TESO: Online Tracking of Essential Matrix by Stochastic Optimization

Maintaining long-term accuracy of stereo camera calibration parameters is important for autonomous systems' perception. This work proposes Online Tracking of Essential Matrix by Stochastic Optimization (TESO). The core mechanisms of TESO are: 1) a robust loss function based on kernel correlation over tentative correspondences, 2) an adaptive online stochastic optimization on the essential manifold. TESO has low CPU and memory requirements, relies on a few hyperparameters, and eliminates the need for data-driven training, enabling the usage in resource-constrained online perception systems. We evaluated the influence of TESO on geometric precision, rectification quality, and stereo depth consistency. On the large-scale MAN TruckScenes dataset, TESO tracks rotational calibration drift with 0.12 deg precision in the Y-axis (critical for stereo accuracy) while the X- and Z-axes are five times more precise. Tracking applied to sequences with simulated drift shows similar precision with respect to the reference as tracking applied to no-drift sequences, indicating the tracker is unbiased. On the KITTI dataset, TESO revealed systematic inconsistencies in extrinsic parameters across stereo pairs, confirming previous published findings. We verified that intrinsic decalibration affected these errors, as evidenced by the conflicting behavior of the rectification and depth metrics. After correcting the reference calibration, TESO improved its rotation precision around the Y-axis 20 times to 0.025 deg and its depth accuracy 50 times. Despite its lightweight design, direct optimization of the proposed TESO loss function alone achieves accuracy comparable to that of neural network-based single-frame methods.

Stellar parameter prediction and spectral simulation using machine learning

We applied machine learning to the entire data history of ESO's High Accuracy Radial Velocity Planet Searcher (HARPS) instrument. Our primary goal was to recover the physical properties of the observed objects, with a secondary emphasis on simulating spectra. We systematically investigated the impact of various factors on the accuracy and fidelity of the results, including the use of simulated data, the effect of varying amounts of real training data, network architectures, and learning paradigms. Our approach integrates supervised and unsupervised learning techniques within autoencoder frameworks. Our methodology leverages an existing simulation model that utilizes a library of existing stellar spectra in which the emerging flux is computed from first principles rooted in physics and a HARPS instrument model to generate simulated spectra comparable to observational data. We trained standard and variational autoencoders on HARPS data to predict spectral parameters and generate spectra. Our models excel at predicting spectral parameters and compressing real spectra, and they achieved a mean prediction error of approximately 50 K for effective temperatures, making them relevant for most astrophysical applications. Furthermore, the models predict metallicity ([M/H]) and surface gravity (log g) with an accuracy of approximately 0.03 dex and 0.04 dex, respectively, underscoring their broad applicability in astrophysical research. The models' computational efficiency, with processing times of 779.6 ms on CPU and 3.97 ms on GPU, makes them valuable for high-throughput applications like massive spectroscopic surveys and large archival studies. By achieving accuracy comparable to classical methods with significantly reduced computation time, our methodology enhances the scope and efficiency of spectroscopic analysis.