Andrew J. Lambert

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Autonomous control of a low-cost micro air vehicle (MAV) is considered, using a single camera and inertial measurement unit. Integration of loom is used to determine the approximate height during takeoff and landing, and to provide an initial height for hover. Contrary to most optic-flow-based approaches that lack positional feedback, a “snapshot” paradigm(More)
We propose a new algorithm to recover a geometrically correct image of an object or scene from a set of images distorted by the wave motion of a water surface. Under mild conditions where the wavy surface normals weakly satisfy a Gaussian distribution, we demonstrate that the geometric distortion can be removed and a corrected image can be recovered. Our(More)
This paper presents an integrated GPS/INS/Vision navigation system for Unmanned Aerial Vehicles (UAVs). A CCD (ChargeCoupled Device) video camera and laser rangefinder (LRF) based vision system, combined with inertial sensors, provides the information on the vertical and horizontal movements of the UAV (helicopter) relative to the ground, which is critical(More)
Reconstruction of an underwater object from a sequence of images distorted by moving water waves is a challenging task. A new approach is presented in this paper. We make use of the bispectrum technique to analyze the raw image sequences and recover the phase information of the true object. We test our approach on both simulated and real-world data,(More)
Illegal distribution of a digital movie is a significant threat to the film industries. With the advent of high-speed broadband Internet access, a pirated copy of a digital video can be easily distributed to a global audience. Digital video watermarking is a possible means of limiting this type of digital distribution. In existing watermarking methods, the(More)
The problem of developing a reliable system for sensing and controlling the hover of a Micro Air Vehicle (MAV) using visual snapshots is considered. The current problem is part of a larger project, which is developing an autonomous MAV, controlled by vision only information. A new algorithm is proposed that uses a stored image of the ground, a snapshot(More)
In multi-slice magnetic resonance imaging (MRI) the resolution in the slice direction is usually reduced to allow faster acquisition times and to reduce the amount of noise in each 2-D slice. In this paper, a novel image super resolution (SR) algorithm is presented that is used to improve the resolution of the 3D MRI volumes in the slice direction. The(More)
In multi-slice magnetic resonance imaging (MRI) the resolution in the slice direction is usually reduced to allow faster acquisition times and to reduce the amount of noise in each 2-D slice. To address this issue a number of super resolution (SR) methods have been proposed to improve the resolution of 3D MRI volumes. These methods typically involve the use(More)
An experimental set-up for the continuous monitoring of cytochemical enzyme reaction rates is described. The design consists of a 32K Commodore PET microcomputer, upgraded to Basic 4 and containing a graphics facility. The microcomputer is interfaced with a Vickers M85A microdensitometer, which has been modified and equipped with a Zeiss X63 water immersion(More)