Improving sub-pixel accuracy for long range stereo

Dense stereo algorithms are able to estimate disparities at all pixels including untextured regions. Typically these disparities are evaluated at integer disparity steps. A subsequent sub-pixel interpolation often fails to propagate smoothness constraints on a sub-pixel level.We propose to increase the sub-pixel accuracy in low-textured regions in four possible ways: First, we present an analysis that shows the benefit of evaluating the disparity space at fractional disparities. Second, we introduce a new disparity smoothing algorithm that preserves depth discontinuities and enforces smoothness on a sub-pixel level. Third, we present a novel stereo constraint (gravitational constraint) that assumes sorted disparity values in vertical direction and guides global algorithms to reduce false matches, especially in low-textured regions. Finally, we show how image sequence analysis improves stereo accuracy without explicitly performing tracking. Our goal in this work is to obtain an accurate 3D reconstruction. Large-scale 3D reconstruction will benefit heavily from these sub-pixel refinements.Results based on semi-global matching, obtained with the above mentioned algorithmic extensions are shown for the Middlebury stereo ground truth data sets. The presented improvements, called ImproveSubPix, turn out to be one of the top-performing algorithms when evaluating the set on a sub-pixel level while being computationally efficient. Additional results are presented for urban scenes. The four improvements are independent of the underlying type of stereo algorithm.     

Langzeitarchivierung

Zusammenfassung Ein grosser Teil des aktuellen Kulturgutes entsteht in Form digitaler Dokumente. Die langfristige, verf?lschungsfreie Erhaltung und Wiedergabe digitaler Dokumente ist ein noch nicht befriedigend gel?stes Informatik-Problem. Wir beschreiben den Kontext und Aspekte dieser Aufgabe mit den sich daraus ergebenden Anforderungen und skizzieren einige aktuell diskutierte L?sungsans?tze.     

Motion Control of Mobile Robots—From Static Targets to Fast Drives in Moving Crowds

Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting trajectory as well as the control parameters are asymptotically converging and glitches in the localization are handled robustly. The differences to a known method based on Lyapunov functions are discussed theoretically as well as in terms of actual motion measurements. Physical experiments with landbound vehicles show the reliability and limitations of these different methods in setups employing static attractors, systematically moving targets and fast, unpredictable moving targets in highly dynamical environments. Mainly due to the physical meaning of the control parameters the adaptation to actual kinematics and dynamics is significantly simplified.     

Crystallization of S-layer protein lattices on surfaces and interfaces

A review is given on the structure, chemistry, and assembly of crystalline bacterial cell surface layers (S-layers). S-layers composed of single protein or glycoprotein species represent the most common cell surface structures observed in prokaryotic organisms. Isolated S-layer proteins possess the intrinsic property for recrystallization into isoporous monomolecular arrays in suspension and at a broad spectrum of surfaces (e.g. silicon, metals, polymers) and interfaces (e.g. air–liquid interface or lipid films). The well-defined arrangement of functional groups on S-layer lattices allows the binding of functional molecules (e.g. enzymes, antibodies, ligands) and particles in defined regular arrays. S-layers also represent templates for the formation of inorganic nanocrystal superlattices (e.g. Au, CdS, Pt) as required for molecular electronics and non-linear optics. Finally, S-layers can be used as the structural basis for a biomolecular construction kit involving all major species of biological molecules for applications in molecular nanotechnology, nanobiotechnology and biomimetics.     

The fracture behaviour of a welded tubular joint—an ESIS TC1.3 round robin on failure assessment methods: Part VI: application of WES 2805-1997

The Japanese flaw assessment method WES 2805-1997 is applied to the fracture tests on welded tubular T-joints presented in Engineering Fracture Mechanics (2002;69). The approach is shown to yield conservative results for small amounts of stable crack growth but it overestimates the load carrying capacity for larger amounts of stable crack growth. As a consequence it is proposed to restrict the application to ductile crack initiation and to brittle fracture below or at stable crack initiation.