Wide-angle Camera Research Articles

Telescope Array Control System Based on Wireless Touch Screen Platform

Ground-based Wide Angle Cameras (GMAC) are the ground-based observational facility for the SVOM (Space Variable Object Monitor) astronomical satellite of Sino-French cooperation, and Mini-GWAC is the pathfinder and supplement of GWAC. In the context of the Mini-GWAC telescope array, this paper introduces the design and implementation of a kind of telescope array control system based on the wireless touch screen platform. We describe the development and implementation of the system in detail in terms of control system principle, system hardware structure, software design, experiment, and test etc. The system uses a touch-control PC which is based on the Windows CE system as the upper computer, while the wireless transceiver module and PLC (Programmable Logic Controller) are taken as the system kernel. It has the advantages of low cost, reliable data transmission, and simple operation. And the control system has been applied to the Mini-GWAC successfully.

First ERO2.0 modeling of Be erosion and non-local transport in JET ITER-like wall

ERO is a Monte-Carlo code for modeling plasma-wall interaction and 3D plasma impurity transport for applications in fusion research. The code has undergone a significant upgrade (ERO2.0) which allows increasing the simulation volume in order to cover the entire plasma edge of a fusion device, allowing a more self-consistent treatment of impurity transport and comparison with a larger number and variety of experimental diagnostics. In this contribution, the physics-relevant technical innovations of the new code version are described and discussed. The new capabilities of the code are demonstrated by modeling of beryllium (Be) erosion of the main wall during JET limiter discharges. Results for erosion patterns along the limiter surfaces and global Be transport including incident particle distributions are presented. A novel synthetic diagnostic, which mimics experimental wide-angle 2D camera images, is presented and used for validating various aspects of the code, including erosion, magnetic shadowing, non-local impurity transport, and light emission simulation.

MdBRIEF - a fast online-adaptable, distorted binary descriptor for real-time applications using calibrated wide-angle or fisheye cameras

Fast binary descriptors build the core for many vision based applications with real-time demands like object detection, visual odometry or SLAM. Commonly it is assumed, that the acquired images and thus the patches extracted around keypoints originate from a perspective projection ignoring image distortion or completely different types of projections such as omnidirectional or fisheye. Usually the deviations from a perfect perspective projection are corrected by using standard undistortion models. The latter, however, introduce artifacts if the camera’s field-of-view gets larger. In addition, many applications (e.g. monocular SLAM) require only undistorted points and holistic undistortion of every image for descriptor extraction could be eluded. In this paper, we propose a distorted and masked version of the BRIEF descriptor for calibrated cameras, called dBRIEF and mdBRIEF respectively. Instead of correcting the distortion holistically, we distort the binary tests and thus adapt the descriptor to different image regions. The implementation of the proposed method along with evaluation scripts can be found online at https://github.com/urbste/mdBRIEF.

New morphological mapping and interpretation of ejecta deposits from Orientale Basin on the Moon

Orientale Basin is one of the youngest and best-preserved multi-ring impact basins in the Solar System. The structure is ∼950 km across and is located on the western edge of the nearside of the Moon. The interior of the basin, which possesses three distinct rings and a post-impact mare fill, has been studied extensively using modern high-resolution datasets. Exterior to these rings, Orientale has an extensive ejecta blanket that extends out radially for at least 800 km from the basin rim in all directions and covers portions of both the nearside and farside of the Moon. These deposits, known as the Hevelius Formation, were first mapped using photographic data from the Lunar Orbiter IV probe. In this study, we map in detail the morphology of each distinct facies observed within the Orientale ejecta blanket using high resolution Lunar Reconnaissance Orbiter (LRO) Wide Angle Camera (WAC) and Narrow Angle Camera (NAC) images and Lunar Orbiter Laser Altimeter (LOLA) elevation data. We identified 5 unique facies within the ejecta blanket. Facies A is identified as a region of hummocky plains located in a low-lying topographic region between the Outer Rook and Cordillera rings. This facies is interpreted to be a mix of crater-derived impact melt and km-scale blocks of ballistic ejecta and host rock broken up during the modification stage and formation of the Cordillera ring. Facies B is an inner facies marked by radial grooves extending outward from the direction of the basin center. This facies is interpreted as the continuous ballistic ejecta blanket. Facies C consists of inner and outer groupings of flat smooth-surfaced deposits isolated in local topographic lows. Facies D displays characteristic sinuous ridges and lobate extensions. Facies C and D are interpreted to be impact melt-rich materials, which manifest as flows and ponds. Our observations suggest that these facies were emplaced subsequent to the ballistic ejecta blanket – most likely during the modification stage of crater formation – and flowed and ponded in topographically low-lying regions. Facies E consists of distinct crater chains emanating radially from the basin center and extending from ∼700 to ∼1000 km from the center of Orientale. This facies is considered to be chains of secondary craters formed from large blocks of ballistic ejecta. Our mapping effort shows that the individual ejecta facies were influenced and controlled to varying degrees by pre-existing slopes and topography. At the basin scale, the overall downslope direction toward the lunar lowlands to the east and southeast of the basin center resulted in large impact melt flows 100's of kilometers in length, while the regional upslope trends in the west and northwest inhibited the development of extensive impact melt flows. On a smaller scale it can be observed that ground-hugging ejecta collected behind and flowed around high topographic obstacles while diverting into topographic low regions (e.g., around uplifted pre-existing crater rims, but down into pre-existing crater floors).The dispersion of the various ejecta facies mapped here also indicates both a direction and an angle for the impact event that formed Orientale Basin. The bilateral distribution of both ballistic and impact melt-rich ejecta deposits across a line running northeast – southwest suggests the impact occurred from the northeast toward the southwest. Careful mapping of the secondary impact crater chains (Facies E) shows the development of a “forbidden zone” lacking these impacts to the northeast as well as a concentration of the longest secondary crater chains to the northwest and southeast, perpendicular to the aforementioned line of bilateral ejecta distribution. This distribution of secondary impact craters contrasts with the circularity of the basin and suggests that Orientale Basin was formed by ∼ 25–45° impact from the northeast.

ACCURATE REGISTRATION OF THE CHANG’E-1 IIM DATA BASED ON LRO LROC-WAC MOSICA DATA

Abstract. In the detection of the moon, the visible and near-infrared reflectance data of the lunar material are important information sources for lunar chemical substances and mineral inversion. The Interferometer Imaging Spectrometer (IIM) aboard the Chang'E-1 lunar orbiter is the first multispectral imaging spectrometer for Chinese lunar missions. In this paper, we use the mosaic image of global moon acquired by the Wide-angle Camera (WAC) of the Lunar Reconnaissance Orbiter Camera (LROC) to realize the accurate registration of Chang'E-1 IIM hyperspectral images. Due to the lack of GCPs, the emphasis of this work is to find a huge number of homologous points. The method proposed in this paper is to obtain several homologous points by manually matching, and then we utilize those points to calculate the initial homography matrix of LROC-WAC image and IIM image. This matrix is used to predict the area on IIM image where homologous points may be located, and the locations of the homologous points are determined by the orientation correlation in frequency domain. Finally we save the parts of homologous points which satisfied the conversion relationship of initial homography matrix to calculate homography matrix again. We use this iterative way to obtain a more accurate location of the homologous points. In this process, we take into account that the geometric deformations of different regions on IIM image are quite different. Therefore, we added image threshold segmentation based on the initial homography matrix in the experiment, and completed the above work of finding the homologous points on the segmented images. The final realization of registration accuracy of IIM images are in 1–2 pixels (RMSE). This provides a reliable data assurance for the subsequent study of using IIM images to inverse the lunar elements.

Multi-sensor based real-time 6-DoF pose tracking for wearable augmented reality

Wearable augmented reality (WAR) combines a live view of a real scene with computer-generated graphic on resource-limited platforms. One of the crucial technologies for WAR is a real-time 6-DoF pose tracking, facilitating registration of virtual components within in a real scene. Generally, artificial markers are typically applied to provide pose tracking for WAR applications. However, these marker-based methods suffer from marker occlusions or large viewpoint changes. Thus, a multi-sensor based tracking approach is applied in this paper, and it can perform real-time 6-DoF pose tracking with real-time scale estimation for WAR on a consumer smartphone. By combining a wide-angle monocular camera and an inertial sensor, a more robust 6-DoF motion tracking is demonstrated with the mutual compensations of the heterogeneous sensors. Moreover, with the help of the depth sensor, the scale initialization of the monocular tracking is addressed, where the initial scale is propagated within the subsequent sensor-fusion process, alleviating the scale drift in traditional monocular tracking approaches. In addition, a sliding-window based Kalman filter framework is used to provide a low jitter pose tracking for WAR. Finally, experiments are carried out to demonstrate the feasibility and robustness of the proposed tracking method for WAR applications.

Characterization of dust aggregates in the vicinity of the Rosetta spacecraft

In a Rosetta/OSIRIS imaging activity in 2015 June, we have observed the dynamic motion of particles close to the spacecraft. Due to the focal setting of the OSIRIS wide angle camera, these particle ...

Joint Estimation of Human Pose and Conversational Groups from Social Scenes

Despite many attempts in the last few years, automatic analysis of social scenes captured by wide-angle camera networks remains a very challenging task due to the low resolution of targets, background clutter and frequent and persistent occlusions. In this paper, we present a novel framework for jointly estimating (i) head, body orientations of targets and (ii) conversational groups called F-formations from social scenes. In contrast to prior works that have (a) exploited the limited range of head and body orientations to jointly learn both, or (b) employed the mutual head (but not body) pose of interactors for deducing F-formations, we propose a weakly-supervised learning algorithm for joint inference. Our algorithm employs body pose as the primary cue for F-formation estimation, and an alternating optimization strategy is proposed to iteratively refine F-formation and pose estimates. We demonstrate the increased efficacy of joint inference over the state-of-the-art via extensive experiments on three social datasets.

The PanCam Instrument for the ExoMars Rover

The scientific objectives of the ExoMars rover are designed to answer several key questions in the search for life on Mars. In particular, the unique subsurface drill will address some of these, such as the possible existence and stability of subsurface organics. PanCam will establish the surface geological and morphological context for the mission, working in collaboration with other context instruments. Here, we describe the PanCam scientific objectives in geology, atmospheric science, and 3-D vision. We discuss the design of PanCam, which includes a stereo pair of Wide Angle Cameras (WACs), each of which has an 11-position filter wheel and a High Resolution Camera (HRC) for high-resolution investigations of rock texture at a distance. The cameras and electronics are housed in an optical bench that provides the mechanical interface to the rover mast and a planetary protection barrier. The electronic interface is via the PanCam Interface Unit (PIU), and power conditioning is via a DC-DC converter. PanCam also includes a calibration target mounted on the rover deck for radiometric calibration, fiducial markers for geometric calibration, and a rover inspection mirror. Key Words: Mars—ExoMars—Instrumentation—Geology—Atmosphere—Exobiology—Context. Astrobiology 17, 511–541.

The pebbles/boulders size distributions on Sais: Rosetta’s final landing site on comet 67P/Churyumov–Gerasimenko

By using the imagery acquired by the Optical, Spectroscopic, and Infrared Remote Imaging System Wide-Angle Camera (OSIRIS WAC), we prepare a high-resolution morphological map of the Rosetta Sais final landing site, characterized by an outcropping consolidated terrain unit, a coarse boulder deposit and a fine particle deposit. Thanks to the 0.014 m resolution images, we derive the pebbles/boulders size-frequency distribution (SFD) of the area in the size range of 0.07–0.70 m. Sais’ SFD is best fitted with a two-segment differential power law: the first segment is in the range 0.07–0.26 m, with an index of −1.7 ± 0.1, while the second is in the range 0.26–0.50 m, with an index of −4.2 +0.4/−0.8. The ‘knee’ of the SFD, located at 0.26 m, is evident both in the coarse and fine deposits. When compared to the Agilkia Rosetta Lander Imaging System images, Sais surface is almost entirely free of the ubiquitous, cm-sized debris blanket observed by Philae. None the less, a similar SFD behaviour of Agilkia, with a steeper distribution above ∼0.3 m, and a flatter trend below that, is observed. The activity evolution of 67P along its orbit provides a coherent scenario of how these deposits were formed. Indeed, different lift pressure values occurring on the two locations and at different heliocentric distances explain the presence of the cm-sized debris blanket on Agilkia observed at 3.0 au inbound. Contrarily, Sais activity after 2.1 au outbound has almost completely eroded the fine deposits fallen during perihelion, resulting in an almost dust-free surface observed at 3.8 au.

Modelling of the outburst on 2015 July 29 observed with OSIRIS cameras in the Southern hemisphere of comet 67P/Churyumov–Gerasimenko

Images of the nucleus and the coma (gas and dust) of comet 67P/Churyumov- Gerasimenko have been acquired by the OSIRIS (Optical, Spectroscopic, and Infrared Remote Imaging System) cameras since March 2014 using both the Wide Angle Camera (WAC) and the Narrow Angle Camera (NAC). We use images from the NAC camera to study a bright outburst observed in the southern hemisphere on July 29, 2015. The high spatial resolution of the NAC is needed to localize the source point of the outburst on the surface of the nucleus. The heliocentric distance is 1.25 au and the spacecraft-comet distance is 186 km. Aiming to better understand the physics that led to the outgassing, we used the Direct Simulation Monte Carlo (DSMC) method to study the gas flow close to the nucleus and the dust trajectories. The goal is to understand the mechanisms producing the outburst. We reproduce the opening angle of the outburst in the model and constrain the outgassing ratio between the outburst source and the local region. The outburst is in fact a combination of both gas and dust, in which the active surface is approximately 10 times more active than the average rate found in the surrounding areas. We need a number of dust particles 7.83 $\times$ 10$^{11}$ - 6.90 $\times$ 10$^{15}$ (radius 1.97 - 185 {\mu}m), which corresponds to a mass of dust 220 - 21 $\times$ 10$^{3}$kg.

Dust mass distribution around comet 67P/Churyumov–Gerasimenko determined via parallax measurements using Rosetta's OSIRIS cameras

The OSIRIS (optical, spectroscopic and infrared remote imaging system) instrument on board the ESA Rosetta spacecraft collected data of 67P/Churyumov–Gerasimenko for over 2 yr. OSIRIS consists of two cameras, a Narrow Angle Camera and a Wide Angle Camera. For specific imaging sequences related to the observation of dust aggregates in 67P's coma, the two cameras were operating simultaneously. The two cameras are mounted 0.7 m apart from each other, as a result this baseline yields a parallax shift of the apparent particle trails on the analysed images directly proportional to their distance. Thanks to such shifts, the distance between observed dust aggregates and the spacecraft was determined. This method works for particles closer than 6000 m to the spacecraft and requires very few assumptions. We found over 250 particles in a suitable distance range with sizes of some centimetres, masses in the range of 10−6–102 kg and a mean velocity of about 2.4 m s−1 relative to the nucleus. Furthermore, the spectral slope was analysed showing a decrease in the median spectral slope of the particles with time. The further a particle is from the spacecraft the fainter is its signal. For this reason, this was counterbalanced by a debiasing. Moreover, the dust mass-loss rate of the nucleus could be computed as well as the Afρ of the comet around perihelion. The summed-up dust mass-loss rate for the mass bins 10−4–102 kg is almost 8300 kg s−1.

Lunar mare TiO2 abundances estimated from UV/Vis reflectance

The visible (400–700 nm) and near-infrared (700–2800 nm) reflectance of the lunar regolith is dominantly controlled by variations in the abundance of plagioclase, iron-bearing silicate minerals, opaque minerals (e.g., ilmenite), and maturation products (e.g., agglutinate glass, radiation-produced rims on soil grains, and Fe-metal). The same materials control reflectance into the near-UV (250–400 nm) with varying degrees of importance. A key difference is that while ilmenite is spectrally neutral in the visible to near-infrared, it exhibits a diagnostic upturn in reflectance in the near-UV, at wavelengths shorter than about 450 nm. The Lunar Reconnaissance Orbiter Wide Angle Camera (WAC) filters were specifically designed to take advantage of this spectral feature to enable more accurate mapping of ilmenite within mare soils than previously possible. Using the reflectance measured at 321 and 415 nm during 62 months of repeated near-global WAC observations, first we found a linear correlation between the TiO2 contents of the lunar soil samples and the 321/415 nm ratio of each sample return site. We then used the coefficients from the linear regression and the near-global WAC multispectral mosaic to derive a new TiO2 map. The average TiO2 content is 3.9 wt% for the 17 major maria. The highest TiO2 values were found in Mare Tranquillitatis (∼12.6 wt%) and Oceanus Procellarum (∼11.6 wt%). Regions contaminated by highland ejecta, lunar swirls, and the low-TiO2 maria (e.g., Mare Frigoris, the northeastern units of Mare Imbrium) exhibit very low TiO2 values (<2 wt%). We find that the Clementine visible to near-infrared based TiO2 maps (Lucey et al., 2000) have systematically higher values relative to the WAC estimates. The Lunar Prospector Gamma-Ray Spectrometer (GRS) TiO2 map is consistent with the WAC TiO2 map, although there are local offsets possibly due to the different depth sensitivities and large pixel scale of the GRS relative to the WAC. We find a wide variation of TiO2 abundances (from 0 to 10 wt%) for early mare volcanism (>2.6 Ga), whereas only medium to high TiO2 values (average = 6.8 wt%, minimum = 4.5 wt%) are found for younger mare units (<2.6 Ga).

Maximal similarity based region classification method through local image region descriptors and Bhattacharyya coefficient-based distance: Application to horizon line detection using wide-angle camera

In recent years, many approaches have been proposed to compensate the lack of performance of GNSS (Global Navigation Satellites Systems) occurring when operating in constrained environments. One of these approaches consists in characterizing the environment of reception of GNSS signals using a wide-angle (fisheye) camera oriented to the sky. The content of acquired images is classified into two regions (sky and not-sky) in order to determine LOS (Line-Of-Sight) satellites and NLOS (Nonline-Of-Sight) satellites. This paper is aimed at proposing an image-content classification method to make this approach more effective. The proposed method is composed of four major steps. The first one consists of simplifying the acquired image with an appropriate couple of colorimetric invariant and exponential transform. In the second step, the simplified image is segmented using Statistical Region Merging method. The third step consists of characterizing the segmented regions with a number of local image region descriptors providing more statistically meaningful and discriminatory features. In order to classify the characterized regions into sky and non sky regions, we propose the supervised MSRC (Maximal Similarity Based Region Classification) method by using Bhattacharyya coefficient-based distance. Comparative and extensive experiments have been conducted to investigate the effectiveness of the proposed MSRC method according to the proposed groups of local image region descriptors. Furthermore, we clearly validate the feasibility of MSRC method by comparing its results with those presented in the state of the art.

Toward high-resolution global topography of Mercury from MESSENGER orbital stereo imaging: A prototype model for the H6 (Kuiper) quadrangle

We selected approximately 10,500 narrow-angle camera (NAC) and wide-angle camera (WAC) images of Mercury acquired from orbit by MESSENGER's Mercury Dual Imaging System (MDIS) with an average resolution of 150m/pixel to compute a digital terrain model (DTM) for the H6 (Kuiper) quadrangle, which extends from 22.5°S to 22.5°N and from 288.0°E to 360.0°E. From the images, we identified about 21,100 stereo image combinations consisting of at least three images each. We applied sparse multi-image matching to derive approximately 250,000 tie-points representing 50,000 ground points. We used the tie-points to carry out a photogrammetric block adjustment, which improves the image pointing and the accuracy of the ground point positions in three dimensions from about 850m to approximately 55m. We then applied high-density (pixel-by-pixel) multi-image matching to derive about 45 billion tie-points. Benefitting from improved image pointing data achieved through photogrammetric block adjustment, we computed about 6.3 billion surface points. By interpolation, we generated a DTM with a lateral spacing of 221.7m/pixel (192 pixels per degree) and a vertical accuracy of about 30m. The comparison of the DTM with Mercury Laser Altimeter (MLA) profiles obtained over four years of MESSENGER orbital operations reveals that the DTM is geometrically very rigid. It may be used as a reference to identify MLA outliers (e.g., when MLA operated at its ranging limit) or to map offsets of laser altimeter tracks, presumably caused by residual spacecraft orbit and attitude errors. After the relevant outlier removals and corrections, MLA profiles show excellent agreement with topographic profiles from H6, with a root mean square height difference of only 88m.

How atmospheric haze affects the efficiency of wide-angle airborne television cameras when ground objects are being observed

How atmospheric haze affects the efficiency of wide-angle airborne television cameras when ground objects are being observed

Object tracking with robotic total stations: Current technologies and improvements based on image data

Abstract The importance of automated prism tracking is increasingly triggered by the rising automation of total station measurements in machine control, monitoring and one-person operation. In this article we summarize and explain the different techniques that are used to coarsely search a prism, to precisely aim at a prism, and to identify whether the correct prism is tracked. Along with the state-of-the-art review, we discuss and experimentally evaluate possible improvements based on the image data of an additional wide-angle camera which is available for many total stations today. In cases in which the total station’s fine aiming module loses the prism, the tracked object may still be visible to the wide-angle camera because of its larger field of view. The theodolite angles towards the target can then be derived from its image coordinates which facilitates a fast reacquisition of the prism. In experimental measurements we demonstrate that our image-based approach for the coarse target search is 4 to 10-times faster than conventional approaches.

Extending Driving Vision Based on Image Mosaic Technique

Car cameras have been used extensively to assist driving by make driving visible. However, due to the limitation of the Angle of View (AoV), the dead zone still exists, which is a primary origin of car accidents. In this paper, we introduce a system to extend the vision of drivers to 360 degrees. Our system consists of four wide-angle cameras, which are mounted at different sides of a car. Although the AoV of each camera is within 180 degrees, relying on the image mosaic technique, our system can seamlessly integrate 4-channel videos into a panorama video. The panorama video enable drivers to observe everywhere around a car as far as three meters from a top view. We performed experiments in a laboratory environment. Preliminary results show that our system can eliminate vision dead zone completely. Additionally, the real-time performance of our system can satisfy requirements for practical use.

Development of initial calamity survey system with wide-angle action camera

Development of initial calamity survey system with wide-angle action camera

Evaluation of Sample Taxicab Security Cameras

Background: Taxicab drivers have high homicide rates compared to all worker occupations. To help taxi fleets select effective taxicab security cameras, this project tested eight sample taxicab security cameras for determining their photographic quality which correlated to the effectiveness of in-taxicab facial identification. Methods: Five photographic quality metric thresholds: 1) resolution, 2) highlight dynamic range, 3) shadow dynamic range, 4) lens distortion, and 5) shutter speed, were employed to evaluate the photographic quality of the sample cameras. Waterproof tests and fire-resistive tests on recording memory cards were conducted to determine the memory card survivability in water and simulated fire. Results: The Full-HD (1920 × 1080 pixels), HD (1280 × 720 pixels) and dual-lens VGA (2 × 640 × 480 pixels with wide-angle and telephoto lenses) cameras performed well in resolution tests in daylight conditions. The resolution of a single-lens VGA (640 × 480 pixels) camera did not meet the resolution minimum requirements. All of the recording memory cards passed the five-meter/72-hour waterproof test. A fire resistant chamber made with one fire insulation material could protect a single memory card at 538&degC/1000°F for a five-minute simulated fire test. Conclusions: Single-lens VGA-resolution (640 × 480 pixels) cameras are not suggested for use as security cameras in taxicabs with two or more rows of seats. The recording memory cards can survive 5-meter/72-hour waterproof tests. The memory card chamber built with an existing heat insulation material can protect an individual memory card during 538&degC (1000°F)/5-minute fire resistance oven-test.