Shutter Camera Research Articles

Transient flow analysis in a Roots blower: Experimental and numerical investigations

Abstract It is widely acknowledged that rotary positive displacement machines exhibit highly unsteady flow fields that affect their performance. The presence of the operational clearances impacts this unsteady flow field and further affects the performance. However, the exact nature of these unsteady flow mechanisms remains largely unknown that necessitates both detailed experimental investigations and computational modelling. Thus, the present study employs both optical visualization and unsteady Reynolds-Averaged Navier Stokes (URANS) computational modelling methods while focussing on investigating the transient flow field inside a Roots blower, a general type of the rotary positive displacement machine. Straight lobes in a Roots blower provide convenient optical access to experimentally analyse internal flow and compare it with the predictions obtained by standard computational models. In the first part of this paper, this study covers the low-speed experimental investigations using i) High-Speed Camera (HC), ii) the continuous High-Speed Particle Image Velocimetry (CPIV) and, iii) the instantaneous PIV (IPIV) obtained with a double pulse laser and a double shutter camera. Relative merits from these techniques are discussed with respect to the Roots blower unsteady flow mechanisms. In addition, computational analyses are performed using a combination of in-house and commercial modelling methods and the results are compared against the experiments. The results confirm the existence of highly three-dimensional and unsteady flow field where certain distinct flow mechanisms originating from the operational clearances impact the performance of the Roots blower. The study also highlights challenges of the experimental and computational methods used for evaluation of positive displacement machines that impact the accuracy of results.

Artifact-free objective-type multicolor total internal reflection fluorescence microscopy with light-emitting diode light sources-Part I.

Total internal reflection fluorescence excitation (TIRF) microscopy allows the selective observation of fluorescent molecules in immediate proximity to an interface between different refractive indices. Objective-type or prism-less TIRF excitation is typically achieved with laser light sources. We here propose a simple, yet optically advantageous light-emitting diode (LED)-based implementation of objective-type TIRF (LED-TIRF). The proposed LED-TIRF condenser is affordable and easy to set up at any epifluorescence microscope to perform multicolor TIRF and/or combined TIRF-epifluorescence imaging with even illumination of the entire field of view. Electrical control of LED light sources replaces mechanical shutters or optical modulators. LED-TIRF microscopy eliminates safety burdens that are associated with laser sources, offers favorable instrument lifetime and stability without active cooling. The non-coherent light source and the type of projection eliminate interference fringing and local scattering artifacts that are associated with conventional laser-TIRF. Unlike azimuthal spinning laser-TIRF, LED-TIRF does not require synchronization between beam rotation and the camera and can be monitored with either global or rolling shutter cameras. Typical implementations, such as live cell multicolor imaging in TIRF and epifluorescence of imaging of short-lived, localized translocation events of a Ca2+ -sensitive protein kinase C α fusion protein are demonstrated.

A Novel Ranging Technique Based on Optical Camera Communications and Time Difference of Arrival

In this work, a new Time Difference of Arrival (TDoA) scheme for distance measurement based on Optical Camera Communication (OCC) systems is proposed. It relies on the use of optical pulses instead of radio-frequency signals as the time reference triggers, and the introduction of a rolling shutter camera, whose characteristics allows substituting the timer modules used in conventional TDoA techniques by image processing of the illuminated area in the picture. This processing on the camera’s images provides time measurements and implies and specific analysis, which is presented in this work. The system performance and properties, such as resolution and range, mainly depends on the camera characteristics, such as the frames capture rate and the image quality. This new technique is suitable to be implemented in smartphones or other Commercial Off-The-Shelf (COTS) devices equipped with a camera and speakers.

INTEGRATION OF A LOW-COST MULTISENSORY UAV SYSTEM FOR FOREST APPLICATION

Abstract. To integrate the multi-spectral imagery and laser scanning data for forest management, a low-cost multisensory UAV system, named Kylin Cloud, is introduced in this paper. The Kylin Cloud is composed several low-cost sensors (i.e., GNSS receiver, IMU, global shutter camera, multispectral camera, and laser scanner), providing the fusion of the imagery and laser scanning data for reliable forest inventory. Experiments were undertaken in a forest park in Wuhan. Results showed that the registration error of the multispectral Digital Orthophoto Map (DOM) and laser scanning data is about one pixel, demonstrating a high potential of the proposed low-cost system.

Trajectory representation and landmark projection for continuous-time structure from motion

This paper revisits the problem of continuous-time structure from motion, and introduces a number of extensions that improve convergence and efficiency. The formulation with a -continuous spline for the trajectory naturally incorporates inertial measurements, as derivatives of the sought trajectory. We analyze the behavior of split spline interpolation on and on , and a joint spline on , and show that the latter implicitly couples the direction of translation and rotation. Such an assumption can make good sense for a camera mounted on a robot arm, but not for hand-held or body-mounted cameras. Our experiments in the Spline Fusion framework show that a split spline on is preferable over an spline in all tested cases. Finally, we investigate the problem of landmark reprojection on rolling shutter cameras, and show that the tested reprojection methods give similar quality, whereas their computational load varies by a factor of two.

On-Orbit Geometric Calibration and Validation of Luojia 1-01 Night-Light Satellite

The Luojia 1-01 Satellite (LJ1-01) is the first professional night-light remote-sensing satellite in China, and thus, it is of pioneering significance for the development of night-light remote sensing satellites in China and the application of remote sensing in the social and economic fields. To ensure the application of night-light remote-sensing data, several studies concerning on-orbit geometric calibration and accuracy verification have been carried out for the complementary metal oxide semiconductor (CMOS) rolling shutter camera of LJ1-01 since the launch of the satellite. Owing to the lack of high-precision nightlight geometric reference at home and abroad, it is difficult to directly calibrate the nighttime light image of LJ1-01. Based on the principle of rolling shutter dynamic imaging, a rigorous geometric imaging model of the time-sharing exposure of the rolling shutter of LJ1-01 is established, and a geometric calibration method for daytime imaging calibration and compensated nighttime light data is proposed. The global public Landsat digital orthophoto image (DOM) with a 15-m resolution and 90-m Shuttle Radar Topography Mission digital elevation model (SRTM-DEM) are used as control data. The images obtained in England, Venezuela, Caracas, Damascus, and Torreon (Mexico) were selected as experimental data. The on-orbit calibration and accuracy verification of LJ1-01 were carried out. Experiments show that after on-orbit geometric calibration, the daytime calibration parameters can effectively compensate for the systematic errors of night-light images. After compensation, the positioning accuracy of night-light images without geometric control points (GCPs) is improved from nearly 20 km to less than 0.65 km. The internal accuracy of the calibrated night-light images is better than 0.3 pixels, which satisfies the requirement of subsequent applications.

Rolling Shutter Camera Absolute Pose

We present minimal, non-iterative solutions to the absolute pose problem for images from rolling shutter cameras. The absolute pose problem is a key problem in computer vision and rolling shutter is present in a vast majority of today's digital cameras. We discuss several camera motion models and propose two feasible rolling shutter camera models for a polynomial solver. In previous work a linearized camera model was used that required an initial estimate of the camera orientation. We show how to simplify the system of equations and make this solver faster. Furthermore, we present a first solution of the non-linearized camera orientation model using the Cayley parameterization. The new solver does not require any initial camera orientation estimate and therefore serves as a standalone solution to the rolling shutter camera pose problem from six 2D-to-3D correspondences. We show that our algorithms outperform P3P followed by a non-linear refinement using a rolling shutter model.

Study of the Synchronous Injection in a Controlled Pulsed Arc Plasma

In the field of plasma spray technologies, new processes are developing to obtain coatings with nanostructured architectures. Difficulties of understanding and controlling the process originate from the continuous injection of a liquid material and the power instabilities of the current torches which strongly affect the heat and momentum transfers to the nanometric particles. This paper reports an original method to make TiO2 coatings by suspension plasma spraying. A direct current (DC) power supply applying time-modulated current amplitude to a custom DC torch is used to generate at low power (1.5 kW) a pulsed laminar plasma jet with periodic oscillations of its properties. To make best use of this pulsed mode, a synchronization device was developed. It allows triggering from the arc voltage an inkjet nozzle to deliver at a precise moment a single droplet to improve the control of plasma/material interaction. An ink of TiO2 anatase solid particles is formulated to be compatible with a drop-on-demand printhead dispenser. In-flight diagnostic is made by optical emission spectroscopy and a fast shutter camera. TiO2 coatings are characterized by scanning electron microscopy, x-ray diffraction and transmission electron microscopy. Results show that homogeneous TiO2 coatings of nanostructured cauliflowers shapes are obtained thanks to the controlled injection system. A competition between nucleation mechanism and liquid particles deposition are also observed. These deposits correspond to a mixture of anatase and rutile phases.

Calibration and Noise Identification of a Rolling Shutter Camera and a Low-Cost Inertial Measurement Unit.

A low-cost inertial measurement unit (IMU) and a rolling shutter camera form a conventional device configuration for localization of a mobile platform due to their complementary properties and low costs. This paper proposes a new calibration method that jointly estimates calibration and noise parameters of the low-cost IMU and the rolling shutter camera for effective sensor fusion in which accurate sensor calibration is very critical. Based on the graybox system identification, the proposed method estimates unknown noise density so that we can minimize calibration error and its covariance by using the unscented Kalman filter. Then, we refine the estimated calibration parameters with the estimated noise density in batch manner. Experimental results on synthetic and real data demonstrate the accuracy and stability of the proposed method and show that the proposed method provides consistent results even with unknown noise density of the IMU. Furthermore, a real experiment using a commercial smartphone validates the performance of the proposed calibration method in off-the-shelf devices.

Efficient coding and detection of ultra-long IDs for visible light positioning systems.

Visible light positioning (VLP) is a promising technique to complement Global Navigation Satellite System (GNSS) such as Global positioning system (GPS) and BeiDou Navigation Satellite System (BDS) which features the advantage of low-cost and high accuracy. The situation becomes even more crucial for indoor environments, where satellite signals are weak or even unavailable. For large-scale application of VLP, there would be a considerable number of Light emitting diode (LED) IDs, which bring forward the demand of long LED ID detection. In particular, to provision indoor localization globally, a convenient way is to program a unique ID into each LED during manufacture. This poses a big challenge for image sensors, such as the CMOS camera in everybody's hands since the long ID covers the span of multiple frames. In this paper, we investigate the detection of ultra-long ID using rolling shutter cameras. By analyzing the pattern of data loss in each frame, we proposed a novel coding technique to improve the efficiency of LED ID detection. We studied the performance of Reed-Solomon (RS) code in this system and designed a new coding method which considered the trade-off between performance and decoding complexity. Coding technique decreases the number of frames needed in data processing, significantly reduces the detection time, and improves the accuracy of detection. Numerical and experimental results show that the detected LED ID can be much longer with the coding technique. Besides, our proposed coding method is proved to achieve a performance close to that of RS code while the decoding complexity is much lower.

Robustified Structure from Motion with rolling-shutter camera using straightness constraint

We propose a 3-step method for structure and motion computation from two or more images taken by a one or multiple moving rolling shutter cameras. This work is motivated by the realization that existing reconstruction methods using rolling shutter images do not give satisfactory results or even fail in many configurations due to singularities and degenerate configurations. The first contribution consists in decoupling the rotate ego motion from the remaining parameters by adding a constraint on image curves basing on the a priori knowledge that they correspond to world 3D straight lines with unknown directions. Straight lines frequently appear in man-made environments such as urban or indoor scenes. After introducing the parameterization of a curve projected from a 3D straight line observed by a moving camera using three rolling shutter projection models, we show how to linearly extract angular velocity of each camera by using detected curves. Then we develop a linear method to recover the translational velocities and the motion between the cameras using point-matches, after compensating effects of angular velocity on each image. The second contribution consists in a novel point based bundle adjustment for rolling shutter cameras (C-RSBA) which does not consider a static row index during structure and motion optimization contrarily to existing methods. This enables to refine the parameters obtained thanks to the straightness constraint by avoiding degenerate configurations, thus outperforming existing RSBA methods. The approach was evaluated on both synthetic and real data.

Accurate 3D Reconstruction from Small Motion Clip for Rolling Shutter Cameras.

Structure from small motion has become an important topic in 3D computer vision as a method for estimating depth, since capturing the input is so user-friendly. However, major limitations exist with respect to the form of depth uncertainty, due to the narrow baseline and the rolling shutter effect. In this paper, we present a dense 3D reconstruction method from small motion clips using commercial hand-held cameras, which typically cause the undesired rolling shutter artifact. To address these problems, we introduce a novel small motion bundle adjustment that effectively compensates for the rolling shutter effect. Moreover, we propose a pipeline for a fine-scale dense 3D reconstruction that models the rolling shutter effect by utilizing both sparse 3D points and the camera trajectory from narrow-baseline images. In this reconstruction, the sparse 3D points are propagated to obtain an initial depth hypothesis using a geometry guidance term. Then, the depth information on each pixel is obtained by sweeping the plane around each depth search space near the hypothesis. The proposed framework shows accurate dense reconstruction results suitable for various sought-after applications. Both qualitative and quantitative evaluations show that our method consistently generates better depth maps compared to state-of-the-art methods.

Camera Shutter-Independent Registration and Rectification.

Inevitable camera motion during exposure does not augur well for free-hand photography. Distortions introduced in images can be of different types and mainly depend on the structure of the scene, the nature of camera motion, and the shutter mechanism of the camera. In this paper, we address the problem of registering images taken from global shutter and rolling shutter cameras and reveal the constraints on camera motion that admit registration, change detection, and rectification. Our analysis encompasses degradations arising from camera motion during exposure and differences in shutter mechanisms. We also investigate conditions under which camera motions causing distortions in reference and target image can be decoupled to yield the underlying latent image through RS rectification. We validate our approach using several synthetic and real examples.

3D MOBILE MAPPING WITH A LOW COST UAV SYSTEM

Abstract. In order to accomplish the automatic mobile mapping task in a small area of interest, a low cost UAV system is proposed in this paper. Multiple sensors including a global shutter camera and an inertial measurement unit are calibrated and synchronized to collect data from the area of interest. First the images are matched by the chronological order and the SfM is utilized. Then the origin SfM result is integrated with the IMU data by adding the IMU constraints into the bundle adjustment. At last the photogrammetry point clouds are generated using PMVS according to the extrinsic parameters. Experiments are undertaken in a typical scene with photogrammetry point clouds generated. The trajectory estimated by the proposed integration method are compared with the method that relies on image only, showing that the proposed method has better performance.

WIRED AND WIRELESS CAMERA TRIGGERING WITH ARDUINO

Abstract. Synchronous triggering is an important task that allows simultaneous data capture from multiple cameras. Accurate synchronization enables 3D measurements of moving objects or from a moving platform. In this paper, we describe one wired and four wireless variations of Arduino-based low-cost remote trigger systems designed to provide a synchronous trigger signal for industrial cameras. Our wireless systems utilize 315 MHz or 434 MHz frequencies with noise filtering capacitors. In order to validate the synchronization accuracy, we developed a prototype of a rotating trigger detection system (named RoTriDeS). This system is suitable to detect the triggering accuracy of global shutter cameras. As a result, the wired system indicated an 8.91 μs mean triggering time difference between two cameras. Corresponding mean values for the four wireless triggering systems varied between 7.92 and 9.42 μs. Presented values include both camera-based and trigger-based desynchronization. Arduino-based triggering systems appeared to be feasible, and they have the potential to be extended to more complicated triggering systems.

Self-calibration of omnidirectional multi-cameras including synchronization and rolling shutter

360° and spherical cameras become popular and are convenient for applications like immersive videos. They are often built by fixing together several fisheye cameras pointing in different directions. However their complete self-calibration is not easy since the consumer fisheyes are rolling shutter cameras which can be unsynchronized. Our approach does not require a calibration pattern. First the multi-camera model is initialized thanks to assumptions that are suitable to an omnidirectional camera without a privileged direction: the cameras have the same setting and are roughly equiangular. Second a frame-accurate synchronization is estimated from the instantaneous angular velocities of each camera provided by monocular structure-from-motion. Third both inter-camera poses and intrinsic parameters are refined using multi-camera structure-from-motion and bundle adjustment. Last we introduce a bundle adjustment that estimates not only the usual parameters but also a sub-frame-accurate synchronization and the rolling shutter. We experiment using videos taken by consumer cameras mounted on a helmet and moving along trajectories of several hundreds of meters or kilometers, and compare our results to ground truth.

신경망 기반 차량 이미지센서 시스템을 위한 플리커 프리 공간-PSK 변조 기법

This paper introduces a novel modulation scheme for vehicular communication in taking advantage of existing LED lights available on a car. Our proposed 2-Phase Shift Keying (2-PSK) is a spatial modulation approach in which a pair of LED light sources in a car (either rear LEDs or front LEDs) is used as a transmitter. A typical camera (i.e. low frame rate at no greater than 30fps) that either a global shutter camera or a rolling shutter camera can be used as a receiver. The modulation scheme is a part of our Image Sensor Communication proposal submitted to IEEE 802.15.7r1 (TG7r1) recently. Also, a neural network approach is applied to improve the performance of LEDs detection and decoding under the noisy situation. Later, some analysis and experiment results are presented to indicate the performance of our system

DisCo

We present DisCo, a novel display-camera communication system. DisCo enables displays and cameras to communicate with each other while also displaying and capturing images for human consumption. Messages are transmitted by temporally modulating the display brightness at high frequencies so that they are imperceptible to humans. Messages are received by a rolling shutter camera that converts the temporally modulated incident light into a spatial flicker pattern. In the captured image, the flicker pattern is superimposed on the pattern shown on the display. The flicker and the display pattern are separated by capturing two images with different exposures. The proposed system performs robustly in challenging real-world situations such as occlusion, variable display size, defocus blur, perspective distortion, and camera rotation. Unlike several existing visible light communication methods, DisCo works with off-the-shelf image sensors. It is compatible with a variety of sources (including displays, single LEDs), as well as reflective surfaces illuminated with light sources. We have built hardware prototypes that demonstrate DisCo’s performance in several scenarios. Because of its robustness, speed, ease of use, and generality, DisCo can be widely deployed in several applications, such as advertising, pairing of displays with cell phones, tagging objects in stores and museums, and indoor navigation.

Towards Kilo-Hertz 6-DoF Visual Tracking Using an Egocentric Cluster of Rolling Shutter Cameras.

To maintain a reliable registration of the virtual world with the real world, augmented reality (AR) applications require highly accurate, low-latency tracking of the device. In this paper, we propose a novel method for performing this fast 6-DOF head pose tracking using a cluster of rolling shutter cameras. The key idea is that a rolling shutter camera works by capturing the rows of an image in rapid succession, essentially acting as a high-frequency 1D image sensor. By integrating multiple rolling shutter cameras on the AR device, our tracker is able to perform 6-DOF markerless tracking in a static indoor environment with minimal latency. Compared to state-of-the-art tracking systems, this tracking approach performs at significantly higher frequency, and it works in generalized environments. To demonstrate the feasibility of our system, we present thorough evaluations on synthetically generated data with tracking frequencies reaching 56.7 kHz. We further validate the method's accuracy on real-world images collected from a prototype of our tracking system against ground truth data using standard commodity GoPro cameras capturing at 120 Hz frame rate.

PHOTOGRAMMETRIC ACCURACY AND MODELING OF ROLLING SHUTTER CAMERAS

Abstract. Unmanned aerial vehicles (UAVs) are becoming increasingly popular in professional mapping for stockpile analysis, construction site monitoring, and many other applications. Due to their robustness and competitive pricing, consumer UAVs are used more and more for these applications, but they are usually equipped with rolling shutter cameras. This is a significant obstacle when it comes to extracting high accuracy measurements using available photogrammetry software packages. In this paper, we evaluate the impact of the rolling shutter cameras of typical consumer UAVs on the accuracy of a 3D reconstruction. Hereto, we use a beta-version of the Pix4Dmapper 2.1 software to compare traditional (non rolling shutter) camera models against a newly implemented rolling shutter model with respect to both the accuracy of geo-referenced validation points and to the quality of the motion estimation. Multiple datasets have been acquired using popular quadrocopters (DJI Phantom 2 Vision+, DJI Inspire 1 and 3DR Solo) following a grid flight plan. For comparison, we acquired a dataset using a professional mapping drone (senseFly eBee) equipped with a global shutter camera. The bundle block adjustment of each dataset shows a significant accuracy improvement on validation ground control points when applying the new rolling shutter camera model for flights at higher speed (8m=s). Competitive accuracies can be obtained by using the rolling shutter model, although global shutter cameras are still superior. Furthermore, we are able to show that the speed of the drone (and its direction) can be solely estimated from the rolling shutter effect of the camera.