Results for “computer vision” — Page 32

DOE OSTI2024

Using Fiducial Markers for Pose Estimation of an OSWEC in a Wave Tank: Preprint

In this study, we consider a novel method of sensing the motion of a wave energy converter during testing in a wave flume under the influence of incoming waves. The wave energy converter considered in our research is an oscillating surge wave energy converter, which is a hinged paddle that responds to incoming waves. Motion sensing is normally done with inertial sensors, which can hinder the motion due to suspended cables that carry power and transmit signals. Our proposed method is contactless and can be implemented economically. A camera is used to record different marker patterns affixed to the moving paddle and the motion deduced by pose estimation algorithms. Fiducial markers are commonly used for robot localization and in augmented reality. There are many types of fiducial markers, including ArUco-type markers which are accurate, fast and robust. The system consists of markers attached to the paddle element and recorded using a machine vision camera. A pose estimation algorithm is then applied to the detected markers to estimate the tilt of the paddle. In this work, we examine the challenges of image acquisition and calibration for underwater targets, compare the motion obtained by this new system with a calibrated tilt sensor and identify areas where the new system may be superior.

computer vision↗

NASA NTRSDate not supplied

Vision-Based Distributed Sensing at Vertiports for Advanced Air Mobility and Urban Air Mobility Approach and Landing

Advanced Air Mobility (AAM) encompasses a broad vision for air transportation, including Urban Air Mobility (UAM) as a subset. AAM aims to create a more connected and efficient transportation network across various geographical settings. However, navigating AAM aircraft in GPS-denied or degraded environments during approach and landing is challenging. Traditional vision aids like glideslopes and localizers are limited in vertiport environments due to narrow beam constraints and reduced landing angle options. This paper addresses the need for accurate navigation solutions at vertiports by proposing a vision-based distributed sensing (VIDIS) system utilizing cameras with bundle adjustment to assist incoming AAM aircraft during approach and landing while monitoring surface movements to enhance safety and efficiency. Key focus areas for current and future vertiport developers include identifying suitable sensor types and infrastructure standards to support AAM operations and including vertiport markings as vision-based navigation aids. The proposed system offers a novel approach to overcoming navigation challenges in AAM operations, particularly in urban settings where traditional aids may be insufficient. Preliminary simulation results with distributed cameras demonstrate promising outcomes for implementing bundle adjustment techniques to enhance vision-based navigation solutions at vertiports. Generating waypoint-based trajectories via waypoint integration using explicit guidance synthesis (WINGS) creates smooth AAM trajectories for landing at vertiports by using the current waypoint's terminal conditions as the initial conditions for the next waypoint. Combining bundle adjustment's ground-based solution of vertiport features with WINGS, Coplanar Pose from Orthography and Scaling with Iterations (COPOSIT), and an extended Kalman filter (EKF) estimates the state of an incoming aircraft during approach and landing at vertiports. Future work includes testing VIDIS in a high-fidelity simulation and with real-world data.

Distributed sensing↗

NASA NTRSDate not supplied

Vision-Based Distributed Sensing at Vertiports for Advanced Air Mobility and Urban Air Mobility Approach and Landing

Advanced Air Mobility (AAM) encompasses a broad vision for air transportation, including Urban Air Mobility (UAM) as a subset. AAM aims to create a more connected and efficient transportation network across various geographical settings. However, navigating AAM aircraft in GPS-denied or degraded environments during approach and landing is challenging. Traditional vision aids like glideslopes and localizers are limited in vertiport environments due to narrow beam constraints and reduced landing angle options. This paper addresses the need for accurate navigation solutions at vertiports by proposing a vision-based distributed sensing (VIDIS) system utilizing cameras with bundle adjustment to assist incoming AAM aircraft during approach and landing while monitoring surface movements to enhance safety and efficiency. Key focus areas for current and future vertiport developers include identifying suitable sensor types and infrastructure standards to support AAM operations and including vertiport markings as vision-based navigation aids. The proposed system offers a novel approach to overcoming navigation challenges in AAM operations, particularly in urban settings where traditional aids may be insufficient. Preliminary simulation results with distributed cameras demonstrate promising outcomes for implementing bundle adjustment techniques to enhance vision-based navigation solutions at vertiports. Generating waypoint-based trajectories via waypoint integration using explicit guidance synthesis (WINGS) creates smooth AAM trajectories for landing at vertiports by using the current waypoint's terminal conditions as the initial conditions for the next waypoint. Combining bundle adjustment's ground-based solution of vertiport features with WINGS, Coplanar Pose from Orthography and Scaling with Iterations (COPOSIT), and an extended Kalman filter (EKF) estimates the state of an incoming aircraft during approach and landing at vertiports. Future work includes testing VIDIS in a high-fidelity simulation and with real-world data.

Distributed sensing↗

NASA NTRSDate not supplied

Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data

Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.

computer vision↗

NASA NTRSDate not supplied

Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data

Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.

computer vision↗

DOE OSTI2024

A Vision–based Robust $\mathcal{H}$ ∞ Gain Scheduling Longitudinal and Lateral Following Controller for Autonomous Vehicles on Urban Curved Roads

Implementing advanced driver assistance systems (ADAS) in congested and intricate urban traffic scenarios poses significant challenges. To address the frequent stop–and–go motions exhibited by autonomous vehicles (AVs) navigating urban roads with changes in curvature, we propose a vision–based robust $\mathcal{H}$ ∞ adaptive cruise control system (ACC) for longitudinal control, plus a lane keeping assist system (LKAS) for lateral control. For the vision-based ACC, a weighted probability objective function for the vehicle following behavior is formulated. We incorporate $\mathcal{H}$ ∞ performance and gain scheduling techniques to mitigate the impact of uncertainty in visual sensor measurements. Furthermore, the optimal time headway is scheduled based on the velocity to ensure traffic flow efficiency and safety during the vehicle following process. For the LKAS, we introduce a road curvature estimation method that integrates lane and vehicle dynamics information to obtain the lateral and heading offsets. Next, the design criterion of the observer–based robust gain scheduling lateral motion controller is established by linear matrix inequality (LMI). Here, a series of experiments conducted within a camera–in–loop platform validate the proposed method.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2025

Spatial description of dislocation nucleation in the shock response of single-crystal aluminum

Nonequilibrium molecular dynamics simulations of shock loaded single-crystal Al in the $\langle$100$\rangle$, $\langle$110$\rangle$, $\langle$111$\rangle$, and $\langle$123$\rangle$ orientations are conducted to study elastic and plastic shockwave formation and details associated with dislocation activity. A computer vision-based approach is implemented to capture the presence of dislocations and describe their spatial characteristics in the zone of nucleation behind the propagating shockwave. The methodology developed relies on the sequences of images extracted during shock loading that show dislocation activity within a cross section of the sample. Results reveal that the spacing between activated slip systems is orientation dependent and exhibits a modest reduction for the $\langle$100$\rangle$ and $\langle$111$\rangle$ orientations as shock pressure increases. Comparisons are made to existing theoretical models. Such relationships between shock pressure and dislocation activity, extracted from molecular dynamics simulations, can be used to inform higher length scale simulations or modeling of dislocation-based plasticity during shock.

36 MATERIALS SCIENCE↗

DOE OSTI2022

Capsule network-based semantic segmentation model for thermal anomaly identification on building envelopes

Thermography technology is widely used to inspect thermal anomalies in building façade systems. Computer vision-based techniques provide opportunities to autonomously detect such heat anomalies to significantly improve the efficiency of decision-making for building envelope retrofitting and maintenance. Here, in this work, we propose a novel Capsule Network-based deep learning model – CapsLab – that detects and identifies thermal anomalies by semantic segmentation. CapsLab is built based on our proposed prediction-tuning capsule (PT-Capsule) layer. Different from a traditional capsule layer, which consists of part-whole transformation and capsule-routing process, the proposed layer is composed of a prediction and tuning process, which helps decreasing the number of model parameters significantly. While the applicability of traditional Capsule Networks (CapsNets) has been limited to simpler tasks and smaller datasets due to their scalability issue, we can leverage the lightweight of the proposed PT-Capsule layer, and apply it to the semantic segmentation task. In this work, we also employ our previously presented performance metric, referred to as the Anomaly Identification Metric (AIM) (Kakillioglua et al. 2021), to evaluate the segmentation outputs. Traditional performance metrics do not accurately reflect the true performance of the segmentation models in thermal anomaly identification due to the high subjectivity in the annotation process and higher overlap ratio sensitivity of the standard metrics. AIM, on the other hand, is robust to these drawbacks. Experimental results show, both qualitatively and quantitatively, that our proposed segmentation method can effectively segment the thermal anomalies. Specifically, our model provides 9.38% and 13.53% improvements over the baseline model – DeepLabV3+ – based on traditional mIoU score and the AIM score, respectively, while requiring less model parameters and less computation at the same time. In addition, the scores that the AIM metric generates better align with the scores provided by building performance experts.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2020

ThermalTracker-3D: A thermal stereo vision system for quantifying bird and bat activity at offshore wind energy sites

Not Available

Matzner, Shari↗

NASA NTRS1991

Computer graphics testbed to simulate and test vision systems for space applications

A system was developed for displaying computer graphics images of space objects and the use of the system was demonstrated as a testbed for evaluating vision systems for space applications. In order to evaluate vision systems, it is desirable to be able to control all factors involved in creating the images used for processing by the vision system. Considerable time and expense is involved in building accurate physical models of space objects. Also, precise location of the model relative to the viewer and accurate location of the light source require additional effort. As part of this project, graphics models of space objects such as the Solarmax satellite are created that the user can control the light direction and the relative position of the object and the viewer. The work is also aimed at providing control of hue, shading, noise and shadows for use in demonstrating and testing imaging processing techniques. The simulated camera data can provide XYZ coordinates, pitch, yaw, and roll for the models. A physical model is also being used to provide comparison of camera images with the graphics images.

Cheatham, John B.↗

DOE OSTI2020

Improving the accessibility and transferability of machine learning algorithms for identification of animals in camera trap images: MLWIC2

Motion-activated wildlife cameras (or “camera traps”) are frequently used to remotely and noninvasively observe animals. The vast number of images collected from camera trap projects has prompted some biologists to employ machine learning algorithms to automatically recognize species in these images, or at least filter-out images that do not contain animals. These approaches are often limited by model transferability, as a model trained to recognize species from one location might not work as well for the same species in different locations. Furthermore, these methods often require advanced computational skills, making them inaccessible to many biologists. We used 3 million camera trap images from 18 studies in 10 states across the United States of America to train two deep neural networks, one that recognizes 58 species, the “species model,” and one that determines if an image is empty or if it contains an animal, the “empty-animal model.” Our species model and empty-animal model had accuracies of 96.8% and 97.3%, respectively. Furthermore, the models performed well on some out-of-sample datasets, as the species model had 91% accuracy on species from Canada (accuracy range 36%–91% across all out-of-sample datasets) and the empty-animal model achieved an accuracy of 91%–94% on out-of-sample datasets from different continents. Our software addresses some of the limitations of using machine learning to classify images from camera traps. By including many species from several locations, our species model is potentially applicable to many camera trap studies in North America. We also found that our empty-animal model can facilitate removal of images without animals globally. We provide the trained models in an R package (MLWIC2: Machine Learning for Wildlife Image Classification in R), which contains Shiny Applications that allow scientists with minimal programming experience to use trained models and train new models in six neural network architectures with varying depths.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2023

Comparison of open‐source three‐dimensional reconstruction pipelines for maize‐root phenotyping

Abstract Understanding three‐dimensional (3D) root traits is essential to improve water uptake, increase nitrogen capture, and raise carbon sequestration from the atmosphere. However, quantifying 3D root traits by reconstructing 3D root models for deeper field‐grown roots remains a challenge due to the unknown tradeoff between 3D root‐model quality and 3D root‐trait accuracy. Therefore, we performed two computational experiments. We first compared the 3D model quality generated by five state‐of‐the‐art open‐source 3D model reconstruction pipelines on 12 contrasting genotypes of field‐grown maize roots. These pipelines included COLMAP, COLMAP+PMVS (Patch‐based Multi‐View Stereo), VisualSFM, Meshroom, and OpenMVG+MVE (Multi‐View Environment). The COLMAP pipeline achieved the best performance regarding 3D model quality versus computational time and image number needed. In the second test, we compared the accuracy of 3D root‐trait measurement generated by the Digital Imaging of Root Traits 3D pipeline (DIRT/3D) using COLMAP‐based 3D reconstruction with our current DIRT/3D pipeline that uses a VisualSFM‐based 3D reconstruction on the same dataset of 12 genotypes, with 5–10 replicates per genotype. The results revealed that (1) the average number of images needed to build a denser 3D model was reduced from 3000 to 3600 (DIRT/3D [VisualSFM‐based 3D reconstruction]) to around 360 for computational test 1, and around 600 for computational test 2 (DIRT/3D [COLMAP‐based 3D reconstruction]); (2) denser 3D models helped improve the accuracy of the 3D root‐trait measurement; (3) reducing the number of images can help resolve data storage problems. The updated DIRT/3D (COLMAP‐based 3D reconstruction) pipeline enables quicker image collection without compromising the accuracy of 3D root‐trait measurements.

09 BIOMASS FUELS↗

DOE OSTI2021

Flame stability analysis of flame spray pyrolysis by artificial intelligence

Flame spray pyrolysis (FSP) is a process used to synthesize nanoparticles through the combustion of an atomized precursor solution; this process has applications in catalysts, battery materials, and pigments. Current limitations revolve around understanding how to consistently achieve a stable flame and the reliable production of nanoparticles. Machine learning and artificial intelligence algorithms that detect unstable flame conditions in real time may be a means of streamlining the synthesis process and improving FSP efficiency. In this study, the FSP flame stability is first quantified by analyzing the brightness of the flame's anchor point. This analysis is then used to label data for both unsupervised and supervised machine learning approaches. The unsupervised learning approach allows for autonomous labeling and classification of new data by representing data in a reduced dimensional space and identifying combinations of features that most effectively cluster it. The supervised learning approach, on the other hand, requires human labeling of training and test data but is able to classify multiple objects of interest (such as the burner and pilot flames) within the video feed. The accuracy of each of these techniques is compared against the evaluations of human experts. Both the unsupervised and supervised approaches can track and classify FSP flame conditions in real time to alert users of unstable flame conditions. This research has the potential to autonomously track and manage flame spray pyrolysis as well as other flame technologies by monitoring and classifying the flame stability.

42 ENGINEERING↗

DOE OSTI2021

Scalable balanced training of conditional generative adversarial neural networks on image data

Here, we propose a distributed approach to train deep convolutional generative adversarial neural network (DC-CGANs) models. Our method reduces the imbalance between generator and discriminator by partitioning the training data according to data labels, and enhances scalability by performing a parallel training where multiple generators are concurrently trained, each one of them focusing on a single data label. Performance is assessed in terms of inception score, Fréchet inception distance, and image quality on MNIST, CIFAR10, CIFAR100, and ImageNet1k datasets, showing a significant improvement in comparison to state-of-the-art techniques to training DC-CGANs. Weak scaling is attained on all the four datasets using up to 1000 processes and 2000 NVIDIA V100 GPUs on the OLCF supercomputer Summit.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Automated Grain Boundary (GB) Segmentation and Microstructural Analysis in 347H Stainless Steel Using Deep Learning and Multimodal Microscopy

Austenitic 347H stainless steel offers superior mechanical properties and corrosion resistance required for extreme operating conditions such as high temperature. The change in microstructure due to composition and process variations is expected to impact material properties. Identifying microstructural features such as grain boundaries thus becomes an important task in the process-microstructure-properties loop. Applying convolutional neural network (CNN)-based deep learning models is a powerful technique to detect features from material micrographs in an automated manner. In contrast to microstructural classification, supervised CNN models for segmentation tasks require pixel-wise annotation labels. However, manual labeling of the images for the segmentation task poses a major bottleneck for generating training data and labels in a reliable and reproducible way within a reasonable timeframe. Microstructural characterization especially needs to be expedited for faster material discovery by changing alloy compositions. Here, in this study, we attempt to overcome such limitations by utilizing multimodal microscopy to generate labels directly instead of manual labeling. We combine scanning electron microscopy images of 347H stainless steel as training data and electron backscatter diffraction micrographs as pixel-wise labels for grain boundary detection as a semantic segmentation task. The viability of our method is evaluated by considering a set of deep CNN architectures. We demonstrate that despite producing instrumentation drift during data collection between two modes of microscopy, this method performs comparably to similar segmentation tasks that used manual labeling. Additionally, we find that naïve pixel-wise segmentation results in small gaps and missing boundaries in the predicted grain boundary map. By incorporating topological information during model training, the connectivity of the grain boundary network and segmentation performance is improved. Finally, our approach is validated by accurate computation on downstream tasks of predicting the underlying grain morphology distributions which are the ultimate quantities of interest for microstructural characterization.

36 MATERIALS SCIENCE↗

DOE OSTI2024

Multimodal sensor fusion for real-time standoff estimation in directed energy deposition

In Laser Powder-based Direct Energy Deposition (LP-DED) systems, achieving consistency, precision and quality of produced parts requires tight control over printing parameters. One of the critical parameters is the standoff distance. Maintaining an optimal standoff height is crucial for achieving correct laser power density and powder catchment efficiency, as both laser and powder streams are focused at this distance. Here, this study introduces a novel approach using multimodal sensor fusion to predict standoff height in real-time. The proposed system integrates two low-profile, cost-effective sensors: an RGB coaxial camera and a high frequency and high dynamic range microphone. By utilizing a simple fully connected neural network, trained on a limited dataset, data fusion of these sensors allowed for the real-time prediction of the standoff height. The results demonstrate high resolution and accuracy of the predictions across multiple geometries and a wide range of standoff heights. This approach offers a simple, and cost-effective solution for real-time standoff height monitoring and lays the groundwork for future integration into commercial LP-DED systems.

42 ENGINEERING↗

DOE OSTI2024

Semi-automatic image annotation using 3D LiDAR projections and depth camera data

Efficient image annotation is necessary to utilize deep learning object recognition neural networks in nuclear safeguards, such as for the detection and localization of target objects like nuclear material containers (NMCs). This capability can help automate the inventory accounting of different types of NMCs within nuclear storage facilities. The conventional manual annotation process is labor-intensive and time-consuming, hindering the rapid deployment of deep learning models for NMC identifications. This paper introduces a novel semi-automatic method for annotating 2D images of nuclear material containers (NMCs) by combining 3D light detection and ranging (LiDAR) data with color and depth camera images collected from a handheld scan system. The annotation pipeline involves an operator manually marking new target objects on a LiDAR-generated map, and projecting these 3D locations to images, thereby automatically creating annotations from the projections. The semi-automatic approach significantly reduces manual efforts and the expertise in image annotation that is required to perform the task, allowing deep learning models to be trained on-site within a few hours. The paper compares the performance of models trained on datasets annotated through various methods, including semi-automatic, manual, and commercial annotation services. The evaluation demonstrates that the semi-automatic annotation method achieves comparable or superior results, with a mean average precision (mAP) above 0.9, showcasing its efficiency in training object recognition models. Additionally, the paper explores the application of the proposed method to instance segmentation, achieving promising results in detecting multiple types of NMCs in various formations.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

DOE OSTI2021

Unsupervised Azimuth Estimation of Solar Arrays in Low-Resolution Satellite Imagery through Semantic Segmentation and Hough Transform

This paper explains the use of a convolutional neural network (CNN) to segment solar panels in a satellite image containing solar arrays, and extract associated metadata from the arrays. A novel unsupervised technique is introduced to estimate the azimuth of each individual solar panel from the predicted mask of the convolutional neural network. This pipeline was developed with the aim of extracting necessary metadata for a solar installation, using only a set of latitude–longitude coordinates. Azimuth prediction results for 669 individual solar installations associated with 387 sites located across the United States are provided. A mean average error and median average error of 21.65 degrees and 1.0 degrees were obtained, respectively, when predicting the azimuth of the solar fleet data set, with about 80% of the results within an error of zero degrees of the ground truth azimuth value and about 85% within an error of 25 degrees. The predicted azimuth was then used to estimate the energy conversion of the solar arrays. Results show a 90.9 and 90.6 R-squared value for estimating alternating current (AC) and direct current (DC) energy, respectively, and a mean absolute percentage error (MAPE) of 1.70% in estimating the alternating current (AC) energy using the fully automated algorithm.

14 SOLAR ENERGY↗