A beamformer-independent method to predict photoacoustic visual servoing system failure from a single image frame

Author(s):  
Eduardo A. Gonzalez ◽  
Fabrizio Assis ◽  
Jonathan Chrispin ◽  
Muyinatu A. Lediju Bell
ACTA IMEKO ◽  
2018 ◽  
Vol 7 (2) ◽  
pp. 102 ◽  
Author(s):  
Silvio Del Pizzo ◽  
Umberto Papa ◽  
Salvatore Gaglione ◽  
Salvatore Troisi ◽  
Giuseppe Del Core

An autonomous vision-based landing system was designed and its performance is analysed and measured by an UAS. The system equipment is based on a single camera to determine its position and attitude with respect to a well-defined landing pattern. The developed procedure is based on photogrammetric Space Resection Solution, which provides the position and camera attitude reckoning starting from at least three, not aligned, reference control points whose image coordinates may be measured in the image camera frame. Five circular coloured targets were placed on a specific landing pattern, their 2D image frame coordinates was extracted through a particular algorithm. The aim of this work is to compute UAS precise position and attitude from single image, in order to have a good approach to landing field. This procedure can be used in addition or for replacement of GPS tracking and can be applied when the landing field is movable or located on a moving platform, the UAS will follow the landing pattern until the landing phase will be closed.


Author(s):  
Hanoch Efraim ◽  
Amir Shapiro ◽  
Moshe Zohar ◽  
Gera Weiss

In this work, we suggest a novel solution to a very specific problem—calculating the pose (position and attitude) of a micro-aerial vehicle (MAV) operating inside corridors and in front of windows. The proposed method makes use of a single image captured by a front facing camera, of specific features whose three-dimensional (3D) model is partially known. No prior knowledge regarding the size of the corridor or the window is needed, nor is the ratio between their width and height. The position is calculated up to an unknown scale using a gain scheduled iterative algorithm. In order to compensate for the unknown scale, an adaptive controller that ensures consistent closed loop behavior is suggested. The attitude calculation can be used as is, or the results can be fused with angular velocity sensors to achieve better estimation. In this paper, the algorithm is presented and the approach is demonstrated with simulations and experiments.


VASA ◽  
2015 ◽  
Vol 44 (2) ◽  
pp. 122-128 ◽  
Author(s):  
Mandy Becker ◽  
Tom Schilling ◽  
Olga von Beckerath ◽  
Knut Kröger

Background: To clarify the clinical use of sonography for differentiation of edema we tried to answer the question whether a group of doctors can differentiate lymphedema from cardiac, hepatic or venous edema just by analysing sonographic images of the edema. Patients and methods: 38 (70 ± 12 years, 22 (58 %) females) patients with lower limb edema were recruited according the clinical diagnosis: 10 (26 %) lymphedema, 16 (42 %) heart insufficiency, 6 (16 %) venous disorders, 6 (16 %) chronic hepatic disease. Edema was depicted sonographically at the most affected leg in a standardised way at distal and proximal calf. 38 sets of images were anonymised and send to 5 experienced doctors. They were asked whether they can see criteria for lymphedema: 1. anechoic gaps, 2. horizontal gaps and 3. echoic rims. Results: Accepting an edema as lymphedema if only one doctor sees at least one of the three criteria for lymphatic edema on each single image all edema would be classified as lymphatic. Accepting lymphedema only if all doctors see at least one of the three criteria on the distal image of the same patient 80 % of the patients supposed to have lymphedema are classified as such, but also the majority of cardiac, venous and hepatic edema. Accepting lymphedema only if all doctors see all three criteria on the distal image of the same patients no edema would be classified as lymphatic. In addition we separated patients by Stemmers’ sign in those with positive and negative sign. The interpretation of the images was not different between both groups. Conclusions: Our analysis shows that it is not possible to differentiate lymphedema from other lower limb edema sonographically.


2020 ◽  
Vol 2020 (1) ◽  
pp. 74-77
Author(s):  
Simone Bianco ◽  
Luigi Celona ◽  
Flavio Piccoli

In this work we propose a method for single image dehazing that exploits a physical model to recover the haze-free image by estimating the atmospheric scattering parameters. Cycle consistency is used to further improve the reconstruction quality of local structures and objects in the scene as well. Experimental results on four real and synthetic hazy image datasets show the effectiveness of the proposed method in terms of two commonly used full-reference image quality metrics.


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