Effects of light refraction on the accuracy of camera calibration and reconstruction in underwater motion analysis

Vision Measurement Method Based on Plate Glass Window Refraction Model in Tunnel Construction

Due to the harsh environment of high humidity and dust in tunnel construction, the vision measurement system needs to be equipped with an explosion-proof glass protective cover. The refractive effect of the plate glass window invalidates the pinhole model. This paper proposes a comprehensive solution for addressing the issue of plane refraction. First, the imaging model for non-parallel plane refraction is established based on dynamic virtual focal length and the Rodriguez formula. Further, due to the failure of the epipolar constraint principle in binocular vision systems caused by plane refraction, this paper proposes the epipolar constraint model for independent refractive plane imaging. Finally, an independent refraction plane triangulation model is proposed to address the issue of triangulation failure caused by plane refraction. The RMSE of the depth of field errors in the independent refraction plane triangulation model is 2.9902 mm before correction and 0.3187 mm after correction. The RMSE of the positioning errors before and after correction are 3.5661 mm and 0.3465 mm, respectively.

Refraction correction for deep-water three-dimensional visual measurement based on multi-objective optimization

Refraction-induced errors affect the accuracy of three-dimensional visual measurements in deepwater environments. In this study, a binocular camera refractive imaging model was established, and a calibration method for the refraction parameters was proposed for high-accuracy shape and deformation measurements in deep-water environments. First, an initial estimate of the refractive axis was obtained using a three-dimensional calibration target. Then, the errors in the distance between the spatial point pairs and the reprojection errors are taken as the dual optimization objectives, and the Non-dominated Sorting Genetic Algorithm II is applied to optimize the refraction parameters. To efficiently calculate the reprojection error, an improved numerical computation method is proposed to accelerate the calculation of the analytical forward projection. Underwater experiments were conducted to verify the method's effectiveness. The results showed that the average error of the absolute position of the reconstructed points was less than 1.1 mm and the average error of the displacement was less than 0.04 mm. This study provides a sound solution for accurate three-dimensional visual measurement in deep-water environments.

Underwater Hyperspectral Imaging Technology and Its Applications for Detecting and Mapping the Seafloor: A Review

Common methods of ocean remote sensing and seafloor surveying are mainly carried out by airborne and spaceborne hyperspectral imagers. However, the water column hinders the propagation of sunlight to deeper areas, thus limiting the scope of observation. As an emerging technology, underwater hyperspectral imaging (UHI) is an extension of hyperspectral imaging technology in air conditions, and is undergoing rapid development for applications in shallow and deep-sea environments. It is a close-range, high-resolution approach for detecting and mapping the seafloor. In this paper, we focus on the concepts of UHI technology, covering imaging systems and the correction methods of eliminating the water column’s influence. The current applications of UHI, such as deep-sea mineral exploration, benthic habitat mapping, and underwater archaeology, are highlighted to show the potential of this technology. This review can provide an introduction and overview for those working in the field and offer a reference for those searching for literature on UHI technology.

Relationships between each part of the spinal curves and upright posture using Multiple stepwise linear regression analysis

Back pain is a common reason for consultation in primary healthcare clinical practice, and has effects on daily activities and posture. Relationships between the whole spine and upright posture, however, remain unknown. The aim of this study was to identify the relationship between each spinal curve and centre of pressure position as well as velocity for healthy subjects. Twenty-one male subjects performed quiet stance in natural position. Each upright posture was then recorded using an optoelectronics system (Vicon Nexus) synchronized with two force plates. At each moment, polynomial interpolations of markers attached on the spine segment were used to compute cervical lordosis, thoracic kyphosis and lumbar lordosis angle curves. Mean of centre of pressure position and velocity was then computed. Multiple stepwise linear regression analysis showed that the position and velocity of centre of pressure associated with each part of the spinal curves were defined as best predictors of the lumbar lordosis angle (R(2)=0.45; p=1.65*10-10) and the thoracic kyphosis angle (R(2)=0.54; p=4.89*10-13) of healthy subjects in quiet stance. This study showed the relationships between each of cervical, thoracic, lumbar curvatures, and centre of pressure's fluctuation during free quiet standing using non-invasive full spinal curve exploration.

Calibration Techniques for Accurate Measurements by Underwater Camera Systems

Calibration of a camera system is essential to ensure that image measurements result in accurate estimates of locations and dimensions within the object space. In the underwater environment, the calibration must implicitly or explicitly model and compensate for the refractive effects of waterproof housings and the water medium. This paper reviews the different approaches to the calibration of underwater camera systems in theoretical and practical terms. The accuracy, reliability, validation and stability of underwater camera system calibration are also discussed. Samples of results from published reports are provided to demonstrate the range of possible accuracies for the measurements produced by underwater camera systems.

Influence of Angles of Attack, Frequency and Kick Amplitude on Swimmer’s Horizontal Velocity During Underwater Phase of a Grab Start

The underwater phase of starts represents an important part of the performance in sprint swimming’s events. Kinematics variables that swimmers have to take into account to improve their underwater phase of starts are unknown. The aim of this study was to determine the kinematics variables that improve performance during the underwater phase of grab starts. A three-dimensional analysis of the underwater phase of ten swimmers of national level was conducted. Stepwise multiple linear regressions identified the main kinematics variables that influence the horizontal velocity of the swimmer each 0.5 m in the range of 5 to 7.5 m. The results show that the kinematics parameters change during the range of 5 to 7.5 m of the underwater phase of the starts. For this population of swimmers, the results enable proposals of four principles to improve the underwater phase: i) to be streamlined at the beginning of the underwater gliding phase, ii) to start the dolphin kicking after 6 m, iii) to generate propulsive forces using only feet and legs during underwater undulatory swimming, iv) to improve the frequency of underwater undulatory swimming.

Velocity and acceleration before contact in the tackle during rugby union matches

The velocity and acceleration at which the ball-carrier or tackler enters the tackle may contribute to winning the contest and prevailing injury free. Velocity and acceleration have been quantified in controlled settings, whereas in match-play it has been subjectively described. The purpose of this study was to determine the velocity and acceleration of the ball-carrier and tackler before contact during match-play in three competitions (Super 14, Varsity Cup, and Under-19 Currie Cup). Using a two-dimensional scaled version of the field, the velocity and acceleration of the ball-carrier and tackler were measured at every 0.1 s to contact for 0.5 s. For front-on tackles, a significant difference (P < 0.05) between the ball-carrier (4.6 ± 1 m · s⁻¹) and tackler (7.1 ± 3.5 m · s⁻¹) was found at the 0.5 s time to contact interval in the Varsity Cup. For side-on tackles, differences between the two opposing players were found at 0.5 s (ball-carrier: 4.6 ± 1.7 m · s⁻¹; tackler: 3.1 ± 1.2 m · s⁻¹) and 0.4 s (ball-carrier: 6.3 ± 2.3 m · s⁻¹; tackler: 3.7 ± 1.6 m · s⁻¹) at Under-19 level. After 0.4 s, no significant differences (P > 0.05) were evident. Also, the ball-carrier's velocity over the 0.5 s was relatively stable compared with that of the tackler. Results suggest that tacklers adjust their velocity to reach a suitable relative velocity before making contact with the ball-carrier.

High-Level Swimmers’ Kinetic Efficiency during the Underwater Phase of a Grab Start

The purpose of the present work was to study swimmers’ efficiency during the underwater phase of the grab start. Eight high-level swimmers participated in this study. They performed two types of start: a regular grab start (with underwater leg propulsion after the glide) and a grab start with no underwater movement (swimmers had to remain in a streamlined position). Four cameras filmed the entire underwater phase of all starts. Nine anatomic landmarks were identified on the swimmers’ bodies and their positions were calculated using a modified double plan DLT technique. From these positions and Dempster’s anthropometric data, the center of mass position and velocity were also determined. Kinetic energies were also calculated. This velocity and kinetic energies for the two types of start were compared. Swimmers began underwater leg propulsion 1.69 m too soon. The global and internal energies were significantly higher for the start with underwater leg propulsion. Nevertheless, swimmers’ velocities were equivalent for both starts. These results suggest that the swimmers did not use the underwater phase of the start efficiently: By kicking too soon, they did not succeed in producing higher velocities and thus wasted energy.