Image sequence based automatic multi-camera system calibration techniques

An image sequence-based, fully automatic and rather flexible procedure for the calibration of stationary multi-camera systems for 3-D observation of dynamic events is presented and analysed. While conventional close-range camera calibration techniques are either based on a stable point-field with known reference coordinates or on a temporarily stationary point-field with only approximately known 3-D coordinates, which is imaged from different locations and under different orientations with one single camera, the presented technique is based on stationary cameras and moving targets, making use of the image sequence acquisition nature of most solid state cameras. In the simplest version, only one easily detectable marker has to be tracked through image sequences of multiple pre-calibrated cameras, thus avoiding the necessity of homologous feature identification for the establishment of multi-view correspondences; 3-D coordinates of the marker position are not required. This single-marker method does not allow for the determination of the interior orientation. In an extended version allowing for full camera orientation and calibration, a reference bar of known length is moved through object space, with the problem of feature identification and establishment of multi-view correspondences being reduced to the tracking of two targets. The method can only be used with multi-camera systems and is most useful for 3-D motion analysis applications, but may be adapted to a wide range of other applications. The advantages of the method over conventional self-calibration techniques are the trivial establishment of multi-view correspondences, the fact that no temporarily stable target field has to be constructed, and the fact that each camera has to be set up only once. After an explanation of the technique, its performance is examined in detail based on extensive computer simulations, and the practical effectiveness is shown in a pilot study on industrial robot calibration. Based on these studies, recommendations are given concerning the number of reference bar locations, preferable reference bar orientation schemes and the achievable accuracy potential.     

Large-Eddy Simulation of Inhomogeneous Canopy Flows Using High Resolution Terrestrial Laser Scanning Data

The effect of sub-tree forest heterogeneity in the flow past a clearing is investigated by means of large-eddy simulation (LES). For this purpose, a detailed representation of the canopy has been acquired by terrestrial laser scanning for a patch of approximately 190 m length in the field site “Tharandter Wald”, near the city of Dresden, Germany. The scanning data are used to produce a high resolution plant area distribution (PAD) that is averaged over approximately one tree height (30 m) along the transverse direction, in order to simplify the LES study. Despite the smoothing involved with this procedure, the resulting two-dimensional PAD maintains a rich vertical and horizontal structure. For the LES study, the PAD is embedded in a larger domain covered with an idealized, horizontally homogeneous canopy. Simulations are performed for neutral conditions and compared to a LES with homogeneous PAD and recent field measurements. The results reveal a considerable influence of small-scale plant distribution on the mean velocity field as well as on turbulence data. Particularly near the edges of the clearing, where canopy structure is highly variable, usage of a realistic PAD appears to be crucial for capturing the local flow structure. Inside the forest, local variations in plant density induce a complex pattern of upward and downward motions, which remain visible in the mean flow and make it difficult to identify the “adjustment zone” behind the windward edge of the clearing.