一种摄像机和3维激光雷达外部参数最大似然估计的标定算法

提出了摄像机和激光雷达外部参数的最大似然估计算法.本算法在计算摄像机和3维激光雷达坐标系转换的旋转矩阵时,考虑了各参数初值的误差情况,根据方差的大小为参数初值赋予相应的权值,使误差大的初值具有较小的权重,而误差小的初值具有较大的权重,从而使参数初值的误差对标定结果的影响能够一致.在此基础上求解旋转矩阵的最大似然估计值,...     

MODEEP: a motion-based object detection and pose estimation method for airborne FLIR sequences

In this paper, we present a method called MODEEP (Motion-based Object DEtection and Estimation of Pose) to detect independently moving objects (IMOs) in forward-looking infrared (FLIR) image sequences taken from an airborne, moving platform. Ego-motion effects are removed through a robust multi-scale affine image registration process. Thereafter, areas with residual motion indicate potential object activity. These areas are detected, refined and selected using a Bayesian classifier. The resulting regions are clustered into pairs such that each pair represents one object's front and rear end. Using motion and scene knowledge, we estimate object pose and establish a region of interest (ROI) for each pair. Edge elements within each ROI are used to segment the convex cover containing the IMO. We show detailed results on real, complex, cluttered and noisy sequences. Moreover, we outline the integration of our fast and robust system into a comprehensive automatic target recognition (ATR) and action classification system.     

基于环视图象的数字相机内参数自定标方法

描述了一种适用于IBR系统的数字相机内参数自定标方法。该方法基于跟踪机机旋转得到的图象系列的特征匹配点以,而不需要标定物。认定在相机旋转过程中,其光学中心是稳定不变的,也即图象中心是固定的,可以事先定标;但容许相机的焦距在各幅图象间有变化,利用真实图象序列进行了实验验证,表明该方法能鲁棒地估算相机内参数。     

Detection of colorectal adenoma and cancer based on transthyretin and C3a-desArg serum levels

Colorectal cancer is the second leading cause of cancer death, and it develops from benign colorectal adenomas in over 95% of patients. Early detection of these cancer precursors by screening tests and their removal can potentially eradicate more than 95% of colorectal cancers before they develop. To discover sensitive and specific biomarkers for improvement of pre‐clinical diagnosis of colorectal adenoma and cancer, we analysed in two independent studies (n = 87 and n = 83 patients) serum samples from colorectal cancer (stage III), colorectal adenoma and control patients using SELDI‐TOF‐MS. Extensive statistical analysis was performed to establish homogeneous patient groups based on their clinical data. Two biomarkers that were each able to distinguish control patients from either colorectal adenoma or colorectal cancer patients (p<0.001) were identified as transthyretin (pre‐albumin) and C3a‐desArg by MS/MS and were further validated by antibody‐based assays (radial immunodiffusion, ELISA). A combination of both proteins clearly indicated the presence of colorectal adenoma or carcinoma. Using a cut‐off of <0.225 g/L for transthyretin and >1974 ng/mL for C3a‐desArg, we found a sensitivity and specificity for colorectal adenoma of 96% and 70%, respectively.     

Chemical cross-linking and mass spectrometry to map three-dimensional protein structures and protein-protein interactions

Closely related to studying the function of a protein is the analysis of its three-dimensional structure and the identification of interaction sites with its binding partners. An alternative approach to the high-resolution methods for three-dimensional protein structure analysis, such as X-ray crystallography and NMR spectroscopy, consists of covalently connecting two functional groups of the protein(s) under investigation. The location of the created cross-links imposes a distance constraint on the location of the respective side chains and allows one to draw conclusions on the three-dimensional structure of the protein or a protein complex. Recently, chemical cross-linking of proteins has been combined with a mass spectrometric analysis of the created cross-linked products. This review article describes the most popular cross-linking reagents for protein structure analysis and gives an overview of the different available strategies that employ chemical cross-linking and different mass spectrometric techniques. The challenges for mass spectrometry caused by the enormous complexity of the cross-linking reaction mixtures are emphasized. The various approaches described in the literature to facilitate the mass spectrometric detection of cross-linked products as well as computer software for data analyses are reviewed.     

A digital photography framework enabling affective awareness in home communication

By transforming the personal computer into a communication appliance, the Internet has initiated the true home computing revolution. As a result, Computer Mediated Communication (CMC) technologies are increasingly used in domestic settings, and are changing the way people keep in touch with their relatives and friends. This article first looks at how CMC tools are currently used in the home, and points at some of their benefits and limitations. Most of these tools supportexplicit interpersonal communication, by providing a new medium for sustaining conversations. The need for tools supportingimplicit interaction between users, in more natural and effottless ways, is then argued for. The idea of affective awareness is introduced as a general sense of being in touch with one's family and friends. Finally, the KAN-G framework, which enables affective awareness through the exchange of digital photographs, is described. Various components, which make the capture, distribution, observation and annotation of snapshots easy and effortless, are discussed.     

航空相机稳定平台控制算法设计及其像移补偿

飞行过程中飞机姿态角速度变化会对摆扫式航空相机产生干扰,另外相机在拍摄时飞行方向上的景物与感光介质之间存在相对运动。为消除姿态角速度的干扰和前向像移,设计了一种基于F28335的机载相机两轴稳定平台系统。探讨了伺服控制系统的算法选择,介绍了硬件结构和软件流程。通过摇摆台试验证明,该两轴稳定平台动态精度高、运行可靠,满足相机拍摄时序和精度的要求。     

基于智能相机的混合交通流检测方法

针对目前缺乏混合交通视频智能检测设备的问题,利用CCD传感器与DSP芯片构建了智能相机框架体系和硬件原型系统,采用背景初始化、背景模型与前景获取、物体分割、特征提取、多目标识别分类、摄像机参数标定等视频图像处理技术,构建了混合交通流检测软件方法体系,开发了相应的嵌入式算法系统,实现了混合交通流参数检测。在不同交通状态下的测试结果反映了该系统具有良好的性能,可实现混合交通流参数检测。本方法可为混合交通流智能相机的研发提供借鉴和参考。     

空间TDICCD相机图像压缩的提升小波变换实现技术

空间时间延迟积分电荷耦合器件(TDICCD)相机图像压缩2维(2-D)离散小波变换模块的基于常用硬件实现方法实现效率低,为此提出一种适于电荷耦合器件(CCD)图像的(128,N)快速2-D提升小波实现结构. 在CCD图像行方向上,采用16个提出的1维(1-D)行提升小波变换模块快速实现结构并行分解图像,每个模块采用4个延时寄存器的值作为中间值并用2步预测更新步骤融合的结构来计算行小波系数;在行小波系数的列方向上,提出了一种基于多路复用技术的(32,16)列提升小波变换结构,最终实现了2-D提升小波变换. 结果表明,2-D提升小波变换模块能快速稳定地工作,分解1帧图像仅需60.198μs,与传统方法相比,节省时间达到49.90%,节省逻辑资源10.71%,节省寄存器资源11.80%,节省存储器资源12.98%,有效地解决了CCD图像压缩小波变换硬件实现效率低的问题.     

Rank-1 constraint for camera calibration based on spheres

With the rank-1 constraint, a method for camera intrinsic parameters calculation based on spheres is proposed. The geometric interpretation of the rank-1 constraint is explored from the relation of the image of the absolute conic and the sphere image. Three algebraic equations are derived from the rank-1 constraint. The relation of the sphere images and the camera intrinsic parameters is clearly interpreted in vision geometry. Finally, a nonlinear optimized method is used with the three constraint equations for improving the accuracy. Experimental results show that our method is robust. Compared with the traditional method, it can improve the accuracy of the results of the intrinsic parameters.