Camera Self-Calibration in Computer Vision with Precise Estimation of Initial Parameters

A key problem that plagues camera self-calibration, namely that the classical self-calibration algorithms are very sensitive to the initial values of the camera intrinsic parameters, is analyzed and a practical solution is provided. The effect of the camera intrinsic parameters, mainly the principal point and the skew factor is first discussed. Then a practical method via a controlled motion of the camera is introduced so as to obtain an accurate estimation of these parameters. Feasibility of this approach is illustrated by carrying out comprehensive experiments using synthetic data as well as real image sequences. Unreasonable initial values can often make self-calibration impossible, yet a precise initialization guarantees a better and successful reconstruction. Trying to obtain a more reasonable initialization is worthwhile the effort in camera self-calibration.

A Self-calibration Bundle Adjustment Algorithm Based on Block Matrix Cholesky Decomposition Technology

In this study,the problem of bundle adjustment was revisited,and a novel algorithm based on block matrix Cholesky decomposition was proposed to solve the thorny problem of self-calibration bundle adjustment.The innovation points are reflected in the following aspects:①The proposed algorithm is not dependent on the Schur complement,and the calculation process is simple and clear;②The complexities of time and space tend to O(n)in the context of world point number is far greater than that of images and cameras,so the calculation magnitude and memory consumption can be reduced significantly;③The proposed algorithm can carry out self-calibration bundle adjustment in single-camera,multi-camera,and variable-camera modes;④Some measures are employed to improve the optimization effects.Experimental tests showed that the proposed algorithm has the ability to achieve state-of-the-art performance in accuracy and robustness,and it has a strong adaptability as well,because the optimized results are accurate and robust even if the initial values have large deviations from the truth.This study could provide theoretical guidance and technical support for the image-based positioning and 3D reconstruction in the fields of photogrammetry,computer vision and robotics.

Effective Self-calibration for Camera Parameters and Hand-eye Geometry Based on Two Feature Points Motions

A novel and effective self-calibration approach for robot vision is presented, which can effectively estimate both the camera intrinsic parameters and the hand-eye transformation at the same time. The proposed calibration procedure is based on two arbitrary feature points of the environment, and three pure translational motions and two rotational motions of robot endeffector are needed. New linear solution equations are deduced,and the calibration parameters are finally solved accurately and effectively. The proposed algorithm has been verified by simulated data with different noise and disturbance. Because of the need of fewer feature points and robot motions, the proposed method greatly improves the efficiency and practicality of the calibration procedure.

Anger-camera型中子探测器位置分辨性能研究

本文描述用于中国散裂中子源(CSNS)谱仪上,基于Anger-camera位置重建原理的闪烁体中子探测器样机位置分辨性能研究。在BL20中子测试束线上完成了探测器关键器件性能测试,包括硅光电倍增管(Silicon Photon Multiplier Tube, SiPM)阵列位置重建能力测试和耐辐照特性研究,同时对不同光导厚度下探测器位置分辨能力开展测试,发现基于SiPM阵列读出的Anger-camera型闪烁体中子探测器采用300μm的^(6)LiF/ZnS(Ag)闪烁屏和5 mm空气作为光导,其位置分辨最佳可达到0.6 mm。该探测器样机后期可通过大面积阵列拼接,实现中子衍射实验对大面积高位置分辨探测器的需求,其成功研制为加快谱仪建设提供有力的技术支撑。

Blackmagic Camera 8.5公测版更新发布

2023年12月,Blackmagic Camera8.5公测版正式发布。安装更新后,为Blackmagic URSA Broadcast G2添加了Blackmagic Cloud工作流程支持。可以从摄影机的新媒体池向Blackmagic Cloud上传片段,也可以直接上传到DaVinci Resolve项目。

Blackmagic Camera 8.5.1正式发布

针对Blackmagic URSA Broadcast G2的Blackmagic Camera 8.5.1版本,提供了Blackmagic Cloud流程支持,用户可从摄影机的新媒体池向Blackmagic Cloud上传片段,也可以直接上传到Da Vinci Resolve项目。新添加的同时代理记录功能加上Blackmagic RAW或ProRes能够助力影像迅速送进新闻演播室或剪辑室,提高工作流程的效率。

Pocket Cinema Camera系列和全画幅6K摄影机加入推流等新功能

Blackmagic Design最新发布的摄影机软件Blackmagic Camera 8.6公共测试版为Blackmagic Pocket Cinema Camera和Cinema Camera 6K机型增加了云流程支持,让用户可以将素材从摄影机媒体池上传到Blackmagic Cloud,甚至直接上传到DaVinci Resolve项目中。并为两款机型的USB-C接口增加了网络摄像头功能,即可把摄影机连接到电脑,并使用任何主流推流软件或平台以全高清1080P质量推流直播。

Self-calibration and Compensation of Setting Errors for Surface Profile Measurement of a Microstructured Roll Workpiece

Microstructured roll workpieces have been widely used as functional components in the precision industries. Current researches on quality control have focused on surface profile measurement of microstructured roll workpieces, and types of measurement systems and measurement methods have been developed. However, low measurement efficiency and low measurement accuracy caused by setting errors are the common disadvantages for surface profile measurement of microstructured roll workpieces. In order to shorten the measurement time and enhance the measurement accuracy, a method for self-calibration and compensation of setting errors is proposed for surface profile measurement of microstructured roll workpieces. A measurement system is constructed for the measurement, in which a precision spindle is employed to rotate the roll workpiece and an air-bearing displacement sensor with a micro-stylus probe is employed to scan the microstructured surface of the roll workpiece. The resolution of the displacement sensor is 0.14 nm and that of the rotary encoder of the spindle was 0.15r~. Geometrical and mathematical models are established for analyzing the influences of the setting errors of the roll workpiece and the displacement sensor with respect to the axis of the spindle, including the eccentric error of the roll workpiece, the offset error of the sensor axis and the zero point error of the sensor output. Measurement experiments are carded out on a roll workpiece on which periodic microstructures are a period of 133 i^m along the circumferential direction. Experimental results demonstrate the feasibility of the self-compensation method. The proposed method can be used to detect and compensate the setting errors without using any additional accurate artifact.

Integration of Tracer Test Data to Refine Geostatistical Hydraulic Conductivity Fields Using Sequential Self-Calibration Method

On the basis of local measurements of hydraulic conductivity, geostatistical methods have been found to be useful in heterogeneity characterization of a hydraulic conductivity field on a regional scale. However, the methods are not suited to directly integrate dynamic production data, such as, hydraulic head and solute concentration, into the study of conductivity distribution. These data, which record the flow and transport processes in the medium, are closely related to the spatial distribution of hydraulic conductivity. In this study, a three-dimensional gradient-based inverse method--the sequential self-calibration （SSC） method--is developed to calibrate a hydraulic conductivity field, initially generated by a geostatistical simulation method, conditioned on tracer test results. The SSC method can honor both local hydraulic conductivity measurements and tracer test data. The mismatch between the simulated hydraulic conductivity field and the reference true one, measured by its mean square error （MSE）, is reduced through the SSC conditional study. In comparison with the unconditional results, the SSC conditional study creates the mean breakthrough curve much closer to the reference true curve, and significantly reduces the prediction uncertainty of the solute transport in the observed locations. Further, the reduction of uncertainty is spatially dependent, which indicates that good locations, geological structure, and boundary conditions will affect the efficiency of the SSC study results.

An improved self-calibration approach based on adaptive genetic algorithm for position-based visual servo

An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.

NOVEL METHOD FOR ERROR ANALYSIS AND SELF-CALIBRATION OF LASER TRACKING MIRROR MECHANISM

Laser tracking system （LTS） is an advanced device for large size 3D coordinates measuring with the advantages of broad range, high speed and high accuracy. However, its measuring accuracy is highly dominated by the geometric errors of the tracking mirror mechanism. Proper calibration of LTS is essential prior to the use of it for metrology. A kinematics model that describes not only the motion but also the geometric variations of LTS is developed. Through error analysis of the proposed model, it is claimed that gimbals axis misalignments and tracking mirror center off-set are the key contributors to measuring errors of LTS. A self-calibration method is presented of calibrating LTS with planar constraints. Various calibration strategies utilizing single-plane and multiple-plane constraints are proposed for different situations. For each calibration strategy, issues about the error parameter estimation of LTS are exploded to find out in which conditions these parameters can be uniquely estimated. Moreover, these conditions reveal the applicability of the planar constraints to LTS self-calibration. Intensive studies have been made to check validity of the theoretical results. The results show that the measuring accuracy of LTS has increased by 5 times since this technique for calibration is used.

基于Camera Link的视频图像信号源设计

针对给某智能图像信息处理终端提供可靠的图像信号源,设计了一种基于Camera Link接口的视频图像信号源。该文对图像信号源进行了总体方案设计、硬件电路设计以及帧同步算法设计并进行了验证。该图像信号源通过PCIe总线连接到上位机,并利用DDR3高速缓存图像。通过Camera Link接口与智能图像信息处理终端之间进行通信。结果表明,该设备可用于生产过程中智能图像信息处理终端的相关试验,完成了测试图像的输出,输出图像有效像素为2 560×720,采集到的画面40帧/秒,带宽可达1.9 Gbps,具有一定的工程应用价值。

Self-calibration and algorithm of sample set of piezoresistive pressure sensors

Aiming at piezoresistive pressure sensors, this paper studies simulation of standard pressure by using benchmark current source and self-calibration of the sampling data characteristics. A data fusion algorithm for sample set is presented which transforms a surface problem into a curve fitting and interpolation problem. The simulation result shows that benchmark current source simulating pressure is successful and data fusion algorithm is effective. The maximum measurement error is only 0.098 kPa and maximum relative error is 0.92% at 0-45 kPa and -10-45~C.

GPU-accelerated three-dimensional reconstruction method of the Compton camera and its application in radionuclide imaging

A novel and fast three-dimensional reconstruction method for a Compton camera and its performance in radionuclide imaging is proposed and analyzed in this study. The conical surface sampling back-projection method with scattering angle correction(CSS-BP-SC) can quickly perform the back-projection process of the Compton cone and can be used to precompute the list-mode maximum likelihood expectation maximization(LM-MLEM). A dedicated parallel architecture was designed for the graphics processing unit acceleration of the back-projection and iteration stage of the CSS-BP-SC-based LM-MLEM. The imaging results of the two-point source Monte Carlo(MC) simulation demonstrate that by analyzing the full width at half maximum along the three coordinate axes, the CSS-BP-SC-based LM-MLEM can obtain imaging results comparable to those of the traditional reconstruction algorithm, that is, the simple back-projection-based LM-MLEM. The imaging results of the mouse phantom MC simulation and experiment demonstrate that the reconstruction results obtained by the proposed method sufficiently coincide with the set radioactivity distribution, and the speed increased by more than 664 times compared to the traditional reconstruction algorithm in the mouse phantom experiment. The proposed method will further advance the imaging applications of Compton cameras.

Dose reconstruction with Compton camera during proton therapy via subset-driven origin ensemble and double evolutionary algorithm

Compton camera-based prompt gamma(PG) imaging has been proposed for range verification during proton therapy. However, a deviation between the PG and dose distributions, as well as the difference between the reconstructed PG and exact values, limit the effectiveness of the approach in accurate range monitoring during clinical applications. The aim of the study was to realize a PG-based dose reconstruction with a Compton camera, thereby further improving the prediction accuracy of in vivo range verification and providing a novel method for beam monitoring during proton therapy. In this paper, we present an approach based on a subset-driven origin ensemble with resolution recovery and a double evolutionary algorithm to reconstruct the dose depth profile(DDP) from the gamma events obtained by a cadmium-zinc-telluride Compton camera with limited position and energy resolution. Simulations of proton pencil beams with clinical particle rate irradiating phantoms made of different materials and the CT-based thoracic phantom were used to evaluate the feasibility of the proposed method. The results show that for the monoenergetic proton pencil beam irradiating homogeneous-material box phantom,the accuracy of the reconstructed DDP was within 0.3 mm for range prediction and within 5.2% for dose prediction. In particular, for 1.6-Gy irradiation in the therapy simulation of thoracic tumors, the range deviation of the reconstructed spreadout Bragg peak was within 0.8 mm, and the relative dose deviation in the peak area was less than 7% compared to the exact values. The results demonstrate the potential and feasibility of the proposed method in future Compton-based accurate dose reconstruction and range verification during proton therapy.

Development and preliminary results of a large-pixel two-layer LaBr_(3) Compton camera prototype

Lanthanum bromide(LaBr_(3))crystal has a high energy resolution and time resolution and has been used in Compton cameras(CCs)over the past few decades.However,LaBr_(3) crystal arrays are difficult to process because LaBr_(3) is easy to crack and break;thus,few LaBr_(3)-based CC prototypes have been built.In this study,we designed and fabricated a large-pixel LaBr_(3) CC prototype and evaluated its performance with regard to position,energy,and angular resolution.We used two 10×10 LaBr_(3) crystal arrays with a pixel size of 5 mm×5 mm,silicon photomultipliers(SiPMs),and corresponding decoding circuits to construct our prototype.Additionally,a framework based on a Voronoi diagram and a lookup table was developed for list-mode projection data acquisition.Monte Carlo(MC)simulations based on Geant4 and experiments were conducted to evaluate the performance of our CC prototype.The lateral position resolution was 5 mm,and the maximum deviation in the depth direction was 2.5 and 5 mm for the scatterer and absorber,respectively.The corresponding measured energy resolu-tions were 7.65%and 8.44%,respectively,at 511 keV.The experimental results of ^(137)Cs point-like sources were consistent with the MC simulation results with regard to the spatial positions and full widths at half maximum(FWHMs).The angular resolution of the fabricated prototype was approximately 6°when a point-like ^(137)Cs source was centrally placed at a distance of 5 cm from the scatterer.We proposed and investigated a large-pixel LaBr_(3) CC for the first time and verified its feasibility for use in accurate spatial positioning of radiative sources with a high angular resolution.The proposed CC can satisfy the requirements of radiative source imaging and positioning in the nuclear industry and medical applications.

Study on Color Information Degradation Induced byγ-ray Radiation in CMOS Cameras

Theγ-rays are widely and abundantly present in strong nuclear radiation environments,and when they act on the camera equipment used to obtain environmental visual information on nuclear robots,radiation effects will occur,which will degrade the performance of the camera system,reduce the imaging quality,and even cause catastrophic consequences.Color reducibility is an important index for evaluating the imaging quality of color camera,but its degradation mechanism in a nuclear radiation environment is still unclear.In this paper,theγ-ray irradiation experiments of CMOS cameras were carried out to analyse the degradation law of the camera’s color reducibility with cumulative irradiation and reveal the degradation mechanism of the color information of the CMOS camera underγ-ray irradiation.The results show that the spectral response of CMOS image sensor(CIS)and the spectral transmittance of lens after irradiation affect the values of a^(*)and b^(*)in the LAB color model.While the full well capacity(FWC)of CIS and transmittance of lens affect the value of L^(*)in the LAB color model,thus increase color difference and reduce brightness,the combined effect of color difference and brightness degradation will reduce the color reducibility of CMOS cameras.Therefore,the degradation of the color information of the CMOS camera afterγ-ray irradiation mainly comes from the changes in the FWC and spectral response of CIS,and the spectral transmittance of lens.

Novel camera calibration method based on invariance of collinear points and pole-polar constraint

To address the eccentric error of circular marks in camera calibration,a circle location method based on the invariance of collinear points and pole–polar constraint is proposed in this paper.Firstly,the centers of the ellipses are extracted,and the real concentric circle center projection equation is established by exploiting the cross ratio invariance of the collinear points.Subsequently,since the infinite lines passing through the centers of the marks are parallel,the other center projection coordinates are expressed as the solution problem of linear equations.The problem of projection deviation caused by using the center of the ellipse as the real circle center projection is addressed,and the results are utilized as the true image points to achieve the high precision camera calibration.As demonstrated by the simulations and practical experiments,the proposed method performs a better location and calibration performance by achieving the actual center projection of circular marks.The relevant results confirm the precision and robustness of the proposed approach.

Methodology for Automatically Setting Camera View to Mile Marker for Traffic Incident Management

Traffic incident management (TIM) is a FHWA Every Day Counts initiative with the objective of reducing secondary crashes, improving travel reliability, and ensuring safety of responders. Agency roadside cameras play a critical role in TIM by helping dispatchers quickly identify the precise location of incidents when receiving reports from motorists with varying levels of spatial accuracy. Reconciling position reports that are often mile marker based, with cameras that operate in a Pan-Tilt-Zoom coordinate system relies on dispatchers having detailed knowledge for hundreds of cameras and perhaps some presets. During real-time incident dispatching, reducing the time it takes to identify the most relevant cameras and setting their view on the incident is an important opportunity to improve incident management dispatch times. This research develops a camera-to-mile marker mapping technique that automatically sets the camera view to a specified mile marker within the field-of-view of the camera. Over 350 traffic cameras along Indiana’s 2250 directional miles of interstate were mapped to approximately 5000 discrete locations that correspond to approximately 780 directional miles (~35% of interstate) of camera coverage. This newly developed technique will allow operators to quickly identify the nearest camera and set them to the reported location. This research also identifies segments on the interstate system with limited or no camera coverage for decision makers to prioritize future capital investments. This paper concludes with brief discussion on future research to automate the mapping using LiDAR data and to set the cameras after automatically detecting the events using connected vehicle trajectory data.

Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment

The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.