with about 1300 mm long, indicating high accuracy and good robustness of designed localization system.

A Camera Shooting Resilient Watermarking Scheme for Underpainting Documents

This paper designs a novel underpainting based camera shooting resilient (CSR) document watermarking algorithm for dealing with the leak source tracking problem. By applying such algorithm, we can extract the authentication watermark information from the candid photographs. The watermarked underpainting contains three significant properties. 1) Inconspicuousness. The watermarked underpainting is inconspicuous and it will not easily be maliciously attacked. 2) Robustness. We propose DCT-based watermark embedding algorithm and distortion compensation based extracting algorithm, which make the watermark robust to camera shooting process. 3) Autocorrelation. We design the flip-based method to arrange the watermarked underpainting. So that a complete watermark region can be accurately located even if part of the document is recorded. Compared with previous watermarking algorithms, the proposed scheme guaranteed content independent embedding as well as the robustness to the camera shooting process. Besides, the proposed scheme satisfies the accuracy of extraction even when the captured document is incomplete.

Potential Detection Application of Nodular Melanoma on Melanocytic Nevi Image Based on Android

Nodular melanoma is a deadly rare type of skin cancer. Nodular Melanoma has characteristics asymmetrical shape, border irregularity, nonhomogeneous or has several color variations and the diameter is more than 6 millimeters. Nodular melanoma has a physical form similar to melanocytic nevi, therefore nodular melanoma can be detected from melanocytic nevi spread throughout the body. This research aims to detect nodular melanoma through melanocytic nevi by utilizing the android system in order to ease the user by using camera smartphone in detecting cancer. This application uses image processing and feature extraction of the ABCD method to process images with decision tree c4.5 classification method to detect potential of nodular melanoma diagnosis from melanocytic nevi image. The ABCD method is a medical method used to detect the possibility of skin cancer using 4 parameters including asymmetrical shape, border irregularity, color and diameter. Decision tree c4.5 is classification method that using entropy and gain to make rules of decision tree. The image data test is obtained from the results of the android-based smartphone camera shooting and from medical record. Output of this application is a diagnosis condition of melanocytic nevi is healthy or nodular melanoma potentially. The accuracy of this application is 97.5%.

Faster R-CNN for marine organisms detection and recognition using data augmentation

Recently, Faster Region-based Convolutional Neural Network (Faster R-CNN) has achieved marvelous accomplishment in object detection and recognition. In this paper, Faster R-CNN is applied to marine organisms detection and recognition. However, the training of Faster R-CNN requires a mass of labeled samples which are difficult to obtain for marine organisms. Therefore, three data augmentation methods dedicated to underwater-imaging are proposed. Specifically, the inverse process of underwater image restoration is used to simulate different marine turbulence environments. Perspective transformation is proposed to simulate different views of camera shooting. Illumination synthesis is used to simulate different marine uneven illuminating environments. The performance of each data augmentation method, together with previous frequently used data augmentation methods are evaluated by Faster R-CNN on the real-world underwater dataset, which validate the effectiveness of the proposed methods for marine organisms detection and recognition.

The differences in the formation mechanism of PEO and CPED composited ceramic coatings on Al-12Si alloy

The differences in the formation mechanisms of the plasma electrolytic oxidation (PEO) and the cathode plasma electrolytic deposition (CPED) coatings were investigated by SEM, XRD and high-speed camera. The temperature fields inside and around the plasma discharge channel are analyzed by ansys software. After ansys analysis, the temperature in the discharge channel of CPED reaction is 1400 °C higher than that of PEO and the discharge spark size of CPED reaction is higher than that of PEO. After a high-speed camera shooting, the discharge time of PEO reaction is longer than CPED process. The PEO and CPED coatings have nearly the same micropore size, which is close to 3 μm. However, the CPED coating is less uniform than the PEO coating due to the higher plasma reaction temperature of CPED process. PEO coating contains a large number of amorphous phases. Moreover, with the increase of the content of ZrO2 nanoparticles, the degree of amorphization of PEO coating increases. Compared with PEO coating, CPED coating has higher crystallization degree. And when the concent of zirconia nanoparticles is higher, the degree of crystallization is higher, and the yttria stabilized solid solution phase Zr3Y4O12 appears.

Analyze Angle of the Camera Payload LSU-02 in Mission of Aerial Photo

In carrying out its mission, LAPAN Surveillance UAV version 2 (LSU-02) was equipped with a camera payload sensor mounted on a gimbal system. When taking upright aerial photos according to photogrammetric requirements, the axis of the aerial camera must be aligned with the direction of gravity with a slope tolerance less than 3 degrees (<3°), so that the shooting results meet the map to the desired standard. The camera payload was equipped with a 3-axis gimbal system which pitch and roll directions installed by the gyro sensor to measure the camera's tilt angle. Gimbal camera payload with dimensions (160×170×155) mm are designed to be installed on a casing (190×190×180) mm according to the available space in the LSU-02 payload space, which was the length x width x height (190×190×180) mm. Testing was done by flying LSU-02 on Rumpin and Pamengpeuk runway. From the test results, it was obtained the deviation of roll and pitch angle less than 3degree, which the gimbal angle oscillation when the payload camera shooting was only ± 1 degree with the respon time until it reaches a stable condition of approximately 35 to 55 seconds, and the offset value for roll and pitch approximately -1 degree, which it has met the standard for making aerial photo maps according to photogrammetric requirements.

A multi-UAV cooperative route planning methodology for 3D fine-resolution building model reconstruction

In order to provide a fast multi-UAV cooperative data acquisition approach for 3D building model reconstruction in emergency management domain, a route planning methodology is proposed. A minimum image set including camera shooting positions and attitudes can be firstly obtained, with the given parameters describing the target building, UAVs, cameras, and image overlap requirements. A specific flight route network is then determined, and the optimal solution for multi-UAV data capture route planning is computed on the basis of constraint conditions such as the time frame, UAV battery endurance, and take-off and landing positions. Furthermore, field experiments with manual operating UAV mode, single UAV mode, and multi-UAV mode were conducted to compare the data collection and processing runtimes, as well as the quality of created 3D building models. According to the five defined LoDs of OGC CityGML 2.0 standard, the fine 3D building models conform to the LoD3. Comparison results demonstrate that our method is able to greatly enhance the efficiency of 3D reconstruction by improving the data collection speed while minimizing redundant image datasets, as well as to provide a normalized approach to assign the single or multi-UAV data acquisition tasks. The quality analysis of 3D models shows that the metric difference is less than 20 cm mean error with a standard deviation of 11 cm, which is fairly acceptable in emergency management study field. A 3D GIS-based software demo was also implemented to enable route planning, flight simulation, and data collection visualization.

Illumination consistency based on single low dynamic range images

In this paper, a light consistency solution for generating high dynamic range (HDR) images based on a single low dynamic range image(LDR) is proposed, and the virtual object is rendered by illumination. The solution can reduce the time of image acquisition and processing, and solve the problems caused by the limitations of image acquisition equipment. The solution is divided into three stages: image preprocessing, high dynamic range image generation and virtual object relighting. Firstly, in the stage of image pretreatment, the wavelet noise reduction method based on a Gaussian mixture model is used to remove image noise and avoid image detail distortion. The inverse camera response function is utilized to linearize the image, the pixel brightness range is expanded based on the inverse tone mapping function, and the threshold segmentation method is combined with flooding Gaussian smoothing to calculate the highlight spread diagram to compensate for scene highlights lost during camera shooting. Then, the extended dynamic range image is interpolated linearly by using the specular expansion image to get the high dynamic range image. Based on the analysis and experimental simulation, compared with other methods, it is found that using a single low-dynamic-range image can greatly reduce the time of image acquisition and processing and reduce the limitations of image acquisition equipment, while maintaining good light fusion. Based on the simulation results, the efficiency of light consistency processing is improved.

Study on Impulse Breakdown Characteristics of Internal-Gap Lightning Protection Device Applied to 35 kV Distribution Line

External environmental factors have no effect on the breakdown performance of the internal gap, leading to the anti-icing and anti-storm features of the internal-gap lightning protection device (ILPD). In this paper, a test platform is created to study the impulse discharge and arc erosion characteristics of the ILPD applied to a 35 kV distribution line. The 50% lightning impulse voltage and discharge stability of the ILPD are experimentally analysed. The results show that the ILPD has good discharge voltage repeatability under multiple impulses. Under a positive lightning impulse, the 50% breakdown voltage of the ILPD is 3.8–11.4% higher than that of the outer-gap lightning protection device (OLPD). A finite element simulation model is created for electric field analysis. The maximum electric field strength of the ILPD is 4.68% lower than that of the OLPD, leading to a higher lightning breakdown voltage. High-speed camera shooting shows that the discharge arc may lead to the erosion of the discharge tube, reducing its insulation performance. A large current impulse test platform is set up for arc energy analysis, which indicates that more than 90% of the energy is absorbed by the varistor during lightning stroke. The quality and leakage current of the discharge tube did not change significantly after testing. Given the current design of varistors, the per unit length energy of arc is less than 4.5 J/mm due to the numerical calculation, which is far less than the experimental arc energy (25.0 J/mm). Therefore, arc erosion will not cause the insulation performance of discharge tube to decrease when using the current varistor design.

Application of Augmented Reality and Robotic Technology in Broadcasting: A Survey

As an innovation technique, Augmented Reality (AR) has been gradually deployed in the broadcast, videography and cinematography industries. Virtual graphics generated by AR are dynamic and overlap on the surface of the environment so that the original appearance can be greatly enhanced in comparison with traditional broadcasting. In addition, AR enables broadcasters to interact with augmented virtual 3D models on a broadcasting scene in order to enhance the performance of broadcasting. Recently, advanced robotic technologies have been deployed in a camera shooting system to create a robotic cameraman so that the performance of AR broadcasting could be further improved, which is highlighted in the paper.

Android APP Development of Remote Wireless Automatic Meter Reading System based on 3G

Urban water supply pipe network is critical infrastructure for the survival of people. Efficient operation of equipment, water supply and water safety are always received great attention from the government and operators. The existing way of manual meter reading and manual inspection has the drawbacks of waste time and labor. To solve this problem, we developed databases, software platforms and mobile terminal APP (Application) based on Android operating system to integrate a remote wireless automatic meter reading system based on the existing remote wireless automatic reading meter devices which are our previous research work. The system realizes the remote monitoring of the pipe network, and it also realizes the remote control of the monitoring nodes, such as the camera shooting, selection of monitoring node's working mode and so on, which data feedback is accurate and timely, monitoring methods is simple, fast and efficient. In addition, compared to traditional methods, the system greatly reduced the manpower and resources, reduce monitoring costs. And the tests and experiments show this remote wireless automatic meter reading and control system is useful and effective.

Fiber-Optic Surface Temperature Sensor Based on Modal Interference

Spatially-integrated surface temperature sensing is highly useful when it comes to controlling processes, detecting hazardous conditions or monitoring the health and safety of equipment and people. Fiber-optic sensing based on modal interference has shown great sensitivity to temperature variation, by means of cost-effective image-processing of few-mode interference patterns. New developments in the field of sensor configuration, as described in this paper, include an innovative cooling and heating phase discrimination functionality and more precise measurements, based entirely on the image processing of interference patterns. The proposed technique was applied to the measurement of the integrated surface temperature of a hollow cylinder and compared with a conventional measurement system, consisting of an infrared camera and precision temperature probe. As a result, the optical technique is in line with the reference system. Compared with conventional surface temperature probes, the optical technique has the following advantages: low heat capacity temperature measurement errors, easier spatial deployment, and replacement of multiple angle infrared camera shooting and the continuous monitoring of surfaces that are not visually accessible.

Scene Text Deblurring in Non-stationary Video Sequences

Text detection in natural scenes burdened by imperfect shooting conditions and blurring artifacts is the subject of the present paper. The text as a linguistic component provides a significant amount of information for scene understanding, scene categorization, image retrieval, and many other challenging problems. Usually real video sequences suffer from the superposition of the complicated impacts that are often analyzed separately. The main attention focuses on the text detection with geometric and blurring distortions under blurring and camera shooting artifacts. The original methodology based on the analysis of the gradient sharp profiles includes the automatic text detection in fully or partially blurred frames of a non-stationary video sequence. Also, the blind technique of a blurred text restoration is discussed. Additionally some results of the text detection are mentioned. The detection results for corrupted text fragments from test dataset ICDAR 2015 achieve 76–83% and prevail the detection results of the non-processed by deblurring procedure text fragments upon 40–52%.

Using Image Registration Method to Register UAV

For the UAV’s characteristics that is the date of camera shooting and photographing and digital map contain information, a UAV target location method is presented based on image matching. Firstly, using the artificial reconnaissance registration method that has improved, the UAV aerial images that consider digital map coordinates as the target are registered to obtain registration information. Then, the UAV video frame resolution containing the target is improved by improving the method of super-resolution reconstruction. Finally, making use of the Gaussian pyramid matching algorithm based on optical flow, the video frames are registered with the aerial to complete the target. By MATLAB and C++ simulation, achieving the above algorithm. The results proved that this method achieve the target location without the UAV position and attitude information, while improving the precision and speed of target location, that is an effective method for target location in the battlefield.

Structure and Movement Performance of Hexapod Robot Based on the Pneumatic Flexible Joint

A new type of hexapod robot is developed using self-developed flexible space bending joints,which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated. Furthermore,the test bench and pneumatic control system were set up. And the displacement,velocity and acceleration of the center were acquired by the high-speed camera shooting. The research provides a theoretical and practical basis for the application of the bionic hexapod robot.

Power Line Measurement Method Based on Vertical Baseline Stereo Camera

Conducting regular inspections and measurements of power lines is an important way to ensure the stability and security of transmission line. For the problem of being poor reliability, poor flexibility and high cost, a power line measurement method based on vertical baseline photography is proposed and studied: Line patrol officers use portable vertical baseline stereo camera shooting in the outdoor field, and measure accurately in the stereo image taken in or after patrol. This paper describes the system design and technical methods, and analyzes the key technologies in the system calibration and measurement, and uses several sets of experiments to prove the accuracy and feasibility of this method.

A Campus Safety Monitoring System Based on Ad-Hoc Network

This paper introduces a campus safety monitoring system based on wireless mobile communication network. Backbone network of the system is an ad-hoc network based on Opportunity Driven Multiple Access (ODMA) multi-hop relaying protocol, which has the characteristics of wireless relaying, quickly and flexible network formation, dynamic topology etc. The system has the functions of image real-time transmission, the patrol car mobile camera shooting and video signal mobile transmission, and static and mobile wireless Internet access etc.

시각장애인의 실명시기에 따른 던지기 동작의 운동학적 특성

본 연구는 선천적 시각장애인과 후천적 시각장애인 그리고 정안 인을 대상으로 운동학적 특징을 비교 분석해보아, 시각장애인들의 운동지도와 운동능력의 향상 그리고 부상방지를 목적으로 한다. 비디오카메라는 3대를 사용하여 촬영속도는 60field/sec로 하였으며 가장 멀리 던진 자세를 선택하여 Kwon 3D ver. 3.1프로그램으로 자료를 분석 하였다. 실험의 결과는 1. 릴리스 시의 공의 속도는 정안 인이 가장 빠르고 후천 맹, 선천 맹의 순서로 나타났다. 2. 정안 인은 손목관절을 잘 이용하고 몸의 회전범위가 크며 서로 비슷한 동작 패턴을 보이고 있으나 선천 맹 은 전혀 그렇지 못했다. 3. 정안 인은 제2국면(P2)에서 허리가 어깨를 리드하며 공을 던지고 있으나, 선천 맹 과 후천 맹의 일부는 허리가 어깨를 리드하지 못했다. 4.정안 인들은 공이 날아 갈 방향을 쳐다보며 공을 던지나, 시각장애인들은 공이 날아 갈 방향을 쳐다보지 못했다. 5. 정안 인이 비교적 비슷한 패턴을 보이며 던지는데 비해, 후천 맹은 정안 인과 일부 비슷한 패턴을 보이고 있고, 선천 맹 은 각기 전혀 다른 패턴을 보이고 있다. 6. 정안 인의 체중이동이 잘되고 있는데 비해, 후천 맹 은 정안 인보다 좋지 못하고 선천 맹은 체중이동이 안 되고 있다. 이상을 종합해 보면 실명 시기가 던지기 동작에 많은 영향을 미친 다는 것을 알 수 있다. The purpose of this study is to compare and analyze a kinematic characteristics of throwing performance among born visually impaired, postnatal visually impaired and visually correct people through their kinematic characteristics. Another purpose of this study is to prevent injury and improve blind's exercise leadership and physical abilities. Three video cameras were used and each camera's shooting velocity was 60field/sec. Then the longest thrown pose was collected and analyzed by using Kwon 3D ver. 3.1 program. The results obtained from this study were followings; 1. During release, the fastest speed of ball was visually corrected followed by postnatal visually impaired and then born visually impaired. 2. Visually corrected used wrist joint well and had wide body round range with similar motion patterns, however born visually impaired couldn't do this at all. 3. Visually corrected used waist to lead shoulder at Phase 2 while throwing ball, but some of born visually impaired and postnatal visually impaired couldn't use waist to lead shoulder. 4. Visually corrected looked at the way where ball would go, but blinds couldn't look where ball would go. 5. Not like visually corrected who show similar patterns, born visually impaired showed each different patterns and some postnatal visually impaired showed similar patterns with visually corrected. 6. While throwing ball, visually corrected showed flexible weight-movement, postnatal visually impaired were not good as visually corrected, and born visually impaired couldn't do weight-movement at all. Synthetically, this result showed that throwing motions are affected a lot by the time when people became blind.