Dancing with Images: Embodied Photographic Viewing Ellen Handy
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Visual Tilt Estimation for Planar-Motion Methods in Indoor Mobile Robots
robotics Article Visual Tilt Estimation for Planar-Motion Methods in Indoor Mobile Robots David Fleer Computer Engineering Group, Faculty of Technology, Bielefeld University, D-33594 Bielefeld, Germany; dfl[email protected]; Tel.: +49-521-106-5279 Received: 22 September 2017; Accepted: 28 October 2017; Published: date Abstract: Visual methods have many applications in mobile robotics problems, such as localization, navigation, and mapping. Some methods require that the robot moves in a plane without tilting. This planar-motion assumption simplifies the problem, and can lead to improved results. However, tilting the robot violates this assumption, and may cause planar-motion methods to fail. Such a tilt should therefore be corrected. In this work, we estimate a robot’s tilt relative to a ground plane from individual panoramic images. This estimate is based on the vanishing point of vertical elements, which commonly occur in indoor environments. We test the quality of two methods on images from several environments: An image-space method exploits several approximations to detect the vanishing point in a panoramic fisheye image. The vector-consensus method uses a calibrated camera model to solve the tilt-estimation problem in 3D space. In addition, we measure the time required on desktop and embedded systems. We previously studied visual pose-estimation for a domestic robot, including the effect of tilts. We use these earlier results to establish meaningful standards for the estimation error and time. Overall, we find the methods to be accurate and fast enough for real-time use on embedded systems. However, the tilt-estimation error increases markedly in environments containing relatively few vertical edges. -
Video Tripod Head
thank you for choosing magnus. One (1) year limited warranty Congratulations on your purchase of the VPH-20 This MAGNUS product is warranted to the original purchaser Video Pan Head by Magnus. to be free from defects in materials and workmanship All Magnus Video Heads are designed to balance under normal consumer use for a period of one (1) year features professionals want with the affordability they from the original purchase date or thirty (30) days after need. They’re durable enough to provide many years replacement, whichever occurs later. The warranty provider’s of trouble-free service and enjoyment. Please carefully responsibility with respect to this limited warranty shall be read these instructions before setting up and using limited solely to repair or replacement, at the provider’s your Video Pan Head. discretion, of any product that fails during normal use of this product in its intended manner and in its intended VPH-20 Box Contents environment. Inoperability of the product or part(s) shall be determined by the warranty provider. If the product has • VPH-20 Video Pan Head Owner’s been discontinued, the warranty provider reserves the right • 3/8” and ¼”-20 reducing bushing to replace it with a model of equivalent quality and function. manual This warranty does not cover damage or defect caused by misuse, • Quick-release plate neglect, accident, alteration, abuse, improper installation or maintenance. EXCEPT AS PROVIDED HEREIN, THE WARRANTY Key Features PROVIDER MAKES NEITHER ANY EXPRESS WARRANTIES NOR ANY IMPLIED WARRANTIES, INCLUDING BUT NOT LIMITED Tilt-Tension Adjustment Knob TO ANY IMPLIED WARRANTY OF MERCHANTABILITY Tilt Lock OR FITNESS FOR A PARTICULAR PURPOSE. -
The Image of Truth: Photographic Evidence and the Power of Analogy
Articles The Image of Truth: Photographic Evidence and the Power of Analogy Jennifer L. Mnookin* We have but Faith: We cannot know For Knowledge is of things we see. Alfred Tennyson, In Memoriam' Maxims that urge the power of images are cultural commonplaces with which we are all too familiar: "a picture's worth a thousand words," "seeing is believing," and so forth.2 The photograph, in * Doctoral Fellow, American Bar Foundation. For useful comments and suggestions, particular thanks are due to Shari Diamond, Joshua Dienstag, Bob Gordon, Evelyn Fox Keller, Jim Liebman, Bob Mnookin, Stephen Robertson, Richard Ross, Christopher Tomlins, and the participants of the Chicago Legal History Forum and the Northwestern History and Philosophy of Science Seminar Series. Thanks, too, for the many thoughtful suggestions of the editors of the Yale Journal of Law & the Humanities, especially Barton Beebe, Jacob Cogan, and Beth Hillman. For research support during the course of working on this article, I thank the American Bar Foundation. 1. ALFRED TENNYSON, In Memoriam, in TENNYSON'S POETRY 119, 120 (Robert W. Hill, Jr. ed., 1971). 2. Some research lends credence to these adages. See, e.g., Brad E. Bell & Elizabeth F. Loftus, Vivid Persuasion in the Courtroom, 49 J. PERSONALITY ASSESSMENT 659 (1985) (claiming that "vivid" testimony is more persuasive than "pallid" testimony); William C. Cos- topoulos, Persuasion in the Courtroom, 10 DuO. L. REv. 384, 406 (1972) (suggesting that more Yale Journal of Law & the Humanities, Vol. 10, Iss. 1 [1998], Art. 1 Yale Journal of Law & the Humanities [Vol. 10: 1 particular, has long been perceived to have a special power of persuasion, grounded both in the lifelike quality of its depictions and in its claim to mechanical objectivity.3 Seeing a photograph almost functions as a substitute for seeing the real thing. -
Surface Tilt (The Direction of Slant): a Neglected Psychophysical Variable
Perception & Psychophysics 1983,33 (3),241-250 Surface tilt (the direction of slant): A neglected psychophysical variable KENT A. STEVENS Massachusetts InstituteofTechnology, Cambridge, Massachusetts Surface slant (the angle between the line of sight and the surface normal) is an important psy chophysical variable. However, slant angle captures only one of the two degrees of freedom of surface orientation, the other being the direction of slant. Slant direction, measured in the image plane, coincides with the direction of the gradient of distance from viewer to surface and, equivalently, with the direction the surface normal would point if projected onto the image plane. Since slant direction may be quantified by the tilt of the projected normal (which ranges over 360 deg in the frontal plane), it is referred to here as surfacetilt. (Note that slant angle is mea sured perpendicular to the image plane, whereas tilt angle is measured in the image plane.) Com pared with slant angle's popularity as a psychophysical variable, the attention paid to surface tilt seems undeservedly scant. Experiments that demonstrate a technique for measuring ap parent surface tilt are reported. The experimental stimuli were oblique crosses and parallelo grams, which suggest oriented planes in SoD. The apparent tilt of the plane might beprobed by orienting a needle in SoD so as to appear normal, projecting the normal onto the image plane, and measuring its direction (e.g., relative to the horizontal). It is shown to be preferable, how ever, to merely rotate a line segment in 2-D, superimposed on the display, until it appears nor mal to the perceived surface. -
Cyanotype Detailed Instructions
Cyanotype Detailed Instructions Cyanotype Formula, Mixing and Exposing Instructions 1. Dissolve 40 g (approximately 2 tablespoons) Potassium Ferricyanide in 400 ml (1.7 cups) water to create STOCK SOLUTION A. Allow 24 hours for the powder to fully dissolve. 2. Dissolve 100 g (approximately .5 cup) Ferric Ammonium Citrate in 400 ml (1.7 cups) water to create if you have Chemistry Open Stock START HERE STOCK SOLUTION B. Allow 24 hours for the powder to fully dissolve. If using the Cyanotype Sensitizer Set, simply fill each bottle with water, shake and allow 24 hours for the powders to dissolve. 3. In subdued lighting, mix equal parts SOLUTION A and SOLUTION B to create the cyanotype sensitizer. Mix only the amount you immediately need, as the sensitizer is stable just 2-4 hours. if you have the Sensitizer Set START HERE 4. Coat paper or fabric with the sensitizer and allow to air dry in the dark. Paper may be double-coated for denser prints. Fabric may be coated or dipped in the sensitizer. Jacquard’s Cyanotype Fabric Sheets and Mural Fabrics are pre-treated with the sensitizer (as above) and come ready to expose. 5. Make exposures in sunlight (1-30 minutes, depending on conditions) or under a UV light source, placing ob- jects or a film negative on the coated surface to create an image. (Note: Over-exposure is almost always preferred to under-exposure.) The fabric will look bronze in color once fully exposed. 6. Process prints in a tray or bucket of cool water. Wash for at least 5 minutes, changing the water periodically, if you have until the water runs clear. -
Rethinking Coalitions: Anti-Pornography Feminists, Conservatives, and Relationships Between Collaborative Adversarial Movements
Rethinking Coalitions: Anti-Pornography Feminists, Conservatives, and Relationships between Collaborative Adversarial Movements Nancy Whittier This research was partially supported by the Center for Advanced Study in Behavioral Sciences. The author thanks the following people for their comments: Martha Ackelsberg, Steven Boutcher, Kai Heidemann, Holly McCammon, Ziad Munson, Jo Reger, Marc Steinberg, Kim Voss, the anonymous reviewers for Social Problems, and editor Becky Pettit. A previous version of this paper was presented at the 2011 Annual Meetings of the American Sociological Association. Direct correspondence to Nancy Whittier, 10 Prospect St., Smith College, Northampton MA 01063. Email: [email protected]. 1 Abstract Social movements interact in a wide range of ways, yet we have only a few concepts for thinking about these interactions: coalition, spillover, and opposition. Many social movements interact with each other as neither coalition partners nor opposing movements. In this paper, I argue that we need to think more broadly and precisely about the relationships between movements and suggest a framework for conceptualizing non- coalitional interaction between movements. Although social movements scholars have not theorized such interactions, “strange bedfellows” are not uncommon. They differ from coalitions in form, dynamics, relationship to larger movements, and consequences. I first distinguish types of relationships between movements based on extent of interaction and ideological congruence and describe the relationship between collaborating, ideologically-opposed movements, which I call “collaborative adversarial relationships.” Second, I differentiate among the dimensions along which social movements may interact and outline the range of forms that collaborative adversarial relationships may take. Third, I theorize factors that influence collaborative adversarial relationships’ development over time, the effects on participants and consequences for larger movements, in contrast to coalitions. -
Tilt Anisoplanatism in Laser-Guide-Star-Based Multiconjugate Adaptive Optics
A&A 400, 1199–1207 (2003) Astronomy DOI: 10.1051/0004-6361:20030022 & c ESO 2003 Astrophysics Tilt anisoplanatism in laser-guide-star-based multiconjugate adaptive optics Reconstruction of the long exposure point spread function from control loop data R. C. Flicker1,2,F.J.Rigaut2, and B. L. Ellerbroek2 1 Lund Observatory, Box 43, 22100 Lund, Sweden 2 Gemini Observatory, 670 N. A’Ohoku Pl., Hilo HI-96720, USA Received 22 August 2002 / Accepted 6 January 2003 Abstract. A method is presented for estimating the long exposure point spread function (PSF) degradation due to tilt aniso- planatism in a laser-guide-star-based multiconjugate adaptive optics systems from control loop data. The algorithm is tested in numerical Monte Carlo simulations of the separately driven low-order null-mode system, and is shown to be robust and accurate with less than 10% relative error in both H and K bands down to a natural guide star (NGS) magnitude of mR = 21, for a symmetric asterism with three NGS on a 30 arcsec radius. The H band limiting magnitude of the null-mode system due to NGS signal-to-noise ratio and servo-lag was estimated previously to mR = 19. At this magnitude, the relative errors in the reconstructed PSF and Strehl are here found to be less than 5% and 1%, suggesting that the PSF retrieval algorithm will be applicable and reliable for the full range of operating conditions of the null-mode system. Key words. Instrumentation – adaptive optics – methods – statistical 1. Introduction algorithms is much reduced. Set to amend the two failings, to increase the sky coverage and reduce anisoplanatism, are 1.1. -
Digitizing the Harvard Observatory Plate Collection
Digitizing the Harvard Observatory Plate Collection Scanning the “Historic Sky” Our Goals: Find Funding to Construct a Scanner and Digitize the Harvard Astronomical Photographic Plate Collection. Make the results available in Online Storage. Jonathan E. Grindlay – Harvard Professor of Astronomy Elizabeth Griffin – WG Chair IAU Digitization and Preservation Alison Doane – Acting Curator of the Harvard Plate Stack Douglas J. Mink - Software and Data Archivist Bob Simcoe – Volunteer Associate & System designer Before photography, astronomers’ eyes were their only sensing device and hand drawing was the means of permanent recording. This severely limited the science they could accomplish. rjs Astronomy, as a science, made quantum leaps forward with the advent of photography. For the first time permanent, measurable photographic records made possible “offline” analysis of data. rjs The first daguerreotype of the moon was made by American physiologist J.W. Draper in 1840, involving a full 20 minute exposure. The first star was not recorded until 1850, when director of Harvard Observatory, W.C. Bond and Boston photographer J.A. Whipple, took a daguerreotype of Vega. The first photographic sky surveys were done at Harvard during the period of 1882-1886. Each photograph covered 15 degree squares of sky and recorded stars as faint as 8th magnitude. rjs The world’s collection of astronomical photographic images (estimated at 2 million glass plates) represents the costly output of over a century of devotion and skill by myriad astronomers. Harvard Observatory now has 500,000+ photographs, by far the largest collection and 25% of the world’s total. Harvard’s plates contain the most complete sky coverage of both the northern and southern sky over the longest time period – 1880 to 1989 rjs Since the 1980’s, astronomers have largely abandoned the use of photography. -
The Fine Art of Photography Eighth Annual Juried Photography Exhibition 2018 Prospectus
THE FINE ART OF PHOTOGRAPHY EIGHTH ANNUAL JURIED PHOTOGRAPHY EXHIBITION 2018 PROSPECTUS Categories: • Color • Black and White • Non-Traditional (Please note that the Judges’ assessment of which category an entry will be judged is final.) AwarDs: • $500 Best in Show, • Each Category: $250 First Place, $100 Second Place, • Two Honorable Mentions per category Color and Black and White Categories: This is traditional photography. The image has conventional post processing techniQues that enhance the image appearance without changing the pictorial content. Edits and/or effects that changes an image’s appearance from being a normal photograph may be categorized as Digitally Enhanced. Cropping, sharpening, and removal of obtrusive artifacts such as dust specks are allowed. Black and White includes monochromatic and sepia tones. Non-TraDitional Photography (incluDes the following) • Digitally EnhanceD: An image that does not meet the stricter reQuirements for the Color or Blank & White categories, or which has been digitally enhanced beyond the appearance of a photograph. It may have subjects or lighting added, removed or otherwise modified to create the image. • Vintage anD Alternative Printing Processes: Despite having been pioneered decades ago, alternative- printing processes — the photogram, daguerreotype, tintype, collodion, Mordançage and others — are still widely practiced. The 21st century has witnessed increased popularity among these and other organic printing methods, as photographers gravitate to the uniQue, unpredictable and fascinating print characteristics achievable through these time-honored techniQues. This is the perfect opportunity to show off your darkroom skill and creative vision. • Pinhole/Plastic Camera Imagery: This category includes analog photography, e.g. pinhole cameras and plastic cameras like the Holga, Diana and Lomo. -
Making Photos with the Sun
MAKING PHOTOS WITH THE SUN For her exhibition at Storm King this year, artist Kiki Smith made this artwork, called river light. It is made up of nine brilliant blue flags arranged in a circle. Each flag is an image of sunlight sparkling on water. Kiki took these images from videos she made of the East River in New York City as she walked from her apartment to a nearby pool to swim. To make her flags, Kiki Smith used an almost 180-year- old photography process called cyanotype. A cyanotype is a kind of photograph made without a camera. It is made by coating paper or fabric in chemicals that change color when exposed to light. Then, an object or a transparent photo negative is placed on the treated paper and exposed to the sunlight. Everywhere the sunlight reaches, the paper turns deep blue, but everywhere that it is covered up, where the sun does not reach, stays white. Originally, cyanotypes were used to copy text and architectural drawings. Even though they’re no longer copied by cyanotype, that’s why building plans are still sometimes called blueprints! Anna Atkins was the first person to use the cyanotype process to record other kinds of things beside text and building plans. In 1843 she began placing algae and plant specimens directly onto cyanotype paper and exposing them to light to record their exact size and shape. She included over three hundred of these photograms, or photos made by placing objects directly onto photo-sensitive paper, in the very first book illustrated entirely with photographs, Photographs of British Algae: Cyanotype Impressions. -
19Th Century Photograph Preservation: a Study of Daguerreotype And
UNIVERSITY OF OKLAHOMA PRESERVATION OF INFORMATION MATERIALS LIS 5653 900 19th Century Photograph Preservation A Study of Daguerreotype and Collodion Processes Jill K. Flowers 3/28/2009 19th Century Photograph Preservation A Study of Daguerreotype and Collodion Processes Jill K. Flowers Photography is the process of using light to record images. The human race has recorded the images of experience from the time when painting pictographs on cave walls was the only available medium. Humanity seems driven to transcribe life experiences not only into language but also into images. The birth of photography occurred in the 19th Century. There were at least seven different processes developed during the century. This paper will focus on two of the most prevalent formats. The daguerreotype and the wet plate collodion process were both highly popular and today they have a significant presence in archives, libraries, and museums. Examination of the process of image creation is reviewed as well as the preservation and restoration processes in use today. The daguerreotype was the first successful and practical form of commercial photography. Jacques Mande‟ Daguerre invented the process in a collaborative effort with Nicephore Niepce. Daguerre introduced the imaging process on August 19, 1839 in Paris and it was in popular use from 1839 to approximately 1860. The daguerreotype marks the beginning of the era of photography. Daguerreotypes are unique in the family of photographic process, in that the image is produced on metal directly without an intervening negative. Image support is provided by a copper plate, coated with silver, and then cleaned and highly polished. -
Evolution of Photography: Film to Digital
University of North Georgia Nighthawks Open Institutional Repository Honors Theses Honors Program Fall 10-2-2018 Evolution of Photography: Film to Digital Charlotte McDonnold University of North Georgia, [email protected] Follow this and additional works at: https://digitalcommons.northgeorgia.edu/honors_theses Part of the Art and Design Commons, and the Fine Arts Commons Recommended Citation McDonnold, Charlotte, "Evolution of Photography: Film to Digital" (2018). Honors Theses. 63. https://digitalcommons.northgeorgia.edu/honors_theses/63 This Thesis is brought to you for free and open access by the Honors Program at Nighthawks Open Institutional Repository. It has been accepted for inclusion in Honors Theses by an authorized administrator of Nighthawks Open Institutional Repository. Evolution of Photography: Film to Digital A Thesis Submitted to the Faculty of the University of North Georgia In Partial Fulfillment Of the Requirements for the Degree Bachelor of Art in Studio Art, Photography and Graphic Design With Honors Charlotte McDonnold Fall 2018 EVOLUTION OF PHOTOGRAPHY 2 Acknowledgements I would like thank my thesis panel, Dr. Stephen Smith, Paul Dunlap, Christopher Dant, and Dr. Nancy Dalman. Without their support and guidance, this project would not have been possible. I would also like to thank my Honors Research Class from spring 2017. They provided great advice and were willing to listen to me talk about photography for an entire semester. A special thanks to my family and friends for reading over drafts, offering support, and advice throughout this project. EVOLUTION OF PHOTOGRAPHY 3 Abstract Due to the ever changing advancements in technology, photography is a constantly growing field. What was once an art form solely used by professionals is now accessible to every consumer in the world.