OSTRACAM U NDERWATER S TEREO I MAGING O LIVER T HIO , P AUL K ILLAM , - PowerPoint PPT Presentation

OSTRACAM U NDERWATER S TEREO I MAGING O LIVER T HIO , P AUL K ILLAM , C HRISTINA L IM , C AIO M OTTA

OBJECTIVE T O AID D R . O AKLEY AND HIS TEAM IN THEIR STUDY OF O STRACODS BY PROVIDING 3D VIDEO DATA OF THEIR BIOLUMINESCENT DISPLAYS

WHAT ARE OSTRACODS? • O STRACODS ARE SMALL , BIOLUMINESCENT SHRIMP , ABOUT THE SIZE OF A SESAME SEED . • O STRACODS USE BIOLUMINESCENT DISPLAYS TO WARD OFF PREDATORS AND ATTRACT MATES ONLY AT NIGHT WHEN THERE IS NO MOON . • T HIS RESULTS IN IMPRESSIVE DISPLAYS SEEN IN WARM , SHALLOW WATERS AROUND THE WORLD .

WHY OSTRACODS? • T HERE ARE AROUND 200 SPECIES OF BIOLUMINESCENT O STRACODS , MANY HAVING DISTINCT DIFFERENCES IN THEIR BIOLUMINESCENT DISPLAYS • I NTENSITY • D URATION • S IZE • C OORDINATION • B Y CATALOGUING THESE DISPLAYS AND MATCHING THEM WITH THE GENETIC DIFFERENCES BETWEEN O STRACOD SPECIES , WE CAN : • F URTHER OUR KNOWLEDGE OF BIOLUMINESCENCE • L EARN HOW TO UTILIZE BIOLUMINESCENCE IN FUTURE GENETIC ENGINEERING EXPERIMENTS

ADVERSE CONDITIONS • S YSTEM MUST : • B E SUBMERGED IN SALT WATER • B E PROTECTED AGAINST SALT WATER CORROSION • B E OPERATED IN A FULL DIVING SUIT • H ANDLE DIFFERENTIALS IN PRESSURE AS IT IS BROUGHT DEEPER • G ATHER VISUAL DATA WITH NO AMBIENT LIGHT • G ATHER HIGH ENOUGH QUALITY DATA TO PERFORM 2D -> 3D S TEREO MAPPING • A T 30 FPS

THE CAMERA SYSTEM • T WO ULTRA - LOW - LIGHT W ATEC 910 H CAMERAS IN A STEREO CONFIGURATION • C ONTAINED WITHIN CUSTOM - MADE WATERPROOF “ CAMERA TUBES ” • 3D-P RINTED CAMERA MOUNTS WATERPROOF CONNECTORS TO THE MAIN BOX • • V IDEO DATA IS SENT TO A M OBILE M ULE TM 2100 2- CHANNEL M OBILE DVR

WATERPROOFING • O- RING SEALS ON THE CAMERA TUBES • O- RING SEALS ON THE MAIN BOX • W ATERPROOF CONNECTORS FOR THE CAMERAS AND FUTURE ADDITIONAL INSTRUMENTATION

HARDWARE IMPROVEMENTS DELAYED TO YEAR 3 • N EW BOARD USING A LOWER - FOOTPRINT DECREASED COMPLEXITY MICROCONTROLLER • N EW I NSTRUMENTATION : • GPS T RACKING • T EMPERATURE • W ATER P RESSURE P H • • S ALINITY

VIDEO RESULTS

POSTPROCESSING 1. C ORRECT FOR THE FISHBOWL EFFECT GENERATED BY THE SPHERICAL APERTURE OF THE WATERPROOF CAMERA TUBE 2. S EARCH FOR IDENTIFIABLE FEATURES FROM BOTH CAMERAS AND MAP THEM TOGETHER 3. G ENERATE A RECTIFIED FRAME 4. C REATE A DISPARITY MAP USING THE R ECTIFIED IMAGES 5. U SE THE DISPARITY MAP TO GENERATE A DEPTH MAP

Example

DISTORTION CORRECTION • U SING A CALIBRATION CHECKERBOARD , IDENTIFY THE CHECKERBOARD PATTERN • U SE C HECKERBOARD INTERSECTIONS TO ESTIMATE THE CAMERA PARAMETERS

Rectification • I DENTIFY SURFACE FEATURES • M AP THEM TOGETHER

RECTIFICATION • O VERLAY CORRECTED FRAMES FROM BOTH CAMERAS TO GENERATE A RECTIFIED FRAME , USING THE STEREO PARAMETERS

Disparity Map • A PPLY BLOCK MATCHING TO THE RECTIFIED IMAGES TO GENERATE A DISPARITY MAP

Disparity Map • A PPLY BLOCK MATCHING TO THE RECTIFIED IMAGES TO GENERATE A DISPARITY MAP

GENERATE DEPTH MAP G ENERATE A DEPTH MAP USING THE DISPARITY MAP USING GEOMETRY • DISTANCE = BASE _ OFFSET * FOCAL _ LENGTH / DISPARITY •

GENERATE DEPTH MAP G ENERATE A DEPTH MAP USING THE DISPARITY MAP USING GEOMETRY • DISTANCE = BASE _ OFFSET * FOCAL _ LENGTH / DISPARITY • B LUE IS CLOSER , YELLOW IS FURTHER

DE-NOISING

QUESTIONS?