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1. Simple Camera-to-2D-LiDAR Calibration Method for General Use

   Palmer, A.; Peterson, C.; Blankenburg, J.; Feil-Seifer, D.; Nicolescu, M. (October 2020, ISVC'20: 15TH INTERNATIONAL SYMPOSIUM ON VISUAL COMPUTING)

   null (Ed.)

   As systems that utilize computer vision move into the public domain, methods of calibration need to become easier to use. Though multi-plane LiDAR systems have proven to be useful for vehicles and large robotic platforms, many smaller platforms and low cost solutions still require 2D LiDAR combined with RGB cameras. Current methods of calibrating these sensors make assumptions about camera and laser placement and/or require complex calibration routines. In this paper we propose a new method of feature correspondence in the two sensors and an optimization method capable of calibration target with unknown lengths in its geometry. Our system is designed with an inexperienced layperson as the intended user, which has lead us to remove as many assumptions about both the target and laser as possible. We show that our system is capable of calibrating the 2-sensor system from a single sample in configurations other methods are unable to handle. 

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2. Autonomous in situ calibration of ion‐sensitive field effect transistor pH sensors

   https://doi.org/10.1002/lom3.10410  

   Bresnahan, Philip J.; Takeshita, Yuichiro; Wirth, Taylor; Martz, Todd R.; Cyronak, Tyler; Albright, Rebecca; Wolfe, Kennedy; Warren, Joseph K.; Mertz, Keaton (January 2021, Limnology and Oceanography: Methods)

   Abstract Ion‐sensitive field effect transistor‐based pH sensors have been shown to perform well in high frequency and long‐term ocean sampling regimes. The Honeywell Durafet is widely used due to its stability, fast response, and characterization over a large range of oceanic conditions. However, potentiometric pH monitoring is inherently complicated by the fact that the sensors require careful calibration. Offsets in calibration coefficients have been observed when comparing laboratory to field‐based calibrations and prior work has led to the recommendation that an in situ calibration be performed based on comparison to discrete samples. Here, we describe our work toward a self‐calibration apparatus integrated into a SeapHOx pH, dissolved oxygen, and CTD sensor package. This Self‐Calibrating SeapHOx is capable of autonomously recording calibration values from a high quality, traceable, primary reference standard: equimolar tris buffer. The Self‐Calibrating SeapHOx's functionality was demonstrated in a 6‐d test in a seawater tank at Scripps Institution of Oceanography (La Jolla, California, U.S.A.) and was successfully deployed for 2 weeks on a shallow, coral reef flat (Lizard Island, Australia). During the latter deployment, the tris‐based self‐calibration using 15 on‐board samples exhibited superior reproducibility to the standard spectrophotometric pH‐based calibration using > 100 discrete samples. Standard deviations of calibration pH using tris ranged from 0.002 to 0.005 whereas they ranged from 0.006 to 0.009 for the standard spectrophotometric pH‐based method; the two independent calibration methods resulted in a mean pH difference of 0.008. We anticipate that the Self‐Calibrating SeapHOx will be capable of autonomously providing climate quality pH data, directly linked to a primary seawater pH standard, and with improvements over standard calibration techniques. 

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3. Active Laser-Camera Scanning for High-Precision Fruit Localization in Robotic Harvesting: System Design and Calibration

   https://doi.org/10.3390/horticulturae10010040  

   Zhang, Kaixiang; Chu, Pengyu; Lammers, Kyle; Li, Zhaojian; Lu, Renfu (January 2024, Horticulturae)

   Robust and effective fruit detection and localization is essential for robotic harvesting systems. While extensive research efforts have been devoted to improving fruit detection, less emphasis has been placed on the fruit localization aspect, which is a crucial yet challenging task due to limited depth accuracy from existing sensor measurements in the natural orchard environment with variable lighting conditions and foliage/branch occlusions. In this paper, we present the system design and calibration of an Active LAser-Camera Scanner (ALACS), a novel perception module for robust and high-precision fruit localization. The hardware of the ALACS mainly consists of a red line laser, an RGB camera, and a linear motion slide, which are seamlessly integrated into an active scanning scheme where a dynamic-targeting laser-triangulation principle is employed. A high-fidelity extrinsic model is developed to pair the laser illumination and the RGB camera, enabling precise depth computation when the target is captured by both sensors. A random sample consensus-based robust calibration scheme is then designed to calibrate the model parameters based on collected data. Comprehensive evaluations are conducted to validate the system model and calibration scheme. The results show that the proposed calibration method can detect and remove data outliers to achieve robust parameter computation, and the calibrated ALACS system is able to achieve high-precision localization with the maximum depth measurement error being less than 4 mm at distance ranging from 0.6 to 1.2 m. 

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4. Calibrating the global network of gravitational wave observatories via laser power calibration at NIST and PTB

   https://doi.org/10.1088/1681-7575/ad615f  

   Bhattacharjee, Dripta; Savage, Richard Lenox; Bajpai, Rishabh; Betzwieser, Joseph; Bossilkov, Vladimir; Chen, Dan; Grimaud, Cervane; HIDO, SHINGO; Karki, Sudarshan; Kueck, Stefan; et al (July 2024, Metrologia)

   Miles, Janet; Bergstrand, Sten; Mana, Giovanni; White, Rod (Ed.)

   Abstract Current gravitational wave observatories rely onPhoton Calibrators(Pcals) that use laser radiation pressure to generate displacement fiducials used to calibrate detector output signals. Reducing calibration uncertainty enables optimal extraction of astrophysical information such as source distance and sky position from detected signals. For the ongoing O4 observation run that started on May 24, 2023, the global gravitational wave detector network is employing a new calibration scheme with transfer standards calibrated at both the National Institute of Standards and Technology (NIST) and the Physikalisch-Technische Bundesanstalt (PTB). These transfer standards will circulate between the observatories and the metrology institutes to provide laser power calibration traceable to the International System of Units (SI) and enable assessment and reduction of relative calibration errors for the observatory network. The Laser Interferometer Gravitational-Wave Observatory (LIGO) project and the Virgo project are currently participating in the new calibration scheme. The Large-scale Cryogenic Gravitational-wave Telescope project (KAGRA) is expected to join in 2024, with the LIGO Aundha Observatory (LAO) in India joining later. Before implementing this new scheme, a NIST-PTB bilateral comparison was conducted. The results of this comparison, with significantly lower uncertainty than previous studies, are reported. We also describe the transfer of power sensor calibration, including detailed uncertainty estimates, from the transfer standards calibrated by NIST and PTB to the sensors operating continuously at the interferometer end stations. Finally, we discuss the ongoing calibration of Pcal-induced displacement fiducials for the O4 observing run. Achieved combined standard uncertainty levels as low as 0.3 % facilitate calibrating the interferometer output signals with sub-percent accuracy. 

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5. A unified calibration framework for 21 cm cosmology

   https://doi.org/10.1093/mnras/stab647  

   Byrne, Ruby; Morales, Miguel F; Hazelton, Bryna J; Wilensky, Michael (March 2021, Monthly Notices of the Royal Astronomical Society)

   null (Ed.)

   ABSTRACT Calibration precision is currently a limiting systematic in 21 cm cosmology experiments. While there are innumerable calibration approaches, most can be categorized as either ‘sky-based,’ relying on an extremely accurate model of astronomical foreground emission, or ‘redundant,’ requiring a precisely regular array with near-identical antenna response patterns. Both of these classes of calibration are inflexible to the realities of interferometric measurement. In practice, errors in the foreground model, antenna position offsets, and beam response inhomogeneities degrade calibration performance and contaminate the cosmological signal. Here, we show that sky-based and redundant calibration can be unified into a highly general and physically motivated calibration framework based on a Bayesian statistical formalism. Our new framework includes sky-based and redundant calibration as special cases but can additionally support relaxing the rigid assumptions implicit in those approaches. We present simulation results demonstrating that, in a simple case, working in an intermediate regime between sky-based and redundant calibration improves calibration performance. Our framework is highly general and encompasses novel calibration approaches including techniques for calibrating compact non-redundant arrays, calibrating to incomplete sky models, and constraining calibration solutions across frequency. 

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