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IEEE conference on visualization

作者： P. Lindstrom G. Turk Georgia Institute of Technology USA

Conventional wisdom says that in order to produce high-quality simplified polygonal models, one must retain and use information about the original model during the simplification process. We demonstrate that excellent simplified models can be produced without the need to compare against information from the original geometry while performing local changes to the model. We use edge collapses to perform simplification, as do a number of other methods. We select the position of the new vertex so that the original volume of the model is maintained and we minimize the per-triangle change in volume of the tetrahedra swept out by those triangles that are moved. We also maintain surface area near boundaries and minimize the per-triangle area changes. Calculating the edge collapse priorities and the positions of the new vertices requires only the face connectivity and the the vertex locations in the intermediate model. This approach is memory efficient, allowing the simplification of very large polygonal models, and it is also fast. Moreover, simplified models created using this technique compare favorably to a number of other published simplification methods in terms of mean geometric error.

关键词： Solid modeling Geometry Computer graphics data acquisition Magnetic resonance imaging Computer vision Satellites Spaceborne radar Shape History

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Computation of stereo disparity for space materials

Computation of stereo disparity for space materials

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Proceedings. 1998 IEEE/RSJ International conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)

作者： M. Jenkin P. Jasiobedzki Department of Computer Science York University Toronto ONT Canada Spar Aerospace Limited Brampton ONT Canada

One of the challenges facing computer vision systems used in space is the presence of specular surfaces. Such surfaces lead to several adverse effects such as the creation of reflected "virtual" images of objects due to specular reflections. These effects may lead to incorrect measurements and loss of data in the case of sensor saturation or inadequate intensity of the returned laser beams in the case of an active illuminant. In addition, the instruments inside space structures such as satellites may be extremely sensitive to active illuminants such as laser beams or radar signals, and thus passive vision systems which rely on either natural or low-power projection systems are preferred over active sensing technologies. Here we consider the task of recovering the local surface structure of highly specular surfaces such as satellites using passive stereopsis without resulting to the introduction of additional light source.

关键词： Laser radar Laser beams Space technology Satellites Stereo vision Computer vision Optical reflection Loss measurement Instruments Passive radar

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Ground plane detection using visual and inertial data fusion

Proceedings of the IEEE International Conference on Electron...

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Proceedings of the IEEE International conference on Electronics, Circuits, and Systems 1998年 2卷 479-482页

作者： Lobo, Jorge Dias, Jorge Univ of Coimbra Coimbra Portugal

In mobile systems the position and attitude of active vision system's cameras can be hard to determine. Inertial sensors coupled to the active vision system can provide valuable information, as happens with the vestibular system in human and other animals. In this article, we present our integrated inertial and vision systems. The active vision system has a set of stereo cameras capable of vergence, with a common baseline, pan and tilt, and an implemented process of visual fixation. An inertial system prototype, based on low-cost sensors, was built. The inertial sensor data is used to segment the ground plane in the images. For on-the-fly visualization of the segmented images and the detected ground points a VRML viewer is used.

关键词： Mobile robots

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The Cetus UUV/EOD robotic work package: a low-cost shallow-water UUV system for underwater search and intervention

The Cetus UUV/EOD robotic work package: a low-cost shallow-w...

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OCEANS

作者： G.M. Trimble Lockheed Martin Ocean Radar and Sensor Systems Perry Technologies Sunnyvale CA USA

The Explosive Ordnance Disposal Robotic Work Package (EODRWP) Program developed and demonstrated a number of capabilities supporting teleautonomous ordnance detection and intervention using small Unmanned Underwater Vehicles (UUVs). The advanced technologies underlying these capabilities include situationally reactive intelligent mission control, parallel processing-based sonar sensor data processing which supports a dynamic classification capability, precise inertially aided subsea navigation and positioning, and vehicle closed-loop control as a compact vehicle independent subsystem. A Deep Ocean Engineering HVS4 ROV was employed as a subsea testbed platform supporting in-ocean testing prior to final demonstration and delivery. While the use of a tether facilitated the development and testing of new technologies, a number of serious technical and operational issues are attributable to the ROV when deployed in the open ocean environment or under operational conditions. Having completed a significant amount of development using the HVS4, and recognizing the shortcomings of the ROV testbed, Lockheed-Martin funded the development of Cetus, a hover-capable Autonomous Underwater Vehicle. The Cetus defines a new class of low-cost vehicle systems intended for shallow water work. The Cetus vehicle will provide a stable sensor bearing platform for the employment of forward looking video cameras and lights, compact forward-looking sonars, compact side-looking sonars, downward looking video camera and lights, magnetometers and other sensors. This paper describes the autonomous Cetus testbed system and details the application of the EODRWP's control and sensing capabilities and mission specific Reson 6012 "SeaBat" electronically scanned SONAR search sensor in a demonstration in a search, visit, and return mission. Facilitation of semiautonomous operation of Cetus and the EODRWP using a low-rate acoustic modem for command and telemetry will be described. The paper concludes with

关键词： Packaging Remotely operated vehicles Testing Magnetic sensors Robot sensing systems Underwater vehicles Marine technology Intelligent sensors Sonar navigation Oceans

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Proceedings of the 1997 IEEE Aerospace conference. Part 2 (of 4)

Proceedings of the 1997 IEEE Aerospace Conference. Part 2 (o...

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Proceedings of the 1997 IEEE Aerospace conference. Part 4 (of 4)

The proceedings contains 33 papers from the 1997 IEEE Aerospace conference. Topics discussed include: petaflops computing;Beowulf;radar cross section visualization;space based radar;radar power subsystems;infrared thermograms;electromagnetic magnitude and phase measurement;wide area surveillance concepts;synthetic aperture radar;remote sensing;sensor technology;radar clutter;space research high volume data analysis;planetary thermal spectroscopy;automated scene analyzer;UltraLITE systems;electrooptical imaging;real time fault tolerant computing;neural networks;and autonomous systems.

关键词： Aerospace applications

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Model-based sensor rendering for a DIS multisensor airborne surveillance platform

Model-based sensor rendering for a DIS multisensor airborne ...

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conference on Modeling, Simulation, and visualization of sensory Response for Defense Applications

作者： Roberts, JD SantaPietro, JJ MITRE Corp. (United States)

ISBN: (纸本)0819425001

This paper reports on the continuing development of a DIS-compliant model for an airborne platform carrying a multisensor payload. This payload consists of a moving target indictor (MTI) radar, a cooperative battlefield combat identification system(BCIS), and imaging sensors. The imaging sensors are a synthetic aperture radar (SAR) and a forward looking infrared (FLIR) imager. The entire platform model is an extension to the ModSAF environment. The sensor model code is fully portable and integrated as ModSAF libraries. Relevant emission protocol data units (PDU) are generated and transmitted. The overall simulation architecture and the MTI and BCIS models have been described in detail elsewhere. The current work concentrates on the development of real-time model-based imaging functions. The software tools which provide this capability are available both in the government-owned inventory and as commercial products. The purpose of the current activity is to investigate the feasibility of integrating software of this kind with the ModSAF environment in order to produce realistic target/scene renderings similar to those obtained by high-resolution imaging sensors. To this end, we investigated realtime scene generation using two approaches. The first, through integration of the IRMA software package developed and distributed by the USAF Wright Laboratories, Eglin AFB, and the second is by use of the commercial software package sensorVision(TM) which is marketed and distributed by Paradigm Solutions, Inc. Both of these produce scene renderings in user specified wavebands by combining entity state PDU information with terrain data. The scene model information is passed to rendering software to produce an LR or SAR rendering of the scene.

关键词： sensor visualization sensor models sensor rendering simulation

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Performance of a multi-resolution classifier using enhanced resolution SAR data

Performance of a multi-resolution classifier using enhanced ...

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conference on radar sensor technology II

作者： Owirka, GJ Weaver, AL Novak, LM MIT Lincoln Lab. (United States)

ISBN: (纸本)0819424811

M.I.T. Lincoln Laboratory has developed a complete, end-to-end, automatic target detection/recognition (ATD/R) system for synthetic aperture radar (SAR) data. The system uses resolution enhancement (superresolution) techniques to improve the performance of the automatic target recognition (ATR) stage. This paper presents a new multi-resolution classification scheme that greatly improves the computational efficiency of the classifier with only a slight loss in classification performance.

关键词： mean-square error classification automatic target recognition high definition imaging confusion matrix

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3-D data acquisition for indoor environment modeling using a compact active range sensor 14

3-D data acquisition for indoor environment modeling using a...

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IEEE Instrumentation and Measurement technology conference - Sensing, Processing, Networking (IMTC/97)

作者： Elgazzar, S Liscano, R Blais, F Miles, A Institute for Information Technology National Research Council of Canada Ottawa K1A0R6 Canada

ISBN: (纸本)0780337484

This paper investigates modeling indoor environments using a low-cost compact active range camera, known as BIRIS, mounted onto a pan and tilt motor unit. The BIRIS sensor, developed at the National Research Council of Canada, is a rugged small camera with no moving parts. The contributions of this paper are mainly in three areas: it demonstrates the viability of the use of a low-cost range sensor in the domain of indoor environment modeling;it presents the results of processing 3-D data to build a virtual environment for navigation and visualization;and, it analyses and outlines the advantages and limitations encountered when scanning large indoor environments.

关键词： data acquisition

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Detection algorithms for ultra-wideband foliage penetration radar

Detection algorithms for ultra-wideband foliage penetration ...

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conference on radar sensor technology II

作者： Nguyen, L Kapoor, R Sichina, J Army Research Lab. (United States)

ISBN: (纸本)0819424811

Army Research Laboratory (ARL), as part of its mission-funded exploratory development program, has been evaluating the use of a low-frequency, ultra-wideband (UWB) imaging radar to detect tactical vehicles concealed by foliage. An instrumentation-grade measurement system has been designed and implemented by ARL. Extensive testing of this radar over the preceding 18 months has led to the establishment of a significant and unique data base of radar imagery. We are currently using these data to develop target detection algorithms which can aid an operator in separating vehicles of interest from background. This paper provides early findings from the algorithm development effort. To date, our efforts have concentrated on identifying computationally simple strategies for canvassing large areas for likely target occurrences-i.e., prescreening of the imagery. Phenomenologically-sound features are being evaluated for discrimination capability. Performance assessments, in terms of receiver operating characteristics (ROC), detail detection capabilities at various false alarm rates.

关键词： ultra wideband radar SAR automatic target detection

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Detection of small targets in sea clutter using nonlinear prediction

Detection of small targets in sea clutter using nonlinear pr...

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conference on radar sensor technology II

作者： Young, A Leung, H Univ. of Waterloo (Canada) Defence Research Establishment Ottawa (Canada)

ISBN: (纸本)0819424811

This paper explores the use of nonlinear prediction in the modeling of sea clutter. The nonlinear methods considered here are based on local approximations: nearest neighbor and local linear prediction. The effects of radar scan ranges and the number of training samples on the nonlinear clutter model are examined. The nonlinear predictive model is then used for clutter suppression to enhance target detectability. It is shown that the nonlinear predictive detection scheme can detect small floating targets such as beach balls embedded in sea clutter. The standard linear prediction is used for comparison. It is observed that the nonlinear prediction outperforms the linear one on a regular basis.

关键词： Target detection radar databases sensors Signal detection data modeling Error analysis radar signal processing Signal processing Statistical modeling

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