text:
Download ROB n ROLL iPhone iPad iOS
Sprint, sneak, and hide in this challenging game of cat & mouse. Many challenging levels put you in the tiny shoes of our anti-hero Rob.
He`s the ultimate anti-cat burglar; he's the world's most famous hamster thief. To top it all off, he`s a charmer, so ladies beware!
Click4more: Related apps rob n roll
Our number one goal when creating ROB n ROLL was to deliver amazing and addictive game play. The game is intuitive and reactive and will give both your reflexes and your mind a work out.
Tags : iphone , challenging
ROB n ROLL highlights:
• Embark on 60 (and counting) challenging levels.
• Use various strategy in every level of the game.
• Collect three stars in every level, and try to improve your standings with new and improved strategies
• When the going gets tough, the Super Fireball helps get things back on track.
• A new spin on the tilt-based game.
• Colorful and top quality artwork.
• Compare your result with friends and foes in the Game Center.
• Get free future updates.
iPhone 3GS, iPhone 4, iPhone 4S, iPod touch (3rd generation), iPod touch (4th generation) and iPad.
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The ROB n ROLL is now available for $0.99 for both iPhone and iPad owners.The application is supporting English language. It weighs in at only 67.7 MB to download. It is highly advisable to have the latest app version installed so that you don`t miss out on the fresh new features and improvements. The current app version 1.2 has been released on 2014-11-09. For ensuring consistency with the device you should take into account the following app compatibility information: Compatible with iPhone, iPod touch, and iPad.Requires iOS 4.0 or later.
More Info: Find more info about ROB n ROLL in Alegrium`s Official Website : http://www.letsrobnroll.com
iOS ROB n ROLL 1.2 Mobile
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A stand of Siberian or Chinese motherwort, Leonurus sibiricus, is in full bloom on the hill of the root cellar in the Craft Village. These herbs are related to motherwort, L. cardiac, which are native to Europe. read more
Boneset, Eupatorium perfoliatum, is a native perennial wildflower and herb. Its white clusters of flowers are in full bloom now at the top of the plants. The lance-shaped leaves are long and pointed with serrated edges. They are arranged opposite one another and are without leaf twigs. read more
This column is written to give readers of Yarb Tales the first opportunity to register for the Lavish Herbal Feast, October 1, 2015, featuring dishes from Scandinavia and Northern Europe. Susan Belsinger and the Skillet Restaurant staff have collaborated to create an authentic menu to compliment the theme of the 26th annual Herb Harvest Fall Festival. The South Central District of the Herb Society of America will be holding their Annual District Meeting in conjunction with the festival. We will be hosting HSA members from all over the region, including Texas, Oklahoma and Arkansas and look forward to seeing our loyal friends from all over the country who attend every year. read more
April 13, 2015

subset: commoncrawl


text:
More Snowboarding >>
This is what happens if you give the slightly crazy Norwegian shreddette a little video cam…
More Snowboarding >>
This is what happens if you give the slightly crazy Norwegian shreddette a little video cam…
1 to 4 October 2015, Hintertux/Austria: 50 centimeters of fresh snow make for great obstacle-building material
X Games Oslo will go down in the Norwegian capital from February 24-28 2016, and will include both winter and summer sports in the program.
Team Managers, Photographers and Coaches, are not gonna be happy.
If you like your snowboard experience to be more on the adventurous side, have a look at what these guys offer. And if you already run tours, they're looking for companies to partner with so if that's something that might scratch both backs, hit them up!
Cardrona have got the park pumping, with 22-feet of stunt ditch due for delivery within a week. God dammit Southern Hemi!
But where all this is gonna end?
Some heavy slams and a decent dose of bangers to tease yo' asses for the full final Grenade Games edit - dropping soon...
Check out this slick edit featuring the riding of Seb and Nate Kern, Sam Cullum, Jake Terry and Sam Turnball as they score the goods from Kitzbühel to Chamonix.
These kids ain't even the future, they're the now...
The Ästhetiker's Mone Monsberger was at the epicly awesome Kamp K2 in Ifen, Kleinwalsertal, the other week and fired in this edit of the funtimes.
After paintballing, sushi boozing and dual mogul slaloming, the Grenade Games takes to the pipe.
More mountain safety tips from the big mountain legend
Powder days are all well and good, but an end-of-season shralperoony in summery slush sure comes close on the stoke-ometer.
Check out Canadian film crew Sandbox Films' second teaser for their upcoming release, Now You Know , dropping autumn 2010.
Let Danny Kass and his boys run the Olympics.
The Oakley Jib Vid was off the hook this year with scores of teams battling it out for the coveted top slot
Episode 7 of Deeper Unglugged sees the legendary freeride duo climb and ride the infamous Chamonix face.
Video highlights of Days 1 & 2 of the Grenade Games in Whistler.
Laax, Livigno, Mayrhofen and more with Jamie Nicholls, Jack Shackleton, Aimee Fuller and co.
The best of the action from the TTR 3-Star girls' event in Ruka.
If you haven't seen his standout ender in Absinthe's Neverland, check out this re-edit to see why Bode's kind of a big deal right now...
Oakley riders like Jenny Jones, Tyler Chorlton and Scott McMorris hop aboard the blunderbus with Tim Warwood.
Video of the jibbing that went down at the Euro PBRJ finals in Laax.
Jenny and Tyler at the X Games
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Real Estate Management and Development
Company Overview of Urban Renewal Authority
BOARD MEMBERS AFFILIATED WITH Yee Kwan Law JP, SBS*
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|Publication number
|Publication type
|Application number
|Publication date
|Sep 28, 2006
|Filing date
|May 10, 2006
|Priority date
|Apr 2, 2004
|Also published as
|Publication number
|Lawrence Oldroyd
|Original Assignee
|The Boeing Company
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (16), Referenced by (22), Classifications (12), Legal Events (1)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a continuation in part application of U.S. Patent Application No. 2005/0220363, filed Apr. 2, 2004, entitled "Processing Architecture for Automatic Image Registration." This application claims the priority of U.S. Patent Application No. 2005/0220363, and the entire contents thereof are hereby incorporated by reference.
The present invention is directed to image registration, and more particularly to systems and methods for automatically registering images of different perspectives and images from sensors with different internal geometry.
Military fighter aircraft customers need a capability to target precision guided weapons. These include JDAM guided bombs as well as higher precision weapons that will eventually become available with target strike errors of 10 feet circular error at 50% probability (10 ft. CEP).
Targeting sensors in fighter aircraft, such as forward-looking infrared (FLIR) or synthetic aperture radar (SAR), currently do not provide targeting of sufficient accuracy, even though the sensors provide images of the target area in which the pilot can precisely select a pixel location for the target. This is because sensor pointing controls of sufficient accuracy are not currently employed and are very expensive to implement, and there is insufficient knowledge of the accurate location and orientation of the aircraft. However, the sensor images presented to pilots have sufficient geometric accuracy for precision targeting if means are provided to accurately relate their geometry to ground coordinate systems at a reasonable cost.
By providing a highly precise means to register an accurately geocoded reference image to an on-board sensor image, it is possible to obtain geographic position measurements for targets with an accuracy approaching that of the reference imagery. Such high precision registration must be obtained between images of different perspectives and different internal geometries.
Sensor images do not generally portray target scenes from the same perspective as a given reference image. Reference images may typically be overhead views of the target area, although this is not a requirement. They are also produced by imaging sensors on some type of platform, and may be processed into a special geometry, such as an orthographic projection, which corresponds to a sensor viewing the scene from directly overhead at each point of the scene (a physically unrealizable form of sensor).
On the other hand, sensor images obtained by a fighter aircraft are from a point of view appropriate to the aircraft's operations, including factors such as weapon delivery needs, aircraft safety from enemy defenses, and general flight operations needs. Thus, the sensor image is typically not of the same perspective as a given reference image. Differences range from simple rotation and scale differences, to major differences in obliquity of the view. Such perspective differences make image match particularly difficult.
Sensors of different types also produce images having different internal geometry. This becomes a problem when matching images from lens-based sensors such as FLIR or optical, and synthetic imagers such as SAR. Orthographic references represent another type of synthesized image, with an internal image geometry that cannot directly match any fighter sensor image. Image photomaps or raster digital cartographic maps represent yet another form of possible reference image, but exhibit a cartographic projection, which also is unlike any sensor image geometry.
All of these differences arise from the ways that different sensors in different viewing positions treat the 3-D nature of the scene being viewed, or from the purpose of the display.
The match process of the present invention solves the problem of registering images of different perspectives and images from sensors with different internal geometry.
Generally, the present invention addresses the problem of relating sensor images to ground coordinate systems with high accuracy. This is accomplished by registering or aligning the sensor image with a precision geocoded reference image. Because of this high precision, the geocoding of the reference image can be transferred to the sensor image with accuracy comparable to that of the reference image. The geocoded reference image, such as a DPPDB (Digital Point Positioning Data Base) image provided by the National Geospatial-Intelligence Agency, provides a known accuracy in relation to ground coordinates. The present invention also solves the problem of accurately registering a small sensor image to a much larger reference image, which may be taken as a stereo pair of images for some embodiments of this invention where the two images have significantly different perspectives of the scene.
One aspect of this invention makes use of knowledge of the approximate location of the scene as it is found in the reference image to limit the search area in attempting to match the small image to the larger image. Another aspect of the invention is the use of approximate knowledge of the sensor location and orientation, or the sensor model, at the time when the scene is imaged, as that knowledge, combined with knowledge of the scene location, may be used to reduce the search process. Yet another novel aspect is the use of the geometry of the scene area, as known or derivable for the reference image around the scene area, or as known or derivable for the sensor image, to modify one or both of the images to have a common geometry; that is, to eliminate perspective differences that arise from the two different views of the scene as imaged separately by the sensor and the reference.
Further in accordance with the invention, knowledge of the sensor location and orientation and of the location of the scene may be used to extract a small portion or "chip" of the reference image or images that encompasses the scene area imaged by the sensor.
Parameters of the sensor, such as field of view and resolution, together with measurements of range and directions in three dimensions to the scene depicted in the sensor image, determine a nominal "sensor footprint", or prospective location, orientation and size for the sensed scene and for the reference chip. However, these measurements are actually estimates that involve uncertainties, producing uncertainty in where the sensed area or footprint actually is and in its actual orientation and size. It can be noted that these same uncertainties also produce or involve the fundamental inaccuracies that this invention is intended to overcome. The uncertainties are, however, known quantities, and are usually expressed in terms of error bounds on each measurement. This makes it possible to determine an uncertainty basket around the nominal sensor footprint, such that the scene's true location and its full extent will always fall within that uncertainty basket. The uncertainty basket defines the portion of the reference image to extract as the reference chip.
The uncertainty basket is obtained by standard techniques in error estimation. For example, the scene coverage area may be determined for each possible extreme value of each estimated measurement, and the combined area from all those scene coverage areas then taken to be the uncertainty basket. Alternatively, the nominal sensor footprint, obtained from sensor parameters and measured sensing quantities, can be enlarged by a fixed amount that encompasses the "worst case" for measurement uncertainties, such as enlargement to a "bounding box" area.
It may also be desirable to limit the uncertainty basket in some circumstances. For certain perspectives, such as a low oblique looking sensor, the scene area may encompass the reference image horizon, or an extremely extended area of the reference. In cases like this, artificial constraints may be placed on the uncertainty basket, to limit the reference chip to reasonable size, although care must be taken to ensure useful coverage around the scene center along the sensor line of sight.
Taking into account the parameters of the sensor, and the known uncertainties in the locations, orientation and sensor parameters, the reference chip obtained to cover the uncertainty basket will also cover all of, or the significant part of, the scene imaged by the sensor.
The reference chip may then transformed (distorted or warped) to depict the same perspective as shown in the sensor image. An elevation or 3-D surface model of the scene area is used to ensure sufficient fidelity in the warped reference that an adequate match can be obtained. Factors such as scale difference and geometric distortions introduced by the sensing process can be taken into account to further improve the fidelity of the geometric match. Alternatively, the sensor image may be warped to match the perspective of the reference image. Again, a 3-D surface model of the scene is used to enhance the fidelity of the warp, as is information about geometric distortions peculiar to the reference image. As another alternative, both images may be warped to a common geometry, again using 3-D surface models of the scene and information about the sensor geometry and geometric distortions related to the reference image to enhance fidelity of the geometric match.
Once the geometric difference has been reduced or eliminated between the sensor image and reference image chip, the only remaining difference is an unknown translation offset between the images that must be determined in order to complete the registration. This offset can be determined by any image matching technique, such as normalized correlation, feature extraction and matching, or other image processing techniques. If the sensor and reference images are of different image types, such as a synthetic aperture radar sensor image and an optical reference image, a suitable process for cross-spectral matching should be used.
Once the translation difference has been determined, the geometric warping functions and the translation difference are combined to instantiate mathematical functions that map locations in the sensor image into locations in the reference image, and vice versa. The translation difference serves to map locations in the sensor image to locations in the synthetic perspective image, and vice versa. Often, the reference image is geocoded so that locations in the reference image can be directly associated with locations in the scene, such as specific longitude, latitude and elevation. Once the registration is accomplished, it is then possible to determine specific scene locations associated with locations in the sensor image of the scene.
Registration of the images allows pixel locations in any of the images to be associated with pixel locations in each of the other images. Thus, when a pixel location in the sensor image, such as a pixel corresponding to a target point, is selected by placing a cursor on it, the corresponding locations in the synthetic perspective image and in the reference image can be calculated, such that cursors could be placed on those corresponding pixels also. In a similar manner, when a pixel location in the synthetic perspective image is selected, corresponding pixel locations in the sensor and reference images can be computed. In a similar manner, when a pixel location is selected in the reference image, corresponding pixel locations can be calculated in each of the other images. Clearly, when a new pixel location is selected in any of the images, such as to choose a new target point, or to move the location to follow a moving target point, or to correct the point selection based on information specific to the viewpoint of any of the images, such as the relative locations of scene features and the selected point depicted in that image's view, that new pixel location can be transferred to any or all of the other images for marking or indicating the corresponding pixel locations in each of the other images.
By these means, it is possible to demonstrate, to an observer examining the images, the physical correspondences between the images, including in particular, the correspondence between points in the sensor image and points in the reference image. Thus, when the reference image has a defined spatial relationship with the actual scene, such as a geocoding, or geographic coding, that associates a specific latitude and longitude with each pixel in the reference image and its associated digital elevation model, it is possible to determine the corresponding latitude, longitude, and elevation of any selected pixel in the sensor image. Other forms of spatial relationship are readily envisioned and may be used, another example of which would be a defined, mathematical relationship between the reference image pixels and point coordinates in a computer-aided design (CAD) model of the scene area.
Of particular importance is the ability obtained using the invention to identify the specific location in the reference image of a target point appearing in the sensor image, when said target may not even be depicted in the reference image, such as when the reference image was recorded at a time before the target was at that location in the scene area. By means of the spatial coordinates associated with each pixel in the reference image, the spatial scene coordinates of the unreferenced target may be discovered. In addition, by showing the corresponding location of the target point as mapped to the reference image, an observer examining the sensor image and its selected target point, and the reference image and its corresponding mapped target point, can perform a judgment of the validity of the registration result, and of the target point placement in the reference image.
Another advantage obtained by relating pixel locations between images arises when the sensor and reference images have very different viewing perspectives of the scene. It then becomes possible to take advantage of the different information that is available in the multiple views with their different perspectives. For example, if the sensor image presented a more horizontal, oblique view of the scene, and the reference was an overhead view of the scene, then small pixel selection changes along the line of sight in the oblique view would translate into large pixel location changes in the reference view, indicating a low precision in the pixel mapping from sensor to reference image along the line of sight. However, by adjusting the selected pixel location in the overhead reference, a more precise selection may be obtained on the reference image than could be achieved by adjusting the location in the sensor image. Effectively, in this situation, small adjustments in the overhead reference can represent sub-pixel location changes in the oblique sensor image. This may be particularly important when the reference image is used to provide geocoded or model-based coordinates of the selected point for a high precision measurement in scene coordinates.
This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The detailed description is described with reference to the accompanying figures.
Generally, in accordance with the present invention, a small sensor image is matched to a larger reference image. The large reference image typically covers a relatively large area of the earth at a resolution of approximately the same, or better than, that normally expected to be seen in the sensor image. The reference area may be any area that can be the subject of a controlled imaging process that produces an image with known geometric characteristics and known geometric relationships between locations in the image and locations in the subject area. For example, the reference area may be a portion of a space assembly or an area on the human body. This reference typically involves hundreds of thousands, or even millions or more of pixels (picture elements) in each of its two dimensions, and may comprise a pair of such images in a stereoscopic configuration that admits stereography in viewing and measurement. The reference image is geocoded so that a geographic location can be accurately associated with each pixel in the image, including an elevation if a stereo pair of images is used. Alternatively, an alternate source of elevation measurements can be made available and associated with geographic locations in a similar fashion. For other types of reference areas, locations other than geographic are used as suited to the application, but some reference coordinate system is the basis for the location measurements.
The sensor image, on the other hand, is fairly small, typically involving a few hundred or thousand pixels in each of its two dimensions. Resolution of the sensor image usually depends on the position of the sensor relative to the scene being imaged, but the relative positions of sensor and scene are normally restricted to provide some minimal desired resolution sufficient to observe appropriate detail in the scene and comparable to the detail shown in the reference image or stereo image pair. The sensor image typically depicts a different perspective from that of the reference image, often at a much lower, oblique, angle to the scene, whereas the reference image is typically from high overhead angles. On the other hand, the perspectives may be similar, such as for a synthetic aperture radar sensor, which typically presents a generally overhead view of the scene it images. These differences in geometry, whether arising from perspective differences or differences in sensor geometry, are a problem source addressed and solved by this invention.
Image matching is generally difficult to achieve because it involves comparing large amounts of pixel data. As the number of possible differences between the images increases, the difficulty in achieving image matching is correspondingly magnified. The simplest case occurs when the two images differ only by a translation or shift, so that a repeated comparison of the two images with each possible trial shift difference can reveal the unknown difference. However, if the images are large, the comparison becomes quite burdensome. Alternative techniques using a comparison means in an image transform domain, such as the Fourier transform domain using the correlation theorem, can ease this burden substantially. When the images are different sizes, and the problem is to find where in the larger image the smaller image best matches, other image matching techniques may apply, but image matching remains difficult.
Where the differences between the reference and sensed images are other than simple translation, image matching becomes more complex. For example, with perspective imaging there are at least six degrees of freedom in the acquisition of each image, resulting in perspective and scale differences that complicate the matching problem. In addition, individual parameters of the sensor and the means by which the sensor acquires the image are factors that can further complicate the matching process. Without some knowledge of these various acquisition and sensor parameters, the search space for matching becomes so large as to prevent useful matching. Therefore, limiting the search area is critical because of the computational difficulty in matching images.
Numerous techniques of photogrammetry have been developed to identify acquisition parameters of sensors that produce characteristic perspective and scale properties in images. This invention makes use of such knowledge as is available about the images to reduce the matching problem to a tractable size so that a best match can be obtained along with a quality measure of the match to indicate its validity/invalidity.
In accordance with one embodiment of the invention, first the size of the reference image area to be searched is limited. With knowledge of the location of the sensor, its imaging properties (such as field of view and scale), and the location of the scene being sensed (such as the scene center), it is possible to determine the area within the reference image imaged by the sensor. This footprint of sensed image is extended by adding to it uncertainties in the Locations of the sensor and scene. These uncertainties may include uncertainty as to look angles to the scene, range to the scene center, field of view, and pixel resolution in the scene. It is preferred to ensure that all uncertainties that influence the location of the sensed area within the reference image be taken into account. If the obliquity of the sensed image is low, so that a shallow view of the scene area is obtained by the sensor, it is possible tat the area sensed will be quite large in the reference image. In this case, the scene area identified may be reduced to include amounts of area in front of and behind the scene center, as seen by the sensor, equal to a distance in front or behind the scene area of no more than twice the width of the sensed area, as seen by the sensor.
Next, a portion of the reference image sufficient to cover this defined area is extracted from the image database which stores the reference image. This "chip" is initially aligned with the reference image for simplicity of extraction. In this manner, a row of pixels in the chip is part of a row of pixels from the reference, and the multiplicity of adjacent rows of pixels in the chip will be from a similar multiplicity of adjacent rows of pixels from the reference.
The chip is then distorted or warped to conform to the known geometry of the sensor image. In accordance with the invention, this involves several operations which may be performed in a variety of different sequences, or as a variety of combined operations, all of which result in a similar warping. One such sequence of operations will be described, but it is to be understood that other such operations known to those skilled in the art of image processing fall within the scope of this invention.
The essence of the warp operation is to introduce into the reference chip the same perspective distortion as is exhibited in the sensor image. Generally, this entails the following operations:
(1) an inverse perspective transform to remove perspective distortion from the reference image, along with an operation to remove any distortions peculiar to the sensor, such as lens distortions, in the case of a lens-type sensor, or slant range compression, in the case of a synthetic aperture radar or other synthetic imaging sensor. This operation produces an orthographic image of the reference chip. If the reference image is orthographic to the scene area, or nearly so, this operation is unnecessary.
(2) a rotation to align the reference chip with the azimuthal direction of the sensor, or, in the case where the sensor is looking perpendicularly down at the scene area, to align the chip with the sensor image.
(3) a perspective transform of the reference chip to the viewpoint of the sensor, along with introduction of any distortions peculiar to the sensor, such as lens distortions, in the case of a lens-type sensor, or slant range compression, in the case of a synthetic aperture radar.
Alternatively, the sensor image may be distorted or warped to conform to the known geometry of the reference image chip by operations as described above. This alternative is preferred where there is accurate knowledge of the 3-D surface in the scene area associated with the sensor image.
Further alternatively, both the reference image chip and the sensor image may be distorted or warped to conform to a known common geometry. This alternative is preferred where there is accurate knowledge of the 3-D surface in the scene area associated with both the sensor image and the reference chip, and if the perspective differences are particularly great so that warping can be done to a common perspective that is not as different from each image individually as the two images are different from each other.
To produce a warp with best accuracy, it is preferred to use information about the 3-D nature of the surface depicted in the sensor image. This is an important consideration to any perspective warp, because the height of objects in the scene determines where the objects are depicted in the image. Only in an orthographic image, in which each point is depicted as if viewed from directly overhead, will the heights of objects not affect their visual appearance and placement.
In this described embodiment, it is assumed that a 3-D surface model is known for the reference image chip, so that a height can be obtained corresponding to each pixel in the reference image chip. During the warp, this height (together with the row and column location of each corresponding reference chip pixel, and the model parameters for the sensor and the sensor location and orientation), allows accurate calculation of where that point on the surface of the scene would have been imaged if a reference sensor had been at that location and orientation. The object is to achieve accurate alignment of the 3-D surface model with the reference image. Resolution of the 3-D surface model is also important, but match degradation is gradual with decrease in resolution. This 3-D surface model, often called a digital terrain model or DTM, may be acquired from the same source that provides the reference image.
The reference image may be a stereo pair of images in which case the stereo images are used to generate a digital elevation model (DEM) of the chip area that expresses most of the detail in the scene area, and is in accurate alignment with the chip images. This is the preferred approach if computation resources are sufficient to perform the point-by-point matching between the chip images necessary to compute stereo disparity and derive the DEM. Alternatively, the sensor may be used to acquire two images of the scene from different perspectives, and the sensor images used as a stereo pair for stereo extraction of a DEM. The DEM will thus be in accurate alignment with the sensor images, and can be used to accurately warp the sensor image to match the geometry of the reference image.
A preferred embodiment of the invention will further be described with reference to the drawings. Particularly with reference to
1. A sensor image 12 is collected by a sensor 14 on a platform 16, such as an aircraft, or the hand of a robot, or any other device or structure on which an imaging sensor can be attached. Information 18 about the sensor, sensing parameters 20, and platform parameters 22 are also collected. The sensing parameters include those describing the sensor itself, such as field of view, size of the image in pixel units, resolution, and focal length. Down-look or elevation angle, as well as azimuth angle and range to the center of the imaged scene, are measured relative to the external coordinates used for the reference image. Typically, the coordinates are some known geographic coordinate system, such as WGS 84, and the reference image is geocoded, so that each reference pixel has a WGS 84 latitude and longitude coordinate location associated with it. However, it is also possible to simply use an arbitrary coordinate system associated with the reference image, and describe the platform and sensor parameters appropriately in those coordinates.
2. An analysis 24 is then conducted, using the sensor information 18, sensing parameters 20 and platform parameters 22 to determine what portion of the area covered by a reference image 28 is depicted in the sensor image. Included in this determination are uncertainties in the parameter values used in the determination so that the sensed image will fall within the selected area. This sensed area is called the "sensor footprint," or sometimes the "uncertainty basket". The derivation of the sensor footprint depends on the specific sensor used. As an example, with reference to
m�n pixels
dm�dn rad/pix resolution
e depression angle
a azimuth angle
C center
R range
DNDF downrange near, far
WNWF width near, far
Mathematical Relationships:
D N =R sin((m/2)d m)/sin(e+(m/2)d m)
D F =R sin((m/2)d m)/sin(e−(m/2)d m)
W N=2 tan((n/2)d n)(R cos(e)−DN)
W F=2 tan((n/2)d m)(R cos(e)+DF)
3. The sensor footprint is then used to define an area of interest (AOI) 26 of the reference image 28 to be used in the registration process. This restriction is important in order to reduce the image area over which a match must be sought. A minimum bounding rectangle, in reference image coordinates, that covers the sensor footprint is the portion defined as the AOI. This small portion or "chip" 30 of the reference image is extracted for processing. Typically, the sensor footprint comprises a distorted trapezoidal area, and the reference chip is a rectangle that extends to just include the four corners and all the interior of the trapezoid, as shown in
4a. If a reference digital elevation model (DEM) 40 is available, a DEM chip 42, similar to the reference chip 30, is extracted from the reference DEM 40. The DEM chip 42 may or may not have the same pixel resolution as the reference chip 30. As part of an orthoimage construction process 44, a reference DEM chip 46 and a reference orthoimage chip 48 may be constructed, the reference DEM chip 46 having resolution and post placement the same as the pixel placement in the reference orthoimage chip 48. Alternatively, an interpolation can be used with the DEM chip 42 each time height values are needed which do not have an exact association with any reference image pixel location. Pixels in a DEM are called "posts" to identify them as height measurements as distinguished from intensity measurements. Coverage by the DEM chip 42 preferably includes the entire AOI covered by the reference chip 30.
4b. If the reference image 28 consists of a left and right stereo pair, a chip is extracted from each to cover the AOI. The associated stereo model is then exploited to derive a DEM over the AOI. This DEM is accurately associated or aligned with each of the left and right chips, just as a reference DEM is associated or aligned with the reference image 28. Such stereo DEM extraction is performed using standard techniques in any number of commercially available software packages and well documented in the literature. It is the utilization of such techniques for automatic, unaided stereo extraction that is unique to the present invention.
4c. Alternatively, a sensor may be used to produce stereo models from time sequential images, which can then be used to produce a DEM. The two sensor images may be obtained by maneuvering the sensor platform so that two different views can be obtained of the scene. Preferably, the views are collected to have relative viewpoints most suited to construction of stereo models, such as having parallel opipolar lines. However, any arbitrary viewpoints can be used, by calibrating the camera model for the sensor images to allow reconstruction of an appropriate stereo model setup. One of many methods to calibrate camera models is the Tsai approach discussed in "A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses," by Roger Y. Tsai, in IEEE Journal of Robotics and Automation, Volume RA-3, Number 4, August 1987, pages 323-344. For platforms that are moving directly towards the scene, time sequential images can be used in which one image is a magnification of part of the other image which was acquired at an earlier time. It is necessary to use sufficiently long time intervals between the sensed images in order to ensure sufficient change of viewpoint, such that the changes can be detected and accurately measured. Position changes of ten percent in individual feature locations around the periphery of the second sensor image, from the first to the second image, are generally adequate.
5a. If the reference chip 30 is not an orthographic image, or is not close to orthographic, so that it exhibits perspective distortion (say more than ten degrees off from a perpendicular view of the scene area so that there is perspective distortion to be seen), it is desirable to remove the perspective distortion by producing the orthographic reference chip 48. This is accomplished using the reference chip 30 together with the reference DEM chip 42, as well as information about the reference image perspective. Such information is normally expressed in the form of mathematical mappings that transform coordinates of the reference scene area (such as geographic coordinates when the scene is of the ground and a height coordinate from the corresponding DEM) into coordinates of the digital or film image. The stereo extraction method of constructing a DEM also yields such information. Construction of the orthographic reference image chip 48 uses standard commercially available techniques. It is the utilization of such techniques to automatically produce orthographic images in an unaided fashion that is unique to the present invention.
5b. If the reference chip 30 is an orthographic image, such that it depicts each pixel as if it had been imaged from directly above, or if it is nearly orthographic such that all parts of the image represent a down-look of at least 80 degrees, further processing of the reference chip is not necessary, and construction of a perspective reference can proceed.
6. Perspective analysis 50 determines the perspective transform parameters 52 and sensor model transform 54 needed to transform 56 the orthographic reference image chip into a synthetic perspective reference image 58 that exhibits the same geometric distortion as the sensor image 12. The analysis also takes into account the various sensor parameters 20, including field of view, resolution, focal length, and distortion function of the lens. In addition, the analysis takes into account parameters of the sensing situation, including location and orientation of the sensor and its line of sight, and the center of the imaged scene. Finally, the analysis takes into account the platform parameters 22 on which the sensing occurred, including the platform's location in space. The platform's velocity and acceleration vectors may also be taken into account. The sensor model 54 can vary in complexity depending on how much or how little distortion the sensor introduces into the image it captures, and how much of this distortion must be matched to provide high quality matches. Good lens-type sensors can be reasonably modeled with a pinhole camera model. With a lower quality lens, various geometric and radiometric distortions may require modeling, such as pincushion or barrel geometric distortion, or vignette intensity shading (image is lighter in the center and darker towards the edges). A synthetic aperture radar sensor may require modeling of slant plane distortion, or that geometric correction be included in the processing done inside the sensor, and not require additional modeling for the image registration process. The complexity of the sensor model may be reduced if the image match function is able to handle certain distortions. For example, if the match process is independent of absolute image intensity values, then radiometric distortions like a vignette pattern will most likely not need modeling. The model of
Image plane:
7. Construction of the perspective reference 58 can be accomplished by any number of different methods. This is a standard process done with most synthetic imaging systems, such as computer games, and numerous techniques are available. The technique used should be quite fast, and specialized methods may be required to achieve adequate speed in generating the perspective reference image. Functions found in many graphics cards for personal computers, particularly those implementing the OpenGL graphics processing standard, allow use of the computer hardware acceleration available on those cards to produce such synthetic perspective images quite rapidly, using the orthographic reference image chip 48 with its associated reference DEM chip 46.
It may be important in forming the perspective reference to preserve the information necessary to compute the inverse perspective. This entails retaining the Z-coordinate, which is produced as each pixel of the perspective reference image is produced, and associating it specifically with the pixel location in the perspective reference image along with the intensity value for that pixel. Normally, only the X and Y coordinate locations computed for the projection (see
Alternatively, the X and Y coordinates of the pixel in the reference image chip, or in the full reference image, in association with the pixel location in the synthetic reference image to which that reference pixel projects, may be retained. Information is then associated with the synthetic perspective reference to describe how to translate these retained X and Y coordinates back into useful reference image coordinates. Normally, this information is a simple linear transform. As a further alternative, the world coordinates of the scene points; for example, X, Y, Z, or longitude, latitude and height, in association with the pixel locations in the synthetic projected reference image to which those points correspond, may be retained.
8. Image match 60 is then carried out, between the synthetic perspective reference chip 58 and the sensor image 12. Again, there are many techniques that can be used, from a simple normalized image correlation, such as may be performed in the Fourier image transform domain, to a more robust, cross-spectral method like the Boeing General Pattern Match mutual information algorithm described in U.S. Pat. Nos. 5,809,171; 5,890,808; 5,982,930; or 5,982,945 to another more robust, cross-spectral method like a mutual information algorithm described in P. Viola and W. Wells, "Alignment by Maximization of Mutual Information" International Conference on Computer Vision, Boston, Mass., 1995. It is unique to the present invention that the only remaining difference between the two images after the processing described above, is a translation offset. This makes the match problem much easier to solve, requiring less computation and yielding a more accurate match result.
9. A match function 62 is then obtained by using the translation determined by the image match operation 60 to produce an offset location in the perspective reference image 58 for each pixel location in the sensor image 12. Thus, if a pixel is identified in the sensor image 12 as being of interest (for example, as representing an aim point in the scene imaged by the sensor), the match function 62 gives the offset from that pixel location to the pixel location in the perspective reference image 58 that represents that same location in the scene. The association of locations is limited by the match accuracy, which can be predicted by examining the match surface, or by using standard statistical methods with measures collected as part of the image match process 60.
Using the offset pixel location in the perspective reference image (20), and the projection Z value retained and associated with that location, the location of that same point in the scene's world coordinates is readily obtained. The appropriate transform consists of the same sequence of transforms that produces the synthetic projected reference, except each transform is mathematically inverted, and the individual transforms are applied in reverse sequence (as indicated in
Alternatively, the X and Y coordinates from the chip or full reference image may be retained and associated with their corresponding locations in the synthetic perspective reference, in which case the X and Y coordinates are simply taken as the reference image location corresponding to the pixel in the synthetic perspective reference image, and hence to the sensor image pixel that was related by the match offset. As a further alternative, a world coordinate (such as an X, Y, Z, or latitude, longitude, height location), may be retained and associated with the corresponding locations in the synthetic perspective reference, in which case the world coordinate is taken as the desired reference area location. Here the images are registered by referring to common locations in the world coordinate reference system.
An imaging sensor at a particular point of view 101 observes an area 102 of a scene within its field of view, and captures an image 103 portraying some part of that scene. Knowledge of the general location of the scene, and the general location of the sensor, i.e., its point of view, are obtained for use in subsequent processing.
Based on the location of this scene, a portion 104 of an elevation model is extracted from a larger database of images which covers the area in which the sensor 101 is expected to capture its image 103. An orthographic image 105 of the scene area covering the extracted portion 104 of the elevation model is also extracted from a larger database of images which covers the area in which the sensor is expected to capture its image 103.
The extracted portion 104 of the elevation model and the extracted portion 105 of the orthographic image are combined (106) into a synthetic 3-D model 107 of the scene area. The synthetic 3-D model comprises an array of pixels corresponding to the orthographic image 105 where each pixel is associated with an elevation from the elevation model 104. If both the orthographic image 105 and the elevation model 104 are at the same spatial resolution so that each pixel and corresponding elevation value or "post" represent the same physical location in the scene 102, the combination comprises placing the pixel and post values together in an array at a location representing the appropriate location in the scene. However, if the orthographic image 105 and the elevation model 104 have different spatial resolutions, it may be desirable to resample the coarser array of data to have the same resolution and correspond to the same scene locations as the finer array of data. Moreover, if the orthographic image 105 and the elevation model 104 have pixels and posts that correspond to different scene locations, such as for example where the scene locations are interlaced, it may be desirable to resample one of the data sets, preferably the elevation model set, so that the pixels and posts of the orthographic image and elevation model correspond to the same scene locations.
The synthetic 3-D model 107 of the scene area is then transformed into a synthetic perspective image 109 of the scene based on knowledge of an approximate sensor point of view 108 according to a sensor perspective model. The sensor perspective model represents an approximation of how the sensor depicts the scene. It may be a standard camera model transform, such as provided by the OpenGL graphics language and implemented in various graphics processors, or it may be a specialized transform that provides faster processing or a specialized sensor model.
An example of a "specialized transform that provides faster processing" is a transform that approximates a fall projective transform, but is simplified because the scene area that must be modeled is much smaller than the large, essentially unbounded area to which a standard transform like OpenGL projection must apply. In this situation, it may be possible to apply low order polynomials in a sensor model, because the high order terms in a more complex, higher fidelity model, using higher order polynomials, have small coefficients for the high order terms. With a small sensor image, the small coefficients may be sufficiently small that their contribution to the computation could be ignored. As another example, if the scene is at long range for the sensor, a simpler projection, such as the orthographic projection, may be used.
An example of "specialized sensor model" is use of a pinhole camera model to serve for a lens-type sensor, rather than a more complex model with slightly greater, but unnecessary fidelity. For example, if the sensor lens gives minor pincushion distortion, but the effect is only noticeable around the periphery of the sensor image, a pinhole camera model may be sufficient, particularly if the match portion of the image is restricted to the more central parts of the sensor image.
The sensor image 103 of the scene is registered (110) with the synthetic perspective image 109 of the scene by matching the two images.
Thus, there is provided a process to relate any location 111 in the actual scene area 102 to a corresponding location 114 in the orthographic image 105 of the scene area. This is achieved by choosing a point 111 in the actual scene 102, selecting the point 112 in the sensor image 103 of the scene which portrays the point 111, and using the match registration 110 to identify the corresponding point 113 in the synthetic perspective image 109. This corresponding point 113 in turn provides a corresponding point 114 in the orthographic image 105 of the scene area from which the synthetically projected point was produced. These correspondences are indicated by the dashed lines shown in
Assuming that the orthographic image 105 of the scene area has precise scene locations associated with each pixel, such as would be the case if the image is geocoded so that each pixel has an associated latitude and longitude, a precise scene location can be associated with all four corresponding points 111-114.
For the present image processes, the program modules 208 may include the process modules 209 that realize one or more the processes described herein. Other modules described herein may also be part of the program modules 208. As an alternative, process modules 209, as well as the other modules, may be implemented as part of the operating system 206, or it may be installed on the computing device and stored in other memory (e.g., non-removable storage 222) separate from the system memory 204.
The computing device 200 may have additional features or functionality. For example, the computing device 200 may also include additional data storage devices (removable and/or non-removable) such as, for example, magnetic disks, optical disks, or tape. Such additional storage is illustrated in
The computing device 200 may also contain a communication connection 228 that allow the device to communicate with other computing devices 230, such as over a network. Communication connection(s) 228 is one example of communication media. Communication media may typically be embodied by computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and includes any information delivery media.
Various modules and techniques may be described herein in the general context of computer-executable instructions, such as program modules, executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, and so forth for performing particular tasks or implement particular abstract data types. These program modules and the like may be executed as native code or may be downloaded and executed, such as in a virtual machine or other just-in-time compilation execution environment. Typically, the functionality of the program modules may be combined or distributed as desired in various embodiments. An implementation of these modules and techniques may be stored on or transmitted across some form of computer readable media.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as exemplary forms of implementing the claims.
|Cited Patent
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|Dec 22, 1992
|Raytheon Company
|Confirmed boundary pattern matching
|Oct 12, 1994
|Feb 27, 1996
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|Automatic subarea selection for image registration
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|Aug 27, 1996
|Harris Corporation
|Mechanism for registering digital images obtained from multiple sensors having diverse image collection geometries
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|Jul 8, 1997
|Texas Instruments Incorporated
|Method of inferring sensor attitude through multi-feature tracking
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|Image processing method and apparatus for correlating a test image with a template
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|Adjustment of sensor geometry model parameters using digital imagery co-registration process to reduce errors in digital imagery geolocation data
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|Sep 21, 2004
|Hrl Laboratories, Llc
|SAR and FLIR image registration method
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|Jul 7, 2005
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|Jul 6, 2010
|The Boeing Company
|Processing architecture for automatic image registration
|Feb 6, 2007
|Aug 10, 2010
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|Method for automatic stereo measurement of a point of interest in a scene
|Mar 19, 2007
|Mar 1, 2011
|Qinetiq Limited
|System and method for processing imagery from synthetic aperture systems
|Oct 31, 2006
|Nov 8, 2011
|The Boeing Company
|Method and system for image registration quality confirmation and improvement
|Aug 9, 2010
|Jan 31, 2012
|The Boeing Company
|System and method for automatic stereo measurement of a point of interest in a scene
|Dec 4, 2008
|Mar 20, 2012
|The Boeing Company
|Height measurement in a perspective image
|Sep 26, 2011
|Dec 17, 2013
|Northrop Grumman Systems Corporation
|Automated image registration with varied amounts of a priori information using a minimum entropy method
|May 4, 2011
|Sep 16, 2014
|Bae Systems Information Solutions Inc.
|Inverse stereo image matching for change detection
|Apr 27, 2011
|Sep 23, 2014
|Lockheed Martin Corporation
|Automated registration of synthetic aperture radar imagery with high resolution digital elevation models
|Dec 16, 2005
|Nov 4, 2014
|Centre National D'etudes Spatiales
|Method for processing images using automatic georeferencing of images derived from a pair of images captured in the same focal plane
|Jan 20, 2014
|Jun 30, 2015
|Tolo, Inc.
|Distortion correcting sensors for diagonal collection of oblique imagery
|Apr 2, 2004
|Oct 6, 2005
|Oldroyd Lawrence A
|Processing architecture for automatic image registration
|Oct 31, 2006
|Mar 15, 2007
|The Boeing Company
|Method and system for image registration quality confirmation and improvement
|Dec 16, 2005
|Apr 17, 2008
|Centre National D'etudes Spatiales
|Method for Processing Images Using Automatic Georeferencing of Images Derived from a Pair of Images Captured in the Same Focal Plane
|Nov 1, 2012
|Lockheed Martin Corporation
|Automated registration of synthetic aperture radar imagery with high resolution digital elevation models
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|Oct 30, 2014
|Tolo, Inc.
|Diagonal Collection of Oblique Imagery
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|Apr 13, 2011
|Method and system for improving definition of text images
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|Method for removing mismatching points of remote sensing image including complex terrains
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|U.S. Classification
|382/294, 382/103
|International Classification
|Cooperative Classification
|European Classification
|May 22, 2006
Owner name: BOEING COMPANY, THE, ILLINOIS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:OLDROYD, LAWRENCE A.;REEL/FRAME:017670/0793
Effective date: 20060509


text:
Christian Radio Co-Host New Adjunct
Next semester Nyack College will welcome Christian radio WAWZ-FM personality, Stacey Stone, as an adjunct professor,who will head the Radio Workshop and teach "Announcing for Electronic Media."
Co-host of "Johnny Stone in the Morning," on Star 99.1, she is the recipient of the National Broadcasting Association's Crystal Award. This honor recognizes radio stations for year-round commitment to community service. Ms. Stone's personal passion is evident in her involvement with outreach efforts like Christmas Blessings, coat drives, collecting items for U.S. troops and coordinating charity concerts.
The National Association of Broadcasters (NAB) is a Washington, DC-based advocacy association that supports legislative, regulatory and public affairs issues for more than 8,300 American radio and television stations.
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- Forum on Restorative Justice Features Nyack Professor
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- School of Music: Trading Textbooks for iPads
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text:
Among those Americans the bureau calls the "major workers groups," the jobless numbers are truly shocking: Among teenagers between the ages of 17 and 19, who are often among the breadwinners in their family, 25.1 percent; blacks, 13.8 percent; and Hispanics, 9.6 percent.
These are among the poorest and the most vulnerable people in our country, who have suffered the most from Mr. Obama's failed economic policies over the past four years.
If all of those discouraged workers who have dropped out of the workforce were still counted as actively looking for a job, the real unemployment rate would jump to 10.9 percent.
"Add part-time workers who would prefer full employment but can't find it, and the unemployment rate becomes 14.2 percent," Mr. Morici says.
Though these monthly job creation numbers get a lot of hype from the White House, they should be taken with a large grain of salt. What doesn't get much media attention is that the numbers are all too often revised downward in follow-up reports that go unreported or are buried in the news accounts.
"Revisions subtracted a total of 15,000 jobs to the employment count in December and January," reports Bloomberg News. There may be further revisions to come.
Meanwhile, Mr. Obama and his White House mouthpieces continue to boast about the dubious decline in the jobless rate, and they never miss an opportunity to take credit for the stock market's meteoric rise as one of their economic achievements.
The pro-growth economic analysts at the Zero Hedge website that closely track the economy know duplicitous subterfuge when they see it.
"The current de facto policy of inflating asset bubbles to spark a 'wealth effect' is no substitute for policies that make it less burdensome to start new enterprises and hire employees," they observed last week. "If we scrape away this ceaseless perception management, we find legitimate broad-based prosperity is always based on rising employment and increased purchasing power of wages."
"How are we doing as a nation?" the website asks. "Unfortunately, the answer is 'terrible.' "
Full-time employment as a percentage of the population is down. Just 36 percent of our population has a full-time job, and incomes have barely risen.
In 2012, when Mr. Obama boasted that the economy was "moving forward," New York Times economic columnist Paul Krugman, one of his earliest supporters, said, "This is still a terrible economy."
For millions of unemployed and underemployed people, and small businesses, it's just as terrible now, no matter what the stock market or the president says.
Donald Lambro is a syndicated columnist and contributor to The Washington Times.


text: This was my first trip to South Beach and it will not be my last. The Savoy Hotel is a true gem. The accommodations are great and the staff was truly wonderful. We received great shopping and dining recommendations from the staff and we found that the pool and beach were super.


text:
Pornstars: Brandi Belle
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Section 2257
She fucked by a crook, she'll never love again!


text:
We know that a few fan groups at the moment are not happy with owner Mike Ashley, and one of the things that is brought up is that Mike Ashley is prioritizing the Premier League and only the Premier League, and he is not interested in winning the domestic Cups.
Mike Ashley – prioritizing Premier League only
And while that's true, it's Alan Pardew who chooses the teams, and especially this season when we will have a lot fewer games to play than last season, he should be able to field some strong sides in the Cup competitions..
We think he will field strong sides especially in the Capital One Cup, in an effort to have a good run, and maybe even get to Wembley – and who knows – even qualify for Europe.
While speaking on Goals on Sunday this morning, the Newcastle manager Alan Pardew said that it was up to him which teams he plays in the Cups, although its true the Premier League is the priority at the club, and maybe that's because there is £60M to £100M to be made by PL clubs every season.
This is what Alan said:
"All Premier League managers are under real pressure from their board, from their owners, to get a strong Premier League finish because the finance and prestige for Premier League teams is such that that is the priority."
"So forget about everything else, that is the priority for the owners." "But for managers, of course, it isn't. Our ambition is to win trophies, so every competition we enter we try and win."
"When we were in the Europa League put some really strong teams, we got to the quarter-final and it was touch and go against Benfica, who nearly won it. We prioritized that."
"When it came round to the domestic cups we had awful teams to put out. As manager, I have to admit that. It wasn't good enough for Newcastle." "It wasn't that I didn't have the players in the background, they weren't fit. We had a really bad run."
"This year, we want to win a cup, we want to win a trophy. Imagine Newcastle winning a trophy, no one would love that more than myself and for the fans. Our fans have been starved since 1968." (note it as 1969 Alan)
"If we can reach the heights that we've done this year in certain games and certain periods in games, there's no reason why we can't win a trophy.
"We've got the resources this year to have a go in the cups. We've got a really good first XI and the XI underneath it is not far away, and that bodes well when you have to put those guys in to keep the team at the same level.
"So I feel a little bit more confident this year, certainly than I did last year, and we're not far away, in my opinion, from the team that finished fifth in terms of quality."
It's true that the official party line is that Newcastle will not prioritize the domestic Cups – but if Alan Pardew does that with his team selection – there's nothing to stop us doing well in those competitions this season.
And it seems that's just exactly what Alan Pardew wants to do.
Comments welcome.
You can also reach Ed at firstname.lastname@example.com


text:
You are invited to:
Shuswap Hospital Foundation Annual General Meeting Wednesday September 9th, 2015 at 7:00 PM Level 5 Meeting Room Shuswap Lake General Hospital Salmon Arm, BC AGENDA Annual Reports Annual Financial Review Election of Directors
Refreshments Public invited to attend – Limited Seating
Dennis & Margaret Potter moved to Salmon Arm in 1996 from Vancouver. They had always been supporters of their local hospital and continued with that tradition when they moved to Salmon Arm.
Sadly Dennis passed away in 2003. His wife Margaret is still very proud to carry on the tradition and today at 97 she is very pleased to be able to contribute and support the purchase of health care equipment needs within our community.
The Shuswap Hospital Foundation is extremely grateful for the generosity and support of Dennis & Margaret Potter.


text:
Discount Deck
From MagicPedia, the free online encyclopedia for magicians by magicians.
Discount Deck is a card routine by Paul Harris in which a "deck" consisting of one card is given to the spectator to hold behind their back and then changes to another.
This was published in Close Up Fantasies Book I (1980) and was not included in the Art of Astonishment compilation.
Harris notes in the book that he liked to follow-up with The Jack Puzzle.


text:
JFK Website (0)
Digital Archives (2)
Common Search Term: Schlesinger Jr
Political campaign, 1960(1)
Kennedy family(1)
Cuban Missile Crisis, 1962(1)
Kennedy, John F. (John Fitzgerald), 1917-1963(2)
Kennedy, Caroline B. (Caroline Bouvier), 1957-(1)
Kennedy, John F. (John Fitzgerald), 1960-1999(1)
Berlin (Germany)(1)
Greene, Robert S., 1922-2013(2)
Lincoln, Evelyn (Evelyn Norton), 1909-1995(1)
Schlesinger, Arthur M. (Arthur Meier), 1917-2007(2)
Sorensen, Theodore C. (Theodore Chaikin), 1928-2010(1)
United States Information Agency. Voice of America(2)
Sound recording of an interview of Arthur M. Schlesinger Jr., former Special Assistant to the late President John F. Kennedy, conducted by Robert S. Greene on January 30, 1964. Excerpts from the interview were used in a Voice of America (VOA) program called "John F. Kennedy - A Personal Memory" by Robert S. Greene. Main interview topics include Pre...
Sound recording of an April 15, 1964, Voice of America (VOA) program called "John F. Kennedy - A Personal Memory" by Robert S. Greene. The narrated program features excerpts from interviews with staff of the late President John F. Kennedy including Personal Secretary Evelyn Lincoln and Special Assistants Dave Powers, Arthur M. Schlesinger Jr., and ...
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JOHN F. KENNEDY PRESIDENTIAL LIBRARY AND MUSEUMColumbia Point, Boston MA 02125 (617) 514-1600


text: If I'm in need of "fast food" I like Swiss Chalet because yo can make some healthy choices. This night was not one of those. Our service was slow. We got our appetizers about 25 minutes after ordering. They were dropped off at our table by a second server and she scooted away before we could... read more


text:
The sound of a cup being dropped or placed onto a table.
dice noise - alea jacta est
Opening and closing the cutlery drawer. ----------- These sounds are part of the Compose with Sounds Kitchen Soundpack. Compose with ...
Before-After versions without mains hum. Afters are pseudostereo and compressed.
The clunk of a fridge door closing. ----------- These sounds are part of the Compose with Sounds Kitchen Soundpack. Compose ...
A percussion sound made by me. Sounds as if it has been delayed a bit.
Flute slapping
A small stack of books falling off a bench onto the floor. It's been recorded 4 different times in this ...
Yep, You Guessed It! Another GutBomb
dice noise - alea jacta est
Bass Saxophone slapping
KONICHIWA! Free SE from Japan http://taira-komori.jpn.org/freesounden.html
I was the sound designer for the audio book adaptation of Invisible by Paul Collis.
Sound of a coin dropped into the locker's mechanism. Taken with a Zoom H recorder, near the door. Taken in ...
A tiny fragment of voice echoes four times over the course of a second and diminishes to silence.


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Type: Posts; User: sprat123
Search: Search took 0.02 seconds.
July 28th, 2015, 02:25 AM
Thread: Suggestions?by sprat123
- Replies
- 5
- Views
- 547
I like the name Corliss for a girl. I have a son who has a name beginning with Cor, though, so I really can't use Corliss. What are some other names with the same feel?
November 18th, 2013, 09:09 PM
Thread: Decisions, decisionsby sprat123
- Replies
- 9
- Views
- 622
I like Amelia Maude, especially as a sister to...
I like Amelia Maude, especially as a sister to Eleanor.
November 18th, 2013, 08:05 PM
Thread: Which Month Names Work?by sprat123
- Replies
- 9
- Views
- 1,029
I love October for a name, both for a boy or...
I love October for a name, both for a boy or girl. I just can't see myself being brave enough to use it, even though I love uncommon names.
November 18th, 2013, 07:51 PM
- Replies
- 22
- Views
- 1,878
Thanks, everybody. I like fairly uncommon names...
Thanks, everybody. I like fairly uncommon names and I'm so scared this one will take off. I think right now I'm going to stick with it. I might find something better--I still have about 20 weeks to...
November 18th, 2013, 06:21 AM
- Replies
- 22
- Views
- 1,878
Is this name about to get super popular?
I have always loved the name Briar. We had chosen this as our girl name, but now there is the Maleficent movie coming out and the blog today talked about a new doll with this name, too. I really,...
May 30th, 2013, 08:58 PM
Thread: Opinions..are they too much alike?by sprat123
- Replies
- 2
- Views
- 403
Opinions..are they too much alike?
I love the name Connell/Conall. Problem is that my in-laws, who are NOT very nice people, are part of a family with the last name Connell, but they pronounce it kuh-NELL, like a canal. I pronounce...
May 6th, 2013, 01:58 PM
Thread: Sibsets you hear often...by sprat123
- Replies
- 17
- Views
- 2,136
I know 3 sets of Jack and Henry. I'm no longer...
I know 3 sets of Jack and Henry. I'm no longer surprised when I meet a set.
May 2nd, 2013, 04:40 PM
Thread: What do you think of Elodie?by sprat123
- Replies
- 8
- Views
- 1,536
I like it. It's pretty, and though I recognize...
I like it. It's pretty, and though I recognize the name, I've never actually met an Elodie. That's a plus for me.
May 2nd, 2013, 04:34 PM
- Replies
- 10
- Views
- 2,105
Oh my goodness! Thank you all. I came back to...
Oh my goodness! Thank you all. I came back to check my post and you have provided so many great options. Several are names we have been discussing. :) I also have been reconsidering the alliteration...
April 30th, 2013, 12:59 PM
- Replies
- 10
- Views
- 2,105
"Feels" like Poppy?
I love the name Poppy. To me it sounds unexpected, quirky, and fresh, but familiar all at once. That's a hard thing to find I think. Problem is that our last name is a two-syllable name starting with...
March 27th, 2013, 12:26 PM
Thread: Thinking about some more names. WDYT?by sprat123
- Replies
- 9
- Views
- 782
I like Nathaniel and Charles, but my favorite of...
I like Nathaniel and Charles, but my favorite of all is Felix.
March 27th, 2013, 12:11 PM
Thread: Thoughts on Tanner?by sprat123
- Replies
- 6
- Views
- 729
I like it. It's a name that will fit with his...
I like it. It's a name that will fit with his peers well without being incredibly common.
March 27th, 2013, 12:09 PM
Thread: How popular is this now?by sprat123
- Replies
- 13
- Views
- 2,418
How popular is this now?
How popular is the name Callum? I see it on a lot of lists but I have never met anyone with the name. I am on the hunt for a name that is not ridiculously odd but not common at all, and I used to...
Results 1 to 13 of 13


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Melanie White | August 16, 2012 | Comments
The creative agency uses consumer behavior data, purchase data and other data to inform campaigns targeted to key audiences, yet with universal appeal.
BBDO is big on big data. The creative agency uses consumer behavior data, purchase data and other data to inform campaigns targeted to key audiences, yet with universal appeal. Melanie White, ClickZ's special projects editor, chatted with Mark Himmelsbach, BBDO's director of digital strategies, North America, at the agency's New York offices about the data effect.
Melanie White is the Editor of ClickZ, where she has worked since July 2012. White has been with Incisive Media (ClickZ's parent company) since 2009 where she was Deputy Editor/ US Editor for one of the financial risk management titles, International Custody and Fund Administration (later Custody Risk).
In addition, White worked on FX Week where she was a Senior Reporter. She has also worked and contributed to a number of other titles, including The Accountant, International Accounting Bulletin, the New York Post, Independent Magazine (UK), as well as the broadcast title Sunday Live with Adam Boulton at Sky News.
October 21-22, 2015
November 17-19, 2015
November 25-26, 2015
April 11-13, 2016
Spring 2016
US Consumer Device Preference Report
Traditionally desktops have shown to convert better than mobile devices however, 2015 might be a tipping point for mobile conversions! Download this report to find why mobile users are more important then ever.
E-Commerce Customer Lifecycle
Have you ever wondered what factors influence online spending or why shoppers abandon their cart? This data-rich infogram offers actionable insight into creating a more seamless online shopping experience across the multiple devices consumers are using.
October 13, 2015
1pm ET/ 10am PT
November 12, 2015


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London, Vienna, Beijing – at the moment there is one design week after the other. As London is still considered a design metropolis, it is worth visiting the city on this occasion. Even if the trade fair "100% Design" is becoming increasingly uninteresting, the fringe events in the city were once again impressive.
News & Stories | Salone del Mobile 2011 – supported by Villeroy & Boch Tiles
The evening, the chairs, their designers and their music videos
by Nancy JehmlichKonstantin Grcic listens to Elvis, the Bouroullecs to Björk, Sam Hecht grew up listening to Depeche Mode, and Nitzan Cohen, as a music video, would be a mix of Chris Cunningham, Björk and El Gincho. In Milan, a fine exhibition not only displayed new chairs but also revealed the musical preferences of their designers.
There is a camel here, a small monkey there. And which soap adorns the latest washstands? Some presentations at this year's ISH were real eye-catchers, others simply a bit drab. But all were careful arrangements.
What emerged at the imm Cologne in 2011 was that the fair has steadied, and in the form of "Living Kitchen" and "Pure Textiles" has gained two important new areas. Thus, the Cologne hodge-podge of the diversity of homes has something for everyone, for a man of the world, a man of the masses, and for kids, too. That said, the high-end design did not live up to expectations.
News & Stories
The bathroom as a functional landscape"Axor Bouroullec" is a variable system of washbasins, storage units and fixtures. Thomas Wagner talked to Philippe Grohe, grandson of company founder Hans Grohe and manager of the "Axor" brand, about bathroom landscapes, the integration of the user and the future of the bathroom.
News & Stories | Salone del Mobile 2011 – supported by Villeroy & Boch Tiles
Milan in four bags or: Design, theatrical, practical, feudal and universal
by Thomas WagnerPerhaps everything on show in Milan at the exhibition center in Rho, in the booths of Superstudio Più, in showrooms and back-yard workshops ultimately fits into four bags. Let's see if it does. What would we write on the movable containers if we were to put in them the things we noticed among all the abundance?
Does it look like a ripe strawberry? Or a piece of bloated crispbread? However you answer this question, the "Ploum" sofa by the Bouroullec brothers is one of the most talked-about products at this year's imm Cologne. Nina Reetzke spoke to Ronan Bouroullec about the sofa's low seat, marketing, and making films.


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Wild Dunes Resort, Harbor Course
- 5757 Palm Blvd, Isle of Palms, SC 29451
- (843) 886-2180
- www.wilddunes.com
|36 total holes at facility
|Green fees - $90 to $165 (estimate)
|Designed by Thomas Fazio
|Built in 1980
|Bermuda Grass
|Driving Range: Yes
|Public Resort golf course
The Harbor Course at Wild Dunes Resort is an 18-hole regulation length golf course in Isle of Palms, South Carolina. This medium-length layout has adequate length for a regulation course. Overall this course plays quite difficult, at least from the back tees it does. Trouble surrounds many of the greens. There is another course at this same golf club, the Links Course. Online tee times may be available at Wild Dunes Resort or at nearby golf courses, often at a substantial discount from the going green fees rate.
|Course Rating
|Back Tees
|Golf Pro: Joe Stevens
|Course Superintendent: Scott Ferguson
|Manager: Jeff Minton
Note: The data on these pages is generally right, however, occasionally there will be errors. Should you spot any issues with any courses, please contact us.
Please login to add your review.


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Choose Between Two Options
- $5.99 for two large smoothies ($9 value)
- $7.99 for two large protein shakes ($11 value)
Frioland keeps the swelter of the Sunshine State at bay with a medley of refreshing and nourishing frozen yogurt flavors and smoothies. Smooth, sweet, and fruity varieties offer something for every palate. Customers can also mix in proteins and other fixings to make their treats more hearty and nutritious without having to sprinkle them with gummy vitamins.
78% of 37 customers recommend
"They change their flavors often which can be a good, but it can also be a bad thing."
"Get a spot on card also they always have lots of great specials, and friendly staff !"
"Make sure to take advantage of their Tuesday discount."
1893 N Pine Island Rd
Fort Lauderdale, FL 33322
+19544739500Get Directions


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Just returned from a 8 day bike and raft adventure here on the Kenai Peninsula of Alaska. Here is a slideshow from the trip:
Mjölnir Photography
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Time to go fishing! With the help of a series of fortunate GTA V events and the Rockstar game engine. »
The World's Smallest Car Is Perfect For GTA V
The Peel P50 three-wheeled microcar, which is the smallest production automobile in the world, certainly won't stop the GTA V train, but it's pretty much good for everything else. »
Captain Planet Saves The Day In GTA V
Captain Planet was the only 90s edutainment show that had enough charm to fit into the heavy line-up of Saturday-morning cartoons. And we probably all remember its intro. »
The Pokémon Anime's Intro In GTA V
God save all the regions of the Pokémon universe with Trevor in it as a trainer. »
Scooby-Doo Remade In GTA V
Chop, no! What have they done to you! Some other classic shows and their openings already have GTA V versions, made with the Rockstar Editor and Director Mode, and thanks to YouTuber btz now Scooby-Doo has one too. »
The Opening of Fresh Prince In GTA V
All classic TV show intros deserve a GTA V version. And The Fresh Prince of Bel-Air is the perfect candidate: We all watched the series back then (it's still funny!) and it's set in the same city as Grand Theft Auto V. »
The Opening of Arthur In GTA V
The cute intro of the classic 90s cartoon Arthur is anything but cute when it's recreated in GTA V's environment. »
The Opening of Full House Remade In GTA V
Vice City Looks Beautiful Using GTA V's Engine
Modding and rebuilding all the old maps from the Grand Theft Auto series are getting easier on the PC version of GTA V thanks to a smart method created by modder NTAuthority. The latest proof for that is a superb remake of Vice City's memorable map. »
Grand Theft Auto V As An 80s TV Show
Finally, A GTA V Stunt Montage With Birds
All the jets are grounded. GTA V's birds are here to show how to pull tricks off properly. »
GTA V as a Cheesy 70s Horror Movie
A black driverless car possessed by evil terrorizes San Andreas in YouTuber Gigerbrick's fan-trailer, based on the 1977 movie "The Car" and edited similarly to schlock horrors from that era. »
Flying Jetskis And Other New GTA V Myths
With the new gen versions of Grand Theft Auto V released and tons of new content added to the game, it was inevitable for the GTA Mythbusters series to return and confirm a bunch of new tricks and funny little exploits. »
The Dukes of Hazzard Meets GTA V
The members the GTA Online clan "The Aging Infidels" have a weird but awesome hobby in-game: remaking the opening scenes of old TV-shows where cars played an important role. So here's their GTA V version of The Dukes of Hazzard: »
The Sopranos' Opening, Remade In Grand Theft Auto V
Tony Soprano and his family might not live on the West Coast, but 8-bit Bastard's remake of the classic opening of the show in Grand Theft Auto V makes me want to load up the original again. »
Terminator 2's Truck Chase Scene, Remade in GTA V
It's a bit strange no one's thought to do so it, because the canal labyrinths of Los Santos are perfect for some Terminator 2 action. But here it is. YouTuber John Chapman and his friends made a pretty neat shot-for-shot remake of the movie's famous truck chase scene. »
If Grand Theft Auto V Were Made In The 80s
It would still be awesome! Here's an isometric, Commodore 64-style recreation of some Grand Theft Auto V action by the talented MajamiHiroz with some superb 8bit music added. »
Every Swear Counted in GTA V's NSFW Supercut
YouTuber TheMediocreScot spent 5 months to prove that GTA V drops the F-Bomb more times than anything else with a 12-minute-long NFSW montage. »
Metal Gear Solid V's 10-Minute-Long Trailer, Perfectly Remade in GTA V
Even though the Japanese creators of this GTA V remake did everything to make Metal Gear Solid V: The Phantom Pain's trailer less epic, thanks to the pitch-perfect execution they've just achieved the opposite. »
Take the Bloody Shot with Skyfall Recreated in Grand Theft Auto
Over on the subreddit GTA Adventures there's a weekly challenge to film a recognizable scene from a movie. Up this week: the opening sequence from Skyfall. »


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Venric Mark carries Northwestern to win over Minnesota
MINNEAPOLIS -- Venric Mark rushed for 182 yards and two touchdowns to carry Northwestern to a 21-13 victory over Minnesota on Saturday.
Mark wasn't touched on scoring runs of 26 and 48 yards and the Wildcats (6-1, 2-1 Big Ten) overcame 11 penalties to become bowl eligible and spoil Minnesota's homecoming celebration.
MarQueis Gray rushed for 86 yards and a touchdown after missing the previous two games with knee and ankle injuries. But he also threw an interception and was injured again late in the third quarter for the Golden Gophers (4-2, 0-2).
The Gophers had a chance for a tying touchdown late, but Northwestern's defense stiffened at the 6-yard line to keep them out of the end zone. Cornerback Nick VanHoose made the key play on the stand, batting a pass away from A.J. Barker in the end zone to save a touchdown.
Minnesota coach Jerry Kill suffered a seizure after his postgame news conference and was taken to a local hospital. Kill, who has had a seizure disorder since being diagnosed with kidney cancer in 2005, is alert and resting comfortably, according to the school.
Less than 10 seconds into the game, Northwestern was already up 7-0. Gophers linebacker Lamonte Edwards, a converted running back, botched the opening kickoff and C.J. Bryant pounced on it to give the Wildcats the ball at Minnesota's 26-yard line.
Mark took the handoff, burst through the line and saw nothing but daylight, racing 26 yards untouched for the score.
That would be a common theme throughout the first half. Mark added a 48-yard scoring run in the second quarter, a burst through the middle where nary a finger was laid on him. He also had runs of 47 and 25 yards in the first half to help the Wildcats take a 21-10 lead.
Mark's big day on the ground eliminated any need for Northwestern's passing game, and that was a good thing for the Wildcats. Kain Colter was 10 for 10, but for just 63 yards. And Trevor Siemian, the passing specialist in the Wildcats' two-quarterback system, was 1 for 7 for 4 yards.
Mark's big 48-yard TD helped neutralize a brief bit of momentum for the Gophers.
When Max Shortell went out with an injured left hand late in the first quarter, Gray ripped off a 25-yard touchdown run at the start of the second to pull Minnesota to 14-10.
But David Nwabuisi made an acrobatic, one-handed interception off of a pass tipped by Quentin Williams to stall the Gophers. Mark was off to the races two plays later, and the Wildcats were on their way to a rebound victory after losing at Penn State last week.
It was another disappointing effort for the Gophers, who were starting to create some optimism on campus with a 4-0 start to the season. But a 31-13 thumping at Iowa two weeks ago brought them back down to earth, and they followed that up with a sloppy, mistake-prone performance coming out of their bye.
They fumbled the ball seven times, losing two, and committed nine penalties.
The turnovers were compounded by three bad snaps from center Zac Epping and some curious play-calling that stunted several drives. After calling time out and pulling their offense off the field on fourth-and-11 from Northwestern's 36, they ran kicker Jordan Wettstein out for a 53-yard field-goal try. The Wildcats weren't buying it from the start, and a fake run was thwarted easily to turn the ball over.
On third-and-13 from the Northwestern 46, they called a draw to Donnell Kirkwood that gained just 5 yards. And with no timeouts and the ball at their own 49 with just over a minute to play in the first half, the Gophers called a draw to Gray that went nowhere and took any chance of a late score out of the equation.
Information from ESPN.com's Adam Rittenberg and The Associated Press was used in this report.
ESPN Fan Shop Powered By
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With the addition of a few tweaks, UConn football coach Bob Diaco is still planning to bring a rivalry trophy with him to Florida on Saturday when the Huskies play UCF.


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All hotels in Moose, Wyoming, United States of America
1 room, 2 adults
N Jenny Lake Jct, Moose, WY, 83012, United States of America, 866-299-2910
Jenny Lake Lodge, Moose
Lowest price$611 CAD
Best Price Guarantee
The property is closed between 5 October and 31 May.
Comfortable Moose guestrooms with patios, comfy beds
- Free WiFi and free parking
Jenny Lake Lodge is a great choice for a stay in Moose. For a bite to eat, guests can check out Jenny Dining Room, which serves breakfast, lunch, and dinner. Rooms at this romantic lodge offer up nice touches like bathrobes and pillowtop beds with Egyptian cotton sheets.
Main amenities
- 37 guestrooms
- Restaurant
- 24-hour front desk
- Coffee/tea in the lobby
- Daily housekeeping
- Lobby fireplace
- Front desk safe
- Laundry service
- Gift shops/newsstands
- Free newspapers in the lobby
- Porter/bellhop
- Hiking/biking trails
What's around
- In a national park
- Jenny Lake (2 mi / 3.2 km)
- Cascade Canyon Trail (2.9 mi / 4.7 km)
- Jenny Lake Visitor Center (2.9 mi / 4.7 km)
- South Jenny Lake Ranger Station (3.5 mi / 5.6 km)
- Lupine Meadows Trailhead (5.3 mi / 8.5 km)
favorite part was the horseback riding Mary Sue was great!
Jenny lake lodge is an excellent place to stay. The service is impeccable and, as other…
TripAdvisor Traveller Rating: 4.5
From 338 reviews
Enter dates to check prices
Hotel Info: 866-266-9798from $611 CAD
- Duplex style cabin
Also popular with travellers from Canada
At a glance
Key facts
Hotel size
- This hotel has 37 rooms
- This hotel is arranged over 1 floor
- Check-in time starts at 4 PM
- Check-out time is 11 AM
Required at check in
- Credit card or cash deposit required
- Government-issued photo ID required
- Minimum check-in age is 18
Travelling with others
- Pets not allowed
- Free WiFi in public areas
- Free WiFi in rooms
- Free self parking
Nearby Three Star Moose hotels
In the hotel
Food and drink
- Restaurant
- Free reception
- Coffee/tea in the lobby
Things to do
- Bicycle rentals on site
- Hiking/biking trails on site
- Horse riding/rental on site
- Ecotours nearby
- Golfing nearby
- Kayaking nearby
- 24-hour front desk
- Dry cleaning/laundry service
- Free newspapers in lobby
- Number of buildings/towers - 29
- Year Built 1920
- Safe-deposit box at front desk
- Fireplace in lobby
- Accessible bathroom
In the room
Home comforts
- Ceiling fan
- Coffee/tea maker
- Bathrobes
- Iron/ironing board
Sleep well
- Hypo-allergenic bedding available
- Down comforter
- Turndown service
- Premium bedding
- Pillowtop mattress
Things to enjoy
- Patio
Freshen up
- Private bathroom
- Shower/tub combination
- Free toiletries
- Hair dryer
Stay connected
- Free newspaper
- Free WiFi
- Phone
Food and drink
- Refrigerator
- Free bottled water
- Daily housekeeping
- In-room safe (laptop compatible)
Top Moose hotels
Recently reviewed hotels in Moose
- Rawhide MotelFrom
- Anvil MotelFrom
"Excellent rooms, great downtown location and excellent service, but very poor breakfast"Aug 20, 2015
- Super 8 Motel - Jackson HoleFrom
"My husband and I were travelling with another couple visiting Yellowstone National Park and then onto the Badlands in South Dakota.We had an overnight here and found this hotel to…"Jun 24, 2015
- Quality Inn & Suites 49'erFrom
"No pet fee was nice. Breakfast started late both mornings and was just ok. Location was nice. Front desk service was pretty good. All things considered paid a lot for just average…"Jun 18, 2015
Nearby hotels
Special features
DiningJenny Dining Room - This fine-dining restaurant serves breakfast, lunch, and dinner. Reservations are required.
Awards and affiliations
- Jenny Lake Lodge is listed in the 2013 Condé Nast Traveler Gold List of the world's best places to stay and the 2010 Travel + Leisure 500.
Jenny Lake Lodge, Moose's small print
Mandatory fees
You'll be asked to pay the following charges at check in or check out:
- Energy surcharge: USD 2.25 per accommodation per night
We have included all charges provided to us by this hotel. However, charges can vary, for example, based on length of stay or the room you book.


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- 12Promote
Art Print
Imaginaciónby Raül Vázquez
Collect your choice of gallery quality Giclée, or fine art prints custom trimmed by hand in a variety of sizes with a white border for framing.
this is so cool!
Really? Thanks a lot!!! It was a good job!!!
Ye I love it!
love your work!
See More Comments