MCEN90018 Advanced Fluid Dynamics Assignment 1 - 2022 Part I - Mars Navcam Images You have been provided with a left and right image from Hazard avoidance cameras of the Mars Spirit Rover
(1a) Using cross-correlation, determine the horizontal displacement (range map) between common features in the stereo image pair. I suggest to break up the left image into 32 × 32 pixel windows, and then cross-correlate these against the right image. Plot the range map as colour contours (where the colour indicates the horizontal pixel displacement ∆i of common features between the left and right images). Compare to the raw image and discuss. Note that there will be some features that fail to correctly correlate. Discuss these areas, and discuss how to improve the correlation or reduce the identification of spurious shifts. (20 Marks)
(1b) All of the correlatable features are located on the surface. However, this is not the case for a mystery feature. Find and identify this feature (to do this, you may need to implement some of the measures discussed in 1a to improve the accuracy of the range map). (10 Marks)
(1c) Highlight on the images a feature on the ground that is at the same approximate range from the imaging system as the mystery feature. What does this tell about the hidden feature from (1b)? filler (5 Marks)
Part II - Stereo Vision System
In the folder Assignment_1_images_2022/calibration_images, you have been provided with a number of stereo calibration images. These images are from a left and right camera, viewing the same calibration target at a stereo angle of approx ±9 ◦ . The calibration target has white dots spaced by 50 mm in the x (horizontal) and y (vertical) directions. The calibration target is shifted to various z locations, starting at a distance of 2 m from the camera, and shifted in 20 mm increments towards the camera (in the negative z direction). The calibration file names contain the name of the stereo camera (i.e left or right) and the z location of the calibration target (i.e z2000)
Use these calibration images to calibrate the camera system. You will need to first locate in pixel space all of the dots on the calibration target. Cross-correlation is an ideal tool for this, correlating the following template with the images should return peaks in the correlation matrix corresponding to the dot locations.
Part III - Peer review
(3a) Scientific papers are peer-reviewed to assess the quality of the work, the findings, the rigour of the methodology and their suitability for publication. The peer review process has been a part of scientific communication, possibly, since 1731 [1]. For this assignment, you will participate in a peer-review process. Prior to submission, you will share your report with another team of your choosing. The ‘reviewers’ should read the report and provide feedback on areas of improvements such as: clarity of the arguments, suitability of the conclusions, readability of the figures/tables etc. The ?reviewees? should address this feedback in their report by making suitable changes and/or providing more context that back their assertions/arguments.
Document the peer-review process as an appendix to the assignmment submission (max 2 pages). Include the reviewers remarks as separate points (in red text), and your response to each remark (in regular, black text).
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