Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry ...Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry should use wide-angle camera as much as possible is done.Then,the limitation of the single lens camera to expand field angle and the combined wide-angle camera existing on the market not suitable for light load of low altitude UAV(Unmanned Aerial Vehicle)due to excessive weight are pointed out.The characteristics of combined wide-angle low altitude light camera with self-calibration and self-stabilization developed by the author are described,especially the principle of self-calibration for the combination of static error and dynamic error.Based on the practice of large scale mapping,a technical procedure in aerial photography by taking with wide-angle camera and large overlap simultaneously for improving the accuracy of low altitude photogrammetry is proposed.The typical engineering produced data is used to verity the above theoretical analysis.A technical route for increasing accuracy of low altitude photogrammetry with combined wide-angle camera is expounded.展开更多
Automobile accidents cost over a trillion-do llar every year and this figure will continue increasing without employing new technological solutions.Among these solutions,the automated lane-keeping system is one of the...Automobile accidents cost over a trillion-do llar every year and this figure will continue increasing without employing new technological solutions.Among these solutions,the automated lane-keeping system is one of the promising ones and such a system consists of two essential technologies:road detection and steering control.In this paper,novel lane keeping algorithms are proposed and are implemented using only a single off-the-shelf wide-angle camera as input.The implemented system is verified,through both simulation and experiments,and is found providing satisfactory performance for an automated lane-keeping system.When compared to the state-of-the-art lane-keeping systems,the implemented system can perform consistently across various ambient light conditions including the most challenging ones.展开更多
Precise localisation and navigation are the two most important tasks for mobile robots.Visual simultaneous localisation and mapping(VSLAM)is useful in localisation systems of mobile robots.The wide-angle camera has a ...Precise localisation and navigation are the two most important tasks for mobile robots.Visual simultaneous localisation and mapping(VSLAM)is useful in localisation systems of mobile robots.The wide-angle camera has a broad field of vision and more abundant information on images,so it is widely used in mobile robots,including legged robots.However,wide-angle cameras are more complicated than ordinary cameras in the design of visual localisation systems,and higher requirements and challenges are put forward for VSLAM technologies based on wide-angle cameras.In order to resolve the problem of distortion in wide-angle images and improve the accuracy of localisation,a sampling VSLAM based on a wide-angle camera model for legged mobile robots is proposed.For the predictability of the periodic motion of a legged robot,in the method,the images are sampled periodically,image blocks with clear texture are selected and the image details are enhanced to extract the feature points on the image.Then,the feature points of the blocks are extracted and by using the feature points of the blocks in the images,the feature points on the images are extracted.Finally,the points on the incident light through the normalised plane are selected as the template points;the relationship between the template points and the images is established through the wide-angle camera model,and the pixel coordinates of the template points in the images and the descriptors are calculated.Moreover,many experiments are conducted on the TUM datasets with a quadruped robot.The experimental results show that the trajectory error and translation error measured by the proposed method are reduced compared with the VINS-MONO,ORB-SLAM3 and Periodic SLAM systems.展开更多
Metasurfaces composed of two-dimensional nanopillar arrays can manipulate light fields in desirable ways and exhibit the unique advantage of beam steering.Here,we experimentally demonstrate a metasurface-based wide-an...Metasurfaces composed of two-dimensional nanopillar arrays can manipulate light fields in desirable ways and exhibit the unique advantage of beam steering.Here,we experimentally demonstrate a metasurface-based wide-angle broadband all-dielectric blazed grating with an extreme incident angle of up to 80°,which is achieved by optimizing the wide-angle phase shifts and transmissivities of the unit cells.It exhibits a maximum diffraction efficiency of 72%and a high average efficiency of 64%over a wide range of incident angles from−80° to 45° at 1.55μm.Moreover,the proposed grating has a broad bandwidth of 200 nm(1.45-1.65μm),and average efficiencies of more than 50%can be achieved experimentally over the same incidence angles.Our results may pave the way for the creation of novel and efficient flat optical devices for wavefront control.展开更多
The emergent metagrating,with its unique and flexible beam shaping capabilities,offers new paths to efficient modulation of acoustic waves.In this work,an acoustic metagrating is demonstrated for high-efficiency and w...The emergent metagrating,with its unique and flexible beam shaping capabilities,offers new paths to efficient modulation of acoustic waves.In this work,an acoustic metagrating is demonstrated for high-efficiency and wide-angle anomalous refraction.It is shown that the normal reflection and transmission can be totally suppressed by properly modulating the amplitude and phase characteristics of the metagrating supercells for high-efficiency anomalous refraction.The anomalous refraction behavior is achieved in the wide range of incident angles from 28°to 78°,and the efficiency of-1st order diffraction is higher than 90%by finely designing the metagrating structure.The anomalous refraction behaviors are verified experimentally at incidence angle of 28°,45°,and 78°,respectively.The demonstrated metagrating is anticipated to possess efficient wide-angle composite wavefront engineering applications in such fields as communications.展开更多
In recent years,three-dimensional reconstruction technologies that employ multiple cameras have continued to evolve significantly,enabling remote collaboration among users in extended Reality(XR)environments.In additi...In recent years,three-dimensional reconstruction technologies that employ multiple cameras have continued to evolve significantly,enabling remote collaboration among users in extended Reality(XR)environments.In addition,methods for deploying multiple cameras for motion capture of users(e.g.,performers)are widely used in computer graphics.As the need to minimize and optimize the number of cameras grows to reduce costs,various technologies and research approaches focused on Optimal Camera Placement(OCP)are continually being proposed.However,as most existing studies assume homogeneous camera setups,there is a growing demand for studies on heterogeneous camera setups.For instance,technical demands keep emerging in scenarios with minimal camera configurations,especially regarding cost factors,the physical placement of cameras given the spatial structure,and image capture strategies for heterogeneous cameras,such as high-resolution RGB cameras and depth cameras.In this study,we propose a pre-visualization and simulation method for the optimal placement of heterogeneous cameras in XR environments,accounting for both the specifications of heterogeneous cameras(e.g.,field of view)and the physical configuration(e.g.,wall configuration)in real-world spaces.The proposed method performs a visibility analysis of cameras by considering each camera’s field-of-view volume,resolution,and unique characteristics,along with physicalspace constraints.This approach enables the optimal position and rotation of each camera to be recommended,along with the minimum number of cameras required.In the results of our study conducted in heterogeneous camera combinations,the proposed method achieved 81.7%~82.7%coverage of the target visual information using only 2~3 cameras.In contrast,single(or homogeneous)-typed cameras were required to use 11 cameras for 81.6%coverage.Accordingly,we found that camera deployment resources can be reduced with the proposed approaches.展开更多
To address the challenges of high-precision optical surface defect detection,we propose a novel design for a wide-field and broadband light field camera in this work.The proposed system can achieve a 50°field of ...To address the challenges of high-precision optical surface defect detection,we propose a novel design for a wide-field and broadband light field camera in this work.The proposed system can achieve a 50°field of view and operates at both visible and near-infrared wavelengths.Using the principles of light field imaging,the proposed design enables 3D reconstruction of optical surfaces,thus enabling vertical surface height measurements with enhanced accuracy.Using Zemax-based simulations,we evaluate the system’s modulation transfer function,its optical aberrations,and its tolerance to shape variations through Zernike coefficient adjustments.The results demonstrate that this camera can achieve the required spatial resolution while also maintaining high imaging quality and thus offers a promising solution for advanced optical surface defect inspection.展开更多
Vascular abnormalities are closely associated with the pathogenesis and progression of numerous diseases, such as thrombosis, tumors, and diabetes. Blood flow velocity serves as a critical biomarker for evaluating per...Vascular abnormalities are closely associated with the pathogenesis and progression of numerous diseases, such as thrombosis, tumors, and diabetes. Blood flow velocity serves as a critical biomarker for evaluating perfusion status. Quantitative detection of full-field blood flow variations in lesion areas holds significant scientific and clinical value for pathological studies,diagnosis, and intraoperative monitoring of related diseases. While laser speckle contrast imaging(LSCI) enables full-field blood flow visualization, its reliance on frame-based sensors necessitates handling massive data volumes, leading to inherent trade-offs among spatiotemporal resolution, real-time performance, and quantitative capabilities. Leveraging the asynchronous dynamic sensing, high temporal sampling rate, and low data redundancy of event cameras, this study proposes a quantitative blood flow imaging method termed laser speckle event imaging(LSEI). Experiments using off-the-shelf event cameras demonstrate that LSEI achieves real-time blood flow imaging with minimal computational overhead compared to frame-based LSCI. Furthermore,we investigate the relationship between event data streams and flow velocity through spatial-temporal autocorrelation analysis,enabling quantitative measurements without compromising temporal or spatial resolution. In in vivo imaging experiments of mouse ear blood flow, LSEI exhibits superior imaging details and real-time performance over conventional methods. The proposed approach holds promise as an efficient tool for diagnosis, therapeutic evaluation, and research on vascular-related diseases.展开更多
LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as ...LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as odometry estimation and 3D reconstruction.Fusing the information from these two sensors can significantly increase the robustness and accuracy of these perception tasks.The extrinsic calibration between cameras and LiDAR is a fundamental prerequisite for multimodal systems.Recently,extensive studies have been conducted on the calibration of extrinsic parameters.Although several calibration methods facilitate sensor fusion,a comprehensive summary for researchers and,especially,non-expert users is lacking.Thus,we present an overview of extrinsic calibration and discuss diverse calibration methods from the perspective of calibration system design.Based on the calibration information sources,this study classifies these methods as target-based or targetless.For each type of calibration method,further classification was performed according to the diverse types of features or constraints used in the calibration process,and their detailed implementations and key characteristics were introduced.Thereafter,calibration-accuracy evaluation methods are presented.Finally,we comprehensively compare the advantages and disadvantages of each calibration method and suggest directions for practical applications and future research.展开更多
The seawater column is typically taken as a homogeneous velocity layer in wide-angle crustal seismic surveys in marine environments. However, heterogeneities in salinity and temperature throughout the seawater layer r...The seawater column is typically taken as a homogeneous velocity layer in wide-angle crustal seismic surveys in marine environments. However, heterogeneities in salinity and temperature throughout the seawater layer result insignificant lateral variations in its seismic velocity, especially in deep marine environments. Failure to compensate for these velocity inhomogeneities will introduce significant artifacts in constructing crustal velocity models using seismic tomography. In this study, we conduct numerical experiments to investigate the impact of heterogeneous seismic velocities in seawater on tomographic inversion for crustal velocity models. Experiments that include lateral variation in seawater velocity demonstrated that the modeled crustal velocities were contaminated by artifacts from tomographic inversions when assuming a homogeneous water layer. To suppress such artifacts, we propose two strategies：（1） simultaneous inversion of water velocities and the crustal velocities;（2） layer-stripping inversion during which to first invert for seawater velocity and then correct the travel times before inverting for crustal velocities. The layer-stripping inversion significantly improves the modeling of variation in seawater velocity when preformed with seismic sensors deployed on the ocean bottom and in the water column. Such strategies improve crustal modeling via wide-angle seismic surveys in deep-marine environment.展开更多
In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with...In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.展开更多
AIM：To compare the effects of scleral buckling using wide-angle viewing systems（WAVS） with that using indirect ophthalmoscope for the treatment of rhegmatogenous retinal detachment.METHODS：The study was a retrospe...AIM：To compare the effects of scleral buckling using wide-angle viewing systems（WAVS） with that using indirect ophthalmoscope for the treatment of rhegmatogenous retinal detachment.METHODS：The study was a retrospective analyses of the medical records of 94 eyes（94 patients） with rhegmatogenous retinal detachment.Among them,47 eyes underwent scleral buckling using WAVS with endoiiluminator（Group W）,and 47 eyes underwent scleral buckling using indirect ophthalmoscope（Group I）.Surgical durations,primary success rate,best-corrected visual acuities（BCVA）,delayed subretinal fluid absorptions and surgical complications were compared between the two groups.RESULTS：At baseline,there were no statistical differences between the two groups in patient＇s age（P=0.997）,gender（P=0.853）,symptom duration（P=0.216）,BCVA（P=0.389）,refractive error（P=0.167）,intraocular pressure（P=0.595）,the number of retinal breaks（P=0.832）,the extent of retinal detachment（P =0.246）,subretinal demarcation line（P=0.801）,and macular detachment（P=0.811）.The follow-up period was 12 mo.The surgical durations in Group W（with or without encircling buckling） were significant shorter than those in Group I（P〈0.001 respectively）.The primary success rate was94.27%in Group W,which was similar to that in Group I（92.38%,P=0.931）.The BCVA in Group W was better than that in Group I（P〈0.001） at 1-month follow-up visit.However,there were no significant differences between the two groups at 3-month（P=0.221）,6-month（P =0.674）,and 12-month（P=0.363） follow-up visits respectively.Delayed subretinal fluid absorptions were more common in Group I than in Group W at 1-month（P=0.045） follow-up visit,but there were no significant differences between the two groups at 3-month（P=0.111）,6-month（P =1.000） and 12-month follow-up visits respectively.CONCLUSION：Scleral buckling using WAVS can be an alternative choose for rhegmatogenous retinal detachment展开更多
Polarity reversals may occur to transmitted P waves if the incidence angle is greater than the critical incidence angle. We analyze the characteristics of reflection and transmission coefficients under the condition o...Polarity reversals may occur to transmitted P waves if the incidence angle is greater than the critical incidence angle. We analyze the characteristics of reflection and transmission coefficients under the condition of wide incidence angle based on Zoeppritz equations. We find that for specific conditions, as the incidence angle increases, the characteristic curve of the transmitted P-wave coefficient enters the third quadrant from the first quadrant through the origin, which produces a transition in the transmitted P wave and the corresponding coefficient experiences polarity reversal. We derive the incidence angle when the transmitted P-wave coefficient is zero and verify that it equals zero by using finite-difference forward modeling for a single-interface model. We replace the water in the model reservoir by gas and see that the reservoir P-wave velocity and density decrease dramatically. By analyzing the synthetic seismogram of the transmitted P wave in the single-interface model, we show that the gas-saturated reservoir is responsible for polarity reversal.展开更多
The studies of seismic tomography and wide-angle reflection have been carried out to reveal the velocity structUrebeneath the eastern Dabie orogenic belt. The result from the seismic tomography shows the high velocity...The studies of seismic tomography and wide-angle reflection have been carried out to reveal the velocity structUrebeneath the eastern Dabie orogenic belt. The result from the seismic tomography shows the high velocity bodiesmight be positioned to a depth of only about 1 .5 km below sea level within the Dabie ultra-high pressure metamorphic (UHPM) belt; the fan-profile shows the Shuihou-Wuhe fault, the demarcation between the South Dabieand the North Dabie, slopes to the south-west at a dip angle of about 45° in the bottom of upper crust. The wideangle reflection shows the middle crustal boundaries and the complex features from the lower crust.展开更多
The South Yellow Sea basin is filled with Mesozoic-Cenozoic continental sediments overlying pre-Palaeozoic and Mesozoic-Palaeozoic marine sediments.Conventional multi-channel seismic data cannot describe the velocity ...The South Yellow Sea basin is filled with Mesozoic-Cenozoic continental sediments overlying pre-Palaeozoic and Mesozoic-Palaeozoic marine sediments.Conventional multi-channel seismic data cannot describe the velocity structure of the marine residual basin in detail,leading to the lack of a deeper understanding of the distribution and lithology owing to strong energy shielding on the top interface of marine sediments.In this study,we present seismic tomography data from ocean bottom seismographs that describe the NEE-trending velocity distributions of the basin.The results indicate that strong velocity variations occur at shallow crustal levels.Horizontal velocity bodies show good correlation with surface geological features,and multi-layer features exist in the vertical velocity framework(depth:0–10 km).The analyses of the velocity model,gravity data,magnetic data,multichannel seismic profiles,and drilling data showed that high-velocity anomalies(>6.5 km/s)of small(thickness:1–2 km)and large(thickness:>5 km)scales were caused by igneous complexes in the multi-layer structure,which were active during the Palaeogene.Possible locations of good Mesozoic and Palaeozoic marine strata are limited to the Central Uplift and the western part of the Northern Depression along the wide-angle ocean bottom seismograph array.Following the Indosinian movement,a strong compression existed in the Northern Depression during the extensional phase that caused the formation of folds in the middle of the survey line.This study is useful for reconstructing the regional tectonic evolution and delineating the distribution of the marine residual basin in the South Yellow Sea basin.展开更多
A 400 km-long wide-angle seismic experiment along Lianxian-Gangkou profile in South China was carried out to study contact relationship between southeast continental margin of Yangtze block and northwest continental m...A 400 km-long wide-angle seismic experiment along Lianxian-Gangkou profile in South China was carried out to study contact relationship between southeast continental margin of Yangtze block and northwest continental margin of Cathaysia block. We reconstructed crustal wide-angle reflection structure by the depth-domain pre-stack migration and the crustal velocity model constructed from the traveltime fitting. The wide-angle reflection section shows different reflection （from crystalline basement and Moho） pattern beneath the Yangtze and Cathaysia blocks, and suggests the Wuchuan-Sihui fault is the boundary between them. A cluster of well-developed reflections on Moho and in its underlying topmost mantle probably comes from alternative thin layers, which may be seismic signature of strong interaction between crust and mantle in the tectonic environment of lithosphere extension.展开更多
The marginal sea and back-arc basins in the Western Pacific Ocean have become the focus of tectonics due to their unique tectonic location.To understand the deep crustal structure in the back-arc region,we present a 5...The marginal sea and back-arc basins in the Western Pacific Ocean have become the focus of tectonics due to their unique tectonic location.To understand the deep crustal structure in the back-arc region,we present a 545-kmlong active-source ocean bottom seismometer(OBS)wide-angle reflection/refraction profile in the East China Sea.The P wave velocity model shows that the Moho depth rises significantly,from approximately 30 km in the East China Sea shelf to approximately 16 km in the axis of the Okinawa Trough.The lower crustal high-velocity zone(HVZ)in the southern Okinawa Trough,with V_(p) of 6.8-7.3 km/s,is a remarkable manifestation of the mantle material upwelling and accretion to the lower crust.This confirms that the lower crustal high-velocity mantle accretion is developed in the southern Okinawa Trough.During the process of back-arc extension,the crustal structure of the southern Okinawa Trough is completely invaded and penetrated by the upper mantle material in the axis region.In some areas of the southern central graben,the crust may has broken up and entered the initial stage of seafloor spreading.The discontinuous HVZs in the lower crust in the back-arc region also indicate the migration of spreading centers in the back-arc region since the Cenozoic.The asthenosphere material upwelling in the continent-ocean transition zone is constantly driving the lithosphere eastward for episodic extension,and is causing evident tectonic migration in the Western Pacific back-arc region.展开更多
In the practical application,a wide-angle absorption with simple structure is still crucial property of metamaterial absorbers(MAs).A single-band infrared MA is introduced to analyze the angle insensitive mechanism.Nu...In the practical application,a wide-angle absorption with simple structure is still crucial property of metamaterial absorbers(MAs).A single-band infrared MA is introduced to analyze the angle insensitive mechanism.Numerical simulation reveals that a perfect absorption peak with 99.9%(7.55μm)is achieved at normal incidence,as well as the absorptivity is respectively 69.7%(7.46μm)and 93.5%(7.46μm)for transverse electric(TE)and transverse magnetic(TM)modes at 70°incidence.By changing substrate thickness,the absorption ratio at 70°is increased to 91%(7.46μm)for TE mode.Our design can also keep the good absorption stability for the geometric parameters.The E z-field distributions for different incident angles are given to investigate the physical mechanism.The designed MA can realize good wide-angle tolerance.This MA owns great applications,including infrared spectroscopy,solar harvester and plasmonic sensors.展开更多
The design and fabrication of graded-refractive-index （GRIN） antireflection （AR） coatings with wide-angle and broadband characteristics are demonstrated. The optimization of the graded-index profiles with a geneti...The design and fabrication of graded-refractive-index （GRIN） antireflection （AR） coatings with wide-angle and broadband characteristics are demonstrated. The optimization of the graded-index profiles with a genetic algorithm is used in the design of the GRIN AR coatings. The average reflectance over a wavelength range from 400 nm to 800 nm and angles of incidence from 0° to 80° could be reduced to only 0.1% by applying an optimized AR coating onto BK7 glass. The optimization of step-graded GRIN AR coating is then further investigated in detail. A two-layer AR coating was deposited by electron beam evaporation with glancing angle deposition technology, and the positional homogeneity was improved by depositing the film from two opposite directions. The microstructure of the AR coating was investigated by scanning electron microscopy, and the residual reflectances of the coating sample are in agreement with theoretical calculations. The optimized GRIN AR coatings are beneficial to increasing the efficiency of light utilization.展开更多
For potential military applications, a flexible metamaterial absorber(MMA) working on whole K-bands with totalthickness of 3.367 mm, ultra-broadband, polarization-insensitive, and wide-angle stability is presented bas...For potential military applications, a flexible metamaterial absorber(MMA) working on whole K-bands with totalthickness of 3.367 mm, ultra-broadband, polarization-insensitive, and wide-angle stability is presented based on frequencyselective surface(FSS). The absorber is composed of polyvinyl chloride(PVC) layer, polyimide(PI) layer, and poly tetra fluoro ethylene(PTFE) layer, with a sandwich structure of PVC–PI–PTFE–metal plate. Periodic conductive patterns play a crucial role in the absorber, and in traditional, it is designed on the upper surface of PI layer to form LC resonance. Different from commonly absorber, all the patterns are located on the lower surface of the PI layer in this work, and hence the impedance matching and absorptivity are improved in this purposed absorber. The flexible absorber with patterns on lower surface of the PI layer is compared with that on upper surface of the PI layer, the difference and the reasons are explained by absorption mechanism based on equivalent circuit model, and surface current density and electric field distribution are used to analyze resonance peaks. Absorptivity is greater than 90% in a frequency range of 10.47 GHz–45.44 GHz with relative bandwidth of 125.1%, covering the whole Ku, K, Ka, and some of X, U bands, especially containing the whole K bands from 12 GHz to 40 GHz. Radar cross section(RCS) is reduced at least 10 dB in 11.48 GHz–43.87 GHz frequency ranges,and absorption remained about 90% when the incident angle changed from 0°to 55°. The purposed absorber is fabricated,measured, and experiment results show good agreement with theoretical analysis and numerical simulation. After bonded on outer surface of different cylinders with diameters of 200 mm and 100 mm, the absorption of MMA is approximately reduced 10% and 20% respectively, which shows good conformal character with surface of various curvatures. Due to the attractive performance on strong absorption in the whole K-bands, flexible and easy conformal, our design exhibits broad potential application in radar stealth and sensors.展开更多
文摘Firstly,the relationship between the accuracy of low altitude aerial photogrammetry and the field angle of camera is made by a quantitative analysis from the theory.The conclusion that the low altitude photogrammetry should use wide-angle camera as much as possible is done.Then,the limitation of the single lens camera to expand field angle and the combined wide-angle camera existing on the market not suitable for light load of low altitude UAV(Unmanned Aerial Vehicle)due to excessive weight are pointed out.The characteristics of combined wide-angle low altitude light camera with self-calibration and self-stabilization developed by the author are described,especially the principle of self-calibration for the combination of static error and dynamic error.Based on the practice of large scale mapping,a technical procedure in aerial photography by taking with wide-angle camera and large overlap simultaneously for improving the accuracy of low altitude photogrammetry is proposed.The typical engineering produced data is used to verity the above theoretical analysis.A technical route for increasing accuracy of low altitude photogrammetry with combined wide-angle camera is expounded.
文摘Automobile accidents cost over a trillion-do llar every year and this figure will continue increasing without employing new technological solutions.Among these solutions,the automated lane-keeping system is one of the promising ones and such a system consists of two essential technologies:road detection and steering control.In this paper,novel lane keeping algorithms are proposed and are implemented using only a single off-the-shelf wide-angle camera as input.The implemented system is verified,through both simulation and experiments,and is found providing satisfactory performance for an automated lane-keeping system.When compared to the state-of-the-art lane-keeping systems,the implemented system can perform consistently across various ambient light conditions including the most challenging ones.
基金National Natural Science Foundation of China,Grant/Award Number:61702320。
文摘Precise localisation and navigation are the two most important tasks for mobile robots.Visual simultaneous localisation and mapping(VSLAM)is useful in localisation systems of mobile robots.The wide-angle camera has a broad field of vision and more abundant information on images,so it is widely used in mobile robots,including legged robots.However,wide-angle cameras are more complicated than ordinary cameras in the design of visual localisation systems,and higher requirements and challenges are put forward for VSLAM technologies based on wide-angle cameras.In order to resolve the problem of distortion in wide-angle images and improve the accuracy of localisation,a sampling VSLAM based on a wide-angle camera model for legged mobile robots is proposed.For the predictability of the periodic motion of a legged robot,in the method,the images are sampled periodically,image blocks with clear texture are selected and the image details are enhanced to extract the feature points on the image.Then,the feature points of the blocks are extracted and by using the feature points of the blocks in the images,the feature points on the images are extracted.Finally,the points on the incident light through the normalised plane are selected as the template points;the relationship between the template points and the images is established through the wide-angle camera model,and the pixel coordinates of the template points in the images and the descriptors are calculated.Moreover,many experiments are conducted on the TUM datasets with a quadruped robot.The experimental results show that the trajectory error and translation error measured by the proposed method are reduced compared with the VINS-MONO,ORB-SLAM3 and Periodic SLAM systems.
基金support by the Advanced Integrated Optoelectronics Facility at Tianjin University
文摘Metasurfaces composed of two-dimensional nanopillar arrays can manipulate light fields in desirable ways and exhibit the unique advantage of beam steering.Here,we experimentally demonstrate a metasurface-based wide-angle broadband all-dielectric blazed grating with an extreme incident angle of up to 80°,which is achieved by optimizing the wide-angle phase shifts and transmissivities of the unit cells.It exhibits a maximum diffraction efficiency of 72%and a high average efficiency of 64%over a wide range of incident angles from−80° to 45° at 1.55μm.Moreover,the proposed grating has a broad bandwidth of 200 nm(1.45-1.65μm),and average efficiencies of more than 50%can be achieved experimentally over the same incidence angles.Our results may pave the way for the creation of novel and efficient flat optical devices for wavefront control.
基金Project supported by the National Key Research and Development Program of China(Grant Nos.2023YFB3811400 and 2022YFB3806000)the National Natural Science Foundation of China(Grant No.12074314)+1 种基金the Science and Technology New Star Program of Shaanxi Province,China(Grant No.2023KJXX-148)the Fundamental Research Funds for the Central Universities。
文摘The emergent metagrating,with its unique and flexible beam shaping capabilities,offers new paths to efficient modulation of acoustic waves.In this work,an acoustic metagrating is demonstrated for high-efficiency and wide-angle anomalous refraction.It is shown that the normal reflection and transmission can be totally suppressed by properly modulating the amplitude and phase characteristics of the metagrating supercells for high-efficiency anomalous refraction.The anomalous refraction behavior is achieved in the wide range of incident angles from 28°to 78°,and the efficiency of-1st order diffraction is higher than 90%by finely designing the metagrating structure.The anomalous refraction behaviors are verified experimentally at incidence angle of 28°,45°,and 78°,respectively.The demonstrated metagrating is anticipated to possess efficient wide-angle composite wavefront engineering applications in such fields as communications.
基金supported by the 2024 Research Fund of University of Ulsan.
文摘In recent years,three-dimensional reconstruction technologies that employ multiple cameras have continued to evolve significantly,enabling remote collaboration among users in extended Reality(XR)environments.In addition,methods for deploying multiple cameras for motion capture of users(e.g.,performers)are widely used in computer graphics.As the need to minimize and optimize the number of cameras grows to reduce costs,various technologies and research approaches focused on Optimal Camera Placement(OCP)are continually being proposed.However,as most existing studies assume homogeneous camera setups,there is a growing demand for studies on heterogeneous camera setups.For instance,technical demands keep emerging in scenarios with minimal camera configurations,especially regarding cost factors,the physical placement of cameras given the spatial structure,and image capture strategies for heterogeneous cameras,such as high-resolution RGB cameras and depth cameras.In this study,we propose a pre-visualization and simulation method for the optimal placement of heterogeneous cameras in XR environments,accounting for both the specifications of heterogeneous cameras(e.g.,field of view)and the physical configuration(e.g.,wall configuration)in real-world spaces.The proposed method performs a visibility analysis of cameras by considering each camera’s field-of-view volume,resolution,and unique characteristics,along with physicalspace constraints.This approach enables the optimal position and rotation of each camera to be recommended,along with the minimum number of cameras required.In the results of our study conducted in heterogeneous camera combinations,the proposed method achieved 81.7%~82.7%coverage of the target visual information using only 2~3 cameras.In contrast,single(or homogeneous)-typed cameras were required to use 11 cameras for 81.6%coverage.Accordingly,we found that camera deployment resources can be reduced with the proposed approaches.
基金supported by the Jilin Science and Technology Development Plan (20240101029JJ) for the following study:synchronized high-speed detection of surface shape and defects in the grinding stage of complex surfaces (KLMSZZ202305)for the high-precision wide dynamic large aperture optical inspection system for fine astronomical observation by the National Major Research Instrument Development Project (62127901)+2 种基金for ultrasmooth manufacturing technology of large diameter complex curved surface by the National Key R&D Program(2022YFB3403405)for research on the key technology of rapid synchronous detection of surface shape and subsurface defects in the grinding stage of large diameter complex surfaces by the International Cooperation Project(2025010157)The Key Laboratory of Optical System Advanced Manufacturing Technology,Chinese Academy of Sciences (2022KLOMT02-04) also supported this study
文摘To address the challenges of high-precision optical surface defect detection,we propose a novel design for a wide-field and broadband light field camera in this work.The proposed system can achieve a 50°field of view and operates at both visible and near-infrared wavelengths.Using the principles of light field imaging,the proposed design enables 3D reconstruction of optical surfaces,thus enabling vertical surface height measurements with enhanced accuracy.Using Zemax-based simulations,we evaluate the system’s modulation transfer function,its optical aberrations,and its tolerance to shape variations through Zernike coefficient adjustments.The results demonstrate that this camera can achieve the required spatial resolution while also maintaining high imaging quality and thus offers a promising solution for advanced optical surface defect inspection.
基金supported by the National Natural Science Foundation of China (Grant No.12572210)the Scientific Instrument Developing Project of Shenzhen University (Grant Nos.2023YQ011,2024YQ001)the Shenzhen Science and Technology Innovation Commission Project—Stable Support (General Project)(Grant No.20231120175055001)。
文摘Vascular abnormalities are closely associated with the pathogenesis and progression of numerous diseases, such as thrombosis, tumors, and diabetes. Blood flow velocity serves as a critical biomarker for evaluating perfusion status. Quantitative detection of full-field blood flow variations in lesion areas holds significant scientific and clinical value for pathological studies,diagnosis, and intraoperative monitoring of related diseases. While laser speckle contrast imaging(LSCI) enables full-field blood flow visualization, its reliance on frame-based sensors necessitates handling massive data volumes, leading to inherent trade-offs among spatiotemporal resolution, real-time performance, and quantitative capabilities. Leveraging the asynchronous dynamic sensing, high temporal sampling rate, and low data redundancy of event cameras, this study proposes a quantitative blood flow imaging method termed laser speckle event imaging(LSEI). Experiments using off-the-shelf event cameras demonstrate that LSEI achieves real-time blood flow imaging with minimal computational overhead compared to frame-based LSCI. Furthermore,we investigate the relationship between event data streams and flow velocity through spatial-temporal autocorrelation analysis,enabling quantitative measurements without compromising temporal or spatial resolution. In in vivo imaging experiments of mouse ear blood flow, LSEI exhibits superior imaging details and real-time performance over conventional methods. The proposed approach holds promise as an efficient tool for diagnosis, therapeutic evaluation, and research on vascular-related diseases.
基金Supported by Beijing Natural Science Foundation(Grant No.L241012)the National Natural Science Foundation of China(Grant No.62572468).
文摘LiDAR and camera are two of the most common sensors used in the fields of robot perception,autonomous driving,augmented reality,and virtual reality,where these sensors are widely used to perform various tasks such as odometry estimation and 3D reconstruction.Fusing the information from these two sensors can significantly increase the robustness and accuracy of these perception tasks.The extrinsic calibration between cameras and LiDAR is a fundamental prerequisite for multimodal systems.Recently,extensive studies have been conducted on the calibration of extrinsic parameters.Although several calibration methods facilitate sensor fusion,a comprehensive summary for researchers and,especially,non-expert users is lacking.Thus,we present an overview of extrinsic calibration and discuss diverse calibration methods from the perspective of calibration system design.Based on the calibration information sources,this study classifies these methods as target-based or targetless.For each type of calibration method,further classification was performed according to the diverse types of features or constraints used in the calibration process,and their detailed implementations and key characteristics were introduced.Thereafter,calibration-accuracy evaluation methods are presented.Finally,we comprehensively compare the advantages and disadvantages of each calibration method and suggest directions for practical applications and future research.
基金supported by the National Natural Science Foundation of China (No.41230318)the Natural Science Foundation of Shandong Province (No.ZR2014DM006)+1 种基金the China Postdoctoral Science Foundation (No.2015M582138)the Scientific Research Foundation for the Returned Overseas Chinese Scholars,Ministry of Education
文摘The seawater column is typically taken as a homogeneous velocity layer in wide-angle crustal seismic surveys in marine environments. However, heterogeneities in salinity and temperature throughout the seawater layer result insignificant lateral variations in its seismic velocity, especially in deep marine environments. Failure to compensate for these velocity inhomogeneities will introduce significant artifacts in constructing crustal velocity models using seismic tomography. In this study, we conduct numerical experiments to investigate the impact of heterogeneous seismic velocities in seawater on tomographic inversion for crustal velocity models. Experiments that include lateral variation in seawater velocity demonstrated that the modeled crustal velocities were contaminated by artifacts from tomographic inversions when assuming a homogeneous water layer. To suppress such artifacts, we propose two strategies：（1） simultaneous inversion of water velocities and the crustal velocities;（2） layer-stripping inversion during which to first invert for seawater velocity and then correct the travel times before inverting for crustal velocities. The layer-stripping inversion significantly improves the modeling of variation in seawater velocity when preformed with seismic sensors deployed on the ocean bottom and in the water column. Such strategies improve crustal modeling via wide-angle seismic surveys in deep-marine environment.
基金Project supported by the Shanghai Leading Academic Discipline Project (Grant No.T0103)
文摘In order to deal with torque pulsation problem caused by traditional control method for brushless DC （BLDC） motor and to achieve high precision and good stability, a novel control strategy is proposed. Compared with the traditional control scheme, by using phase voltage as a control objective and making waveform of phase current approximately quasi-sinusoidal, torque ripple of BLDC motor is reduced from the original 14% to 3.4%, while toque is increased by 3.8%. Furthermore, by detecting zero-crossings of back electromotive force （BEMF） with non-conducting phases, sensorless control is realized. The new control strategy is simple. It can minimize torque ripple, increase torque, and realize sensorless control for BLDC motor. Simulation and experiments show good performance of BLDC motor by using the new control method.
基金Supported by the Projects of Henan Health and Family Planning Commission(No.2014005)Henan Health Department(No.201304007)Henan Science and Technology Department(No.142102310110)
文摘AIM：To compare the effects of scleral buckling using wide-angle viewing systems（WAVS） with that using indirect ophthalmoscope for the treatment of rhegmatogenous retinal detachment.METHODS：The study was a retrospective analyses of the medical records of 94 eyes（94 patients） with rhegmatogenous retinal detachment.Among them,47 eyes underwent scleral buckling using WAVS with endoiiluminator（Group W）,and 47 eyes underwent scleral buckling using indirect ophthalmoscope（Group I）.Surgical durations,primary success rate,best-corrected visual acuities（BCVA）,delayed subretinal fluid absorptions and surgical complications were compared between the two groups.RESULTS：At baseline,there were no statistical differences between the two groups in patient＇s age（P=0.997）,gender（P=0.853）,symptom duration（P=0.216）,BCVA（P=0.389）,refractive error（P=0.167）,intraocular pressure（P=0.595）,the number of retinal breaks（P=0.832）,the extent of retinal detachment（P =0.246）,subretinal demarcation line（P=0.801）,and macular detachment（P=0.811）.The follow-up period was 12 mo.The surgical durations in Group W（with or without encircling buckling） were significant shorter than those in Group I（P〈0.001 respectively）.The primary success rate was94.27%in Group W,which was similar to that in Group I（92.38%,P=0.931）.The BCVA in Group W was better than that in Group I（P〈0.001） at 1-month follow-up visit.However,there were no significant differences between the two groups at 3-month（P=0.221）,6-month（P =0.674）,and 12-month（P=0.363） follow-up visits respectively.Delayed subretinal fluid absorptions were more common in Group I than in Group W at 1-month（P=0.045） follow-up visit,but there were no significant differences between the two groups at 3-month（P=0.111）,6-month（P =1.000） and 12-month follow-up visits respectively.CONCLUSION：Scleral buckling using WAVS can be an alternative choose for rhegmatogenous retinal detachment
基金the National Natural Science Foundation of China(No.41374123)
文摘Polarity reversals may occur to transmitted P waves if the incidence angle is greater than the critical incidence angle. We analyze the characteristics of reflection and transmission coefficients under the condition of wide incidence angle based on Zoeppritz equations. We find that for specific conditions, as the incidence angle increases, the characteristic curve of the transmitted P-wave coefficient enters the third quadrant from the first quadrant through the origin, which produces a transition in the transmitted P wave and the corresponding coefficient experiences polarity reversal. We derive the incidence angle when the transmitted P-wave coefficient is zero and verify that it equals zero by using finite-difference forward modeling for a single-interface model. We replace the water in the model reservoir by gas and see that the reservoir P-wave velocity and density decrease dramatically. By analyzing the synthetic seismogram of the transmitted P wave in the single-interface model, we show that the gas-saturated reservoir is responsible for polarity reversal.
文摘The studies of seismic tomography and wide-angle reflection have been carried out to reveal the velocity structUrebeneath the eastern Dabie orogenic belt. The result from the seismic tomography shows the high velocity bodiesmight be positioned to a depth of only about 1 .5 km below sea level within the Dabie ultra-high pressure metamorphic (UHPM) belt; the fan-profile shows the Shuihou-Wuhe fault, the demarcation between the South Dabieand the North Dabie, slopes to the south-west at a dip angle of about 45° in the bottom of upper crust. The wideangle reflection shows the middle crustal boundaries and the complex features from the lower crust.
基金The National Natural Science Foundation of China under contract No.41806048the Open Fund of the Hubei Key Laboratory of Marine Geological Resources under contract No.MGR202009+2 种基金the Fund from the Key Laboratory of Deep-Earth Dynamics of Ministry of Natural Resource,Institute of Geology,Chinese Academy of Geological Sciences under contract No.J1901-16the Aoshan Science and Technology Innovation Project of Pilot National Laboratory for Marine Science and Technology(Qingdao)under contract No.2015ASKJ03-Seabed Resourcesthe Fund from the Korea Institute of Ocean Science and Technology(KIOST)under contract No.PE99741.
文摘The South Yellow Sea basin is filled with Mesozoic-Cenozoic continental sediments overlying pre-Palaeozoic and Mesozoic-Palaeozoic marine sediments.Conventional multi-channel seismic data cannot describe the velocity structure of the marine residual basin in detail,leading to the lack of a deeper understanding of the distribution and lithology owing to strong energy shielding on the top interface of marine sediments.In this study,we present seismic tomography data from ocean bottom seismographs that describe the NEE-trending velocity distributions of the basin.The results indicate that strong velocity variations occur at shallow crustal levels.Horizontal velocity bodies show good correlation with surface geological features,and multi-layer features exist in the vertical velocity framework(depth:0–10 km).The analyses of the velocity model,gravity data,magnetic data,multichannel seismic profiles,and drilling data showed that high-velocity anomalies(>6.5 km/s)of small(thickness:1–2 km)and large(thickness:>5 km)scales were caused by igneous complexes in the multi-layer structure,which were active during the Palaeogene.Possible locations of good Mesozoic and Palaeozoic marine strata are limited to the Central Uplift and the western part of the Northern Depression along the wide-angle ocean bottom seismograph array.Following the Indosinian movement,a strong compression existed in the Northern Depression during the extensional phase that caused the formation of folds in the middle of the survey line.This study is useful for reconstructing the regional tectonic evolution and delineating the distribution of the marine residual basin in the South Yellow Sea basin.
基金supported by the Chinese Academy of Sciences (KZCX2-YW-132)the National Natural Sciences Foundation of China(40721003, 40830315)
文摘A 400 km-long wide-angle seismic experiment along Lianxian-Gangkou profile in South China was carried out to study contact relationship between southeast continental margin of Yangtze block and northwest continental margin of Cathaysia block. We reconstructed crustal wide-angle reflection structure by the depth-domain pre-stack migration and the crustal velocity model constructed from the traveltime fitting. The wide-angle reflection section shows different reflection （from crystalline basement and Moho） pattern beneath the Yangtze and Cathaysia blocks, and suggests the Wuchuan-Sihui fault is the boundary between them. A cluster of well-developed reflections on Moho and in its underlying topmost mantle probably comes from alternative thin layers, which may be seismic signature of strong interaction between crust and mantle in the tectonic environment of lithosphere extension.
基金supported by the National Key Basic Research Program of China(Grant No.2013CB429701)the National Natural Science Foundation of China(Grant Nos.41606083,91958210,41606050 and 41210005)+1 种基金AoShan Technological Innovation Projects of National Laboratory for Marine Science and Technology(Qingdao)(2015ASKJ03)National Marine Geological Special Project(DD20190236,DD20190365,DD20190377)。
文摘The marginal sea and back-arc basins in the Western Pacific Ocean have become the focus of tectonics due to their unique tectonic location.To understand the deep crustal structure in the back-arc region,we present a 545-kmlong active-source ocean bottom seismometer(OBS)wide-angle reflection/refraction profile in the East China Sea.The P wave velocity model shows that the Moho depth rises significantly,from approximately 30 km in the East China Sea shelf to approximately 16 km in the axis of the Okinawa Trough.The lower crustal high-velocity zone(HVZ)in the southern Okinawa Trough,with V_(p) of 6.8-7.3 km/s,is a remarkable manifestation of the mantle material upwelling and accretion to the lower crust.This confirms that the lower crustal high-velocity mantle accretion is developed in the southern Okinawa Trough.During the process of back-arc extension,the crustal structure of the southern Okinawa Trough is completely invaded and penetrated by the upper mantle material in the axis region.In some areas of the southern central graben,the crust may has broken up and entered the initial stage of seafloor spreading.The discontinuous HVZs in the lower crust in the back-arc region also indicate the migration of spreading centers in the back-arc region since the Cenozoic.The asthenosphere material upwelling in the continent-ocean transition zone is constantly driving the lithosphere eastward for episodic extension,and is causing evident tectonic migration in the Western Pacific back-arc region.
文摘In the practical application,a wide-angle absorption with simple structure is still crucial property of metamaterial absorbers(MAs).A single-band infrared MA is introduced to analyze the angle insensitive mechanism.Numerical simulation reveals that a perfect absorption peak with 99.9%(7.55μm)is achieved at normal incidence,as well as the absorptivity is respectively 69.7%(7.46μm)and 93.5%(7.46μm)for transverse electric(TE)and transverse magnetic(TM)modes at 70°incidence.By changing substrate thickness,the absorption ratio at 70°is increased to 91%(7.46μm)for TE mode.Our design can also keep the good absorption stability for the geometric parameters.The E z-field distributions for different incident angles are given to investigate the physical mechanism.The designed MA can realize good wide-angle tolerance.This MA owns great applications,including infrared spectroscopy,solar harvester and plasmonic sensors.
文摘The design and fabrication of graded-refractive-index （GRIN） antireflection （AR） coatings with wide-angle and broadband characteristics are demonstrated. The optimization of the graded-index profiles with a genetic algorithm is used in the design of the GRIN AR coatings. The average reflectance over a wavelength range from 400 nm to 800 nm and angles of incidence from 0° to 80° could be reduced to only 0.1% by applying an optimized AR coating onto BK7 glass. The optimization of step-graded GRIN AR coating is then further investigated in detail. A two-layer AR coating was deposited by electron beam evaporation with glancing angle deposition technology, and the positional homogeneity was improved by depositing the film from two opposite directions. The microstructure of the AR coating was investigated by scanning electron microscopy, and the residual reflectances of the coating sample are in agreement with theoretical calculations. The optimized GRIN AR coatings are beneficial to increasing the efficiency of light utilization.
基金Project supported by the Fundamental Research Funds for the Central Universities of China (Grant No. JD2020JGPY0010)the China Post-doctoral Science Foundation (Grant No. 2020M671834)the Anhui Province Post-doctoral Science Foundation, China (Grant No. 2020A397)。
文摘For potential military applications, a flexible metamaterial absorber(MMA) working on whole K-bands with totalthickness of 3.367 mm, ultra-broadband, polarization-insensitive, and wide-angle stability is presented based on frequencyselective surface(FSS). The absorber is composed of polyvinyl chloride(PVC) layer, polyimide(PI) layer, and poly tetra fluoro ethylene(PTFE) layer, with a sandwich structure of PVC–PI–PTFE–metal plate. Periodic conductive patterns play a crucial role in the absorber, and in traditional, it is designed on the upper surface of PI layer to form LC resonance. Different from commonly absorber, all the patterns are located on the lower surface of the PI layer in this work, and hence the impedance matching and absorptivity are improved in this purposed absorber. The flexible absorber with patterns on lower surface of the PI layer is compared with that on upper surface of the PI layer, the difference and the reasons are explained by absorption mechanism based on equivalent circuit model, and surface current density and electric field distribution are used to analyze resonance peaks. Absorptivity is greater than 90% in a frequency range of 10.47 GHz–45.44 GHz with relative bandwidth of 125.1%, covering the whole Ku, K, Ka, and some of X, U bands, especially containing the whole K bands from 12 GHz to 40 GHz. Radar cross section(RCS) is reduced at least 10 dB in 11.48 GHz–43.87 GHz frequency ranges,and absorption remained about 90% when the incident angle changed from 0°to 55°. The purposed absorber is fabricated,measured, and experiment results show good agreement with theoretical analysis and numerical simulation. After bonded on outer surface of different cylinders with diameters of 200 mm and 100 mm, the absorption of MMA is approximately reduced 10% and 20% respectively, which shows good conformal character with surface of various curvatures. Due to the attractive performance on strong absorption in the whole K-bands, flexible and easy conformal, our design exhibits broad potential application in radar stealth and sensors.
