Easy to Calibrate:Marker-Less Calibration of Multiview Azure Kinect

Reconstructing a three-dimensional(3D)environment is an indispensable technique to make augmented reality and augmented virtuality feasible.A Kinect device is an efficient tool for reconstructing 3D environments,and using multiple Kinect devices enables the enhancement of reconstruction density and expansion of virtual spaces.To employ multiple devices simultaneously,Kinect devices need to be calibrated with respect to each other.There are several schemes available that calibrate 3D images generated frommultiple Kinect devices,including themarker detection method.In this study,we introduce a markerless calibration technique for Azure Kinect devices that avoids the drawbacks of marker detection,which directly affects calibration accuracy;it offers superior userfriendliness,efficiency,and accuracy.Further,we applied a joint tracking algorithm to approximate the calibration.Traditional methods require the information of multiple joints for calibration;however,Azure Kinect,the latest version of Kinect,requires the information of only one joint.The obtained result was further refined using the iterative closest point algorithm.We conducted several experimental tests that confirmed the enhanced efficiency and accuracy of the proposed method for multiple Kinect devices when compared to the conventional markerbased calibration.

On-orbit Geometric Calibration and Preliminary Accuracy Evaluation of GF-14 Satellite

GF-14 satellite is a new generation of sub-meter stereo surveying and mapping satellite in China,carrying dual-line array stereo mapping cameras to achieve 1∶10000 scale topographic mapping without Ground Control Points(GCPs).In fact,space-based high-precision mapping without GCPs is a challenging task that depends on the close cooperation of several payloads and links,of which on-orbit geometric calibration is one of the most critical links.In this paper,the on-orbit geometric calibration of the dual-line array cameras of GF-14 satellite was performed using the control points collected in the high-precision digital calibration field,and the calibration parameters of the dual-line array cameras were solved as a whole by alternate iterations of forward and backward intersection.On this basis,the location accuracy of the stereo images using the calibration parameters was preliminarily evaluated by using several test fields around the world.The evaluation result shows that the direct forward intersection accuracy of GF-14 satellite images without GCPs after on-orbit geometric calibration reaches 2.34 meters(RMS)in plane and 1.97 meters(RMS)in elevation.

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.

Preliminary Pointing Bias Calibration of ZY3-03 Laser Altimeter

ZiYuan3-03(ZY3-03)satellite was launched on July 25,2020,equipped with China’s second-generation laser altimeter for earth observation.In order to preliminarily evaluate the in-orbit performance of the ZY3-03 laser altimeter,the pointing bias calibration based on terrain matching method was adopted.Three tracks of laser data were employed for the ZY3-03 laser altimeter calibration test.Three groups of pointing parameters were obtained respectively,and the mean value of pointing is considered as the optimal calibration result.After calibration,ZY3-03 laser pointing accuracy is greatly improved by the method,and its pointing accuracy is approximately 12.7 arcsec.The first-track laser data on the Black Sea surface is used to evaluate the relative elevation accuracy of ZY3-03 laser altimeter after pointing bias calibration,which is improved from 0.33 m to 0.19 m after calibration.Meanwhile,the absolute elevation accuracy of ZY3-03 laser altimeter after pointing bias calibration is evaluated by the Ground Control Points(GCPs)measured by RTK(Real-Time Kinematic),which is better than 0.5 m in the flat terrain.

A new calibration model for pointing a radio telescope that considers nonlinear errors in the azimuth axis

A new calibration model of a radio telescope that includes pointing error is presented, which considers nonlinear errors in the azimuth axis. For a large radio telescope, in particular for a telescope with a turntable, it is difficult to correct pointing errors using a traditional linear calibration model, because errors produced by the wheel-on-rail or center bearing structures are generally nonlinear. Fourier expansion is made for the oblique error and parameters describing the inclination direction along the azimuth axis based on the linear calibration model, and a new calibration model for pointing is derived. The new pointing model is applied to the 40 m radio telescope administered by Yunnan Observatories, which is a telescope that uses a turntable. The results show that this model can significantly reduce the residual systematic errors due to nonlinearity in the azimuth axis compared with the linear model.

Low-Cost 4-20 mA Loop Calibrator

Instrument calibration is vital to a successful control system because signal inputs to the system controllers come from such instruments. This paper presents a method for actualizing a standard low-cost loop calibrator for the famous 4-20 mA electrical signaling scheme. The loop calibrator generates a linear current signal from 4 to 20 mA over a 250 ? typical process instrument load for calibration. The realization of the loop calibrator relies on a voltage-to-current converter to build a constant current source. The voltage controlled constant current source is built from discrete components and an op-amp to keep the cost low. Results from simulations and the prototype demonstrate the performance of the 4-20 mA loop calibrator which utilizes a greatly reduced number of components. The cost of these components is approximately 34% of the least expensive calibrator sampled, though other production costs are not included. This conclusion reinforces the fact that loop calibrators can be cheaper.

A Precise Calibration Method on Phase Center of Uplink Antenna Array Considering Its Actual Pointing

With regard to the inferior techniques and low accuracy of phase center calibration of an antenna array, this paper proposes a new calibration method considering the actual antenna pointing by introducing a precise engineering surveying technique to measure the real state of antennas. First, an industrial photogrammetric system is utilized to obtain the coordinates of points on antenna panels in different postures, and the actual pointing of the mechanical axis is obtained via least-squares fitting. Then, based on this, the coordinates of antenna rotation center are obtained by seeking the intersection of mechanical axes via using the matrix method. Finally, the mechanical axis in arbitrary postures is estimated based on the inverse-angle weighting interpolation method, and the reliable phase center is obtained by moving a fixed length from the projective center along the mechanical axis. An uplink antenna array including three ? 3 m antennas is taken as experimental object, and all photogrammetric coordinate systems are unified by the engineering control network, with each antenna phase center precisely calibrated via the proposed method. The results of electrical signal synthesis indicate that this method can effectively overcome the influence of gravity deformation and mechanical installation error, and enhance the synthetic signal magnitude of the uplink antenna array.

基于萨哈-玻尔兹曼图与自吸收校正的单点修正激光诱导击穿光谱

为进一步提高单点修正激光诱导击穿光谱(OPC-LIBS)的定量分析精度,提出了基于萨哈-玻尔兹曼图与自吸收校正的OPC-LIBS方法,利用该方法对两个钛合金样品中的Ti、V和Al元素进行了定量分析,并将其定量结果与基于玻尔兹曼图的OPC-LIBS、基于萨哈-玻尔兹曼图的OPC-LIBS以及基于玻尔兹曼图和自吸收校正的OPC-LIBS的结果进行了对比分析。研究结果表明,所提出的改进方法在4种方法中可获得最小的定量误差,测量两个钛合金样品中3种元素的平均相对误差(MREs)分别为4.11%和3.99%,证明所提出的改进方法可有效提高OPC-LIBS的定量分析精度。

基于三维标定板的相机-激光雷达联合标定方法

相机内参及相机与激光雷达外参标定是两者融合感知的前提,为解决平面标定方法存在的过拟合问题,并提高相机与低线束激光雷达的外参标定精度,提出一种基于三维标定板的相机内参及相机/激光雷达外参的联合标定方法。首先通过三维标定板校准相机内参以解决内参标定过程中的过拟合问题;然后设计了一种基于线曲率的平面提取方法来提高单帧点云的平面提取精度;最后通过图像与激光点云中对应的平面特征计算两个传感器之间的外参。实验结果表明,所提方法相比平面标定方法能得到更精确相机内参,与velo2cam_calibration算法相比,外参标定的平均平移误差减少了39.4%,平均旋转误差减少了37.1%。

Hierarchy structure characteristics analysis for the China Loess watersheds based on gully node calibration

A land surface region can be decomposed into a series of watershed units with a hierarchical organizational structure. For loess landform, the watershed is a basic spatial–structural unit that can express natural landforms, surface morphology characteristics, spatial organization and developmental evolution. In this research we adopted the concept of node calibration in the watershed structure unit, selected six complete watersheds on China Loess Plateau as the research areas to study the quantitative characteristics of the hierarchical structure in terms of watershed geomorphology based on digital elevation model(DEM) data, and then built a watershed hierarchical structure model that relies on gully structure feature points. We calculated the quantitative indices, such as elevation, flow accumulation and hypsometric integral and found there are remarkably closer linear correlation between flow accumulation and elevation with increasing gully order, and the same variation tendency of hypsometric integral also presented. The results showed that the characteristics of spatial structure become more stable, and the intensity of spatial aggregation gradually enhances with increasing gully order. In summary, from the view of gully node calibration, the China Loess watershed structure shows more significantly complex, and the developmental situation variation of the loess landforms also exhibited a fairly stable status with gully order increasing. So, the loess watershed structure and its changes constructed the complex system of the loess landform, and it has the great significance for studying the spatial pattern and evolution law of the watershed geomorphology.

Improvement of Camera Calibration Accuracy Based on Periodic Arrangement Characteristics of Calibration Target Pattern

Conventional camera calibration that employs calibration targets is a commonly used method to acquire a camera's intrinsic and/or extrinsic parameters. The calibration targets are usually designed as periodic arrays of simple high-contrast patterns that provide highly accurate world coordinate system points and the corresponding image pixel coordinate system points. The existing pixel coordinate extraction algorithms can reach a sub-pixel level; however, they treat each single pattern in one image as an independent individual, which makes it difficult to further improve extraction accuracy. In this paper, a novel method is proposed by utilizing the periodic arrangement characteristics of the calibration target pattern as a global constraint to improve the calibration accuracy. Based on a camera's pinhole model, the intersection point of two fitted curves is used as an optimized pixel point to replace the initial one. Following the pixel coordinate optimization procedures, experiments were performed using real data from a 3D laser line scanner and a dynamic precision calibration target. Our results show that the relative errors of camera homography matrix elements obtained by the proposed optimization method were reduced compared with the commonly used method. The average coordinate measurement accuracy can be improved by nearly 0.05 mm. It is shown that the proposed optimization method can enhance the camera calibration accuracy,especially when the extracted pixels are of poorer precision.

Simulation Model of Mechanical Properties of Point - Bonded Nonwovens

A computer model for studying the mechanical properties of point - bonded nonwovens is established. The simulation tensile curve of a nonwoven fabric may be obtained based on relaxation procedure when the mechanical properties of fibers, the arrangement of bond points in the fibrous web and specimen size are inputted into the computer. Relaxation method and relevant algorithms of computer simulation are described in detail. The validity of the model is also demonstrated.

GRAPHICAL COMPUTING METHOD ON FOUR-BAR LINKAGE(1)——Inflexion Circle,Focal Axis,Ball's Point,Centering-point Curve and Circling-point Curve For Four ISPs,Coupler Curves Based on Ball's Points——

By means of programs GTMPAC based- on generalized triangle method,analysis and synthesis of mechanism design in accordance with absolutely graphicalmethod( absolutely germetrical method) are developed.In this paper,we make aspecial study about centering- point curve and circling- point curve and couplercurves based on Ball’s points.

Coupled Fixed Point for (<i>&alpha;</i>, <i>&Psi;</i>)-Contractive in Partially Ordered Metric Spaces Using Compatible Mappings

In this paper, first we introduce notions of (α, Ψ)-contractive and (α)-admissible for a pair of map and prove a coupled coincidence point theorem for compatible mappings using these notions. Our work extends and generalizes the results of Mursaleen et al. [1]. At the end, we will provide an example in support of our result.

GRACE-FO卫星星间指向定标与性能评估

由于KBR相位中心、星敏感器安装矩阵在卫星入轨后可能发生变化,这将导致GRACE-FO卫星星间指向存在常偏。为了修正该常偏,需要对卫星姿轨控系统上注星间指向定标参数。推导星间指向定标和星间指向精度评估的相关算法,提出基于在轨路径的星间指向定标流程和实现策略,并基于地面路径对GRACE-FO卫星自发射以来的星间指向性能进行评估。星间指向角的标准差和RMS表明,GRACE-FO星间指向满足KBR正常工作所需的俯仰(pitch)和偏航(yaw)方向1 mrad、横滚(roll)方向10 mrad星间指向要求;卫星姿轨控系统的磁力矩器和姿控推力器能够配合完成姿控需求。

Epidemio-Clinical, Therapeutic and Evolutive Aspects of Pulmonary Embolism in Young Subject in the Cardiology Department in Point “G” Hospital University Center Bamako

Objective: The purpose of this work was to determine the epidemiological, clinical and evolutionary aspects of the pulmonary embolism of the young person in the cardiology department of the University Hospital Center (CHU) Point G in Bamako-Mali. Methodology: This was an analytical study from January 01, 2018 to December 31, 2018 in the CHU Point G cardiology department, including all patients hospitalized during this period. Results: Of 1379 hospitalized patients, 19 patients were concerned by pulmonary embolism of the young person. The prevalence of pulmonary embolism of the young person was 1.37%. The most affected age group was 21 - 30 (47.4%) of patients. The predominance was female (89.47%) with a gender ratio of 0.11 in favour of women. The average age in the series was 29.79 years with extremes of 16 years and 40 years. Factors predisposing to pulmonary embolism were dominated by peri partum, cardiomyopathy and obesity with 47.3%, 31.57% and 21.1%, respectively. The dominant signs were chest pain and dyspnea in 94.7% and 89.5% of cases respectively. Pulmonary embolism was unlikely in 60.52% according to the Geneva and Wells score simplified. At the thoracic angioscanner, the embolism was bilateral in 52.6% of cases and distal in 36.8% of patients;in 10 patients who performed cardiac ultrasound, pulmonary arterial hypertension (70%), dilation of the right ventricle (20%) and left ventricular dilation (40%). Hyper leucocytosis (47.4%), anemia and low prothrombin rate (TP) (22.2%) were the most found biological abnormalities. More than 2/3 (68.5%) our patients had an intermediate mortality risk according to the PESI (Pulmonary Embolism Severity Index) score. The average hospital stay was 10 days. Hospital mortality was 10.5%. Conclusion: The pulmonary embolism of the young person is a frequent, serious and multifactorial pathology and the female sex is most affected especially during peri partum periods, hence the need for preventive measures. Clinical signs are not specific and based on the assessment of clinical probability. Pulmonary angioscanner remains the confirmation review in our context.

Cross-Correlation Detection of Point Sources in the WMAP First Year Data

We apply a Cross-Correlation （CC） method developed previously for detecting gamma-ray point sources to the WMAP first year data by using the Point-Spread Function of WMAP and obtain a full sky CC coefficient map. We find that the CC method is a powerful tool to examine the WMAP foreground residuals which can be further cleaned accord- ingly. Evident foreground signals are found in the WMAP foreground cleaned maps and the Tegmark cleaned map. In this process 101 point sources are detected, and 26 of them are new sources additional to the originally listed WMAP 208 sources. We estimate the flux of these new sources and verify them by another method. As a result, a revised mask file based on the WMAP first year data is produced by including these new sources.

CAS 132-2006 Standard for Flat Panel Display TV Set Installation Service Formulating and Enforcing Main Point Explanation and Analysis

CAS 132-2006 formulation background and work courses Flat panel display technology is maturing alongside the development of science and technology. The prices of flat panel display TV sets are becoming lower and lower. Flat panel display TV sets have begun entering the mainstream and are now the first choice of some consumers when making new TV purchases.Display TV Set Installation Service Point Explanation and AnalysisRepair, Retreat and Change Duty Stipulations. Peculiar use conditions, usage environments, and the practical circumstances of user consumption service requirements, etc., were also taken into account on the basis of extensive investigation, testing, and verification.……

隧道轮廓激光雷达点云线特征共面约束标定方法

地铁隧道断面轮廓参数测量过程中,需要对高速激光雷达点云进行高精度系统标定。特别是大场景隧道环境,对标定模板要求高,标定过程复杂,检测精度影响大。针对此问题,本论文提出了一种新颖的适用于地铁隧道轮廓点云的标定方法,并基于双激光雷达测量系统,进行了算法研究。本方法设计了专用的手推行便携式标定系统,利用由点云数据提取的标定板线特征,建立目标函数,通过混合了遗传算法和Levenberg-Marquardt算法的非线性优化方法,寻找全局最优解从而实现对激光雷达的标定。实验结果表明:本方法对于两侧钢轨顶轨的标定误差在±1.5 mm以内;静态测量精度X误差在±1 mm内、Y误差在±4 mm内;当采集系统以5 km/h的速度进行数据采集时,动态测量精度X误差在±4 mm内、Y误差在±6 mm内。本方法能够实现激光雷达的高精度标定,算法鲁棒性强,具有易操作、环境适应性强的特点。