CALIBRATION OF SMARTPHONE’S REAR DUAL CAMERA SYSTEM

This paper aims to calibrate smartphone’s rear dual camera system which is composed of two lenses, namely; wide-angle lens and telephoto lens. The proposed approach handles large sized images. Calibration was done by capturing 13 photos for a chessboard pattern from different exposure positions. First, photos were captured in dual camera mode. Then, for both wide-angle and telephoto lenses, image coordinates for node points of the chessboard were extracted. Afterwards, intrinsic, extrinsic, and lens distortion parameters for each lens were calculated. In order to enhance the accuracy of the calibration model, a constrained least-squares solution was applied. The applied constraint was that the relative extrinsic parameters of both wide-angle and telephoto lenses were set as constant regardless of the exposure position. Moreover, photos were rectified in order to eliminate the effect of lens distortion. For results evaluation, two oriented photos were chosen to perform a stereo-pair intersection. Then, the node points of the chessboard pattern were used as check points.

Understanding distortions of inorganic substructures in chloridobismuthates(III)

The molar ratio variations of organic and inorganic reactants of chloridobismuthates(III) with N,N-dimethylethane-1,2-diammonium, [(CH3)2NH(CH2)2NH3]2+, and N,N,N′,N′-tetramethylguanidinium, [NH2C{N(CH3)2}2]+, cations lead to the formation of four different products, namely, tris(N,N-dimethylethane-1,2-diammonium) bis[hexachloridobismuthate(III)], [(CH3)2NH(CH2)2NH3]3[BiCl6]2 (1), catena-poly[N,N-dimethylethane-1,2-diammonium [[tetrachloridobismuthate(III)]-μ-chlorido]], {[(CH3)2NH(CH2)2NH3][BiCl5]} n (2), tris(N,N,N′,N′-tetramethylguanidinium) tri-μ-chlorido-bis[trichloridobismuthate(III)], [NH2C{N(CH3)2}2]3[Bi2Cl9] (3), and catena-poly[N,N,N′,N′-tetramethylguanidinium [[dichloridobismuthate(III)]-di-μ-chlorido]], {[NH2C{N(CH3)2}2][BiCl4]} n (4). The hybrid crystals 1–4, containing relatively large but different organic cations, are composed of four distinct anionic substructures. They are built up from isolated [BiCl6]3− octahedra in 1, from face-sharing bioctahedral [Bi2Cl9]3− units in 3, from polymeric corner-sharing {[BiCl5]2−} n chains in 2 and from edge-sharing {[BiCl4]−} n chains in 4. The distortions shown by the single [BiCl6]3− polyhedra in 1–4 are associated with intrinsic interactions within the anionic substructures and the organic...inorganic substructures interactions, namely, N/C—H...Cl hydrogen bonds. The first factor is the stronger, which is evident in comparison of the experimentally determined geometrical and calculated distortion parameters for the isolated octahedron in 1 to the more complex inorganic substructures in 2–4. The formation of N—H...Cl hydrogen bonds, in terms of their number and strength, is favoured for 1 and 3 containing relatively easily accessed hydrogen-bond acceptors of isolated [BiCl6]3− and [Bi2Cl9]3− units. The studies of the deviations from regularity of the [BiCl6]3− octahedra within inorganic substructures were supported by a survey of the Cambridge Structural Database, which confirmed the role played by different factors in the variations in geometry of the inorganic anions.

Iterative feature detection of a coded checkerboard target for the geometric calibration of infrared cameras

The geometric calibration of cameras becomes necessary when images should be undistorted, geometric image information is needed or data from more than one camera have to be fused. This process is often done using a target with a checkerboard or circular pattern and a given geometry. In this work, a coded checkerboard target for thermal imaging cameras and the corresponding image processing algorithm for iterative feature detection are presented. It is shown that, due in particular to the resulting better feature detectability at image borders, lower uncertainties in the estimation of the distortion parameters are achieved.

CALIBRATION AND VALIDATION OF THE INTEL T265 FOR VISUAL LOCALISATION AND TRACKING UNDERWATER

Localization and navigation for autonomous underwater vehicle (AUV) has always been a major challenge and many situations complex solutions had to be devised. One of the main approaches is visual odometry using a stereo camera. In this study, the Intel T265 fisheye stereo camera has been calibrated and tested to determine it’s usability for localisation and navigation under water as an alternative to more complex systems. Firstly the Intel T265 fisheye stereo camera was appropriately calibrated inside a water filled container. This calibration consisting of camera and distortion parameters got programmed onto the T265 fisheye stereo camera to take the differences between land and underwater usage into account. Successive the calibration, the accuracy and the precision of the T265 fisheye stereo camera were tested using a linear, a circular and finally a chaotic motion. This includes a review of the localisation and tracking of the cameras visual odometry compared to a ground truth provided by an OptiTrack V120:Trio to account for scaling, accuracy and precision. Also experiments to determine the usability with fast chaotic motions were performed and analysed. Finally, a conclusion concerning the applicability of the Intel T265 fisheye stereo camera, the challenges using this model, the possibilities for low cost operations and the main challenges for future work is conducted.

OctaDist: a tool for calculating distortion parameters in spin crossover and coordination complexes

OctaDist, a program for calculating three common octahedral distortion parameters, is presented and the calculation of the trigonal distortion parameter, Θ is standardized for the first time.

Electronic structure and bridge geometric distortion in push–pull imine-bridged triads. A theoretical study

Intramolecular electron transfer (IET) in imine-bridged triads is studied by analyzing electric charge distribution and ferrocene and bridge distortion parameters.

Development of a Prototype of a Hardware and Software Device for Panoramic Viewing for Security Systems and Situational Awareness of an Unmanned Vehicle

Purpose of the article: development and creation of a prototype of a panoramic viewing device for an unmanned vehicle that allows recording the surrounding stop as close as possible to the capabilities of human vision, as well as the development of a set of measures to ensure situational awareness of autonomous devices. Method used: The development of the basic basic form was carried out using the SolidWorks software package. The software part of the prototype is made in the form of a desktop application deployed on a computer running Ubuntu 18.04. Mathematical formalization and calculation of distortion parameters are performed. Results: A conceptual study of the design of the “super camera” was carried out, the calculation of distortion compensation, including tangential and radial distortions, was carried out, the physical implementation of the prototype of the panoramic viewing device was presented.

COEFICIENTES DE SIMILARIDADE PARA AVALIAÇÃO DA DIVERSIDADE GENÉTICA EM PINHÃO-MANSO POR MARCADORES ISSR

Objetivou-se com este trabalho, avaliar a eficiência da utilização de diferentes coeficientes de similaridade na estimação da diversidade genética de Jatropha curcas L. utilizando marcadores moleculares ISSR. O DNA genômico foi extraído a partir de folhas jovens de 43 acessos de pinhão-manso. Matrizes de dissimilaridade genética foram obtidas a partir dos coeficientes Baroni, Coincidência Simples, Hamann, Índice II, Índice III, Jaccard, Nei e Li, Ochiai I, Ochiai II, Rogers e Tanimoto e Sokal e Sneath. Os dendrogramas foram construídos utilizando o método UPGMA e comparados mediante os parâmetros de coeficiente de correlação cofenético, estresse e distorção. Foram estimadas as correlações entre os pares de matrizes pelo teste de Mantel. Houve concordância entre as matrizes originais e as matrizes resultantes do processo de agrupamento para todos os coeficientes estudados. Os índices de Jaccard e Nei e Li não diferiram quanto ao ordenamento dos acessos avaliados e permitiram maior discriminação destes, sendo os mais adequados para avaliar a diversidade genética em pinhão-manso baseada em marcadores moleculares ISSR.Palavras-chave: dissimilaridade genética; análise de agrupamento; Jatropha curcas L. SIMILARITY COEFFICIENTS FOR EVALUATION OF GENETIC DIVERSITY IN JATROPHA BY ISSR MARKERS ABSTRACT:The aim of this work was to evaluate the efficiency of using different similarity coefficients in the estimation of Jatropha curcas L. genetic diversity using ISSR molecular markers. Genomic DNA was extracted from young leaves of the 43 jatropha accessions. Genetic dissimilarity matrices were obtained from the Baroni, Simple Matching, Hamann, Index II, Index III, Jaccard, Nei and Li, Ochiai I, Ochiai II, Rogers and Tanimoto and Sokal and Sneath coefficients. The dendrograms were constructed using the UPGMA method and compared using the co-phenetic correlation coefficient, stress and distortion parameters. Correlations between pairs of matrices were estimated by the Mantel test. There was agreement between the original matrices and the matrices resulting from the grouping process for all the studied coefficients. The Jaccard and Nei and Li indices did not differ in terms of the order of the evaluated accessions and allowed for greater discrimination of these, being the most suitable for assessing genetic diversity in physic nut based on ISSR molecular markers.Keywords: genetic dissimilarity; cluster analysis; Jatropha curcas L.

Automatic Distortion Rectification of Wide-Angle Images Using Outlier Refinement for Streamlining Vision Tasks

The study proposes an outlier refinement methodology for automatic distortion rectification of wide-angle and fish-eye lens camera models in the context of streamlining vision-based tasks. The line-members sets are estimated in a scene through accumulation of line candidates emerging from the same edge source. An iterative optimization with an outlier refinement scheme was applied to the loss value, to simultaneously remove the extremely curved outliers from the line-members set and update the robust line members as well as estimating the best-fit distortion parameters with lowest possible loss. The proposed algorithm was able to rectify the distortions of wide-angle and fish-eye cameras even in extreme conditions such as heavy illumination changes and severe lens distortions. Experiments were conducted using various evaluation metrics both at the pixel-level (image quality, edge stretching effects, pixel-point error) as well as higher-level use-cases (object detection, height estimation) with respect to real and synthetic data from publicly available, privately acquired sources. The performance evaluations of the proposed algorithm have been investigated using an ablation study on various datasets in correspondence to the significance analysis of the refinement scheme and loss function. Several quantitative and qualitative comparisons were carried out on the proposed approach against various self-calibration approaches.