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We propose a decentralized method for obtaining the vision graph for a distributed, ad-hoc camera network, in which each edge of the graph represents two cameras that image a sufficiently large part of the same environment. Each camera encodes a spatially well-distributed set of distinctive, approximately viewpoint-invariant feature points into a fixed-length "feature digest" that is broadcast throughout the network. Each receiver camera robustly matches its own features with the decompressed digest and decides whether sufficient evidence exists to form a vision graph edge. We also show how a camera calibration algorithm that passes messages only along vision graph edges can recover accurate 3D structure and camera positions in a distributed manner. We analyze the performance of different message formation schemes, and show that high detection rates (> 0.8) can be achieved while maintaining low false alarm rates (< 0.05) using a simulated 60-node outdoor camera network.

Recent developments in wireless sensor networks have made feasible distributed camera networks, in which cameras and processing nodes may be spread over a wide geographical area, with no centralized processor and limited ability to communicate a large amount of information over long distances. This paper overviews distributed algorithms for the calibration of such camera networks-that is, the automatic estimation of each camera's position, orientation, and focal length. In particular, we discuss a decentralized method for obtaining the vision graph for a distributed camera network, in which each edge of the graph represents two cameras that image a sufficiently large part of the same environment. We next describe a distributed algorithm in which each camera performs a local, robust nonlinear optimization over the camera parameters and scene points of its vision graph neighbors to obtain an initial calibration estimate.We then show how a distributed inference algorithm based on belief propagation can refine the initial estimate to be both accurate and globally consistent.

We consider the problem of estimating the focal length of a camera from two views while the focal length is not varied during the motion of the camera. An approach based on KruppaÕs equations is proposed. Specifically, we derive two linear and one quadratic equations to solve the problem. Although the three equations are interdependent in general, each one may be singular for different configurations. We study in detail the generic singularities of the problem and the actual singularities of the individual calibration equations. Results of our experiments using synthetic and real data underline the effect that singular configurations may have on self-calibration. However, these results are stable once the singularities are avoided.

Graphical abstract

The occurrence of droughts has become more frequent, and their intensity has increased in mainland China. With the aim of better understanding the influence of climate background on drought events in this region, we analyzed the role of the drought-related factors and extreme climate in the formation of droughts by investigating the relationship between the drought severity index (denoted as GRACE-DSI) based on the terrestrial water storage changes (TWSCs) derived from Gravity Recovery and Climate Experiment (GRACE) time-variable gravity fields and drought-related factors/extreme climate. The results show that GRACE-DSI was consistent with the self-calibrating Palmer Drought Severity Index in mainland China, especially for the subtropical monsoon climate, with a correlation of 0.72. Precipitation (PPT) and evapotranspiration (ET) are the main factors causing drought events. However, they play different roles under different climate settings. The regions under temperate monsoon climate and subtropical monsoon climate were more impacted by PPT, while ET played a leading role in the regions under temperate continental climate and plateau mountain climate. Moreover, El Niño–Southern Oscillation (ENSO) and North Atlantic Oscillation (NAO) events mainly caused abnormalities in PPT and ET by affecting the strength of monsoons (East Asian and Indian monsoon) and regional highs (Subtropical High, Siberian High, Central Asian High, etc.). As a result, the various affected regions were prone to droughts during ENSO or NAO events, which disturbed the normal operation of atmospheric circulation in different ways. The results of this study are valuable in the efforts to understand the formation mechanism of drought events in mainland China.

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