Common Coordinate System Research Articles

Motion space analysis of objects in multiple point contacts with applications to form-closure and kinematic pairs

This paper presents a screw theory based method for determining the set of possible second-order relative motions between two 3D rigid objects which are initially in a finite number of unilateral point contacts. Using adjoint transformation for twist and twist-derivative, the motion space allowed by each contact is referred to a common coordinate system. Thereafter, a set of quadratic inequalities in twist and twist-derivative coordinates are solved for obtaining the resultant allowable motions. We show that a minimum of three frictionless contacts are sufficient for curvature based form-closure. Also, it is shown exactly that a regular tetrahedron can be in second-order form-closure with four identical spheres in point contact.

A Sheaf Theoretical Approach to Uncertainty Quantification of Heterogeneous Geolocation Information

Integration of multiple, heterogeneous sensors is a challenging problem across a range of applications. Prominent among these are multi-target tracking, where one must combine observations from different sensor types in a meaningful and efficient way to track multiple targets. Because different sensors have differing error models, we seek a theoretically justified quantification of the agreement among ensembles of sensors, both overall for a sensor collection, and also at a fine-grained level specifying pairwise and multi-way interactions among sensors. We demonstrate that the theory of mathematical sheaves provides a unified answer to this need, supporting both quantitative and qualitative data. Furthermore, the theory provides algorithms to globalize data across the network of deployed sensors, and to diagnose issues when the data do not globalize cleanly. We demonstrate and illustrate the utility of sheaf-based tracking models based on experimental data of a wild population of black bears in Asheville, North Carolina. A measurement model involving four sensors deployed among the bears and the team of scientists charged with tracking their location is deployed. This provides a sheaf-based integration model which is small enough to fully interpret, but of sufficient complexity to demonstrate the sheaf’s ability to recover a holistic picture of the locations and behaviors of both individual bears and the bear-human tracking system. A statistical approach was developed in parallel for comparison, a dynamic linear model which was estimated using a Kalman filter. This approach also recovered bear and human locations and sensor accuracies. When the observations are normalized into a common coordinate system, the structure of the dynamic linear observation model recapitulates the structure of the sheaf model, demonstrating the canonicity of the sheaf-based approach. However, when the observations are not so normalized, the sheaf model still remains valid.

Planetary Sensor Models Interoperability Using the Community Sensor Model Specification

AbstractThis paper presents the photogrammetric foundations upon which the Community Sensor Model specification depends, describes common coordinate system and reference frame transformations that support conversion between image sensor (charge‐coupled device) coordinates to some arbitrary body coordinate, and describes the U.S. Geological Survey Astrogeology Community Sensor Model implementation (https://github.com/USGS-Astrogeology/usgscsm). We present a new image support data specification that provides the position, pointing, timing, and metadata information necessary to properly locate a pixel or observations location on a body and describe a system architecture designed to explicitly identify the responsibilities of software components within a larger pipeline or analytical environment. This paper concludes with a set of experiments that illustrate positional and pointing error in the sensor location and the impact on the computed surface location.

A Survey of Marker-Less Tracking and Registration Techniques for Health & Environmental Applications to Augmented Reality and Ubiquitous Geospatial Information Systems.

Most existing augmented reality (AR) applications are suitable for cases in which only a small number of real world entities are involved, such as superimposing a character on a single surface. In this case, we only need to calculate pose of the camera relative to that surface. However, when an AR health or environmental application involves a one-to-one relationship between an entity in the real-world and the corresponding object in the computer model (geo-referenced object), we need to estimate the pose of the camera in reference to a common coordinate system for better geo-referenced object registration in the real-world. New innovations in developing cheap sensors, computer vision techniques, machine learning, and computing power have helped to develop applications with more precise matching between a real world and a virtual content. AR Tracking techniques can be divided into two subcategories: marker-based and marker-less approaches. This paper provides a comprehensive overview of marker-less registration and tracking techniques and reviews their most important categories in the context of ubiquitous Geospatial Information Systems (GIS) and AR focusing to health and environmental applications. Basic ideas, advantages, and disadvantages, as well as challenges, are discussed for each subcategory of tracking and registration techniques. We need precise enough virtual models of the environment for both calibrations of tracking and visualization. Ubiquitous GISs can play an important role in developing AR in terms of providing seamless and precise spatial data for outdoor (e.g., environmental applications) and indoor (e.g., health applications) environments.

Bridging the Gap of Lane Detection Performance Between Different Datasets: Unified Viewpoint Transformation

Convolutional neural networks (CNNs) have shown excellent performance for vision-based lane detection. However, maintaining the performance of the trained models under new test scenarios still remains challenging due to the dataset bias between the training and test datasets; In lane detection processes, the dataset bias can be categorized into lane position bias and lane pattern bias, with the former one particularly influences the lane detection performance. To tackle this dataset bias, this article proposes a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">unified viewpoint transformation (UVT)</i> method that transforms the camera viewpoints of different datasets into a common virtual world coordinate system, such that the mismatched lane position distributions can be effectively aligned. Experiments are conducted on multiple datasets including the Caltech <xref ref-type="bibr" rid="ref1" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[1]</xref> , Tusimple <xref ref-type="bibr" rid="ref2" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[2]</xref> , and KITTI <xref ref-type="bibr" rid="ref3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[3]</xref> dataset. The results demonstrate the effectiveness of the UVT algorithm in improving the lane detection performance on the test datasets. Moreover, by incorporating the UVT into other techniques that tackling the dataset bias, the lane position and pattern differences are disentangled and separately minimized. As a result, the performance gap between the training data and the test scenarios can be bridged. Specifically, the model trained on the KITTI dataset have achieved high performance in the Tusimple and the Caltech dataset (F1-score: 84.8 and 87.1%). With the proposed algorithm, a lane detection model trained on one dataset can be effectively applied to datasets with different camera settings in vastly different localities, and achieve better generalization ability compared to the state of the art methods.

Airborne Optical Sectioning for Nesting Observation

We describe how a new and low-cost aerial scanning technique, airborne optical sectioning (AOS), can support ornithologists in nesting observation. After capturing thermal and color images during a seven minutes drone flight over a 40 × 12 m patch of the nesting site of Austria’s largest heron population, a total of 65 herons and 27 nests could be identified, classified, and localized in a sparse 3D reconstruction of the forest. AOS is a synthetic aperture imaging technique that removes occlusion caused by leaves and branches. It registers recorded images to a common 3D coordinate system to support the reconstruction and analysis of the entire forest volume, which is impossible with conventional 2D or 3D imaging techniques. The recorded data is published with open access.

Multitemporal Analysis of Gully Erosion in Olive Groves by Means of Digital Elevation Models Obtained with Aerial Photogrammetric and LiDAR Data

Gully erosion is one of the main processes of soil degradation, representing 50%–90% of total erosion at basin scales. Thus, its precise characterization has received growing attention in recent years. Geomatics techniques, mainly photogrammetry and LiDAR, can support the quantitative analysis of gully development. This paper deals with the application of these techniques using aerial photographs and airborne LiDAR data available from public database servers to identify and quantify gully erosion through a long period (1980–2016) in an area of 7.5 km2 in olive groves. Several historical flights (1980, 1996, 2001, 2005, 2009, 2011, 2013 and 2016) were aligned in a common coordinate reference system with the LiDAR point cloud, and then, digital surface models (DSMs) and orthophotographs were obtained. Next, the analysis of the DSM of differences (DoDs) allowed the identification of gullies, the calculation of the affected areas as well as the estimation of height differences and volumes between models. These analyses result in an average depletion of 0.50 m and volume loss of 85000 m3 in the gully area, with some periods (2009–2011 and 2011–2013) showing rates of 10,000–20,000 m3/year (20–40 t/ha*year). The manual edition of DSMs in order to obtain digital elevation models (DTMs) in a detailed sector has facilitated an analysis of the influence of this operation on the erosion calculations, finding that it is not significant except in gully areas with a very steep shape.

On-the-Fly Camera and Lidar Calibration

Sensor fusion is one of the main challenges in self driving and robotics applications. In this paper we propose an automatic, online and target-less camera-Lidar extrinsic calibration approach. We adopt a structure from motion (SfM) method to generate 3D point clouds from the camera data which can be matched to the Lidar point clouds; thus, we address the extrinsic calibration problem as a registration task in the 3D domain. The core step of the approach is a two-stage transformation estimation: First, we introduce an object level coarse alignment algorithm operating in the Hough space to transform the SfM-based and the Lidar point clouds into a common coordinate system. Thereafter, we apply a control point based nonrigid transformation refinement step to register the point clouds more precisely. Finally, we calculate the correspondences between the 3D Lidar points and the pixels in the 2D camera domain. We evaluated the method in various real-life traffic scenarios in Budapest, Hungary. The results show that our proposed extrinsic calibration approach is able to provide accurate and robust parameter settings on-the-fly.

Anatomical Characterization of the Inguinal Lymph Nodes Using Micro‐Computed Tomography to Inform Radical Inguinal Lymph Node Dissections for Metastatic Penile Cancer

Background, Rationale &amp; AimIn men with penile cancer, a radical inguinal lymph node dissection (rILND) is integral to prevent metastasis and improve disease specific survival. Unfortunately, lymphocele and lymphedema are severe post‐surgical complications that are common to this procedure. The development of a modified inguinal lymph node dissection, that greatly reduced the amount of lymphatic resection, was effective at reducing the incidence of lymphedema and lymphocele; however, it was not suited for patients with advanced‐stage disease as it risked an incomplete cancer resection. As such, there exists a clinical need for a novel surgical template ‐ informed by the lymphatic anatomy ‐ to reduce these post‐surgical complications while ensuring a thorough cancer resection. However, the lymphatic anatomy of the inguinal region is not well characterized in the literature, with no definitive location or number of lymph nodes reported. Therefore, this study aims to elucidate the lymphatic anatomy within the current surgical borders of a rILND using human cadavers.MethodologyTo visualize the position of the lymph nodes, tissue packets excised from the inguinal region were imaged using micro‐computed tomography (μCT; 154 μm Locus Ultra CT scanner). To characterize the distribution of lymph nodes within each tissue packet, lymph nodes were segmented by grayscale values in 3D using a modified seed‐growing algorithm (Region Growing v1.5; Kellner, 2011) in MATLAB. To compare anatomy between tissue packets, the segmented lymph nodes were aligned (registered) with one another by translating, scaling, rotating, and mirroring (if necessary) such that they were all superimposed in a common coordinate system. This was achieved using a specimen‐specific transformation matrix that was obtained from a generalized Procrustes analysis performed using the positions of four landmarks from each specimen; the anterior superior iliac spine, pubic tubercle, sapheno‐femoral junction, and sartorius as it crosses the femoral artery. These landmarks were chosen due to their consistency between individuals as well as their use as surgical landmarks.ResultsPreliminary findings from five samples (n=3 cadavers) show a median of 6 lymph nodes (range = 3–7); their anatomical distribution is illustrated in Figure 1. In addition to obtaining more specimens, ongoing work focuses on segmentation of structures in this region, such as saphenous vein and the sartorius muscle, to provide spatial context to the identified lymph node distribution.Significance &amp; ImplicationsThis study provides the first standardized comparison of lymph node anatomy in the inguinal region, and utilizes a novel imaging methodology validated by our lab to study the anatomy of lymphatic tissue in 3D and in situ. In doing so, the anatomy elucidated in this study will help inform refinement to the borders of the radical surgical template, to limit unnecessary resection in an attempt to reduce the incidence of post‐surgical lymphedema and/or lymphocele.The standardized lymph node data after having the generalized Procrustes analysis applied. The dotted lines represent the rILND surgical borders.Figure 1

Extrinsic Calibration of Multiple Two-Dimensional Laser Rangefinders Based on a Trihedron.

Multiple two-dimensional laser rangefinders (LRFs) are applied in many applications like mobile robotics, autonomous vehicles, and three-dimensional reconstruction. The extrinsic calibration between LRFs is the first step to perform data fusion and practical application. In this paper, we proposed a simple method to calibrate LRFs based on a corner composed of three mutually perpendicular planes. In contrast to other methods that require a special pattern or assistance from other sensors, the trihedron corner needed in this method is common in daily environments. In practice, we can adjust the position of the LRFs to observe the corner until the laser scanning plane intersects with three planes of the corner. Then, we formed a Perspective-Three-Point problem to solve the position and orientation of each LRF at the common corner coordinate system. The method was validated with synthetic and real experiments, showing better performance than existing methods.

Dynamics of Water Absorption in Callovo-Oxfordian Claystone Revealed With Multimodal X-Ray and Neutron Tomography

The Callovo-Oxfordian claystone is a material with notoriously complex hydro-mechanical behaviour. Combined neutron and x-ray tomography modalities are used for the first time to characterise the dynamics of water absorption in this material by comparing material deformation as well as water arrival. Exploiting recent work on multimodal registration, neutron and x-ray datasets are registered pairwise into a common coordinate system, meaning that a vector-valued field (\textit{i.e.} neutron and x-ray reconstructed values) is available for each timestep, essentially making this a 5D dataset. The ability to cross-plot each field into a \textit{joint histogram} (an inherent input into the registration) allows an improved identification of mineral phases in this complex material. Material deformation obtained from the application of Digital Volume Correlation on the x-ray timeseries data is \textit{locally} compared to changes in water content available from the neutrons, opening the way towards a quantitative description of the hydro-mechanics of this process.

Results of research of the reduced emissions of pollutants by road vehicles of various environmental classes "Euro" as the basis of environmental hazard labeling

This study analyzes the change in the calculated reduced emissions of pollutants by all major categories of road vehicles of European environmental classes from "Euro-0" to "Euro-6". It covers cars, light commercial vehicles, trucks, buses, and category L vehicles (mopeds and motorcycles). The reduced mass emissions of pollutants are defined in a common coordinate system, from both traditional internal combustion engines and electric vehicles. Emissions in atmospheric air by wearing products of a pneumatic tire, road pavement, and brake pad are also taken into account. The methodology for calculation of reduced mass operational emissions includes 64 types of major pollutants, grouped into eight specific groups. Carbon monoxide, carbon dioxide, nitrogen oxides, nitrous oxide, ammonia, light hydrocarbons, aldehydes, ketones, aromatic hydrocarbons, polycyclic aromatic hydrocarbons, persistent organic pollutants, particles, sulfur compounds, metals, are covered. Particulate matter emissions from engine exhaust, pneumatic tire wear, road pavement, and brake pads are taken into account. Particulate matter emissions include both elemental carbon and individually adsorbed and absorbed carcinogens in their composition. The average operational mass emissions of pollutants were determined using the methodology of the European Environment Agency. For each of the 64 pollutants, a relative toxicity (aggressiveness) factor is proposed. It is based on available data on the maximum permissible concentrations of substances in ambient air. It is determined as the ratio of the maximum permissible concentrations of carbon monoxide to a known pollutant. It was found that the reduced emissions by cars of level "Euro-5" and "Euro-6" with gasoline engines are only about four times higher than the reduced emissions of electric vehicles; the reduced emissions of "Euro-6++" cars with diesel engines are twice as high as those of "Euro-5" or "Euro-6" cars with gasoline engines; the reduced emissions of trucks and city buses of "Euro-6" level are on average only about five times greater than the reduced emissions of electric transport; the reduced emissions by vehicles of category L (mopeds and motorcycles) can significantly exceed the emissions of cars and even buses and trucks. The results obtained could be the basis for the development of environmental (ecological) classification and labeling of road vehicles. It provides opportunities for the introduction of fiscal and other mechanisms to encourage the use of more environmentally friendly vehicles in line with the practice of EU Member States, using the "polluter pays" principle. General principles of the introduction of the universal system of road vehicles' environmental hazard labeling are proposed. It is suggested to set discrete baseline levels of environmental hazard in increments of 1.259 times the reduced emissions, which is equal to an increase by 100.1 times in the specific energy value, that is, 1 dB

Arbitrary pattern formation on infinite grid by asynchronous oblivious robots

The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in the literature in continuous domains. This paper investigates a discrete version of the problem where the robots are operating on a two dimensional infinite grid. The robots are assumed to be autonomous, identical, anonymous and oblivious. They operate in Look-Compute-Move cycles under a fully asynchronous scheduler. The robots do not have access to any common global coordinate system. However, the grid allows the robots to have a partial agreement on coordinate system as they can align the axes of their local coordinate systems along the grid lines. In this setting, we have shown that a set of robots can form any pattern, if their starting configuration is asymmetric.

A novel framework for spatial normalization of dose distributions in voxel-based analyses of brain irradiation outcomes

PurposeTo devise a novel Spatial Normalization framework for Voxel-based analysis (VBA) in brain radiotherapy. VBAs rely on accurate spatial normalization of different patients’ planning CTs on a common coordinate system (CCS). The cerebral anatomy, well characterized by MRI, shows instead poor contrast in CT, resulting in potential inaccuracies in VBAs based on CT alone. MethodsWe analyzed 50 meningioma patients treated with proton-therapy, undergoing planning CT and T1-weighted (T1w) MRI. The spatial normalization pipeline based on MR and CT images consisted in: intra-patient registration of CT to T1w, inter-patient registration of T1w to MNI space chosen as CCS, doses propagation to MNI.The registration quality was compared with that obtained by Statistical Parametric Mapping software (SPM), used as benchmark. To evaluate the accuracy of dose normalization, the dose organ overlap (DOO) score was computed on gray matter, white matter and cerebrospinal fluid before and after normalization. In addition, the trends in the DOOs distribution were investigated by means of cluster analysis. ResultsThe registration quality was higher for the proposed method compared to SPM (p < 0.001). The DOO scores showed a significant improvement after normalization (p < 0.001). The cluster analysis highlighted 2 clusters, with one of them including the majority of data and exhibiting acceptable DOOs. ConclusionsOur study presents a robust tool for spatial normalization, specifically tailored for brain dose VBAs. Furthermore, the cluster analysis provides a formal criterion for patient exclusion in case of non-acceptable normalization results. The implemented framework lays the groundwork for future reliable VBAs in brain irradiation studies.

КАРТОМЕТРИЧНИЙ АНАЛІЗ ТОЧНОСТІ ПЛАНУ ЛЬВОВА 1878 РОКУ

The article considers the topic about assessing the accuracy of the plan of Lviv in 1878, which was published by Artaria &amp; Co in a separate sheet from the administrative map of the Austrian cartographer and engineer Karl Richter van Kummersberg. This cartographic work was compiled on the basis of the Second Military Topographic Survey conducted in the Austrian Empire during 1855-1863, and occupies an important place in the study of architectural and urban planning of Lviv in Austrian times, before the great construction changes of the XIX century. Analysis of the accuracy of the old plans of Lviv is an important aspect in the study of these works, which allows you to assess their geometric features and obtain valuable information about the methods of their creation and processing techniques. Thus, it makes it possible to compare the cartographic, documentary and semantic value of ancient plans. The accuracy assessment methodology is based on the transformation and geometric analysis of sets of identical points on the old plan and the reference. Sets of control points are used to bring two cartographic products into a common coordinate system. The Helmert transformation with four parameters is used for such transformation. Identical points should be distributed over the entire area, ideally evenly, so that the resulting transformation key has a global character. According to the transformation key, multiquadratic interpolation is performed to construct a continuous surface from discrete data. The results of the latter make it possible to graphically visualize the errors of the old plan in the form of displacement vectors, isolines of scale and rotation, which significantly speeds up and simplifies the study of the accuracy of the old plans. In addition, using the method of least squares a value that characterizes the positional accuracy of the ancient plan was obtained. All calculations and constructions were performed in the MapAnalyst software product. The presented technique can be used for similar research on other cartographic works, and the obtained numerical results and graphical visualizations - to compare old plans with each other.

The Examples of Design of Normal Cycle Shells and Analyses of Stress-Strain State by Variation-Difference Method

The variation-difference method is a convenient numerical method for shells of complex forms. It is enough when only cinematic boundary conditions are satisfied because the method is based on the principle of Lagrange. Another advantage of the variation-difference method is the better opportunity to create computer programs based on it. For shell analysis in orthogonal coordinate system as well as for shell analysis in principal curvatures the system of equations describing stress-strain state can be simplified. In this paper the difference between analysis in orthogonal coordinate system and analysis in principal curvatures of the surface is considered. The main distinction of the analysis of shells in orthogonal curvilinear coordinate system is the necessity of determination of components which include curvature of torsion of coordinate lines. The addition of these components in the equations of the theory of shells for the coordinate system in principal curvatures gives possibility to analyze shells in common orthogonal coordinate system. In this article shell analysis in orthogonal coordinate system is applied to shells based on normal cyclic surfaces.

MEASUREMENT OF FLUID-STRUCTURE INTERACTION OF WIND TURBINES IN WIND TUNNEL EXPERIMENTS: CONCEPT AND FIRST RESULTS

Abstract. Fluid-structure interactions are crucial for the design of rotor blades of wind power systems. Up to now, the mutual interactions between rotor blades and turbulent wind flows have been treated by complex simulations or were observed at individual discrete points. In this paper, a measurement concept is presented where spatial information of the motion/deformation of a rotating wind turbine as well as the wind flow are recorded in wind tunnel experiments. Wind flow and motion behaviour are recorded simultaneously and contactless. Techniques from the field of photogrammetry and flow measurement techniques are combined, resulting in high demands on the measurement concept. Furthermore, solutions for the realisation of a common coordinate system as well as for the synchronisation of both measuring systems are presented. In addition, the validation of the entire measurement concept is carried out based on of some wind tunnel tests in which a single rotor blade is used for the moment. This showed that the measurement concept and the proposed solutions for the simultaneous recording of wind flows and rotor blade movements are suitable in principle and that movements can be recorded and reconstructed with high accuracy.

A Method of Fast and Simultaneous Calibration of Many Mobile FMCW Radars Operating in a Network Anti-Drone System

A market for small drones is developing very fast. They are used for leisure activities and exploited in commercial applications. However, there is a growing concern for accidental or even criminal misuses of these platforms. Dangerous incidents with drones are appearing more often, and have caused many institutions to start thinking about anti-drone solutions. There are many cases when building stationary systems seems to be aimless since the high cost does not correspond with, for example, threat frequency. In such cases, mobile drone countermeasure systems seem to perfectly meet demands. In modern mobile solutions, frequency modulated continuous wave (FMCW) radars are frequently used as detectors. Proper cooperation of many radars demands their measurements to be brought to a common coordinate system—azimuths must be measured in the same direction (preferably the north). It requires calibration, understood as determining constant corrections to measured angles. The article presents the author's method of fast, simultaneous calibration of many mobile FMCW radars operating in a network. It was validated using 95,000 numerical tests. The results show that the proposed method significantly improves the north orientation of the radars throughout the whole range of the initial errors. Therefore, it can be successfully used in practical applications.

Shells analysis in orthogonal curvilinear coordinate system with variation-difference method

The variation-difference method is a convenient numerical method for shells of complex forms. It is enough when only cinematic boundary conditions are satisfied because the method is based on the principle of Lagrange. Another advantage of the variation-difference method is the better opportunity to create computer programs based on it. For shell analysis in orthogonal coordinate system as well as for shell analysis in principal curvatures the system of equations describing stress-strain state can be simplified. In this paper the difference between analysis in orthogonal coordinate system and analysis in principal curvatures of the surface is considered. The main distinction of the analysis of shells in orthogonal curvilinear coordinate system is the necessity of determination of components which include curvature of torsion of coordinate lines. The addition of these components in the equations of the theory of shells for the coordinate system in principal curvatures gives possibility to analyze shells in common orthogonal coordinate system. In this article shell analysis in orthogonal coordinate system is applied to shells based on normal cyclic surfaces.

Online Correction of the Mutual Miscalibration of Multimodal VIS–IR Sensors and 3D Data on a UAV Platform for Surveillance Applications

Unmanned aerial vehicles (UAVs) are widely used to protect critical infrastructure objects, and they are most often equipped with one or more RGB cameras and, sometimes, with a thermal imaging camera as well. To obtain as much information as possible from them, they should be combined or fused. This article presents a situation in which data from RGB (visible, VIS) and thermovision (infrared, IR) cameras and 3D data have been combined in a common coordinate system. A specially designed calibration target was developed to enable the geometric calibration of IR and VIS cameras in the same coordinate system. 3D data are compatible with the VIS coordinate system when the structure from motion (SfM) algorithm is used. The main focus of this article is to provide the spatial coherence between these data in the case of relative camera movement, which usually results in a miscalibration of the system. Therefore, a new algorithm for the detection of sensor system miscalibration, based on phase correlation with automatic calibration correction in real time, is introduced.