The paper presents an analysis of the latest developments in the field of stereo vision in the low-cost segment, both for prototypes and for industrial designs. We described the theory of stereo vision and presented information about cameras and data transfer protocols and their compatibility with various devices. The theory in the field of image processing for stereo vision processes is considered and the calibration process is described in detail. Ultimately, we presented the developed stereo vision system and provided the main points that need to be considered when developing such systems. The final, we presented software for adjusting stereo vision parameters in real-time in the python language in the Windows operating system.

This study presents an instant preview and analysis system implementation of intelligent stereo cameras (ISCs). A parameter optimization prototype adopted the instant preview and analysis system of the ISCs has been achieved the automatic alignment function, and obtained optimal stereo films with the automatic alignment function by adjusting gap and angle between dual cameras. The instant preview and analysis system of the ISCs with parameter optimization can enhance the quality of stereo films effectively and reduce filmed errors and save retouched cost and time in harsh filmed environment.

Coastal environments, of major economic, social, and strategic importance, rely heavily on bathymetry for navigation safety, harbor development, and resource monitoring. Innovations in bathymetry include optical alternatives for shallower waters, as traditional acoustic solutions are less efficient. Recent studies demonstrated airborne imagery is an efficient option to frequently map shallow waters at synoptic scales and has the capacity to retrieve the Water Column Depth (WCD). Geometric approaches allow to obtain 3D reconstruction from images by triangulating a set of pixels that are located on more than one image (feature points). They demonstrate great potential for WCD assessment, achieving a penetration depth of over 5 meters with an accuracy in the decimeter range when creating high resolution maps of clear shallow water bodies as long as there is sufficient bottom texture with identifiable features. As the navigation safety of vessels relies on WCD accuracy, it is of utmost importance to quantify the uncertainty associated with the derived product. Studies on bathymetry estimation using geometric approaches tend to focus on the estimation accuracy, rather than the assessment of uncertainty, despite the fact that there are many sources of uncertainty. As a result, here is a lack of robust uncertainty modeling methods, crucial for assessing the quality of bathymetric charts, especially in shallow waters. In response, this research introduces a novel likelihood-based approach for through-water photogrammetry with a focus on the uncertainties associated with camera pose, a key factor affecting through-water depth mapping. Our methodology incorporates probabilistic modeling and stereo-photogrammetric triangulation. In addition to providing a realistic estimate of the uncertainty, this approach allows to handle complex cases involving noisy camera poses in addition to retrieving the water interface height. The results proposed in this paper reveal the significant influence of viewing geometry and camera pose quality on the resulting uncertainties, overshadowing the impact of depth. In addition, they demonstrate the superior performance of the likelihood ratio statistic in scenarios involving high attitude noise, high flight altitude, and complex viewing geometries. Also, we highlight the transformative potential of drone-based applications in underwater surveying, leveraging high-precision and efficient data collection to contribute to more accurate bathymetric charts.

One of the important issues being explored in Industry 4.0 is a collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems it is 10-20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e. it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show centimeter positioning accuracy with a position update frequency of 50 Hz.

Directional dithering of a laser beam potentially limits the detection accuracy of a laser triangulation displacement probe. A theoretical analysis indicates that the measurement accuracy will linearly decrease as the laser dithering angle increases. To suppress laser dithering, a laser triangulation displacement probe with laser beam pointing control, which consists of a collimated red laser, a laser beam pointing control setup, a receiver lens, and a charge-coupled device, is proposed in this paper. The laser beam pointing control setup is inserted into the source laser beam and the measured object and can separate the source laser beam into two symmetrical laser beams. Hence, at the angle at which the source laser beam dithers, the positional averages of the two laser spots are equal and opposite. Moreover, a laser dithering compensation algorithm is used to maintain a stable average of the positions of the two spots on the imaging side. Experimental results indicate that with laser beam pointing control, the standard variance of the fitting error decreases from 0.3531 to 0.0100, the repeatability accuracy can be decreased from ±7mm to ±5 μm, and the nonlinear error can be reduced from ±6 %FS to ±0.16 %FS.

In this paper, we present a multi-task model that predicts disparities and confidence levels in deep stereo matching simultaneously. We do this by combining its successful model for each separate task and obtaining a multitask model that can be trained with a proposed loss function. We show the advantages of this model compared to training and predicting disparity and confidence sequentially. This method enables an improvement of 15% to 30% in the area under the curve (AUC) metric when trained parallel rather than sequential. In addition, the effect of weighting the components in the loss function on the stereo and confidence performance is investigated. By improving the confidence estimate, the practicality of stereo estimators for creating distance images is increased.

A very high-resolution DSM covering an area of 400km² over the Athens Metropolitan Area has been produced using Pleiades 1B 0,5m panchromatic tri-stereo images. Applied Remote Sensing and Photogrammetry tools have been used resulted in a 1x1m DSM over the study area. DSM accuracy has been evaluated by comparison with measured elevations with D-GPS and a reference DSM provided by the National Cadaster & Mapping Agency S.A. In addition, different combinations of stereo images have been prepared for further exploitation of the quality of the produced DSM by stereo vs. tri-stereo images. Results show that the produced by the tri-stereo images DSM has an RMSE of 1.17m in elevation (z), which is among the best reported in the relevant literature. Stereo based DSMs from the same sensor have worst performance to this end. Satellite Remote Sensing (SRS) based DSMs over urban areas provide the best cost-effective approach in comparison to airborne-based datasets due to high spatial coverage, lower cost and high temporal coverage. Pleiades-based high-quality DSM products can serve the domains of urban planning/climate, hydrological modelling and natural hazards, as major input for simulation models and morphological analysis at local scale.

Abstract: Droughts are complex and gradually evolving conditions of extreme water deficits which can compromise livelihoods and ecological integrity, especially in fragile arid and semi-arid regions that depend on rainfed farming, such as Kitui West in south-eastern Kenya. Against the background of low ground-station density, 10 gridded rainfall products and four gridded temperature products were used to generate an ensemble of 40 calculations of the Standardized Precipitation Evapotranspiration Index (SPEI) to assess uncertainties in the onset, duration and magnitude of past droughts. These uncertainties were driven more by variations between the rainfall products than variations between the temperature products. Remaining ambiguities in drought occurrence could be resolved by complementing the quantitative analysis with ground-based information from key informants engaged in disaster relief, effectively formulating an ensemble approach to SPEI-based drought identification to aid decision making. The reported trend towards drier conditions in Eastern Africa was confirmed for Kitui West by the majority of data products, whereas the rainfall effect on the increasingly dry conditions was more subtle than annual and seasonal declines and greater annual variation, which warrants further investigation. Nevertheless, the effects of increasing droughts are already felt on the ground and warrant decisive action.

The paper deals with exploration of subsequences of polygonal numbers of different sides derived through step-by-step elimination of terms of the original sequences. Eliminations are based on special rules similarly to how the classic sieve of Eratosthenes was developed through the elimination of multiples of primes. These elementary number theory activities, appropriate for technology-enhanced secondary mathematics education courses, are supported by a spreadsheet, Wolfram Alpha, Maple, and the Online Encyclopedia of Integer Sequences. General formulas for subsequences of polygonal numbers referred to in the paper as polygonal number sieves of order k that include base-two exponential functions of k have been developed. Different problem-solving approaches to the derivation of such and other sieves based on the technology-immune/technology-enabled framework have been used. The accuracy of computations and mathematical reasoning is confirmed through the technique of computational triangulation enabled by using more than one digital tool. A few relevant excerpts from the history of mathematics are briefly featured.

With the development of remote sensing satellite technology for Earth observation, remote sensing stereo images have been used for three-dimensional reconstruction in various fields, such as urban planning and construction. However, remote sensing images often include noise, occluded regions, weakly textured areas and repeated textures, which can lead to reduced accuracy in stereo matching and affect the quality of the 3D reconstruction results. To reduce the impact of complex scenes in remote sensing images on stereo matching and to ensure both speed and accuracy, we propose a new end-to-end stereo matching network based on convolutional neural networks (CNNs). The proposed stereo matching network can learn features at different scales from the original images and construct cost volumes with varying scales to obtain richer scale information. Additionally, when constructing the cost volume, we introduce negative disparity to adapt to the common occurrence of both negative and nonnegative disparities in remote sensing stereo image pairs. For cost aggregation, we employ a 3D convolution-based encoder-decoder structure that allows the network to adaptively aggregate information. Before feature aggregation, we also introduce an attention module to retain more valuable feature information, enhance feature representation, and obtain a higher-quality disparity map. By training on the publicly available US3D dataset, we obtain the accuracy that 1.115 pixel in end-point error (EPE) and 5.32% in the error pixel ratio (D1) on the test dataset, and the inference speed is 92 ms. Comparing our model with existing state-of-the-art models, we achieve higher accuracy, and the network is beneficial for the three-dimensional reconstruction of remote sensing images.

As we all know, many more dynamic objects appear almost continuously in real world, which are immensely able to impair the performance of the majority of vision-based SLAM systems that are based on the static-world assumption. In order to improve the robustness and accuracy of visual SLAM in the high dynamic environment, a real-time and robust stereo SLAM system for dynamic scenes was proposed. To weaken influences of dynamic content, the moving object detection method was put forward in our visual odometry, then the semantic segmentation network was combined into our stereo SLAM to extract pixel-level contours of dynamic objects. Then influences of dynamic objects were extremely weaken and the performance of our system was increased markedly in dynamic, complex and crowed city spaces. Experiment with both on KITTI Odometry dataset and in a real-life scene, the results show that our method can dramatically decrease the tracking error or drift, improve the robustness and stability of our stereo SLAM in high dynamic outdoor scenarios.

The Compact Midwave Imaging System (CMIS) is a wide field of view, multi-angle, multi-spectral pushframe imager that relies on the forward motion of the satellite to create a two-dimensional (2D) image swath. An airborne demonstration of CMIS was successfully completed in January-February 2021 on the NASA Langley Research Center Gulfstream III. The primary objective of the four-flight campaign was to demonstrate the capability of this unique instrument to perform stereo observations of clouds and other particulates (e.g. smoke) in the atmosphere. It is shown that the midwave infrared (MWIR) spectral bands of CMIS provide a unique 24/7 capability with high resolution for accurate stereo sensing. The instrument relies on new focal plane array (FPA) technology, which provides excellent sensitivity at much warmer detector temperatures than traditional technologies. This capability enabled a compact, low-cost design that can provide atmospheric motion vectors and cloud heights to support requirements for atmospheric winds in the 2017-2027 Earth Science Decadal Survey. Applications include day/night observations of the planetary boundary layer, severe weather, and wildfires. A comparison with current space-based earth science instruments demonstrates that the SWIR/MWIR multi-spectral capability of CMIS is competitive with larger, more expensive instrumentation. Imagery obtained over a controlled burn and operating nuclear power plant demonstrated the sensitivity of the instrument to temperature variations. The system relies on a mature stereoscopic imaging technique applied to the same scene from two independent platforms to unambiguously retrieve atmospheric motion vectors (AMVs) with accurate height assignment. This capability has been successfully applied to geostationary and low-earth orbit satellites to achieve excellent accuracy. When applied to a ground-point validation case, the accuracy for the CMIS aircraft observations was 20 m and 0.3 m/s for cloud heights and motion vectors, respectively. This result was confirmed by a detailed error analysis with analytical and covariance models. The results for CMIS cases with underflights of Aeolus, CALIPSO and Aqua provided a good validation of expected accuracies. The paper also showed the feasibility of accommodating CMIS on CubeSats to enable multiple instruments to be flown in a leader-follower mode.

This research investigates precision enhancement in regional quasi-geoid refinement through ADS80 tri-linear array scanning stereoscopic imagery for aerial triangulation, coupled with GNSS gravity-potential modeling. Acquiring stereoscopic imagery and analyzing triangulation accuracy with the ADS80 camera, we performed this study over the Qinghai-Tibet Plateau's elevated, desolate terrain, collecting 593 GNSS points following high-precision stereoscopic imagery model. Utilizing 12 gravity satellite models, we computed geoid heights and China 1985 Yellow Sea elevations for 28 benchmarks and GNSS points, thereby refining the Qinghai Province Quasi-Geoid Model (QPQM) using geometric techniques. The findings reveal that POS-assisted ADS80 stereoscopic imagery yields high-precision triangulation with maximal horizontal and elevation accuracies of 0.083/0.116 cm and 0.053/0.09 cm, respectively, across five control point arrangements. The RMSE of normal heights for 1985, processed via these GNSS points, achieved decimeter precision. By applying error corrections from benchmarks to the 1985 elevation data from gravity satellites and performing weighted averaging, the precision of EGM2008, SGG-UGM-2, and SGG-UGM-1 models improved to 8.61 cm, 9.09 cm, and 9.38 cm, respectively, surpassing the QPQM by 9.22 cm to 9.99 cm. This research demonstrates that the proposed methods can significantly enhance the precision of regional quasi-geoid surfaces. Additionally, these methods offer a novel approach for rapidly establishing regional quasi-geoid models in the uninhabited areas of the Qinghai-Tibet Plateau.

The triangulation process represents a violation of the boundary between parental and child relational subsystems which, in turn, affects family dynamics and relationships. The paper, with distinct reference to marital conflict and divorced couples, describes the main causes of the triangulation process and its impact on children (and adolescents) as significant third participants within the parental conflict. Besides, it fo-cuses on long-term consequences associated with triangulation process to parental conflict exposure, that can adversely affect the well-being of children during their life-cycle, and even into adulthood. A data-search was carried out for articles to be included in the review and articles were retrieved from different electronic databases (first: Scopus and Web of Science, then: PsychINFO, Google Scholar, EBSCO and ScienceDirect,). After having initially considered 152 articles, 58 studies were selected for this research. A qualitative analysis was conducted on selected studies, focusing on: (1) different types of triangulation commonly used in intergenerational family relationships; (2) an updated summary of the research around the impact of triangulation on the well-being of children and the parent-child conflict; and (3) the main characteristics of successful intervention of preventative and psychotherapeutic treatments. In conclusion, the results, examining the long-term effects of the triangulation process, highlight the developmental paths of children that are more exposed and at risk, and focuses on the importance of preventing the intergenerational transmission of marital conflict, as a way to reduce mental health costs and to improve the well-being of children and families who are all involved in these conflicting and destructive dynamics.

Camouflage is a natural or artificially process to prevent an object from being detected while camouflage breaking is a countering process for the identification of the concealed object. We report that a perfectly camouflaged object in a two-dimensional scene can be retrieved and detected with stereo-vision assisted three-dimensional (3D) imaging perceived with stereopsis. The analysis is based on binocular energy model applied to general 3D settings. We show that a perfectly concealed object with random noise background can be retrieved with vision’s stereoacuity to resolve the hidden structures. The theoretical analysis is further tested and demonstrated with distant natural images taken by a drone-camera, processed with a computer and displayed in an autostereoscopy. The recovered imaging is presented with removal of the background interference to demonstrate the general applicability for camouflage breaking with stereo imaging and sensing.

Newly build offshore wind farms (OWFs) render a collision risk between ships and installations. The paper proposed a real-time traffic monitoring method based on machine vision and deep learning technology to improve the efficiency and accuracy of the traffic monitoring system in the vicinity of offshore wind farms. Specifically, the method employs real automatic identification system (AIS) data to train a machine vision model, which is then used to identify passing ships in OWF waters. Furthermore, the system utilizes stereo vision techniques to track and locate the positions of passing ships. The method is tested in offshore water in China to validate its reliability. The results prove that the system sensitively detects the dynamic information of the passing ships, such as the distance between ships and OWFs, ship speed and course. Overall, this study provides a novel approach to enhancing the safety of OWFs, which is increasingly important as the number of such installations continues to grow. By employing advanced machine vision and deep learning techniques, the proposed monitoring system offers an effective means of improving the accuracy and efficiency of ship monitoring in challenging offshore environments.

Accurately estimating the current state of local traffic scenes is one of the key problems in the development of software components for automated vehicles. In addition to details on free space and drivability, static and dynamic traffic participants, information on the semantics may also be included in the desired representation. Multi-layer grid maps allow to include all this information in a common representation. However, most existing grid mapping approaches only process range sensor measurements such as LIDAR and Radar and solely model occupancy without semantic states. In order to add sensor redundancy and diversity it is desired to add vision based sensor setups in a common grid map representation. In this work, we present a semantic evidential grid mapping pipeline including estimates for eight semantic classes that is designed for straightforward fusion with range sensor data. Unlike in other publication our representation explicitly models uncertainties in the evdiential model. We present results of our grid mapping pipeline based on a monocular vision setup and a stereo vision setup. Our mapping resulsts are accurate and dense mapping due to the incorporation of a disparity- or depth-based ground surface estimation in the inverse perspective mapping. We conclude this paper by providing a detailed quantitative evaluation based on real traffic scenarios in the Kitti odometry benchmark and demonstrating the advantages compared to other semantic grid mapping approaches.

We propose an approach for estimating the error in depth data provided by generic 3D sensors, which are modern devices capable of generating an image (RGB data) and a depth map (distance) or other similar 2.5D structure (e.g. stereo disparity) of the scene. Our approach starts capturing images of a checkerboard pattern devised for the method. Then proceed with the construction of a dense depth map using functions that generally comes with the device SDK (based on disparity or depth). The 2D processing of RGB data is performed next to find the checkerboard corners. Clouds of corner points are finally created (in 3D), over which an RMS error estimation is computed. We come up with a multi-platform system and its verification and evaluation has been done, using the development kit of the board nVIDIA Jetson TK1 with the MS Kinects v1/v2 and the Stereolabs ZED camera. So the main contribution is the error determination procedure that does not need any data set or benchmark, thus relying only on data acquired on-the-fly. With a simple checkerboard, our approach is able to determine the error for any device. Envisioned application is on 3D reconstruction for robotic vision, with a series of 3D vision sensors embarked in robots (UAV of type quadcopter and terrestrial robots) for high-precision map construction, which can be used for sensing and monitoring.

Using the orbit decomposition, a new enumerative polynomial P(x) is introduced for abstract (simplicial) complexes of a given type, e.g., trees with a fixed number of vertices or triangulations of the torus with a fixed graph. The polynomial has the following three useful properties. (I) The value P(1) is equal to the total number of unlabeled complexes (of a given type). (II) The value of the derivative P'(1) is equal to the total number of nontrivial automorphisms when counted across all unlabeled complexes. (III) The integral of P(x) from 0 to 1 is equal to the total number of vertex-labeled complexes, divided by the order of the acting group. The enumerative polynomial P(x) is demonstrated for trees and then is applied to the triangulations of the torus with the vertex-labeled complete four-partite graph G = K_{2,2,2,2}, in which specific case P(x) = x^{31}. The graph G embeds in the torus as a triangulation, T(G). The automorphism group of G naturally acts on the set of triangulations of the torus with the vertex-labeled graph G. For the first time, by a combination of algebraic and symmetry techniques, all vertex-labeled triangulations of the torus (twelve in number) with the graph G are classified intelligently without using computing technology, in a uniform and systematic way. It is helpful to notice that the graph G can be converted to the Cayley graph of the quaternion group Q_8 with the three imaginary quaternions i, j, k as generators.

Splines and quasi-interpolation operators are important both in approximation theory and applications. In this paper, we construct a family of quasi-interpolation operators for the bivariate quintic spline spaces S₅³ (∆_mn⁽²⁾). Moreover, the properties of the proposed quasi-interpolation operators are studied, as well as its applications for solving two-dimensional Burgers’ equation and image reconstruction. Some numerical examples show that these methods, which are easy to implement, provide accurate results.

To date, the development of unmanned technologies using autonomous underwater vehicles (AUV) has become an urgent demand for solving the problem of inspection of industrial sub-sea structures. A key issue here is precise localization of AUVs relative to underwater objects. However, the well-known challenges of recognizing and coordinating underwater objects (impossibility to use GPS, undercurrents, etc.) do not allow high-precision navigation if based solely on a standard suite of AUV navigation tools (sonars, etc.). An alternative is a technology of processing of optical images that, at short distances, can provide higher accuracy of AUV navigation compared to a technology of acoustic measurement processing. In this study, in the context of the problem of subsea production system inspection, we propose a method to recognize underwater objects and provide coordinate reference of AUV to them, based on stereo-image processing. Its distinctive features are the use of a non-standard technique for generating a geometric model of an object from its views (foreshortening) taken from positions of a pre-made overview trajectory, the use of various characteristic geometric elements when recognizing objects, and the original algorithms for comparing visual data of the inspection trajectory with an a priori model of the object.

The NW-SE trending dextral strike-slip faults on the north side of the Tian Shan play an important role in accommodating the crustal shortening, which mainly includes the Karatau fault, Talas-Fergana fault, Dzhalair-Naiman fault, Aktas fault, Dzhungarian fault (also named Bolokenu-Aqikekuduk fault) and Chingiz fault. The classic viewpoint is that the strike-slip fault is the adjustment product caused by the difference of the crustal shortening from west to east. Another viewpoint attributes the dextral strike-slip fault to large-scale sinistral shearing. The Alakol Lake Fault is situated along the northern margin of the Dzhungarian Gate, stretching for roughly 150 km from Lake Ebinur to Lake Alakol. Our team utilized aerial photographs, Satellite Stereo-imagery, and field observation to map the distribution of the Alakol Lake fault. Our findings provided evidence supporting the assertion that the fault is a dextral strike-slip fault. In reference to its spatial distribution, Lake Alakol is situated in a pull-apart basin that lies between two major dextral strike-slip fault lines: the Chingiz and Dzhungarian faults. The Alakol Lake Fault serves as a connecting point for these two faults, resulting in the formation of a mega NW-SE dextral strike-slip fault zone. According to our analysis of the dating samples taken from the alluvial fan, as well as our measurement of the displacement of the riser and gully, it appears that the Alakol Lake fault has a dextral strike-slip rate of 0.8-1.5mm/yr. The strike-slip rate of the Alakol Lake fault is comparatively higher than that of the Chingiz fault in the northern region (~0.7 mm/yr), but slower than that of the Dzhungarian fault in the southern (3.2-5 mm/yr). The Chingiz-Alakol-Dzhungarian fault zone shows a gradual decrease in deformation towards the interior of the Kazakhstan platform. We contend that the rate of deformation observed is better explained by the crustal shortening adjustment model, rather than the large-scale sinistral shearing model.

This experimental study probes the dynamic behaviour of a 3mm ABS sheet during positive mould vacuum-assisted thermoforming. In this process, the sheet undergoes large and fast deformations, caused by the applied vacuum and mechanical stretching by the mould. The objective is to elucidate the complexities of these large, rapid and non-isothermal deformations. The non-isothermal conditions are caused by the radiative heating of the sheet, convective heat loss to the surrounding air and conductive heat transfer from the sheet to the mould. Utilizing stereo Digital Image Correlation (DIC) in tandem with thermal imaging, the present study accurately maps the occurring displacement, strain and strain rate field in relation to real-time temperature variation of the material. The study progresses to observe the ABS material from the moment it contacts the mould until it conforms to a positive 250mm diameter semi-sphere cast aluminium mould. The DIC methods are validated by comparing thickness values derived from DIC’s principal strain directions to ultrasonic thickness gauge readings. This knowledge not only broadens the understanding of the thermo-mechanical behaviour of the material but also aids in optimizing process parameters for improved thickness uniformity in thermoformed products.

Self-driving vehicles demand efficient and reliable depth sensing technologies. Lidar, with its capacity for long-distance, high-precision measurement, is a crucial component in this pursuit. However, conventional mechanical scanning implementations suffer from reliability, cost, and frame rate limitations. Solid-state lidar solutions have emerged as a promising alternative, but the vast amount of photon data processed and stored using conventional direct time-of-flight (dToF) prevents long-distance sensing unless power-intensive partial histogram approaches are used. In this paper, we introduce a groundbreaking ‘guided’ dToF approach, harnessing external guidance from other onboard sensors to narrow down the depth search space for a power and data-efficient solution. This approach centers around a dToF sensor in-which the exposed time widow of independent pixels can be dynamically adjusted. We utilize a 64-by-32 macropixel dToF sensor and a pair of vision cameras to provide the guiding depth estimates. Our demonstrator captures a dynamic outdoor scene at 3 fps with distances up 75 m. Compared to a conventional full histogram approach, on-chip data is reduced by over 25 times, while the total laser cycles in each frame are reduced by at least 6 times compared to any partial histogram approach. The capability of guided dToF to mitigate multipath reflections is also demonstrated. For self-driving vehicles where a wealth of sensor data is already available, guided dToF opens new possibilities for efficient solid-state lidar.

A waterbody detection technique is an essential part of digital elevation model (DEM) generation to delineate land-water boundaries and set flattened elevations. This paper describes the technical methodology for improving the initial tile-based waterbody data that are created during production of the ASTER GDEM, because without improvement such tile-based waterbody data are not suitable for incorporating into the new ASTER GDEM Version 3. Waterbodies are classified into three categories: sea, lake, and river. For sea-waterbodies, the effect of sea ice is removed to better delineate sea shorelines in high latitude areas, because sea ice prevents accurate delineation of sea shorelines. For lake-waterbodies, the major part of the processing is to set the unique elevation value for each lake using a mosaic image that covers the entire lake area. Rivers present a unique challenge, because their elevations gradually step down from upstream to downstream. Initially, visual inspection is required to separate rivers from lakes. A stepwise elevation assignment, with a step of one meter, is carried out by manual or automated methods, depending on the situation. The ASTER GWBD product consists of a global set of 1º latitude-by-1º longitude tiles containing water body attribute and elevation data files in geographic latitude and longitude coordinates and with one arc second posting. Each tile contains 3601-by-3601 data points. All improved waterbody elevation data are incorporated into the ASTER GDEM to reflect the improved results.

ORB (Oriented FAST and Rotated Brief) features are the most commonly used features in visual SLAM and visual odometry that have high computational speed, and rotation scale invariance. However, due to the homogenization of ORB features, the corner properties of specific features are poor in some artificial environments, and it can lead to poor matching performance when the environmental texture is not rich. The underlying reason is that the pixel grayscale changes in the less-richly textured regions on the image are not obvious, leading to a certain degree of mis-matching in the matching process. At the same time, when the camera motion speed is low, there is much overlap between adjacent frames. This results in minimal or almost no changes in the projection of feature points, and the system is highly sensitive to errors, In this case, even small errors can cause significant fluctuations in the calculation results. In response to the above issues, an improved feature point method for stereo vision mileage calculation is proposed to solve the problem of system stability deterioration when cameras move at low speeds in artificial envi-ronments. Firstly, weight calculation based on different texture regions is used to solve the problem of low corner properties of feature points caused by environmental texture differences. Then, keyframes are used for motion model estimation to improve the system's stability under low-speed motion. The experimental results of the dataset showed that the key frame rate was optimal between 10% and 12%, and the positioning accuracy was higher than these open-source systems compared with three common open-source VO systems.

The nuclear lamina consists of a dense fibrous meshwork made of nuclear lamins, Type V intermediate filaments, and is ~14 nm thick according to recent cryo-electron tomography studies. Recent advances in light microscopy have extended the resolution to a scale allowing for the fine structure of the lamina to be imaged in the context of the whole nucleus. We review quantitative approaches to analyze the imaging data of the nuclear lamina as acquired by structured illumination microscopy (SIM) and single molecule localization microscopy (SMLM), as well as the requisite cell preparation techniques. In particular, we discuss the application of steerable filters and graph based methods to segment the structure of the four mammalian lamin isoforms (A, C, B1, and B2) and extract quantitative information.

Low-cost RGB-D cameras are increasingly used in several research fields including human-machine interaction, safety, robotics, biomedical engineering and even Reverse Engineering applications. Among the plethora of commercial devices, the Intel RealSense cameras proved to be among the best suitable devices, providing a good compromise between cost, ease of use, compactness and precision. Released on the market in January 2018, the new Intel model RealSense D415 has a wide acquisition range (i.e. ~160-10000 mm) and a narrow field of view to capture objects in rapid motion. Given the unexplored potential of this new device, especially when used as a 3D scanner, the present work aims to characterize and to provide metrological considerations on the RealSense D415. In particular, tests are carried out to assess the device performances in the near range (i.e. 100-1000 mm). Characterization is performed by integrating the guidelines of the existing standard (i.e. the German VDI/VDE 2634 part 2 normative) with a number of literature-based strategies. Performance analysis is finally compared against latest close-range sensors, thus providing a useful guidance for researchers and practitioners aiming to use RGB-D cameras in Reverse Engineering applications.

The proliferation of the Internet of Things (IoT) has revolutionized traditional services, giving rise to emerging smart infrastructures by connecting the physical and digital worlds. Sensory data is essential in IoT-based systems for providing context-aware and location-based services. Hence, the accurate localization of IoT devices is paramount. Anchor misplacement can significantly affect location information and coverage services in IoT. We study the effect of anchor misplacement in typical IoT settings where sensors are randomly deployed, can be mobile and may belong to multiple providers. We identify sensing coverage holes formed by anchor misplacement and analyze their presence and impact. To mitigate the impact of anchor misplacement on network reliability, we propose a framework to identify the affected sensor nodes and then identify and remove misplaced anchor nodes. The validity of our approach is verified, and its effectiveness is demonstrated by several experiments with different network topologies and parameters. Our results are promising and can be utilized in multiple coverage applications, such as smart agriculture systems and habitat monitoring, regardless of the sensors or deployment types. It also sheds light on best practices and methods for a reliable design of IoT-based systems.

Global wind observations are fundamental for studying weather and climate dynamics. Most wind measurements come from atmospheric motion vectors (AMVs) by tracking the displacement of cloud or water vapor features. These AMVs generally rely on thermal infrared (IR) techniques for their height assignments, which are subject to large uncertainties in the presence of weak or reversed vertical temperature gradients around the planetary boundary layer (PBL) and with tropopause folding. Stereo imaging can overcome the height assignment problem using geometric parallax for feature height determination. In this study we develop a stereo 3D-Wind algorithm to simultaneously retrieve AMV and height from geostationary (GEO) and low Earth orbit (LEO) satellite imagery and apply it to collocated Geostationary Operational Environmental Satellite (GOES) and Multi-angle Imaging SpectroRadiometer (MISR) imagery. The new algorithm improves AMV and height relative to products from GOES or MISR alone, with an estimated accuracy of <0.5 m/s in AMV and <200 m in height with 2.2 km sampling. The algorithm can be generalized to other LEO-GEO or GEO-GEO combinations for greater spatiotemporal coverage. The technique demonstrated with MISR and GOES has important implications for future high-quality AMV observations, for which a low-cost constellation of CubeSats can play a vital role.

Traditional painting artefacts study and documentation face the limitations of well-known recording tools and methods, such as handwritten or digital descriptions, scaled 2D drawings in situ, measurements with calipers, rulers or tape measures, sketches, tracings, as well as conventional or technical photographs. This paper advocates Close-Range Photogrammetry (SfM-MVS) and Reflectance Transformation Imaging (RTI) for recording vital morphological and 2.5D geometric features of painted surfaces with high accuracy. These digital tools, widely accessible due to increased computing power, enhance art observation, material study and conservation assessment. Despite specialized alternatives like 3D laser scanners, the focus here is on the cost-effective SfM-MVS and RTI, which offer advanced pixel colour accuracy. The ability to reproduce photorealistic textures proves essential for accurate documentation of painted artefacts. The paper showcases promising results from applying these methods to a mural from the Palace of Tiryns, justifying their fundamental role in an integrated scientific art study methodology.

Black hole temperature T_BH = T_P/2πd as a function of its Planck length real diameter multiplier d is derived from black hole surface gravity and Hawking temperature w.l.o.g. It is conjectured d = 1/2π describes primordial Big Bang singularity as in this case T_BH = T_P. A black hole interacts with the environment and observable black holes have uniquely defined Delaunay triangulations with a natural number of spherical triangles having Planck areas (bits), where a Planck triangle is active and has gravitational potential of -c² if all its vertices have black hole gravitational potential of -c²/2 and is inactive otherwise. As temporary distribution of active triangles on an event horizon tends to maximize Shannon entropy a black hole is a fundamental, one-sided thermodynamic equilibrium limit for a dissipative structure. Black hole blackbody radiation, informational capacity fluctuations, and quantum statistics are discussed. On the basis of the latter, wavelength bounds for BE, MB, and FD statistics are derived as a function of the diameter multiplier d. It is shown that black holes feature wave-particle duality only if d ≤ 8π, which also sets the maximum diameter of a totally collapsible black hole. This outlines the program for research of other nature phenomena that emit perfect blackbody radiation, such as neutron stars and white dwarfs.

Due to the complexity, high-risk, and conservative character of construction companies, advanced digital technologies do not become widely adopted in the short term, while vendors make determined efforts to overcome this and disseminate their technologies. This paper presents the methods of an investigation addressing the extremely complex issues related to the current practices of digital technology adoption in construction. It discusses how construction companies follow a specific logical process linked to need, project objectives, characteristics of the adopting organization, and the characteristics of the new technology to be adopted. The study aims to demonstrate a novel method of data collection and analysis including data and methodological triangulation techniques including the use of NVivo and AHP to explore how companies make the decision to uptake a new technology (e.g. advanced crane, tunnel boring machine or drones) by focusing on customer and vendor activities, their interactions, contributing factors, and people involved in the process. The major original contribution of this paper is to develop an innovative methodological Cube for investigating the Construction Technology Adoption Process (CTAP) covering technology adoption, acceptance, diffusion and implementation concepts. CTAP is a framework that delineates the phases of the process that customer organizations use when deciding to adopt a new digital technology and the parallel vendor activities. The significance of these contributions is that they enable vendors to understand how to match their strategies with customer expectations in each phase of the CTAP. It also provides a benchmark for new construction companies to use the current best practice of decision making. Future research is warranted to more clearly delineate any differences with developing nations or related industries such as mining and property management.

The emergence of new methodologies and tools for digitizing objects belonging to the Cultural Heritage (CH) changed the paradigms adopted so far. Traditionally, the process to acquire artifacts required specialized and often costly equipment tailored to specific purposes. However, the development of more generalized, adaptable, and affordable tools led to novel approaches. This manuscript provides a glimpse into the evolving landscape of custom-made tools for digital documentation, both hardware and software, and their transformative impact on the digitization techniques, built to meet requirements of specific case studies, including ancient drawings, manuscripts, paintings, and museum objects. The advent of self-built instruments has revolutionized the way professionals work today, by leveraging a new generation of low-cost, adaptable gears, leading to unprecedented flexibility and efficiency, while facilitating the capture of high-quality digital representations of objects with minimal damage and preserving their integrity. The outcomes of instruments and tools specifically produced for the contexts described in this paper highlight their potential for promoting interdisciplinary collaboration, facilitating scholarly research, enhancing conservation efforts, and fostering cultural exchange. Ultimately, this research contributes to illustrate how custom software, in combination with recent devices such as smartphones and 3D printers, underscores the importance of adopting these innovative approaches to generate an ecosystem of tools and methods able to preserve, document, and promote the richness of our collective past for future generations.

Structure from Motion with Multi-View Stereo photogrammetry (SfM) is increasingly utilised in geoscience investigations as a cost-effective method of acquiring high resolution (sub-meter) topographic data, but has not been thoroughly tested in gullied savanna systems. The aim of this study was to test the accuracy of topographic models derived from aerial (via an Unmanned Aerial Vehicle, ‘UAV’) and ground-based (via a handheld digital camera, ‘Ground’) SfM in modelling a hillslope gully system in dry-tropical savanna, and to assess the strengths and limitations of the approach at different scales. A UAV survey covered an entire hillslope gully system (0.715 km²), whereas a Ground survey covered a single gully within the broader system (650 m²). SfM topographic models, including Digital Surface Models (DSM) and dense point clouds, were compared against RTK-GPS point data and a pre-existing airborne LiDAR Digital Elevation Model (DEM). Results indicate UAV SfM can deliver topographic models with a resolution and accuracy suitable to define gully systems at a hillslope scale (e.g., 0.1 m resolution with ~ 0.5 – 1.3 m elevation error), while ground-based SfM is more capable of quantifying gully morphology (e.g., 0.01 m resolution with ~ 0.1 m elevation error). Key strengths of SfM for these applications include: the production of high resolution 3D topographic models and ortho-photo mosaics, low survey instrument costs (< $AUD 3,000); and rapid survey time (4 and 2 hours for UAV and Ground survey respectively). Current limitations of SfM include: difficulties in reconstructing vegetated surfaces; uncertainty as to optimal survey and processing designs; and high computational demands. Overall, this study has demonstrated great potential for SfM to be used as a cost-effective tool to aid in the mapping, modelling and management of hillslope gully systems at different scales, in tropical savanna landscapes and elsewhere.

Height assignment is an important problem for satellite measurements of Atmospheric Motion Vectors (AMVs) that are interpreted as winds by forecast and assimilation systems. Stereo methods assign heights to AMVs from the parallax observed between observations from different vantage points in orbit while tracking cloud or moisture features. In this paper, we fully develop the stereo method to jointly retrieve wind vectors with their geometric heights from geostationary satellite pairs. Synchronization of observations between observing systems is not required. NASA and NOAA stereo-winds codes have implemented this method and we have processed large datasets from GOES-16, -17, and Himawari-8. Our retrievals are validated against rawinsonde observations and demonstrate the potential to improve forecast skill. Stereo winds also offer an important mitigation for the loop heat pipe anomaly on GOES-17 during times when warm focal plane temperatures cause infra-red channels that are needed for operational height assignments to fail. We also examine several application areas, including deep convection in tropical cyclones, planetary boundary layer dynamics, and fire smoke plumes, where stereo methods provide insights into atmospheric processes. The stereo method is broadly applicable across the geostationary ring where systems offering similar Image Navigation and Registration (INR) performance as GOES-R are deployed.