Exeley Inc.

2019 Australasian Neuroscience Nurses’ Association Annual Conference Abstracts

McKay, Michael

Andretta, James

Perry, John

English

The shortened version of the Adolescent Stress Questionnaire (ASQ-S; Sweden): a validation study in United Kingdom adolescents

Schjetnan, Andrea G. P.

Gidyk, Darryl C.

Metz, Gerlinde A.S.

Luczak, Artur

Anodal transcranial direct current stimulation with monopolar pulses improves limb use after stroke by enhancing inter-hemispheric coherence

Zimowska, Beata

Król, Ewa Dorota

Polish

ENTOMOPATHOGENIC FUNGI AND THEIR BIOCENOTIC IMPORTANCE

Klein, Elise

Kothari, Uma

© 2019 Elise Klein and Uma Kothari and borderlands journal. This is an Open Access article licensed under the Creative 
Commons License CC-BY-NC-ND 4.0, https://creativecommons.org/licenses/by-nc-nd/4.0/ 
 
1 
 
 
borderlands  
Vol 18 | No 2 2019 
 
DOI | 10.21307/borderlands-2019-008 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Bordering    
Creating, contesting and resisting practice 
SPECIAL ISSUE, VOL. I 
 
 
Abstract 
Materially and symbolically manifest, borders are shaped by 
history, politics and power. This first special issue of a two-part 
series brings together an international collective of authors who 
presented their papers at a conference on Technologies of 
Bordering convened by the editors at the University of 
Melbourne, Australia in July 2019. We invited presentations 
that critically engage with multiple and varied forms of 
bordering as expressions of power and oppression, as well as 
those that considered the possibilities and aspirations for more 
hopeful and progressive futures. Articles explored a range of 
issues from borders within and beyond detention centres and 
carceral systems to colonial and postcolonial forms of 
bordering. Drawing on a variety of empirical research across 
different spaces and scales, a range of theoretical perspectives 
and a diversity of methodological approaches, the articles 
collectively address the material, digital, virtual and human 
technologies that divide, exclude, contain, control and govern 
humans and non-humans. 
Keywords: asylum, nonhumans, materiality, borders, refugees 
 
ELISE KLEIN 
Australian National University 
UMA KOTHARI 
University of Manchester, UK 
Editors 
 
bordering 
2 
 
 
 
 
 
 
 
 
Introduction 
Materially and symbolically manifest, borders are shaped by history, politics 
and power. They take various forms, have multiple functions and are 
ceaselessly changing, from the building of a new Mexico US wall, the collection 
of bio-metric data in India and the creation of national parks that delimit human 
and non-human mobility. Through a wide array of material, digital and virtual 
technologies borders divide, exclude, contain, categorise, control, govern and 
protect people. For example, the presence or absence of documents such as 
passports, permits and identity cards control the movement of people across 
borders as do security and surveillance technologies like gamma ray scanners 
that can reveal undocumented bodies hiding in trucks that are attempting to 
cross borders. Such technologies are a material manifestation of bureaucratic 
systems that are mobilised to assign identities to people and ascertain their 
associated rights as citizens or non-citizens. Borders are also found between 
the human and non-human world, often at the level of ontology that separates 
and silences concerns and relationality. 
Borders and bordering technologies are not always rendered visible either. 
Indeed, biometric identify cards, for example, create borders that are 
delocalised and dispersed, potentially everywhere. Furthermore, bordering 
technologies are exclusionary and affective mechanisms that are perceived and 
conceived by people in different ways for instance through the separation and 
othering of gendered, racialised, colonised and indigenous bodies. Thus, 
bordering processes and practices produce and maintain subjectivities but at 
the same time distinguish between those who belong and those excluded or 
considered strangers. Belcher, Martin and Tazzioli (2015, p. 4) refer to these 
3 
  borderlands | culture, politics, law and earth  
 
 
ongoing and often repetitive social practices of bordering as the 'exclusionary 
mechanisms of identity-production'. 
In this respect, deterrence is increasingly a feature of national border making 
whereby admission routes are policed, people are detained in offshore and 
onshore centres and are subjected to long and often indefinite waiting, asylum 
seekers are criminalised and access to welfare is restricted or even withheld. 
This crafting of a ‘hostile environment’ is designed to deter refugees while 
enabling governments to fulfil their formal commitments to international refugee 
law (Gammeltoft-Hansen and Hathaway 2015, p. 7). Thus, while stigmatisation 
may be used to create borders, deterrence itself is constituted by the practice 
of bordering and the classification of people (Mills and Klein 2019) with racial, 
colonial, class, ablest and gendered implications (Fletcher and Wright 2017).  
While some borders have become more permeable for finance, goods and 
information, and there is ongoing work on the possibilities and potential effects 
of a borderless world, the world is becoming increasingly bordered. For 
example, Australia’s operation sovereign border regime, and associated forms 
of torture, surveillance and military intervention, reveal what it means to make 
and maintain the Australian border. The important work of Behrouz Boochani, 
translated and edited by Omid Tofighian (2018), is illuminating here. Drawing 
on feminist Elisabeth Schüssler Fiorenza’s etymology, their decolonial 
formulation of the Kyriarchal System, show how it is 'the perfect manifestation 
of a system that strips human beings of their personhood and autonomy' 
(Boochani 2018a, n.p). In such a system, freedom, health services are withheld 
in an insecure environment and, 'over time the rules and regulations wear down 
the prisoners’ mental health', reflecting a form of 'psychological torture' 
(Boochani 2018b, n.p). These multiple forms of violence 'subject imprisoned 
refugees to relentless and pervasive practices of micro-control and macro-
control' (Boochani 2018c, p. 528) that permeate Australian society. The cruelty 
of bordering is also taking place in other parts of the world. In the US, for 
example, racialised walls are being erected along the US/Mexican border, 
along which children are being separated from their parents. 
Yet, despite policing practices and divisions borders are frequently and actively 
being contested and negotiated. Indeed, bordering technologies have 
bordering 
4 
 
 
promoted and prompted various strategies of evasion, resistance and 
solidarity, from the forging of documents to the transgression and rejection of 
borders. This has been an important practice by First Nations people from the 
Aboriginal Provisional Government in Australia, who have created passports 
to reinstate sovereignty and refuse settler occupation as they travel between 
Aboriginal Nations across the Australian continent, and internationally 
(Aboriginal Provincial Government 2019). Migrants breach national borders, 
as do plants and animals, and the movement and circulation of water and air 
render borders permeable. Inter-disciplinary endeavours equally reveal 
academic silos to be flexible, fluid, contested and ephemeral. Accordingly, 
thinking through, and displacing, borders can assist in challenging dualistic 
conceptions that divide humans from non-humans, land from sea and insiders 
from outsiders, amongst other socially constructed dualities. 
This special issue brings together an international collective of authors who 
presented their papers at a conference on Technologies of Bordering convened 
by the editors of this special issue at the University of Melbourne, Australia in 
July 2019. The conference provided a space for scholars and activists, often 
separated by disciplinary, political and geographical boundaries, to share their 
ideas, knowledge and experiences. 
We invited presentations that critically engage with multiple and varied forms 
of bordering as expressions of power and oppression as well as those that 
considered the possibilities and aspirations for more hopeful and progressive 
futures. Papers explored a range of issues from borders within and beyond 
detention centres and carceral systems to colonial and postcolonial forms of 
bordering. Drawing on a variety of empirical research across different spaces 
and scales, a range of theoretical perspectives and a diversity of 
methodological approaches, the papers collectively address the material, 
digital, virtual and human technologies that divide, exclude, contain, control 
and govern humans and non-humans. This critical exploration of borders and 
bordering practices is timely and salient. As the papers reveal, borders 
continue to order, classify and categorise ideas, identities, people, places, 
things, landscapes and the non-human. Yet, at the same time, they are being 
defied, confounded and resisted.  
5 
  borderlands | culture, politics, law and earth  
 
 
In this first issue of a two-part series on Bordering: creating, contesting and 
resisting practice, the articles cover a range of these issues. Michele Lobo and 
Kaya Barry show how technologies can be used creatively to defy, refuse and 
unsettle borders. They reveal how borders and bordering are frequently 
contested and negotiated, often through creativity and ingenuity. Visual 
techniques are used to resist standard ‘borders’ of representation and the 
metaphoric borders of public debates on immigration and asylum seeking in 
order to challenge racialised representations of migration and mobility. Rachel 
Sharples also examines the use of digital technologies and transnational 
networking media to transcend and resist borders but this time by human rights 
activists at the Thai-Burma border. She argues that activists defy state 
sovereignties through their irregular movement across borders, and through 
connecting to other national territories.  
In their article, Lisa Palmer and Balthasar Kehi illustrate how honeybees 
ceaselessly move back and forth across human devised borders of Timor. They 
show how the free movement of the honeybee is essential to the material and 
spiritual lives of people along the border. The ancestral and spiritual 
connections embodied by the honeybees are regularly enacted in people’s 
ritual practice and speech, transcending cross-island political divides.  
The making and maintenance of borders are also examined in Leicha Stewart’s 
article. She analyses discussion in the lead up to the 2013 Australia election 
where the Australian border was constructed through notions of ‘border 
security’ and presented as being constantly at risk by the threat of asylum 
seekers. She reveals how visual imagery of military technologies used for 
monitoring the border featured repeatedly in television coverage prior to the 
election. This, she argues, operated as a device to recruit TV audiences into the 
government’s racialised project of securing the border. This discursive 
technique, among many others, also functioned to legitimise the Government’s 
punitive immigration policies. Maria Giannacopoulos' article shows how 
practices of bordering within legal frameworks render invisible the effects of 
colonial law: the legitimisation for the harms experienced by racialised 
populations so that colonial rule can be sustained. In doing so, she focuses on 
First Nation people’s deaths in custody in Australia where she develops the 
idea of the 'debtscape' through which she shows how violence is legitimated 
bordering 
6 
 
 
and colonial law endures. Mark Rainey examines the weaponisation of time as 
a bordering practice whereby the state uses time and waiting in destitution to 
marginalise, destabilise and exert control over asylum seekers and refused 
asylum seekers. Through in-depth ethnographic work in the UK, he 
demonstrates how asylum seekers are forced into becoming increasingly 
dependent on charitable support and live under the constant threat of arrest, 
detention and deportation. In so doing, Mark Rainey suggests that time should 
be considered as a technology of state power alongside dispersal, detention, 
destitution and deportation.  
 
ELISE KLEIN is a Senior Lecturer in Public Policy at the Crawford School, The 
Australian National University. Klein holds a DPhil in Development Studies 
from the University of Oxford and has published widely in international leading 
journals on issues of postdevelopment, social security and political economy 
including women’s economic security, welfare conditionality, therapeutic 
cultures and settler colonialism in Australia. 
UMA KOTHARI is Professor of Migration and Postcolonial Studies, The 
University of Manchester, UK and Professor of Human Geography, The 
University of Melbourne, Australia. Her research interests include colonialism 
and humanitarianism, mobilities and borders and, environmental change and 
island geographies. She is Vice President of the European Association of 
Development Institutes, on the advisory board of In Place of War, a Fellow of the 
UK Academy of Social Sciences and a recipient of the Royal Geographical 
Society’s Busk Medal. 
  
7 
  borderlands | culture, politics, law and earth  
 
 
 
 
References 
Aboriginal Provincial Government 2019, 'Passports', viewed 29 November 
2019, http://apg.org.au/passports.php 
Belcher, O, Lauren, M, & Tazzioli, M 2015, 'Editorial: border struggles: 
epistemologies, ontologies, and politics', Darkmatter: In the Ruins of Imperial 
Culture, vol. 12, no 4, pp 1-7. 
Boochani, B 2018a, 'Beyond Manus', viewed 29 November, 2019, 
https://www.pressreader.com/australia/the-saturday-
paper/20180811/281479277244857  
——2018b, ‘Manus prison theory’, The Saturday Paper, 11 August, 2018, 
viewed 29 November, 2019, 
https://www.thesaturdaypaper.com.au/opinion/topic/2018/08/11/manus-
prison-theory/15339096006690  
——2018c, "Manus prison poetics/our voice: revisiting ‘A letter from Manus 
Island', a reply to Anne Surma", Continuum, vol. 32, no. 4, pp. 527-531. 
Fletcher, DR and Wright, S 2017, 'A hand up or a slap down? Criminalising 
benefit claimants in Britain via strategies of surveillance, sanctions and 
deterrence', Critical Social Policy, vol. 8, no. 2, pp. 323–344.  
Gammeltoft-Hansen, T and Hathaway, J 2015, 'Non-refoulement in a world 
of cooperative deterrence', Columbia Journal of Transnational Law, vol. 53, 
no. 2, pp. 235-285. 
Mills, C and Klein, E 2019, 'Affective technologies of welfare deterrence in 
Australia and the UK', Affective technologies: governance, subject making 
and the globalization of the psy-complex workshop, City, University of 
London, 9 May 2019, pp. 1-23. 
 


Bordering: Creating, contesting and resisting practice

SALAMON, DOMINIKA

OCHOŃSKA, DOROTA

WOJAK, ILONA

MIKOŁAJCZYK, EWA

BULANDA, MAŁGORZATA

BRZYCHCZY-WŁOCH, MONIKA

Evidence for Infections by the Same Strain of Beta 2-toxigenic Clostridium perfringens Type A Acquired in One Hospital Ward

Wu, Ruixia

Liu, Baolong

Yao, Huimin

International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
66 
A Survey of Calibration Methods for  
Traditional Cameras Based on Line Structure Light 
 
Wu Ruixia 
School of Computer Science and Engineering 
Xi’an Technological University  
Xi’an, 710032, China 
e-mail: wuruixiagirl@qq.com 
Liu Baolong 
School of Computer Science and Engineering 
Xi’an Technological University  
Xi’an, 710032, China 
e-mail: liu.bao.long@hotmail.com 
 
 
Yao Huimin 
Eighth of production plant, the company china 
petrdeum, changqing oilfield, Xi’an 
Xi’an, 710021, China 
 
 
 
 
 
 
 
 
 
Abstract—The line structure light three-dimensional 
reconstruction system is a kind of three-dimensional 
non-contact measurement system, which has the 
advantages of high precision, high speed, small damage 
to objects and strong adaptability. Camera calibration is 
a major factor that constrains the accuracy of 3D 
measurement systems. The camera calibration is based 
on the pinhole imaging model, and through a series of 
complex calculations, the camera's internal parameters 
(focal length, distortion coefficient) and external 
parameters (rotation matrix and translation vector).The 
different calibration methods use different calibration 
targets, which can be divided into 3D calibration targets, 
2D calibration targets, and one-dimensional calibration 
targets according to the characteristics of the calibration 
targets. This paper mainly discusses: calibration content 
and significance, calibration methods for different 
targets and evaluation methods for calibration of 
different targets. Firstly, the content and significance of 
calibration are expounded. Then, according to different 
calibration targets, the calibration algorithm is analyzed. 
Finally, the calibration algorithm is analyzed and 
summarized, and the development trends, advantages 
and disadvantages of different calibration methods are 
pointed out. 
Keywords-Calibration Target; Internal Reference; 
External Parameter 
I. INTRODUCTION  
Vision plays an important role in human 
understanding and transformation of the world. 80% of 
human information comes from vision[1].Three-
dimensional measurement technology is of great 
significance in the fields of culture, film and television 
entertainment, medicine and cultural relics protection. 
With the continuous development of computer 
technology, the functions of computers are becoming 
more and more powerful. People use the camera to 
obtain the three-dimensional information of the object, 
and the obtained three-dimensional information is 
converted into data that can be processed by the 
computer through a series of calculations, and then the 
data is used to reconstruct the object. The method for 
measuring the line structure light is a technique of 
obtaining a three-dimensional point coordinate at the 
intersection of the plane and the surface of the object to 
be measured by projecting a line laser plane onto the 
surface of the object [2]. The three-dimensional 
measurement technology of line structure light has the 
advantages of fast measurement speed, high precision 
and low measurement environment requirements, and 
is widely welcomed [3].Camera calibration is the main 
factor that restricts the accuracy of 3D measurement, 
which has attracted wide attention from scholars and 
improved step by step. 
II. CAMERA CALIBRATION CONTENT 
Wherever Times is specified, Times Roman or 
Times New Rom The camera calibration method is 
different according to the way of solving the 
parameters (such as whether to use external reference 
objects, whether the camera needs precise motion, etc.). 
The camera calibration algorithm can be divided into 
three calibration methods: traditional calibration 
DOI: 10.21307/ijanmc-2019-036
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
67 
method, self-calibration method, active vision camera 
calibration method [4].As shown in Figure1 below, this 
article focuses on traditional camera calibration. 
Camera calibration 
method
r  li r ti  
t
Traditional camera 
calibration method
r iti l r  
li r ti  t
Active vision camera 
calibration method
ti  i i  r  
li r ti  t
Camera self-calibration 
method
r  lf- li r ti  
t
Zhang's calibration 
method
'  li r ti  
t
Tsai  calibration methodi  li r ti  t
Self-calibration 
methodbased on Kruppa 
equation
lf- li r ti  
t   r  
ti
Layered stepwise 
calibration method
r  t i  
li r ti  t
Self-calibration method 
based on quadric surface
lf- li r ti  t  
  ri  rf
 
Figure 1.  Classification method of calibration method 
The camera calibration technology is mainly based 
on the linear model of small hole imaging, the 
geometric model established by the conversion 
between the two-dimensional image coordinate system 
of the known feature points and the three-dimensional 
world coordinate system. Using the optimal algorithm 
to derive the internal and external parameters of the 
camera model considering distortion, the process of 
solving the camera parameters is called camera 
calibration. Figure 2 below is the conversion diagram 
of the coordinate system. In the figure, 
{ }O UV , { }oO XY , { }c c c cO X Y Z and { }w w w wO X Y Z  
representing a pixel coordinate system, an image 
coordinate system, a camera coordinate system, and a 
world coordinate system, respectively. c oO O for the 
optical axis of the camera, f Indicates the focal length 
of the camera. Point P  is a point on the object to be 
measured, and 'P  is the coordinate of P corresponding 
to the image coordinate system. Suppose the world 
coordinates of point P are ( , , )w w wx y z ，  Camera 
coordinates are ( , , )c c cx y z ， Image coordinates are 
( , )x y ，Pixel coordinates are ( , )u v , Ideally, there is a 
certain conversion relationship between pixel 
coordinates and image coordinates, image coordinates 
and camera coordinates, camera coordinates, and world 
coordinates. If the world coordinates and image 
coordinates of some points are known, the internal and 
external parameters of the line structure light can be 
calculated using the conversion relationship. 
O
U
V
oO
X
Y
'P
cO
cX
cY
cZ
P
Laser projector
Light plane
wZ
wY
wX
wO
lens
Image plane
f
 
Figure 2.   Coordinate system conversion diagram 
After acquiring the three-dimensional coordinate 
point, the camera shifts the theoretical point P due to 
camera distortion and other factors[5], as shown in 
Figure 3 below. 
dr
dt
P’P
O
x
y
 
Figure 3.   Distortion model diagram 
The main factors affecting distortion are radial 
distortion and tangential distortion, as shown in Figures 
4 and 5 below are common radial and tangential 
distortions. 
camera lens
object
Imaging
 
Figure 4.  Radial distortion 
Vertical plane sensor camera lens
 
Figure 5.  Tangential distortion 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
68 
III. TRADITIONAL CALIBRATION METHOD 
The calibration target is generally divided into a 3D 
calibration target, a 2D calibration target, and a one-
dimensional calibration target[6].Common targets are 
shown in Figure 6 below: 
 
          
Figure 6.  Schematic diagram of commonly used targets 
A. Camera model 
In this paper, the pinhole model is used as a camera 
model for research. The 2D calibration target is 
represented by Tvm )1,,u（ , the 3D calibration target 
is represented by TZYXM ]1,,[ ， , and the 
corresponding homogeneous vectors are Tvum ]1,,[~  , 
TzyxM ]1,,,[
~
 , respectively. Then the relationship 
between the 3D point M and its projection point m is as 
follows[7]: 

MtRAms
~
],[~ 
 
Where R is the rotation matrix,  Tzyx tttt  for 
the translation vector,and describes the external 
parameters of the camera that the camera is 
calibrated. yxyyvxxu dddafdaf ,,/,/  indicates 
the physical size of each pixel in the Y-axis Y-axis 
direction. 00 ,,, vuff vu  is only related to the internal 
parameters of the camera, which is the internal 
parameters that the camera needs to calibrate. 
B.  Camera calibration based on three-dimensional 
targets 
This paper introduces the calibration of 3D 
calibration targets, using the classic Tsai[8].two-step 
calibration algorithm. The Tsai two-step method is 
based on the calibration method of the radial correction 
constraint (RAC. Radial Alignment Constraint). 
The camera distortion model shown in Figure 7 
below，The following model includes five coordinate 
systems, which are camera coordinate system CO , image 
pixel coordinate system iO , world coordinate system WO  
actual image physical coordinate system d
O
, and ideal 
image physical coordinate system u
O
. The solution 
process assumes that u0, v0 is known to only consider 
second-order radial distortion. The main point is both 
the center of the image and the center of the radial 
distortion. 
The first step ：uses a radial alignment constraint 
(RAC) linear solution.  
Step 2: Find the remaining parameters for nonlinear 
optimization. 
U
X
Xc
Oc
Yc
Od(u)
u
Xd
Xw
Pu(Xu,Yu)
Pd(Xd,Yd)
yd
yu
Y
V
Zc
Oi
v
P(xw,yw,zw)
(xc,yc,zc)XwYw
Zw
Ow
 
Figure 7.   Camera distortion model diagram 
Advantages: Applicable to any camera model, high 
calibration accuracy. 
Insufficient: calibration needs to calibrate targets, 
which is difficult to achieve in some applications. 
C. Camera calibration based on two-dimensional 
targets 
In this paper, the research method of two-
dimensional calibration target is explained by Zhang 
Zhengyou calibration method[9][10].To facilitate the 
operation, the template is defined on a plane parallel to 
the X-Yplane (Z = 0) in the world coordinate system.. 
From the above formula (1): 






















0100
00
0
1
0
0
v
u
v
u
s 



















1
10 w
w
w
T z
y
x
tR













987
654
321
rrr
rrr
rrr
R

Where is the 00u v、 principal point 
coordinate, 、 is the vector of the ),( vu , the 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
69 
coordinate axis in the image, and  is the 
perpendicularity of the two coordinate axes. Let the 
template plane 0WZ be in the world coordinate 
system, you can get: 
 MHms
~~  
 
Where    321321 rrrAhhhH  ， is the scaling 
factor scalar, 21, rr is the two column vectors of the 
rotation matrix, and t  is the translation matrix. 
By the nature of the rotation matrix, a constraint 
matrix is available for each image: 
 









2
1
21
1
1
2
1
1 0
hAAhhAAh
hAAh
TTTT
TT
 
make: 
 

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)(1
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BBB
AAB T
 

From (6): B is a symmetric matrix, which can be 
represented by the following 6D vector: 
 
 TBBBBBBb 332322131211 
Let the ith column vector  321 iiii hhhh  in H be 
obtained: 

TbvBhhi ijj
T 

Then you can write (5)as: 

 
0
1211
12 






b
vv
v
T
T

Suppose you take n images of the template plane 
and get n images. 
                       Vb=0   n  is the matrix of 62 n              (10) 
If 3n ,you can get the unique solution b and 
matrix B, you can get: 
 3
1
213
2
1
2
1
1
1
hAt
rrr
hAr
hAr










 
Get the internal and external parameters of the 
camera for optimization: 


 

n
i
m
j
jiiij MtRAmm
1 1
2||),,,(ˆ||

Where ),,,,,,( 321 jii MTRkkkAm represents the 
coordinate point at which the jth point is projected onto 
the i-th image according to equation (4). 
D. Camera calibration based on one-dimensional 
target 
As shown in Figure 8, AB is a one-dimensional 
calibration with a length of  L[11]. 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
70 
A
B
o
C
a
c
b
fixed point
 
Figure 8.  One-dimensional calibration target 
 LBA  ||||  
Since the ratio of the line segments is known, B 
points can be calculated in the case where points A and 
C are known. 
Then, according to the formula (2-1), there is a 
following formula, where AZ ， BZ ， CZ  is the depth of 
the corresponding point on the one-dimensional 
calibration object. 

bZaZ BBAA  CZ  
Where ABBCB / , ABACB / Representatio
n ratio. 
According to (13): 

LaZbZK AB  ||)(1||  
According to (14): 

212 LhKKhZ TTA 

 
The parameters of the camera can be obtained by 
(16). According to the theory of higher geometry, the 
projection of the absolute quadratic curve on the image 
plane is actually described. 
IV. EVALUATION OF CALIBRATION RESULTS 
At present, the standard for calibration evaluation is 
mainly calibration accuracy and speed. The calibration 
target has a slight influence on the accuracy of the 
calibration. The commonly used calibration target 
materials are ceramic and metal and glass. The 
calibration target of the strong reflective material is 
easy to introduce noise, and the accuracy of the diffuse 
reflection calibration is better. 
According to the above analysis of the algorithm, 
the advantage of the one-dimensional calibration target 
is that the construction of the calibration target is 
relatively simple and easy to implement; the 
disadvantage is that the number of points on the 
calibration object is small, the coordinates are unknown, 
and the calibration accuracy for the nonlinear distortion 
coefficient is not high. Based on the calibration method 
of two-dimensional and three-dimensional calibration 
targets, a large number of known coordinate systems 
on the calibration target can be used for calibration. 
The calibration accuracy is high and the speed is fast, 
but it is easy to appear blind spots due to its own 
characteristics. The three-dimensional calibration target 
is expensive to manufacture, and the commonly used 
fabrication methods mainly include photolithography, 
grinding, printing, and the like. 
Different calibration targets are suitable for 
different calibration systems, and one-dimensional 
calibration targets are suitable for systems with less 
budget and less demanding calibration accuracy. The 
production of three-dimensional calibration targets is 
difficult, mainly machine processing, suitable for high 
precision requirements and sufficient funds. The 
calibration algorithm of the two-dimensional 
calibration target is easy to extract features, and the 
reconstruction effect is worse than the three-
dimensional calibration target. 
ACKNOWLEDGMENT 
This work is partially supported by Science & 
Technology Program of Weiyang District of Xi'an City 
with project “201836". 
 
REFERENCES 
[1] Xiao Yujie, Huang Wei, Zhang Ting. Overview of Camera 
Calibration Technology[J]. Communications, 2015(14): 206-207. 
[2] Zhang Xi , Zhang Jian . Summary on calibration method of line-
structured light sensor[C]// 2017 IEEE International Conference on 
Robotics and Biomimetics (ROBIO). IEEE, 2018. 
[3] Li Yuhua, Zhou Jingbo, Liu Lijian. Research progress of line 
structure light measurement technology[J]. Journal of Hebei 
University of Science and Technology, 2018, 39(2): 115-124. 
[4] Su Jin. Research on Camera Calibration Method [D]. Northeastern 
University, 2010. 
[5] Lin Xintao. Research on Calibration Technology of 3D Measurement 
System Based on Line-Structured Light[D]. 
[6] Pan Jing, Li Weimin. Camera Calibration Algorithm Based on 3D 
Stereo Target[J]. Mechanics & Electronics, 2007(5):3-5. 
[7] Li Xuyong. Research on Modeling and Calibration Technology of 
Underwater Camera[D]. Ocean University of China, 2010. 
[8] Tsai R Y. A versatile camera calibration technique for high-accuracy 
3D machine vision metrology using off-the-shelf TV cameras and 
lenses[J]. IEEE Journal on Robotics & Automation, 2003, 3(4):323-
344. 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
71 
[9] Zhang Z. A Flexible New Technique for Camera Calibration[J]. 
Microsoft Research, 2000, 22(11):1330-1334. 
[10] Zhang Z. Camera calibration with one-dimensional objects.[J]. IEEE 
Transactions on Pattern Analysis & Machine Intelligence, 2004, 
26(7):892-899. 
[11] Wang Tao, Lü Naiguang, Yang Jian. High-precision calibration based 
on one-dimensional calibration[J]. Journal of Beijing University of 
Information Science and Technology(Natural Science), 2010, 25(1). 
[12] Lu P, Liu Q, Guo J. Camera Calibration Implementation Based on 
Zhang Zhengyou Plane Method[M]// Proceedings of the 2015 
Chinese Intelligent Systems Conference. 2016. 
[13] Lin P D, Sung C K. Comparing two new camera calibration methods 
with traditional pinhole calibrations[J]. Optics Express, 2007, 
15(6):3012-3022. 
[14] Wang J T. Camera self-calibration method based on traditional 
calibration method[J]. Computer Engineering & Applications, 2010, 
46(35):205-208. 
[15] Lenz R , Tsai R . Techniques for calibration of the scale factor and 
image center for high accuracy 3D machine vision metrology[J]. Proc 
IEEE Icra, 1988, 74(11):-. 
[16] From R B T . A Versatile Camera Calibration Techniaue for High-
Accuracy 3D Machine Vision Metrology Using Off-the-shelf TV 
Cameras and Lenses[J]. 
 


A Survey of Calibration Methods for Traditional Cameras Based on Line Structure Light

Hu, Zhiyi

Xian, Tong

YU, Jun

Su, Haitao

International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
77 
Research on Digital Camouflage Design and Camouflage 
Material of Tent Cloth 
Hu Zhiyi 
Engineering Design Institute Army Academy of 
PLA 
Beijing 100000, China 
e-mail: 18992899862@163.com 
Xian Tong 
School of Computer Science and Engineering 
Xi'an Technological University 
Xi'an 710021, Shanxi, China 
YU Jun 
School of Computer Science and Engineering 
Xi'an Technological University 
Xi'an 710021, Shanxi, China 
e-mail: yujun@xatu.edu.cn  
Su Haitao 
Engineering Design Institute Army Academy of 
PLA 
Beijing 100000, China 
 
 
Abstract—Aiming at the distortion of texture details in 
Digital Camouflage design, as well as the poor 
camouflage performance, fast fading and short life of 
camouflage tent cloth, this paper presents a design 
method of Digital Camouflage based on target 
background, develops a camouflage coating with good 
weather resistance, color difference and spectral 
reflectance meeting the limited requirements, and 
realizes the paint printing of camouflage tent cloth. The 
results show that the digital camouflage pattern 
designed by this method can be printed on the surface of 
camouflage tent cloth by coating printing process, which 
can effectively change the original contour of the target 
tent, make it better integrate with the surrounding 
background, reduce the probability of detection, and 
achieve good camouflage effect. 
Keywords-Digital Camouflage; Tent Cloth; Target 
Background; Design; Camouflage Coatings; Paint 
Printing 
I. INTRODUCTION 
With the rapid development of space and space 
reconnaissance technology, the resolution of satellite 
imaging reconnaissance to the ground is getting higher 
and higher. Camouflage camouflage, as the most basic 
measure against military reconnaissance and weapon 
attack, is a common method of "weapon equipment" 
anti-reconnaissance detection, and also an important 
symbol of the camouflage technology level of a 
country. 
In the reconnaissance environment of 
multi-dimension, intelligence and fine resolution, the 
camouflage function of traditional camouflage is 
basically lost. As a new type of camouflage pattern, 
digital camouflage is a kind of camouflage pattern 
which uses computer image technology to extract the 
basic features of natural background such as color, 
texture, structure and so on, and displays in the form of 
digital "pixel" dot matrix. It copies the camouflage 
pattern on the target surface by camouflage paint, 
imitates the background or divides the outline of the 
target shape in color and texture, greatly improves the 
adaptability of digital camouflage to different 
landforms, and has greater concealment advantage than 
traditional camouflage. 
DOI: 10.21307/ijanmc-2019-038
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
78 
As the backbone equipment of army camping, 
military tents play an important role in training and 
executing tasks. Tent cloth is the main material for 
making military tents. Its camouflage performance 
determines the camouflage effect of the tent. Therefore, 
the key to improve camouflage performance is to 
design scientific Digital Camouflage Patterns and print 
them on tent cloth. 
This paper studies the design and implementation 
process of camouflage. Firstly, a new design method of 
digital camouflage is proposed. The digital camouflage 
pattern is designed by simulating the color and texture 
of the target background. Secondly, the camouflage 
pattern will be printed on the tent cloth by using 
inorganic pigment printing technology, and then the 
tent cloth will be made into military camouflage tent, 
which can improve the camouflage performance, 
weatherability and service life of the tent. 
II. MAINPROBLEMS OF CAMOUFLAGE TENT CLOTH 
AT PRESENT 
Tent cloth is the main material for making military 
tents. At present, there are two main problems in 
military tent cloth. 
First, the texture details of the camouflage pattern 
are distorted, so that the fusion effect with the natural 
background is not good. At present, many army tents 
still use traditional camouflage patterns, which are not 
in harmony with the surrounding background. 
Second, the camouflage performance of tent cloth is 
poor, weatherproof performance is not good, and the 
service life is short. At present, most camouflage tent 
cloths are printed and dyed with organic dyes. Their 
camouflage performance can not meet the requirements 
of spectral reflectance limitation. Moreover, they are 
affected by strong ultraviolet rays, high temperature 
and high humidity in the field. After three months, the 
camouflage pattern will fade seriously and disappear, 
so they can not be used normally. 
In order to solve the above problems, three 
measures are adopted. Firstly, by extracting the basic 
features of natural background, the size of digital unit 
that can simulate the texture features of background is 
determined, and then the digital camouflage pattern is 
designed [1]. Second, by developing inorganic 
functional pigments and researching the weather 
resistant printing emulsion synthesis technology, the 
camouflage of camouflage patches can meet the 
requirement of spectral reflectivity, and improve the 
weatherability and service life of the tent. Thirdly, 
paint printing technology of inorganic functional 
pigments was used to print the surface of tent cloth, 
and good simulation performance was obtained. 
III. DESIGN OF DIGITAL CAMOUFLAGE PATTERNS 
The steps of digital camouflage design are shown in 
Figure 1[1-3]. 
Assuming the number of dominant colors in the 
target background is 
(3 6)N N 
, the main steps of 
digital camouflage design are as follows: 
 
Figure 1. Design flow of Digital Camouflage 
Selecting Typical Background for Target 
ColorSpaceConversion and 
ImagePreprocessing 
 
Extracting Texture Features of Background 
Determine the Size of Digital Unit 
Extracting Color Features of Background 
Generating of Digital Camouflage Patterns 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
79 
1) Select the typical background of the target 
Analyzing the surrounding environment of the 
target, the selected background area is within 16-32 
times the size of the target area. The background image 
of the target is captured by digital camera, UAV and 
other image recording devices. The background types 
that can represent typical environmental characteristics 
are analyzed and determined. Several typical 
background images are selected as background image 
M to be processed. 
2) Color space conversion and image preprocessing 
The principle of choosing color space is to see 
whether it is suitable for human visual characteristics 
and color perception characteristics. At present, the 
commonly used color space is HIS, HSV, Lab model, 
etc. Image M should be converted from RGB space to 
other color space, calculated and processed accordingly, 
and then converted back to RGB space for display. 
Before image M processing, appropriate filtering 
methods should be adopted to eliminate and reduce the 
noise of the image, so as to increase the reliability and 
validity of the image. 
3) Texture feature extraction of image M. For N-color 
Digital Camouflage design, 2N-1 order texture 
needs to be extracted. 
4) Determine the size of digital units (i.e. mosaic 
squares), and design the arrangement and layout of 
mosaic squares. 
5) Color feature extraction of image M. According to 
the region divided by each gray scale corresponding 
to the target image M, the individual color features 
of each region are calculated to obtain the 
characteristic color, and these colors are arranged 
according to the gray value. 
 
6) Digital camouflage pattern generation. The above 
arranged colors are filled into the corresponding 
areas of mosaic gray-scale image in turn, so that the 
digital camouflage pattern can be obtained. 
After obtaining the final Digital Camouflage pattern, 
we are ready to print the pattern onto the tent cloth. 
IV. DEVELOPMENT OF CAMOUFLAGE PIGMENTS 
AND PREPARATION OF COATINGS 
Inorganic pigments determine the weatherability 
and camouflage performance of tent cloth[4], and can 
solve the key problems of fast fading and short life of 
tent cloth materials in the field environment. In this 
paper, the green camouflage ceramic pigments system 
was developed by firing green camouflage functional 
ceramic pigments. Aiming at the technical 
requirements of camouflage camouflage background, a 
set of camouflage coatings with good weatherability, 
color difference and spectral reflectivity to meet the 
limited requirements was developed by studying the 
special printing emulsion and functional inorganic 
pigment system of acrylic ester. 
Through a series of experiments, four camouflage 
colors, dark green, medium green, yellow green and 
black, were identified, and polyacrylate emulsion was 
synthesized. Finally, the camouflage coatings with four 
colors were prepared through the formulation test of 
the coatings. Table 1 shows the formulation of 
woodland inorganic pigment printing paint.
 
 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
80 
TABLE I. FORMULATION OF INORGANIC PIGMENT PRINTING COATING ON WOODLAND TYPE 
Camouflage type Woodland 
Item 
Forest 
green(g) 
Medium 
green(g) 
Kelly 
(g) 
Black 
(g) 
Raw  
material 
Polyacrylate 
emulsion 
40 40 40 40 
Homemade green 
pigment 
35 30 28 15 
Iron yellow / 5 7 / 
Iron red / / / / 
Iron black / / / 20 
Additive 8 8 8 8 
Water 17 17 17 17 
 
V. PAINT PRINTING OF CAMOUFLAGE TENT CLOTH 
After preparing the four-color camouflage coatings 
mentioned above, the camouflage coatings are printed 
on the surface of the cloth with polyester base cloth and 
circular screen printing technology[5]. The camouflage 
coatings are printed on the surface of the cloth by the 
coating printing process, and then baked to make the 
camouflage patterns firmly fixed on the cloth and 
become camouflage coated cloth, i.e. camouflage tent 
cloth. This completes the printing of Digital 
Camouflage Patterns on the tent cloth. The process is 
shown in Figure 2. Finally, the tent cloth is made into 
field military tents and placed in the original natural 
background. 
 
Figure 2. Paint printing of tent cloth 
VI. CAMOUFLAGE PERFORMANCE EVALUATION OF 
CAMOUFLAGE TENT CLOTH 
A. Camouflage performance evaluation of tent cloth 
The main camouflage performance indicators of 
camouflage tent cloth include: color difference, 
spectral reflectance. 
Digital camouflage tent cloth produced with 
inorganic pigments is compared with standard color. 
The color difference of each color patch is less than 
3L*a*b* unit, which meets the color difference 
requirement. 
The Digital Camouflage tent cloth produced with 
inorganic pigments is consistent with the spectral 
reflectance characteristics of the corresponding natural 
background, which meets the limited requirements of 
spectral reflectance. 
In terms of weatherability of tent cloth, after 400 
hours of artificial climate aging, the color difference of 
each color patch is 2-3L*a*b* unit, and the spectral 
reflectance of each color patch is basically unchanged. 
For example, in Figure 3, pictures (a) and (b) show 
the spectral reflection characteristics of dark green and 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
81 
medium green coatings, respectively. It can be seen 
that the spectral reflectance characteristics of the two 
green patches are consistent with those of the 
corresponding vegetation. 
 
(a) forest green coating and persimmon tree;                         (b) medium green coating and holly tree.  
Figure 3. Spectral reflectance of forest/medium green coatings and plants.  
B. Actual camouflage effect 
In order to observe the actual camouflage effect of 
the tent cloth, the Digital Camouflage tent cloth 
produced in front of it was made into a tent and placed 
in the forest background in the field. As shown in 
Figure 4. Picture (a) is the original woodland 
background. Picture (b) is our Digital Camouflage 
design. Figure (c) shows the camouflage effect of 
woodland tents. The red pane represents the target. 
Obviously, the Digital Camouflage of woodland tents 
is almost integrated with the natural background. 
 
(a) woodland background;      (b) designed digital camouflage;      (c) camouflaged effect 
Figure 4. Woodland type camouflage effect  
VII. CONCLUSION 
In this paper, camouflage design, camouflage 
material development and production in camouflage 
camouflage have carried out a series of research. 
Aiming at the problem of texture distortion in 
camouflage design, a design method of Digital 
Camouflage based on background features is proposed. 
Aiming at the problems of poor camouflage 
performance, fast fading and short life of tent cloth, 
camouflage coatings with good weather resistance, 
color difference and spectral reflectance satisfying the 
limited requirements are developed, and Digital 
International Journal of Advanced Network, Monitoring and Controls          Volume 04, No.01, 2019 
82 
Camouflage tent cloth is produced by coating printing 
process. After testing, the camouflage performance of 
tent cloth meets the requirements and the camouflage 
effect is good. It is of great significance to improve the 
level of camouflage design and technology 
implementation of Digital Camouflage in China, and to 
promote the development of camouflage materials and 
camouflage technology. 
 
REFERENCE 
[1] Qin Lei, Hu Jianghua, Fu Tianqi. A New Digital Camouflage 
Generation Method [J]. Application of Photoelectric Technology, 
2013, 28(5). 
[2] Yu Jun, Yang Wuxia, Ho Zhiyi. Research on the Generation 
Algorithms of Digital Camouflage [J]. Opto-Electronic 
Engineering,2010, 37(11): 110-114. 
[3] Cai Yunqian, Xue Shiqiang, Zhou Zhiyong and Huang Yun. Research 
on the Method of Generating Digital Camouflage Patterns Based on 
Fractal Brownian Model[J]. Journal of China Ordnance, 2016, 
37(1):186-192. 
[4] Zhang Chaoyang, Cheng Haifeng and Wang Qian. Preparation and 
characterization of multi-band camouflage coatings[J]. New 
Teehnology and New Process, 2005(12):44-46. 
[5] Shang Hongyan. Application of New Paint Printing Technology[J]. 
Screen Printing, 2010(2):15-16. 
 


Research on Digital Camouflage Design and Camouflage Material of Tent Cloth

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TODOROVA, Mirena

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