Real-Time Structure and Motion by Fusion of Inertial and Vision Data for Mobile AR System

The performance of adding additional inertial data to improve the accuracy and robustness of visual tracking is investigated. For this real-time structure and motion algorithm, fusion is based on Kalman filter framework while using an extended Kalman filter to fuse the inertial and vision data, and a hank of Kalman filters to estimate the sparse 3D structure of the real scene. A simple, known target is used for the initial pose estimation. Motion and structure estimation filters can work alternately to recover the sensor motion, scene structure and other parameters. Real image sequences are utilized to test the capability of this algorithm. Experimental results show that the proper use of an additional inertial information can not only effectively improve the accuracy of the pose and structure estimation, but also handle occlusion problem.

A Local Deviation Constraint Based Non-Rigid Structure From Motion Approach

In many traditional non-rigid structure from motion(NRSFM)approaches,the estimation results of part feature points may significantly deviate from their true values because only the overall estimation error is considered in their models.Aimed at solving this issue,a local deviation-constrained-based column-space-fitting approach is proposed in this paper to alleviate estimation deviation.In our work,an effective model is first constructed with two terms:the overall estimation error,which is computed by a linear subspace representation,and a constraint term,which is based on the variance of the reconstruction error for each frame.Furthermore,an augmented Lagrange multipliers(ALM)iterative algorithm is presented to optimize the proposed model.Moreover,a convergence analysis is performed with three steps for the optimization process.As both the overall estimation error and the local deviation are utilized,the proposed method can achieve a good estimation performance and a relatively uniform estimation error distribution for different feature points.Experimental results on several widely used synthetic sequences and real sequences demonstrate the effectiveness and feasibility of the proposed algorithm.

SEISMIC RANDOM VIBRATION ANALYSIS OF STOCHASTIC STRUCTURES USING RANDOM FACTOR METHOD

Seismic random vibration analysis of stochastic truss structures is presented. A new method called random factor method is used for dynamic analysis of structures with uncertain parameters, due to variability in their material properties and geometry. Using the random factor method, the natural frequencies and modeshapes of a stochastic structure can be respectively described by the product of two parts, corresponding to the random factors of the structural parameters with uncertainty, and deterministic values of the natural frequencies and modeshapes obtained by conventional finite element analysis. The stochastic truss structure is subjected to stationary or non-stationary random earthquake excitation. Computational expressions for the mean and standard deviation of the mean square displacement and mean square stress are developed by means of the random variable＇s functional moment method and the algebra synthesis method. An antenna and a truss bridge are used as practical engineering examples to illustrate the application of the random factor method in the seismic response analysis of random structures under stationary or non-stationary random earthquake excitation.

A Study on Frontal Motion over Orography

In order to study the characteristic features of the frontal motion over mountains, a frontal model is designed inthis paper. The analytical solution of the model with the assumption of semigeostrophic approximation and no frichon is obtained and compared with numerical solution without the assumption. It assumes that the front is a free surface betWeen two nuid layers with different densihes. It also assumes that the mountain and the front are indefinitelylong. Therefore, the motion of such a front can be determined by the one-dimensional shallow water equationsystem. By making a series of experiments, we confirm the rule further that front can be retarded when climbing themountain and accelerated when going down the mountains. We also found some interesting characteristics of frontalstructure influenced by topography in addihon.

Tensegrity applied to modelling the motion of viruses

A considerable number of viruses’structures have been discovered and more are expected to be identified.Different viruses’symmetries can be observed at the nanoscale level.The mechanical models of some viruses realised by scientists are described in this paper,none of which has taken into consideration the internal deformation of subsystems. The authors’models for some viruses’elements are introduced,with rigid and flexible links,which reproduce the movements of viruses including internal deformations of the subunits.

From landslide characterization to nature reserve management:The“Scialimata Grande di Torre Alfina”landslide Geosite(Central Apennines,Italy)

Italy is characterized by widespread geomorphological instability,among which landslides leave impressive marks on the landscape.Nevertheless,landslide bodies may represent key sites for thematic and educational itineraries,especially in protected areas,where their management becomes an important issue.Our study focuses on the"Monte Rufeno Nature Reserve"(Central Apennines,Italy),where iconic landslides are present.Here,the"Scialimata Grande di Torre Alfina"landslide(SGTA)is listed in the regional Geosite database.This work aims to propose a multiscale procedure for landslide analysis,in terms of both hazard sources but also educational and geoheritage enhancement opportunities in natural reserves.After performing a Landslide Susceptibility conditional Analysis(LSA)for the reserve territory,attention was focused on the SGTA,to define properly its features and morphodynamics.A multi-disciplinary approach was adopted,by applying both remote sensing(UAV structure from motion,Photointerpretation)and field survey(geomorphological and GPS monitoring).From the LSA,based on drainage density,curvature,and slope triggering factors,the road and trail susceptibility maps were derived,as base tools for future risk assessments and trail paths management within the reserve.At the SGTA scale,the monitoring showed a displacement of up to 23 m during the time interval between 2015 and 2018.The landslide dynamics seem to be driven by alternating dry and extremely wet periods;moreover,leaks from the aqueduct in the detachment area and piping effects through clays may have also decreased the substrate cohesion.The SGTA complex influence on the Paglia River valley geometry was also hypothesized,underlining the action of landslide through different spatial scales(on-site and off-site)and on different environment features(sediment connectivity,hydrology).Finally,the SGTA appears highly representative of the geomorphic dynamics within the Nature Reserve(i.e.,scientific value)and it could be classified as an active geosite.Since the site was featured by a tourist trail,adequate management strategies must be adopted,considering the educational value and safety issues.

Individual tree segmentation and biomass estimation based on UAV Digital aerial photograph

Digital aerial photograph(DAP)data is processed based on Structure from Motion(Sf M)algorithm and regional net adjustment method to generate digital surface discrete point clouds similar to Light Detection and Ranging(LiDAR)and digital orthophoto mosaic(DOM)similar to optical remote sensing image.In this study,we obtained highresolution images of mature forests of Chinese fir by unmanned aerial vehicle(UAV)flying through crossroute flight,and then reconstructed the threedimensional point clouds in the UAV aerial area by SfM technique.The point cloud segmentation(PCS)algorithm was used for the individual tree segmentation,and the F-score of the three sample plots were 0.91,0.94,and 0.94,respectively.Individual tree biomass modeling was conducted using 155 mature Chinese fir forests which were correctly segmented.The relative root mean squared error(rRMSE)values of random forest(RF),bagged tree(BT)and support vector regression(SVR)were 34.48%,35.74%and 40.93%,respectively.Our study demonstrated that DAP point clouds had great potential to extract forest vertical parameters and could be applied successfully in individual tree segmentation and individual tree biomass modeling.

基于无人机和SfM的天津港堆场散料体积测量

随着智慧港口的快速发展,露天堆场的自动化、智能化管控越来越重要,其中准确快速测量露天堆场散装物料体积、堆场占用率等物理量是堆场智能化管理发展的重要工作。以天津港典型堆场为例,应用大疆悟二飞行器、禅思X5S云台相机、Agisoft Metashape软件,基于无人机摄影测量与SfM技术,建立了堆场散装物料的数字高程模型,得到了堆场料堆分布图,计算了料堆总体积和堆场占用率,研究了模型参数设置对测量精度和效率造成的影响。结果表明:该方法可快速准确地获得堆场料堆总体积和堆场占用率,每平方千米堆场的测量内外业耗时1h左右,料堆体积测量相对误差小于3%,堆场占用率测量绝对误差小于0.5%,满足堆场测量的实际需求。模型参数对最终的计算结果精度没有显著影响,但是模型参数设置越高,生成模型耗费的时间就越长,因此模型参数设置为最低时,时间成本最低,在大范围堆场测量中具有实用意义。基于无人机和SfM快速测量堆场散料体积的方法可改变传统的大型堆场管理模式。研究成果可以为堆场散料体积快速测量与堆场智能管控提供技术支撑。

Deep-Learning-Empowered 3D Reconstruction for Dehazed Images in IoT-Enhanced Smart Cities

With increasingly more smart cameras deployed in infrastructure and commercial buildings,3D reconstruction can quickly obtain cities’information and improve the efficiency of government services.Images collected in outdoor hazy environments are prone to color distortion and low contrast;thus,the desired visual effect cannot be achieved and the difficulty of target detection is increased.Artificial intelligence(AI)solutions provide great help for dehazy images,which can automatically identify patterns or monitor the environment.Therefore,we propose a 3D reconstruction method of dehazed images for smart cities based on deep learning.First,we propose a fine transmission image deep convolutional regression network(FT-DCRN)dehazing algorithm that uses fine transmission image and atmospheric light value to compute dehazed image.The DCRN is used to obtain the coarse transmission image,which can not only expand the receptive field of the network but also retain the features to maintain the nonlinearity of the overall network.The fine transmission image is obtained by refining the coarse transmission image using a guided filter.The atmospheric light value is estimated according to the position and brightness of the pixels in the original hazy image.Second,we use the dehazed images generated by the FT-DCRN dehazing algorithm for 3D reconstruction.An advanced relaxed iterative fine matching based on the structure from motion(ARI-SFM)algorithm is proposed.The ARISFM algorithm,which obtains the fine matching corner pairs and reduces the number of iterations,establishes an accurate one-to-one matching corner relationship.The experimental results show that our FT-DCRN dehazing algorithm improves the accuracy compared to other representative algorithms.In addition,the ARI-SFM algorithm guarantees the precision and improves the efficiency.

Preparation and control of entangled states in the two-mode coherent fields interacting with a moving atom via two-photon process

We investigate the preparation and the control of entangled states in a system with the two-mode coherent fields interacting with a moving two-level atom via the two-photon transition. We discuss entanglement properties between the two-mode coherent fields and a moving two-level atom by using the quantum reduced entropy, and those between the two-mode coherent fields by using the quantum relative entropy. In addition, we examine the influences of the atomic motion and field-mode structure parameter p on the quantum entanglement of the system. Our results show that the period and the duration of the prepared maximal atom-field entangled states and the frequency of maximal two-mode field entangled states can be controlled, and that a sustained entangled state of the two-mode field, which is independent of atomic motion and the evolution time, can be obtained, by choosing appropriately the parameters of atomic motion, field-mode structure, initial state and interaction time of the system.

A new approach to study terrestrial yardang geomorphology based on high-resolution data acquired by unmanned aerial vehicles(UAVs): A showcase of whaleback yardangs in Qaidam Basin, NW China

Yardangs are wind-eroded ridges usually observed in arid regions on Earth and other planets. Previous geomorphology studies of terrestrial yardang fields depended on satellite data and limited fieldwork. The geometry measurements of those yardangs based on satellite data are limited to the length, the width, and the spacing between the yardangs; elevations could not be studied due to the relatively low resolution of the satellite acquired elevation data, e.g. digital elevation models(DEMs). However, the elevation information(e.g. heights of the yardang surfaces) and related information(e.g. slope) of the yardangs are critical to understanding the characteristics and evolution of these aeolian features. Here we report a novel approach, using unmanned aerial vehicles(UAVs) to generate centimeterresolution orthomosaics and DEMs for the study of whaleback yardangs in Qaidam Basin, NW China. The ultra-high-resolution data provide new insights into the geomorphology characteristics and evolution of the whaleback yardangs in Qaidam Basin. These centimeter-resolution datasets also have important potential in:(1) high accuracy estimation of erosion volume;(2) modeling in very fine scale of wind dynamics related to yardang formation;(3) detailed comparative planetary geomorphology study for Mars, Venus, and Titan.

Quantum entanglement between the two-mode fields and atomic entropy squeezing in the system of a moving atom interacting with two-mode entangled coherent field

This paper investigates the entropy squeezing of a moving two-level atom interacting with the two-mode entangled coherent field via two-photon transition by using an entropic uncertainty relation and the degree of entanglement between the two-mode fields by using quantum relative entropy.The results obtained from numerical calculation indicate that the squeezed period,the duration of entropy squeezing and the maximal squeezing can be controlled by appropriately choosing the intensity of the light field,the atomic motion and the field-mode structure.The atomic motion leads to the periodic recovery of the initial maximal degree of entanglement between the two-mode fields.Moreover,there exists a corresponding relation between the time evolution properties of the atomic entropy squeezing and those of the entanglement between the two-mode fields.

Using Pure Translation to Get Euclidean Reconstruction

A technique for getting Euclidean reconstruction from two images of the same scene taken by a single moving camera, which undergoes a pure translation, is presented. Euclidean reconstruction of the scene up to three scale factors can be obtained by using this special but still realistic motion when the skew factor of the cam- era is zero; otherwise Euclidean reconstruction of the depth up to one scale factor can be achieved. The only assumption is that the camera intrinsic parameters are constant. Using this special but still realistic motion to do the reconstruction has the advantage that no projective reconstruction is needed and the Euclidean reconstruction is computed directly from the point correspondences in the two images.

Quantifying spatial distribution of interrill and rill erosion in a loess at different slopes using structure from motion(SfM)photogrammetry

The spatial distribution of interrill and rill erosion is essential for unravelling soil erosion principles and the application of soil and water conservation practices.To quantify interrill and rill erosion and their spatial development,four 30-min rainfalls at 90 mm h^(-1)intensity were consecutively simulated on runoff plots packed with a loess at six slopes of 10°,15°,20°,25°,30°and 35°.The soil surface was measured using the structure from motion(SfM)photogrammetry upon each simulation run,and the runoff and sediment samples were collected and measured at every 10 min.Rills did not develop until the third simulation run.During the initial two runs,the lower third section was more severely eroded than the upper and middle thirds along the slope direction,yet the interrill erosion was statistically uniform from left to right.Rills tended to emerge by both sidewalls and in the lower portion in the third run.The corresponding rill erosion increased with slope from 10°to 20°and then decreased for the slopes steeper,which was consistent with the slope trend of the sediment yield directly measured.The rills expanded substantially primarily via head retreat and to a lesser extent via sideward erosion after receiving another 30-min rainfall.Rill erosion contributed 69.3%of the total erosion loss,and shifted the critical slope corresponding to the maximum loss from 20°to 25°.These findings demonstrate the significance of rill erosion not only in total soil loss but also in its relation to slope,as well as the effectiveness of SfM photogrammetry in quantifying interrill and rill erosion.

Applications of structure from motion: a survey

Structure from motion (SfM) has been an active research area in computer vision for decades and numerous practical applications are benefiting from this research. While no previous work has tried to summarize the applications appearing in the literature, this paper deals with a comprehensive overview of recent applications of SfM by classifying them into 10 categories, namely augmented reality, autonomous navigation/guidance, motion capture, hand-eye calibration, image/video processing, image-based 3D modeling, remote sensing, image organization/browsing, segmentation and recognition, and military applications. The goal is to provide insights for researchers to position their work more appropriately in the context of existing techniques, and to perceive both new applications and relevant research problems.

Progress and trend on near-field problems in civil engineering

In the last twenty years, near-field problems became an important topic for both seismologists and civil engineers. The one aspect is to illuminate mechanisms of earthquakes and explain new phenomena. The another aspect is the ground motions, which are usually assigned by engineers as a type of input load for seismic design of structures, sometimes can control the final design results. The experiments, performance evaluations and other related aspects are all based on the specified type of load. As a result, many aspects related to civil engineering will be influenced by changes of the type of load, Hence, the characteristics of the load and the corresponding response of structures are desired for studying. In this paper, the state-of-the-art of near-field problems in civil engineering is comprehensively reviewed, which include inherent characteristics of near-field ground motions and influences of these ground motions on civil structures. The existing problems are pointed out and work needed to be further investigated in the future is suggested. It is believed that the information in this paper can be useful to advance the state of investigation on near-field problems.

Entropy squeezing of a moving atom and control of noise of the quantum mechanical channel via the two-photon process

Based on the quantum information theory, we have investigated the entropy squeezing of a moving two-level atom interacting with the coherent field via the quantum mechanical channel of the two-photon process. The results are compared with those of atomic squeezing based on the Heisenberg uncertainty relation. The influences of the atomic motion and field-mode structure parameter on the atomic entropy squeezing and on the control of noise of the quantum mechanical channel via the two-photon process are examined. Our results show that the squeezed period, duration of optimal entropy squeezing of a two-level atom and the noise of the quantum mechanical channel can be controlled by appropriately choosing the atomic motion and the field-mode structure parameter, respectively. The quantum mechanical channel of two-photon process is an ideal channel for quantum information （atomic quantum state） transmission. Quantum information entropy is a remarkably accurate measure of the atomic squeezing.

Numerical Study on Neck Injury Under Different Postures in Vehicle Side Impact

Neck injury is a severe problem in traffic accidents.While most studies are focused on the neck injury in rear and front impacts,few are conducted in side impact.This study focuses on the difference of neck injury under different postures and the difference of 7 cervical vertebras under the same posture using the method of prescribed structure motion（PSM）.The analytical results show that the maximum changes of mean force and mean moment of 7 cervical vertebras under 8 different postures are 20% and 47% respectively.The variation of each cervical vertebra is different under different neck postures.Up cervical vertebras （C1-C4） and low cervical vertebras （C5-C7） suffer different forces and moments under the same neck posture.Generally speaking,No.6 （neck right leaning 40°） is the posture with lowest neck injury risk.

Accuracy of common stem volume formulae using terrestrial photogrammetric point clouds:a case study with savanna trees in Benin

Recent applications of digital photogrammetry in forestry have highlighted its utility as a viable mensuration technique.However,in tropical regions little research has been done on the accuracy of this approach for stem volume calculation.In this study,the performance of Structure from Motion photogrammetry for estimating individual tree stem volume in relation to traditional approaches was evaluated.We selected 30 trees from five savanna species growing at the periphery of the W National Park in northern Benin and measured their circumferences at different heights using traditional tape and clinometer.Stem volumes of sample trees were estimated from the measured circumferences using nine volumetric formulae for solids of revolution,including cylinder,cone,paraboloid,neiloid and their respective fustrums.Each tree was photographed and stem volume determined using a taper function derived from tri-dimensional stem models.This reference volume was compared with the results of formulaic estimations.Tree stem profiles were further decomposed into different portions,approximately corresponding to the stump,butt logs and logs,and the suitability of each solid of revolution was assessed for simulating the resulting shapes.Stem volumes calculated using the fustrums of paraboloid and neiloid formulae were the closest to reference volumes with a bias and root mean square error of 8.0%and 24.4%,respectively.Stems closely resembled fustrums of a paraboloid and a neiloid.Individual stem portions assumed different solids as follows:fustrums of paraboloid and neiloid were more prevalent from the stump to breast height,while a paraboloid closely matched stem shapes beyond this point.Therefore,a more accurate stem volumetric estimate was attained when stems were considered as a composite of at least three geometric solids.