Analysis of the pencil of conics with double complex contact and its application to camera calibration

In this paper,we introduce a novel class of coplanar conies,the pencil of which can doubly contact to calibrate camera and estimate pose.We first analyze the properties of con-axes and con-eccentricity ellipses, which consist of a natural extending pattern of concentric circles.Then the general case that two ellipses have two repeated complex intersection points is presented.This degenerate configuration results in a one-parameter family of homographies which map the planar pattern to its image.Although it is unable to compute the complete homography,an indirect 3-degree polynomial or 5-degree polynomial constraint on intrinsic parameters from one image can also be used for camera calibration and pose estimation under the minimal conditions.Furthermore, this nonlinear problem can be treated as a polynomial optimization problem(POP) and the global optimization solution can be also obtained by using SparsePOP(a sparse semidefinite programming relaxation of POPs). Finally,the experiments with simulated data and real images are shown to verify the correctness and robustness of the proposed technique.     

Calibration for 3D Structured Light Measurement

A calibration procedure was developed for three-dimensional(3D) binocular structured light measurement systems. In virtue of a specially designed pattern, matching points in stereo images are extracted. And then sufficient 3D space points are obtained through pairs of images with the intrinsic and extrinsic parameters of each camera estimated prior and consequently some lights are calibrated by means of multi point fitting. Finally, a mathematical model is applied to interpolate and approximate all dynamic scanning lights based on geometry. The process of calibration method is successfully used in the binocular 3D measurement system based on structured lights and the 3D reconstruction results are satisfying.     

基于3D标靶的摄像机标定方法的改进

针对光学镜头成像时畸变分布的特性,提出了一种改进的摄像机标定方法,以实现摄像机内外部参数和像差修正参数的分离标定。标定实验及之后的摄像机成像二维检测实验证明：该方法大大地简化了计算量,能快速、方便地对摄像机系统进行标定和像差修正;同时能够获得较高的标定精度和测量精度。     

交通事故摄影测量中相机标定的扩展两步法

为了利用摄影测量技术提高交通事故数据采集的效率,分析了交通事故与相机标定方法的特点,提出了交通事故现场摄影测量的扩展两步相机标定方法。在扩展两步标定方法中,首先对相机进行线性标定,然后进行非线性修正,最后进行图像校正,并提出了完整的标定步骤和程序,进行了相机标定实验。扩展方法标定的结果与线性标定结果相比,最大绝对误差和相对误差分别为10.9和1.7%,最小绝对误差和相对误差分别为4.1和1.0%,表明扩展两步相机标定方法能够显著提高相机标定精度,抗噪性能稳定。     

一种基于摄像机标定的车辆视频测速方法

以Tsai两步法为摄像机标定原理,提出了一种车辆速度视频测量方法,并对摄像机标定误差和车速检测误差进行了分析。首先利用Tsai两步法得到摄像机的内部和外部参数,然后将图像空间提取出的运动车辆特征点位移转换到世界坐标系,最后利用帧差时间求得车辆的瞬时速度。实验结果表明,基于摄像机标定的车辆速度视频测量方法,具有简单实用、鲁棒性强、精确度高等优点,满足车辆视频测速系统的要求。     

基于道路标线的交通事故现场摄影测量研究

论述了基于普通相机的交通事故现场测量技术基本理论,提出了一种利用道路标线作为标定参考物的新的标定方法,在小波多尺度边缘检测基础上,利用Harris角点提取对图像进行分析处理,对影响摄影测量精度的有关参数进行了简要描述,对一个实际事故现场的部分数据进行了分析,验证了设计的算法。     

用于交通安全研究的单目图像测量技术

本文介绍了利用单目图像进行量测的技术以及在交通安全研究中的应用,主要是利用仿射变换和透视变换的基本原理,无需标定照相机的内外方位参数,通过确定图像水平面消失线在图像中的位置,根据已知的高程计算出照相机的高度,在此基础上建立计算机辅助量测系统,然后从照片中获取交通安全研究中需要的高程数据．     

一种基手双目线结构光视觉系统的简单标定方法

提出了一种基于双目线结构光主动三角法的视觉系统的简单标定方法．该视觉系统采用线结构光原理,使用双目摄像机避免了常用的单摄像机系统中容易出现的遮挡等问题．该系统的标定综合了线结构光传感器模型以及双目立体视觉模型,推导了各个标定坐标系之间的联系,依据蔡氏两步法,使用方格靶标和最小二乘法求得各种标定参数．实验结果表明,该标定方法操作简单、实用可行．     

Research and Development of a New Calibration Tool for Electronically Controlled Engine Based on KWP2000

Today‘s vehicles use electronic control units (ECU) to control engine/transmission, body and other amenities. All the vehicle performance depends on a lot of physical values and influence factors. This leads to a large number of control and regulation parameters in the ECU software. The ultimate objective of calibration work is the optimum determination of these parameters. Qualitatively excellent results can only be achieved in a shorter time by using a highly efficient calibration system. This paper provided an overview of a new calibration tool based on KWP2000 and gave an example calibration with this tool.     

混合车流微观仿真模型校正方法研究

为了合理准确地模拟车辆间性能差异较大的混合车流,需要从微观层面来校正仿真模型. 针对不同车型和不同道路设施单元, 提出了一套基于混合车流特性的微观仿真模型校正方法,包括参数的敏感性分析、模型参数的校正及校正效果评价等. 最后,借助微观仿真软件CORSIM对高速公路路段仿真模型进行实例验证. 结果显示,在所有车辆平均行程时间满足校正目标的情况下,分车型校正能够保证仿真车型合理表达实际车型的交通特性,证实了校正方法的可行性.     

Calculation of 3D sensitivity matrix for electromagnetic tomography system using boundary elements and the perturbative approach

Electromagnetic tomography （EMT） is a non-invasive imaging technique capable of mapping the conductivity and permeability of an object. In EMT, eddy currents are induced in the object by the activation coils, and the receiving coils can measure the EMT voltages. When the activation frequency is significantly large, we can treat the metallic targets as electrically perfect conductors （EPCs）. In this situation, a thin skin approximation is reasonable and this type of scattering problem can be effectively treated by the boundary element method （BEM） formulated through integration equations. In this study, we compute three-dimensional （3D） sensitivity matrix between the sensors due to an EPC perturbation. Efficiency improvement is achieved through the utility of scalar magnetic potential. Two EPC objects, one sphere and one cube shaped, are simulated. The results agree well with the H dot H formula. Overall, we conclude that BEM can be used to calculate the 3D sensitivity matrix of an EMT system efficiently. This method is a general one for any shaped objects while the H dot H solution is only capable of producing the response for a small ball.     

Geometric calibration algorithm of polarization camera using planar patterns

Polarization pattern provides additional information besides spectral signatures. It can be used in many applications, such as navigation, defect detection and object identification. A novel polarization camera composed of four synchronized cameras is proposed, and it can realize real-time polarization measurement. This study particularly concentrates on the geometric calibration of the system. The projection model is analyzed and the multi-camera calibration algorithm is proposed. Firstly, each camera is calibrated separately using planar patterns, and then the geometric calibration algorithms are performed. Due to the geometrical constraint, a global optimization method results in smaller estimation uncertainties. A mean rotation error of 0.025° and a mean translation error of 0.26mm are achieved after geometric calibration. The images are rectified to establish a correspondence among cameras and are combined to acquire the polarization measurement. The polarization pattern of the skylight is measured by the system and the results are consistent with the previous studies.     

基于MIDAS应变与挠度校验系数的对比分析

为了研究应变校验系数和挠度校验系数的精确性,以连续箱梁为研究对象建立了MIDAS-CIVIL模型,在相同加载状况下分别计算得出均匀截面和突变截面两种情况下测试截面的应变和挠度值,并将两种情况下的数值进行对比分析,结果发现在前后两种情形下应变值没有发生变化,而挠度值变化较大。表明挠度校验系数更为精确,其结论可为梁桥荷载试验中应变校验系数与挠度校验系数不协调而需做出取舍时提供理论依据。     

钢轨断面全轮廓磨耗的激光视觉动态测量

钢轨磨耗直接影响铁路运行安全,为了替代目前手工测量方式,提高测量精度和效率,研究并设计了线激光钢轨断面全轮廓视觉测量系统来实现钢轨磨耗动态测量. 首先通过计算激光视觉测量模型完成激光测量单元的结构设计,然后采用平面标定法对测量头进行精确标定,获取激光平面与传感器成像平面之间的映射关系,将拍摄的钢轨轮廓光条图像还原为实际钢轨断面轮廓;利用钢轨同一截面两侧轮廓中轨头踏面轮廓相同的特征获取钢轨断面全轮廓数据,采用ICP精确配准将钢轨两侧测量轮廓合并,其中轨头踏面轮廓采用欧式聚类和距离分割方法提取;最后以双侧未磨损轨腰轮廓及其特征点为基准,将测量钢轨全轮廓与标准钢轨轮廓进行配准对比,获取钢轨磨耗值;将线激光钢轨磨耗测量单元装载于自行研制的轨道测量小车上进行现场测量试验. 研究结果表明:该测量系统标定精度可达4.922 × 10?3 mm,测量速度可达21.6 km/h,与钢轨磨耗尺测量值对比垂直磨耗、侧边磨耗平均偏差约为0.023 mm和0.093 mm,对同一对象多次重复测量最大偏差小于0.05 mm,该测量精度满足公务要求,提高了测量效率,便于铁路测量数字化管理.      

一种基于几何约束的轨道提取方法研究

针对基于Hough变换或螺旋曲线模型的视觉轨道检测方法存在的不足,本文提出了一种基于几何约束的轨道提取方法.该方法利用摄像机和轨道平面之间的成像关系近似满足单因矩阵的特点,利用逆透视映射(IPM)将输入图像转换为Bird-view图像,并采用一种改进的边缘检测方法进行边缘检测.然后将二值化的边缘图像在垂直方向上分割为多个区段,在每个区段上,利用先验知识生成的系列模板图像,对分段IPM图像进行去噪处理和Chamfer距离变换后进行距离匹配检测,将轨道检测转换为一个二维匹配搜索过程.在分段检测结果的基础上,进一步利用曲线拟合得到边缘图像中完整的轨道曲线方程.该曲线方程通过已知的单因矩阵转换为原始图像中的曲线描述,实现在原始图像中的检测和定位.实验验证了所提方法的可行性和可靠性.     

某单索面斜拉桥承载能力评定

单索面斜拉桥受力较双索面斜拉桥更为复杂,主要表现在面外稳定性以及结构振动特性的变化[1]。其次由于各斜拉索强度不能做到完全相同,钢索索力也难均匀分配给各个单丝,因此斜拉索索力是影响桥梁安全运营的关键因素。以某座单索面斜拉桥为对象对该桥动、静载试验加载方案进行了设计,然后进行现场试验,得到了此次静载试验的校验系数及桥梁振动数据,在此基础上对测试结果进行了理论分析。     

Development of a Calibration and Monitoring System for GD-1 High Pressure Common Rail Diesel Engine

IntroductionEngine performance and exhaustemissions arecontrolled by a great number of control parameters( constants,curves and maps) in the ECU relatedto injection system,combustion chamber geome-try,boost pressure and EGR percentage. As iswell known,all these parameters are required tobe changed and calibrated again and again,so thecalibration workload is very big.And many itemsof exhaust emissions,such as good NOX and sootengine- out level predictions,are strictly linked notonly to the …     

Viewpoint manipulation for interactive television by using human pose estimation

In current interactive television schemes, the viewpoints should be manipulated by the user. However, there is no efficient method, to assist a user in automatically identifying and tracking the optimum viewpoint when the user observes the object of interest because many objects, most often humans, move rapidly and frequently. This paper proposes a novel framework for determining and tracking the virtual camera to best capture the front of the person of interest (PoI). First, one PoI is interactively chosen in a segmented 3D scene reconstructed by space carving method. Second, key points of the human torso of the PoI are detected by using a model-based method and the human’s global motion including rotation and translation is estimated by using a close-formed method with 3 corresponding points. At the last step, the front direction of PoI is tracked temporally by using the unscented particle filter (UPF). Experimental results show that the method can properly compute the front direction of the PoI and robustly track the best viewpoints.     

圆电极电磁流量计干标定模型及仿真

目前在电磁流量计的干标定研究中，为方便公式推导，通常将实际的圆电极简化为方电极模型．这种简化在电极尺寸较大时，会引入不必要的计算误差，影响流量计的标定精度．本文从圆电极模型出发，论述了其对应权重函数的计算过程．并针对大尺寸圆电极模型进行理想化计算，得到其点电极模型，并运用此模型进行了仿真研究．