title: A clustering based denoising technique for range images of time of flight cameras

authors: Schoner, H.

subjects: time of flight cameras

abstract: A relatively new technique for measuring the 3D structure of visual scenes is provided by time of flight (TOF) cameras. Reflections of modulated light waves are recorded by a parallel pixel array structure. The time series at each pixel of the resulting image stream is used to estimate travelling time and thus range information. This measuring technique results in pixel dependent noise levels with variances changing over several orders of magnitude dependent on the illumination and material parameters. This makes application of traditional (global) denoising techniques suboptimal. Using free aditional information from the camera and a clustering procedure we can get information about which pixels belong to the same object, and what their noise level is, which allows for locally adapted smoothing. To illustrate the success of this method, we compare it with raw camera output and a traditional method for edge preserving smoothing, anisotropic diffusion [10, 12]. We show that this mathematical technique works without individual adaptations on two camera systems with highly different noise characteristics.

text: A clustering based denoising technique for range images of time of flight cameras A relatively new technique for measuring the 3D structure of visual scenes is provided by time of flight (TOF) cameras. Reflections of modulated light waves are recorded by a parallel pixel array structure. The time series at each pixel of the resulting image stream is used to estimate travelling time and thus range information. This measuring technique results in pixel dependent noise levels with variances changing over several orders of magnitude dependent on the illumination and material parameters. This makes application of traditional (global) denoising techniques suboptimal. Using free aditional information from the camera and a clustering procedure we can get information about which pixels belong to the same object, and what their noise level is, which allows for locally adapted smoothing. To illustrate the success of this method, we compare it with raw camera output and a traditional method for edge preserving smoothing, anisotropic diffusion [10, 12]. We show that this mathematical technique works without individual adaptations on two camera systems with highly different noise characteristics.

year: 2008

title: Puarenga Stream alum dosing – effects on Lake Rotorua/Sulphur Bay biota 2016

authors: Ling, Nicholas

abstract: Continuous alum dosing of the Puarenga Stream commenced in early 2010 to reduce inflows of dissolved reactive phosphorus to Lake Rotorua. Analyses of bioaccumulation in the tissues of macrobiota were undertaken in February 2016 for comparison to comparable samples obtained prior to and since the commencement of alum dosing to satisfy annual resource consent conditions 8.7 and 8.8 of resource consent 65559.

No significant effects of alum dosing could be distinguished. Bioavailable aluminium in the vicinity of Sulphur Bay appears to be primarily influenced by the major geothermal activity of this region. Lake water chemistry in the vicinity of Sulphur Bay is heavily influenced by the direction of geothermal flows emanating from the Bay. No significant differences in aluminium bioaccumulation were observed in any species compared to samples obtained prior to the commencement of alum dosing. Continuous alum dosing of the Puarenga Stream since 2010 apparently does not result in adverse effects to Lake Rotorua shoreline biota nor cause any apparent increase in aluminium bioaccumulation in lake biota in the vicinity of Sulphur Bay.

text: Puarenga Stream alum dosing – effects on Lake Rotorua/Sulphur Bay biota 2016 Continuous alum dosing of the Puarenga Stream commenced in early 2010 to reduce inflows of dissolved reactive phosphorus to Lake Rotorua. Analyses of bioaccumulation in the tissues of macrobiota were undertaken in February 2016 for comparison to comparable samples obtained prior to and since the commencement of alum dosing to satisfy annual resource consent conditions 8.7 and 8.8 of resource consent 65559.

No significant effects of alum dosing could be distinguished. Bioavailable aluminium in the vicinity of Sulphur Bay appears to be primarily influenced by the major geothermal activity of this region. Lake water chemistry in the vicinity of Sulphur Bay is heavily influenced by the direction of geothermal flows emanating from the Bay. No significant differences in aluminium bioaccumulation were observed in any species compared to samples obtained prior to the commencement of alum dosing. Continuous alum dosing of the Puarenga Stream since 2010 apparently does not result in adverse effects to Lake Rotorua shoreline biota nor cause any apparent increase in aluminium bioaccumulation in lake biota in the vicinity of Sulphur Bay.

year: 2017

title: "He taketake, he hurumanu te moana i rōhia ai": Mā te Māori ngā toronga o te motu ki whenua kē e taurima?

authors: Dewes, Kaneihana

subjects: Iwi taketake

abstract: Kai te tino ia o te tuhinga rangahau nei, he whakatōmene i te āhua kaiārahi o te Māori i ngā tūāhua hono ki ahurea kē. Mā konei e whakatau ai, e whakatūwherahia rānei ngā āhuatanga e mea ana mā te Māori ngā toronga o te motu ki whenua kē e taurima. He momo tēnei nā te Māori, i takea mai i ngā mahi pokai moana, me ngā waka i whakaterea i ngā rohenga moana o Te Moana-nui-a-Kiwa, ā, puta noa. Waihoki, he taonga tonu wā tātau kai ngā tauira o ngā tūhononga ahurea o ngā iwi taketake o te ao; he taonga anō kai waenganui i a tātau ngā whenua maha i pakanga ki rāwāhi, he tohu nui nā te ‘price of citizenship’. He momo nā te Māori te tātaki i ngā mahi whakarauora reo, waihoki, he rite tonu te noho tahi ki whenua kē i roto i te kōingo ki te whakatipu i te reo o te whenua. Mā konei, ka marohi ai te hiranga o Te Reo Māori me ngā Tikanga Māori, tēnei hiranga e tohu ana i te hua o ngā hononga ahurea ki ngā iwi taketake huri noa, kia whai hua mō Niu Tireni i ngā toronga ki whenua kē.

text: "He taketake, he hurumanu te moana i rōhia ai": Mā te Māori ngā toronga o te motu ki whenua kē e taurima? Kai te tino ia o te tuhinga rangahau nei, he whakatōmene i te āhua kaiārahi o te Māori i ngā tūāhua hono ki ahurea kē. Mā konei e whakatau ai, e whakatūwherahia rānei ngā āhuatanga e mea ana mā te Māori ngā toronga o te motu ki whenua kē e taurima. He momo tēnei nā te Māori, i takea mai i ngā mahi pokai moana, me ngā waka i whakaterea i ngā rohenga moana o Te Moana-nui-a-Kiwa, ā, puta noa. Waihoki, he taonga tonu wā tātau kai ngā tauira o ngā tūhononga ahurea o ngā iwi taketake o te ao; he taonga anō kai waenganui i a tātau ngā whenua maha i pakanga ki rāwāhi, he tohu nui nā te ‘price of citizenship’. He momo nā te Māori te tātaki i ngā mahi whakarauora reo, waihoki, he rite tonu te noho tahi ki whenua kē i roto i te kōingo ki te whakatipu i te reo o te whenua. Mā konei, ka marohi ai te hiranga o Te Reo Māori me ngā Tikanga Māori, tēnei hiranga e tohu ana i te hua o ngā hononga ahurea ki ngā iwi taketake huri noa, kia whai hua mō Niu Tireni i ngā toronga ki whenua kē.

year: 2022