scholarly journals A V-SLAM Guided and Portable System for Photogrammetric Applications

2021 ◽  
Vol 13 (12) ◽  
pp. 2351
Author(s):  
Alessandro Torresani ◽  
Fabio Menna ◽  
Roberto Battisti ◽  
Fabio Remondino
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Motion Blur ◽  
Guidance System ◽  
Prototype System ◽  
Active Sensors ◽  
Localization And Mapping ◽  
Acquisition Speed ◽  
Mobile Mapping System ◽  
Slam Algorithm

Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes. While most of the research and commercial systems are based on active sensors, solutions employing only cameras and photogrammetry are attracting more and more interest due to their significantly minor costs, size and power consumption. In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm. The prototype system, named GuPho (Guided Photogrammetric System) also integrates an in-house guidance system which enables optimized image acquisitions, robust management of the cameras and feedback on positioning and acquisition speed. The presented results show the effectiveness of the developed prototype in mapping large scenarios, enabling motion blur prevention, robust camera exposure control and achieving accurate 3D results.

First Flight Experiment with the NERVA-1 Inertial Platform

2013 ◽  
Vol 325-326 ◽  
pp. 990-993 ◽  
Author(s):  
Cristian E. Constantinescu ◽  
Radu D. Rugescu ◽  
Silviu Ciochina ◽  
Remus C. Cacoveanu
Keyword(s):  
Degrees Of Freedom ◽  
Inertial Sensors ◽  
Low Cost ◽  
Cost Effective ◽  
Flight Test ◽  
Guidance System ◽  
Ministry Of Education ◽  
Flight Experiment ◽  
Small Satellites ◽  
Space Launcher

The guidance system of the NERVA small space launcher is based on the six degrees-of-freedom information delivered by an inertial platform. Due to the main scope of the project sponsored by the Romanian Ministry of Education, Research, Youth and Sports to build a cost-effective space launcher, the inertial platform was built with extensive use of on-the-shelf, low cost inertial sensors and equipment. Concerns regarding the behavior and reliability of the sensing block were solved during the first flight experiment in June 2010, on-board the military, unguided drone missile RT-759-01 NERVA-1 and the results are described. The behavior of the electronics under the dynamical loads of the rocket flight, involving overloads of more than 20 g-s and the level of vibration during the real flight was the focus of the flight test, the first ever performed in Romania. The data were broadcast through a eight channel telemetry chain and received on the ground in two different locations for reliability enhancement. The data acquisition performed very well and supplied the basis for further development of the more accurate orbital injection guidance system of the NERVA launcher of small satellites in LEO.

scholarly journals A Novel Motion Blur Resistant vSLAM Framework for Micro/Nano-UAVs

Drones ◽  
2021 ◽  
Vol 5 (4) ◽  
pp. 121
Author(s):  
Buğra ŞİMŞEK ◽  
Hasan Şakir BİLGE
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Situational Awareness ◽  
Low Cost ◽  
Experimental Studies ◽  
Motion Blur ◽  
Aerial Vehicles ◽  
Motion Deblurring ◽  
Localization And Mapping ◽  
Near Future ◽  
Nano Size

Localization and mapping technologies are of great importance for all varieties of Unmanned Aerial Vehicles (UAVs) to perform their operations. In the near future, it is planned to increase the use of micro/nano-size UAVs. Such vehicles are sometimes expendable platforms, and reuse may not be possible. Compact, mounted and low-cost cameras are preferred in these UAVs due to weight, cost and size limitations. Visual simultaneous localization and mapping (vSLAM) methods are used for providing situational awareness of micro/nano-size UAVs. Fast rotational movements that occur during flight with gimbal-free, mounted cameras cause motion blur. Above a certain level of motion blur, tracking losses exist, which causes vSLAM algorithms not to operate effectively. In this study, a novel vSLAM framework is proposed that prevents the occurrence of tracking losses in micro/nano-UAVs due to the motion blur. In the proposed framework, the blur level of the frames obtained from the platform camera is determined and the frames whose focus measure score is below the threshold are restored by specific motion-deblurring methods. The major reasons of tracking losses have been analyzed with experimental studies, and vSLAM algorithms have been made durable by our studied framework. It has been observed that our framework can prevent tracking losses at 5, 10 and 20 fps processing speeds. vSLAM algorithms continue to normal operations at those processing speeds that have not been succeeded before using standard vSLAM algorithms, which can be considered as a superiority of our study.

scholarly journals THE PERFORMANCE ANALYSIS OF AN INDOOR MOBILE MAPPING SYSTEM WITH RGB-D SENSOR

2015 ◽  
Vol XL-1/W4 ◽  
pp. 183-188
Author(s):  
G. J. Tsai ◽  
K. W. Chiang ◽  
C. H. Chu ◽  
Y. L. Chen ◽  
N. El-Sheimy ◽  
...  
Keyword(s):  
Low Cost ◽  
Measurement Unit ◽  
Floor Plan ◽  
Mobile Mapping ◽  
Validation And Verification ◽  
Localization And Mapping ◽  
Mapping System ◽  
Mapping Technology ◽  
Mobile Mapping System ◽  
Mobile Mapping Systems

Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring and cyber city, etc. The key concept of mobile mapping is based on positioning technology and photogrammetry. In order to achieve the integration, multi-sensor integrated mapping technology has clearly established. In recent years, the robotic technology has been rapidly developed. The other mapping technology that is on the basis of low-cost sensor has generally used in robotic system, it is known as the Simultaneous Localization and Mapping (SLAM). The objective of this study is developed a prototype of indoor MMS for mobile mapping applications, especially to reduce the costs and enhance the efficiency of data collection and validation of direct georeferenced (DG) performance. The proposed indoor MMS is composed of a tactical grade Inertial Measurement Unit (IMU), the Kinect RGB-D sensor and light detection, ranging (LIDAR) and robot. In summary, this paper designs the payload for indoor MMS to generate the floor plan. In first session, it concentrates on comparing the different positioning algorithms in the indoor environment. Next, the indoor plans are generated by two sensors, Kinect RGB-D sensor LIDAR on robot. Moreover, the generated floor plan will compare with the known plan for both validation and verification.

scholarly journals INTEGRATING A LOW-COST MEMS IMU INTO A LASER-BASED SLAM FOR INDOOR MOBILE MAPPING

2019 ◽  
Vol XLII-2/W17 ◽  
pp. 149-156
Author(s):  
S. Karam ◽  
V. Lehtola ◽  
G. Vosselman
Keyword(s):  
Low Cost ◽  
Mobile Mapping ◽  
Positioning Systems ◽  
Satellite Positioning ◽  
Mobile Mapping System ◽  
Feature Based ◽  
Measurement Units ◽  
Mapping Techniques ◽  
Slam Algorithm ◽  
Mems Imu

Abstract. Indoor mapping techniques are highly important in many applications, such as human navigation and indoor modelling. As satellite positioning systems do not work in indoor applications, several alternative navigational sensors and methods have been used to provide accurate indoor positioning for mapping purposes, such as inertial measurement units (IMUs) and simultaneous localisation and mapping algorithms (SLAM). In this paper, we investigate the benefits that the integration of a low-cost microelectromechanical system (MEMS) IMU can bring to a feature-based SLAM algorithm. Specifically, we utilize IMU data to predict the pose of our backpack indoor mobile mapping system to improve the SLAM algorithm. The experimental results show that using the proposed IMU integration method leads into a more robust data association between the measured points and the model planes. Notably, the number of points that are assigned to the model planes is increased, and the root mean square error (RMSE) of the residuals, i.e. distances between these measured points and the model planes, is decreased significantly from 1.8 cm to 1.3 cm.

scholarly journals REAL-TIME DENSE 3D RECONSTRUCTION FROM MONOCULAR VIDEO DATA CAPTURED BY LOW-COST UAVS

2021 ◽  
Vol XLIII-B2-2021 ◽  
pp. 361-368
Author(s):  
M. Hermann ◽  
B. Ruf ◽  
M. Weinmann
Keyword(s):  
3D Reconstruction ◽  
Real Time ◽  
Low Cost ◽  
Video Stream ◽  
Video Data ◽  
Depth Sensor ◽  
Oblique View ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Self Motion

Abstract. Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our method does not need an explicit depth sensor. Instead, we only rely on a video stream from a camera and its intrinsic calibration. By exploiting the self-motion of the unmanned aerial vehicle (UAV) flying with oblique view around buildings, we estimate both camera trajectory and depth for selected images with enough novel content. To create a 3D model of the scene, we rely on a three-stage processing chain. First, we estimate the rough camera trajectory using a simultaneous localization and mapping (SLAM) algorithm. Once a suitable constellation is found, we estimate depth for local bundles of images using a Multi-View Stereo (MVS) approach and then fuse this depth into a global surfel-based model. For our evaluation, we use 55 video sequences with diverse settings, consisting of both synthetic and real scenes. We evaluate not only the generated reconstruction but also the intermediate products and achieve competitive results both qualitatively and quantitatively. At the same time, our method can keep up with a 30 fps video for a resolution of 768 × 448 pixels.

Scalable Plasmonic Nanolithography: Prototype System Design and Construction

2016 ◽  
Author(s):  
Yuan Wang ◽  
Mohamed E. Saad ◽  
Kang Ni ◽  
Yen Chi Chang ◽  
Cheng-Wei Chen ◽  
...  
Keyword(s):  
High Throughput ◽  
High Speed ◽  
Low Cost ◽  
Cost Effective ◽  
Prototype System ◽  
Cost Effective Approach ◽  
Nanoscale Metrology ◽  
And Control ◽  
Next Generation Lithography ◽  
Plasmonic Nanolithography

Maskless nanolithography is an agile and cost effective approach if their throughputs can be scaled for mass production purposes. Using plasmonic nanolithography (PNL) approach, direct pattern writing was successfully demonstrated with around 20 nm half-pitch at high speed. Here, we report our recent efforts of implementing a high-throughput PNL prototype system with unique metrology and control features, which are designed to use an array of plasmonic lenses to pattern sub-100 nm features on a rotating substrate. Taking the advantage of air bearing surface techniques, the system can expose the wafer pixel by pixel with a speed of ∼10 m/s, much faster than any conventional scanning based lithography system. It is a low-cost, high-throughput maskless approach for the next generation lithography and also for the emerging nanotechnology applications, such as nanoscale metrology and imaging.

ASSESSMENT OF THE PLATELET COUNT IN THE PREGNANT WOMEN IN IGIMS, PATNA, BIHAR

2020 ◽  
Vol 4 (2) ◽  
Author(s):  
Tanwi Singh ◽  
Anshuman Sinha
Keyword(s):  
Platelet Count ◽  
Pregnant Women ◽  
Screening Test ◽  
Low Cost ◽  
Medical Science ◽  
Cost Effective ◽  
Platelet Indices ◽  
Increased Risk ◽  
Low Platelet Count ◽  
Severity Of The Disease

The major risk associated with low platelet count in pregnancy is the increased risk of bleeding during the childbirth or post that. There is an increased blood supply to the uterus during pregnancy and the surgical procedure requires cutting of major blood vessels. Women with thrombocytopenia are at increased risk of losing excessive blood. The risk is more in case of caesarean delivery as compared to vaginal delivery. Hence based on above findings the present study was planned for Assessment of the Platelet Count in the Pregnant Women in IGIMS, Patna, Bihar. The present study was planned in Department of Pathology, Indira Gandhi Institute of Medical Science, Patna, Bihar, India. The present study was planned from duration of January 2019 to June 2019. In the present study 200 pregnant females samples received for the platelet estimation were enrolled in the present study. Clinically platelet indices can be a useful screening test for early identification of preeclampsia and eclampsia. Also platelet indices can assess the prognosis of this disease in pregnant women and can be used as an effective prognostic marker because it correlates with severity of the disease. Platelet count is a simple, low cost, and rapid routine screening test. Hence the data generated from the present study concludes that platelet count can be used as a simple and cost effective tool to monitor the progression of preeclampsia, thereby preventing complications to develop during the gestational period. Keywords: Platelet Count, Pregnant Women, IGIMS, Patna, Bihar, etc.

Janus – A New Approach to Air Combat Pilot Training

2019 ◽  
Vol 2019 (4) ◽  
pp. 7-22
Author(s):  
Georges Bridel ◽  
Zdobyslaw Goraj ◽  
Lukasz Kiszkowiak ◽  
Jean-Georges Brévot ◽  
Jean-Pierre Devaux ◽  
...  
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
High Energy ◽  
Training System ◽  
Embedded Sensors ◽  
Pilot Training ◽  
New Approach ◽  
Combat Aircraft ◽  
Air Combat ◽  
The Cost

Abstract Advanced jet training still relies on old concepts and solutions that are no longer efficient when considering the current and forthcoming changes in air combat. The cost of those old solutions to develop and maintain combat pilot skills are important, adding even more constraints to the training limitations. The requirement of having a trainer aircraft able to perform also light combat aircraft operational mission is adding unnecessary complexity and cost without any real operational advantages to air combat mission training. Thanks to emerging technologies, the JANUS project will study the feasibility of a brand-new concept of agile manoeuvrable training aircraft and an integrated training system, able to provide a live, virtual and constructive environment. The JANUS concept is based on a lightweight, low-cost, high energy aircraft associated to a ground based Integrated Training System providing simulated and emulated signals, simulated and real opponents, combined with real-time feedback on pilot’s physiological characteristics: traditionally embedded sensors are replaced with emulated signals, simulated opponents are proposed to the pilot, enabling out of sight engagement. JANUS is also providing new cost effective and more realistic solutions for “Red air aircraft” missions, organised in so-called “Aggressor Squadrons”.

Low cost audio based intelligent guidance system for visually impaired people

2020 ◽  
Vol 24 (03) ◽  
pp. 515-520
Author(s):  
Vattumilli Komal Venugopal ◽  
Alampally Naveen ◽  
Rajkumar R ◽  
Govinda K ◽  
Jolly Masih
Keyword(s):  
Visually Impaired ◽  
Low Cost ◽  
Guidance System ◽  
Visually Impaired People ◽  
Impaired People

Motivating Compliance: Firm Response to Mandatory Disclosure Policies

2018 ◽  
Vol 32 (2) ◽  
pp. 103-119
Author(s):  
Colleen M. Boland ◽  
Chris E. Hogan ◽  
Marilyn F. Johnson
Keyword(s):  
Conflict Of Interest ◽  
Low Cost ◽  
Cost Effective ◽  
Data Availability ◽  
Policy Adoption ◽  
Future Research ◽  
Regulated Firms ◽  
Firm Response ◽  
Disclosure Rules ◽  
The Impact

SYNOPSIS Mandatory existence disclosure rules require an organization to disclose a policy's existence, but not its content. We examine policy adoption frequencies in the year immediately after the IRS required mandatory existence disclosure by nonprofits of various governance policies. We also examine adoption frequencies in the year of the subsequent change from mandatory existence disclosure to a disclose-and-explain regime that required supplemental disclosures about the content and implementation of conflict of interest policies. Our results suggest that in areas where there is unclear regulatory authority, mandatory existence disclosure is an effective and low cost regulatory device for encouraging the adoption of policies desired by regulators, provided those policies are cost-effective for regulated firms to implement. In addition, we find that disclose-and-explain regulatory regimes provide stronger incentives for policy adoption than do mandatory existence disclosure regimes and also discourage “check the box” behavior. Future research should examine the impact of mandatory existence disclosure rules in the year that the regulation is implemented. Data Availability: Data are available from sources cited in the text.

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