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Indoor Tracking, Mapping, and Navigation: Algorithms, Technologies, and ApplicationsView this Special Issue
Practical In Situ Implementation of a Multicamera Multisystem Calibration
Consumer-grade cameras are generally low-cost and available off-the-shelf, so having multicamera photogrammetric systems for 3D reconstruction is both financially feasible and practical. Such systems can be deployed in many different types of applications: infrastructure health monitoring, cultural heritage documentation, bio-medicine, as-built surveys, and indoor or outdoor mobile mapping for example. A geometric system calibration is usually necessary before a data acquisition mission in order for the results to have optimal accuracy. A typical system calibration must address the estimation of both the interior and the exterior, or relative, orientation parameters for each camera in the system. This article reviews different ways of performing a calibration of a photogrammetric system consisting of multiple cameras. It then proposes a methodology for the simultaneous estimation of both the interior and the relative orientation parameters which can work in several different types of scenarios including a multicamera multisystem calibration. A rigorous in situ system calibration was successfully implemented and tested. The same algorithm is able to handle the equivalent to a traditional-style bundle adjustment, that is, a network solution without constraints, for a single or multicamera calibrations, and the proposed bundle adjustment with built-in relative orientation constraints for the calibration of a system or multiple systems of cameras.
1. Introduction
A photogrammetric system consists of one or multiple digital cameras. In the case of a single camera [1], it would have to be moving or sequentially occupying varying camera stations. This scenario would only work for objects that remain shape-invariant throughout the image recording session due to the time lapse between the varying camera station exposures. Preferably, an array or a cluster of cameras should be used in the scenarios where the shape of the object of interest may be changing with time [2]. The availability of inexpensive digital cameras has made the use of such multisensor systems more and more common. Their employment in mobile mapping applications [3, 4], dense matching of imagery [5, 6], biomedical and motion-capture metric applications [2, 7], infrastructure health monitoring [8, 9], and the generation of photo scenes from multiple sensors [10] has become frequent occurrence.
Sensor calibration is known to be a critical quality assurance measure to maximize photogrammetric accuracy. This is even more so in the case of a multicamera system. A correct system calibration is essential for the accurate reconstruction of 3D object space required in photogrammetric applications. For this purpose, a mathematical model based on built-in relative orientation constraints (ROCs) is reviewed and further improved by modifying it to handle both single and multiple reference camera(s).
The next section summarizes the different types of system calibrations depending on whether the cameras are precalibrated or calibrated in situ and whether the estimation of the relative orientation parameters is performed in a two- or a one-step procedure. The preferred system calibration method for the simultaneous estimation of all system calibration parameters is proposed and tested.
2. System Calibration Methodology
The geometric calibration of a system comprising multiple cameras has two components: a camera calibration of each camera in the system and an estimation of the position and orientation of the cameras involved in the system with respect to a reference camera. The next subsections discuss various options for accomplishing the estimation of a system calibration.
2.1. Solution for the Interior Orientation Parameters
The camera calibration necessitates estimating the interior orientation parameters (IOPs) of each camera, which include the principal distance, the principal point offset, and any necessary distortion or additional parameters. This has been heavily addressed in photogrammetric literature. For consumer-grade digital cameras that can be purchased off-the-shelf, the preferred procedure for estimating the IOPs is a bundle adjustment with self-calibration [11, 12]. The distortion models are found in Brown [13] and Brown [14], while the analytical basis for the adjustment is published in Kenefick et al. [15] and Granshaw [16]. Clarke and Fryer [17] and Remondino and Fraser [18] include recommendations on how to carry out the calibration procedure for a single camera. In addition, Chandler et al. [19] and Fraser [20] show examples for the calibration of digital cameras that are specifically low-cost/off-the-shelf.
The calibration process can be performed in a specialized laboratory or on the job (i.e., in situ). Which type of calibration should be chosen depends on the project specifics. In the case of a photogrammetric system comprising a few cameras (e.g., two to three), the calibration process can successfully be carried out individually for each camera before the commencement of any data collection. Yet, if many cameras are involved in the system in question (e.g., four or more), precalibrating each one of them individually might be too time-consuming. Additionally, it may not be desirable to dismount and then remount the cameras from the system platform every time they need to be recalibrated. In such circumstances, performing the camera calibration on the job or in situ may be more practical and/or feasible. The challenge of such an in situ system calibration is the first order network design problem, that is, having a network geometry that will produce a solution for the unknown parameters with an acceptable variance-covariance matrix. For instance, sufficient number of target points with a well-distributed spread within the image format must be present for each camera. At the same time, multistation convergent images must be taken such that isotropic coordinate precision for the object space reconstruction is achieved. For a stationary camera system, this network configuration can be emulated by conducting numerous translations and rotations of a portable test field within the field of view of the cameras in the system [21–25]. It is worth clarifying that even though the camera system is physically stationary and the test field is the one translated and rotated, the adjustment is handled inversely as if the test field is kept stationary and the camera system is the one moving. In this way, for each instance of translation and rotation, the number of exterior orientation parameters (EOPs) added to the adjustment is lesser than the number of 3D coordinates for the object space target points, and the total number of unknowns in the adjustment is thus minimized. Note that ideally this portable test field should be in 3D so that any projective compensation or high correlations within and between the IOPs and EOPs can be decoupled [15, 22–25].
2.2. Solution for the Camera Mounting Parameters
Before the beginning of a data collection campaign, the position and the orientation of the cameras in the system must be estimated in addition to the IOPs. This can be done with respect to a reference camera or some other type of a reference frame (e.g., an IMU body frame). These parameters are referred to as the relative orientation parameters (ROPs) or the camera mounting parameters (CMPs), that is, the parameters describing how each camera is attached to the system platform. Assuming that the CMPs are defined relative to a reference camera, they consist of positional, , and rotational, , offsets between each camera and the reference camera. These components can also be referred to as the lever arm (baseline) and (angular) boresight, respectively. The estimation of the CMPs can be done in a two-step or a one-step process [26]. Both type of processes are reviewed in the next two subsections.
2.2.1. Two-Step CMP Estimation
The first step in the two-step procedure for providing a solution for the CMPs is estimating the EOPs for each of the cameras in the system. A traditional-style bundle adjustment, that is, a network solution based on the collinearity equations and without any constraints, is normally used for the purpose of completing this first step (see (1) and (2)). Note that time dependency is assumed here in order to have a general model, that is, a model that can handle both stationary or moving sensors or objects. where contains the coordinates of object space point, , with respect to the mapping frame ; and are the time-dependent positional and rotational parameters or the EOPs of camera with respect to the mapping frame at time ; is the image to object space scale; and the expression contains the distortion-free coordinates of image space point, , or the distortion-free projection of point in the frame of camera , where are the observed or distorted image coordinates for point ; is the principal point offset; is the principal distance; and are the image space distortions for point .
The second step in this process uses the estimated EOPs at time to compute the CMPs using (3) and (4) [4]. where is the time-dependent 3D lever arm/positional offset or translation between camera and the reference camera , that is, and are the time-dependent positional and rotational parameters or the EOPs of the reference camera with respect to the mapping frame ; and is the time-dependent positional component of the EOPs of camera . where is the time-dependent 3D boresight/rotational offset between camera and the reference camera , which is a function of , and , and is the time-dependent rotational component of the EOPs of camera .
If the EOPs are estimated in a single observation epoch, there would accordingly be a single set of computed CMPs. If the EOPs are, however, estimated in two or more observation epochs, the resultant redundant sets of time-dependent CMPs can be averaged and their standard deviations can be calculated [4, 22–25]. Note, however, that rotation averaging should not be performed with Euler angles [27]. The point of averaging is to compute the best estimate of a random variable while minimizing the sum of squared errors. Averaging Euler angles, that is, sequential rotational parameters, does not minimize a meaningful cost function. Instead, for sound rotation averaging, quaternions or angle-axis representation must be used as they can minimize several cost functions, which are listed in Hartley et al. [27]. In addition, the rotational and positional parameters are often correlated. It should also be highlighted that if the reference camera does not observe the test field in certain observation epochs, these observation epochs cannot contribute to the estimations of the CMPs. Moreover, if the field of view of a particular camera does not overlap with the one for the reference camera (i.e., the two cameras cannot observe the test field simultaneously in any of the observation epochs), the CMPs of the camera in question cannot be directly estimated as in (3) and (4). A work-around procedure exploiting the overlap with other cameras in the system must be then implemented.
Using constraint equations for the EOPs in the network solution in order to enforce an invariant geometrical relationship between the cameras at different times [10, 28–33] may mitigate some of the mentioned problems. The benefit of using EOP constraint equations in the bundle adjustment is that it is not necessary to perform any averaging. This is the case since no matter which observation epoch is used, the same values for the CMPs would be computed with (3) and (4). The disadvantages of this method are that it is still technically a two-step process, a work-around procedure is necessary for computing the CMPs of any cameras, which do not overlap with the reference camera in any of the observation epochs, and the complexity of the implementation procedure intensifies with the increase of the number of cameras in the system and the number of observation epochs [4]. Given these drawbacks, especially the complexity consideration, this type of network solution is not implemented as part of this research.
2.2.2. One-Step CMP Estimation
A one-step procedure for estimating the CMPs is desired in order to avoid a separate estimation step for the CMPs and potential work-around procedures for addressing situations where a camera does not have any overlap with the reference camera in any observation epoch. This can be accomplished by directly incorporating ROCs among all cameras and the reference camera in the collinearity-equation-based network solution [4, 29, 30].
The CMPs, and , in (5) are now explicitly treated as time-independent parameters. In other words, it is assumed that the CMPs for the system of multiple cameras remain stable during all observation epochs within a given system calibration campaign. Also, the EOPs of the reference camera, and , now represent the EOPs of the system platform. This model is relatively straightforward to implement as it preserves its simplicity regardless of the number of cameras employed or the number of observation epochs used. As the number of cameras and the number of observation epochs increase, it significantly reduces the number of unknowns to solve compared to the traditional-style bundle adjustment. It should be noted that when the observation equations for the reference camera, , are established, (5) reduces to (6), because the lever arm vector is set to zero, , and the boresight rotation matrix is set to identity, . The difference between the mathematical models for the traditional-style bundle adjustment (1) and the one with built-in ROCs (5) is visually summarized in Figure 1.
2.3. Simultaneous IOP and CMP Estimation
There are four possible types of a calibration of a system with multiple cameras that can be performed given the options for estimating the IOPs and the CMPs. Recall that individual cameras can be either precalibrated or multiple cameras can be calibrated in situ and that the CMPs can be either estimated via the EOPs in a two-step process or directly in a one-step process. The four scenarios are summarized in Table 1 and explained in more detail as follows: (1)The first system calibration scenario involves precalibrating all cameras individually and computing the CMPs in a two-step procedure via the EOPs. It is not desirable, because it may not be practical to precalibrate many cameras and/or the IOPs of the precalibrated cameras may not be stable. In addition, in situations where the reference camera does not observe the test field in certain observation epochs, or certain cameras do not have any overlap with the reference camera, the CMP estimation may be ambiguous or not even possible.(2)The second system calibration scenario involves calibrating all cameras in situ and computing the CMPs in a two-step procedure via the EOPs. Note that the IOPs and the EOPs here are estimated simultaneously. As long as the necessary network configuration can be provided, this procedure is more practical in terms of the camera calibration aspect. It is, however, still not a preferred approach due to the drawbacks listed with regard to the two-step CMP estimation.(3)The third system calibration scenario involves precalibrating all cameras individually and estimating the CMPs in a single step. This procedure may be acceptable for a system with a low number of cameras (e.g., one to three) as long as the individual camera IOPs remain stable from the point in time when the IOPs are estimated to the point in time when the cameras are set up for the CMP estimation.(4)The fourth system calibration scenario involves calibrating all cameras in situ and estimating the CMPs in a single step. Note that the IOPs and the CMPs here are estimated simultaneously. Again, as long as the necessary network configuration can be provided, this procedure is the most desirable one because all unknown parameters are estimated simultaneously in a single step.
2.4. Multicamera Multisystem Calibration
The ability to handle multiple reference cameras in the bundle adjustment with built-in relative orientation constraints is a valuable contribution of the proposed procedure for system calibration. Essentially, all cameras participating in the system calibration adjustment are assigned to or selected as a reference camera, and there can be as many reference cameras as the total number of participating cameras. Thus, the adjustment is not limited to a single reference camera. This is significant, because it provides the flexibility of performing the following types of calibrations within the same algorithm: (i)Calibration of a single camera—the camera in question is selected as a reference camera; this scenario reduces to a regular single camera calibration, where the unknowns are the IOPs of the camera, the EOPs for each image, and the X,Y,Z coordinates for all the target points.(ii)Calibration of a single system of multiple cameras—all the available cameras are assigned to the same reference camera; other than the IOPs for all the cameras and the X,Y,Z coordinates for all the target points, the unknowns here are the EOPs for the one reference camera and the CMPs for all other cameras with respect to the reference camera.(iii)Calibration of multiple systems with multiple cameras within the same adjustment—the cameras are divided into groups where each group is assigned a different reference camera; note that in the most general case, each group corresponds to a physically different system. Other than the IOPs and X,Y,Z coordinates already mentioned, the unknowns in this scenario are the EOPs for the multiple reference cameras and the CMPs for the remaining cameras in each system with respect to their corresponding reference camera; note that the observations coming from a particular camera affect the EOPs of only its corresponding reference camera.(iv)Calibration of multiple cameras without any ROCs within the same adjustment—if multiple cameras need to be calibrated, but they are not employed within a stable system, each camera is selected as a reference camera; this scenario reduces to a regular multiple camera calibration, and it is basically a special case of the previous one where each camera is treated as its own system.
3. Experiment Setup
A multicamera system was employed in a structures laboratory for the purposes of this research initiative. This system is described here, as are both a newly designed calibration test field and a routine for acquiring calibration data.
3.1. Example System Setup
The photogrammetric system employed in this research work consisted of eight digital cameras. The camera bodies used were Canon EOS 1000D/Rebel XS DSLR with Canon EF-S 18–55 mm f/3.5–5.6 zoom kit lenses. A 22.2 mm × 14.8 mm complementary metal oxide semiconductor (CMOS) solid state sensor was present in each camera body [34]. Image resolution of 10.1 mega pixels (i.e., 3888 pixels along the image width and 2592 pixels along the image height) was possible. A square pixel size with a nominal dimension of 5.71 μm was assumed. The pixel size was computed by dividing the dimensions of the effective sensor size by the number of pixels in the corresponding direction. For this research project, the cameras were mounted on a steel frame via tripod heads with three degrees of freedom. The tripod heads were necessary to point the cameras towards the specimen of interest. The cameras were configured and synchronized so that nonblurred images of both stationary/static and kinematic/dynamic objects could be taken. After the cameras were focused on the specimen surface, the focus and zoom rings of the lenses were locked with electrical tape, and the auto-focus, the vibration reduction, and the sensor cleaning functions of the cameras were disabled in order to minimize any potential camera instability as much as possible.
The camera system was suspended from an overhanging metal frame (see Figure 2). This configuration was chosen so that the system can observe the top surface of a concrete beam while it was being deformed by a hydraulic actuator. The array of cameras was set up in such a way that the optical axes of the cameras were converging as much as possible at the object of interest. The convergence angle between consecutive cameras varied from 0° to 20° and was approximately 70° between the first and last cameras (see Figure 3). This convergent network geometry allows for near-isotropic coordinate precision to be achieved. The nominal principal distance of the cameras varied between 22 mm and 28 mm. Principal distances on the lower end were used for the central cameras, while ones on the higher end were set for the end cameras.
3.2. Portable Calibration Test Field and Routine for In Situ System Calibration
Before the commencement of any actual experiments, in situ calibration data had to be collected by the system. The time allocated for the collection of the calibration data was approximately 15 to 30 minutes. The in situ calibration data collection involved translating and rotating a portable test field above the object(s)/surface(s) of interest. The test field used in this research was a 2D reinforced plywood sheet with a four by three grid of coded targets and an eleven by eight grid of checkerboard targets (see Figure 4(a)). While a 3D test field would have been preferred, the use of a 2D test field was more practical given the laboratory conditions and the object of interest at hand. The coded targets were only used for automating the target labelling and solving the image-point correspondence problem. The target coding system and the software used to automatically identify the codes were created in-house. The image point measurements for the checkerboard targets were first made with the Harris corner detector. Then, a subpixel optimization algorithm in OpenCV [35] was used to further refine them. The centre of the test field was the origin of the local coordinate system. If the test field was placed in front of the system, the orientation of the X-, Y-, and Z-axes was chosen so that the Z-axis would point in the general direction of the z-axis of the reference camera (see Figure 4(b)). Additionally, a piece of the test field was cut out by design. This allowed for the test field to fit around the piston of the hydraulic actuator at the cost of losing only three checkerboard targets (see Figure 5).
Series of images of the test field were taken simultaneously from as many cameras as possible. Given the test field employed was in 2D, care was taken to partially mitigate any projective compensation or high correlations between the interior and exterior orientation parameters, namely, convergent network geometry, and rolls of the test field were implemented. In each observation epoch, the position and orientation of the test field with respect to the reference camera were altered. For example, with (i.e., in "landscape" mode), the test field was translated under each camera with and being nominally 0°. Four more translation rounds were repeated where the test field was rotated around the X- and Y-axes in such a way that the range in and was between 30° and 65°. The test field was then rotated with or (i.e., in "portrait" mode), and five more similar translation rounds were performed.
In order to evenly fill out the entire usable image format of each camera with targets, the described translations and rotations of the test field were performed under each camera. This target distribution was required so that the lens distortion coefficients for each camera could be estimated reliably. Figure 6 shows two examples of all the image coordinate measurements acquired within the format of a particular camera superimposed on a photograph taken by that camera.
4. Experimental Results
The experimental results related to the proposed multicamera multisystem calibration methodology are presented next. The tests for estimating the IOPs, the CMPs, or the IOPs and CMPs simultaneously are as follows: (i)Estimation of IOPs in an individual camera calibration versus calibration of multiple cameras simultaneously with no ROCs versus calibration of multiple cameras as a system with built-in ROCs(ii)Estimation of CMPs in a two-step calibration versus a one-step calibration with or without prior knowledge of the IOPs(iii)Estimation of all system calibration parameters (i.e., IOPs and CMPs) simultaneously for individual multicamera systems versus for multiple multicamera systems within the same adjustment
Comparison of the various calibration parameter outcomes is also performed using a previously developed system stability analysis tool [26].
Note that for all the bundle adjustments run in the experimental results, the coordinate frame was always the same. The datum was defined by fixing six coordinates and by including observations for the six spatial distances between the four outermost targets on the test field. Thus, the datum definition was minimally constrained (with redundancy for the scale). Also note that except for the six fixed coordinates, all coordinates for the targets on the board were used as unknowns in the adjustments. Also, note that while not all targets were observed in each acquired image, all targets were used in all solutions.
4.1. IOP Estimation Test
After an in situ system calibration data set was acquired using the portable test field, the data were processed in three different ways in order to assess the estimation quality of the IOPs. (i)A separate bundle adjustment was run for each camera in order to calibrate each camera individually.(ii)A single bundle adjustment without using any ROCs was run with all cameras in order to calibrate all the cameras simultaneously.(iii)A single bundle adjustment with a reference camera and built-in ROCs was run in order to calibrate the cameras as a system.
The results from the IOP estimation test are summarized in Table 2. A "per camera normalization" was applied to some of the adjustment quantities in the multiple camera calibration and system calibration columns, that is, the quantity in question was divided by the number of cameras for a more objective comparison. Note that even though some variation in the quality of the image coordinate measurements was present in the different adjustments, a thorough investigation as to whether it is necessary to perform any reweighting of the measurements has not yet been conducted. While the three types of adjustments had similar overall image coordinate measurement precision, RMSExy, the range for the IOP standard deviation values, , improved for the multiple camera calibration and for the system calibration. The extra intersecting light rays, coming from the increased number of image point observations for the same object space targets, increased the redundancy and strengthened the adjustment geometrically [36]. Figure 7 shows a comparison between the network geometry for a single camera calibration versus all cameras involved in the system. Additionally, the decrease in the number of unknowns for the system calibration further improved the redundancy compared to the multiple camera calibration. It can be thus concluded that in terms of the IOP estimation, the proposed system calibration yielded the strongest solution.
The same additional parameter (AP) model was used in all three types of bundle adjustments for the conducted IOP test. It was decided that the , , , and coefficients were sufficient to adequately model the systematic error present in the image coordinate observations for the cameras involved in the system. Without these APs, the size of some of the residuals was several times the size of a pixel, which was deemed unacceptably large.
4.2. CMP Estimation Tests
The quality of the CMP estimation was also tested with the in situ system calibration data set. Four system calibration scenarios were tested. (1)A traditional-style bundle adjustment where the IOPs for all the cameras were taken from the individual camera calibrations in the previous subsection and were kept as fixed constants(2)A self-calibrating traditional-style bundle adjustment(3)The proposed bundle adjustment with a reference camera and built-in ROCs where the IOPs for all cameras were again taken from the individual camera calibrations in the previous subsection and were kept as fixed constants(4)The proposed bundle adjustment with a reference camera and built-in ROCs in self-calibrating mode
Note that these four system calibration scenarios correspond to the types of system calibrations described in Section 2.3 and listed in Table 1. The results from the CMP estimation test are summarized in Table 3. As previously explained, the former two approaches require two steps for the CMP estimation. For this system, there were many observation epochs where the reference camera did not observe the test field, and the majority of the cameras did not have any overlap with the reference camera in any of the observation epochs; in fact, the test field was only seen by two to four cameras at a time. Thus, none of the CMPs can be derived for all observation epochs, and the CMPs of some cameras can only be derived through a daisy chain with one or more intermediate cameras. It is suggested that some sort of weighted averaging or an additional higher level adjustment must be performed in order to avoid an arbitrary solution, that is, to achieve a proper CMP estimation. Such solution was however not implemented for this paper.
The latter two approaches, as previously explained, were able to solve for the CMPs in one step. It should be emphasized that while the method where precalibrated cameras were used seemed to have better CMP standard deviation values, , especially for the rotational CMPs; the method with self-calibration is still the preferred one. This is because the system consists of eight cameras, and it is not practical to run nine different adjustments in order to solve for all the IOPs and CMPs. Also, if the cameras were truly precalibrated (i.e., they were calibrated in a different location prior to being installed in the structures laboratory), there would be no guarantee that the previously estimated IOPs would still be valid.
In addition to analyzing the standard deviations of the estimated CMPs, the two one-step system calibration approaches can also be compared using a method for system stability analysis referred to as "object space parallax in image space units" [26]. While the issue here is not a matter of actual (in)stability, this system stability analysis tool can be used to check the compatibility between the two different system calibration approaches. This method quantifies/provides a numerical measure of the differences between two sets of calibration parameters based on a number of image and object space simulations. The results are shown in Table 4. Note that Habib et al. [26] output an image space RMSE only, while here an object space RMSE is also shown. The object space RMSE is computed by scaling the image space RMSE by the ratio of the object-to-camera depth over the average value of the principal distance. Since the object-to-camera depth could vary, reasonable "near field" and "far field" values are picked and a range of object space RMSEs is reported. The total image space RMSE value for any camera pair was one pixel or less, while the total object space RMSE value ranged from 0.11 mm to 0.44 mm depending on the camera pair and the camera to object distance. Since the 3D reconstruction for the beam in this research initiative was based on pixel level image matching, and the sought after object space precision was 0.5 mm, the compatibility between the two types of system calibration solutions was considered satisfactory.
4.3. Individual versus Multisystem Calibration Tests
Additional system calibration data sets were acquired during a multiday beam deflection experiment. Each calibration data set was collected before any actual deflection observations were made on that particular day. Three calibration data sets referred to as Day 1, Day 2, and Day 3 were processed in two different ways which are as follows: (i)As three individual multicamera system calibrations where each calibration data set was treated as a separate system(ii)As a multicamera multisystem calibration where the three calibration data sets were combined in a single adjustment, but the data sets from the different days were treated as separate systems
The results from the individual system calibrations can be seen under the Day 1, Day 2, and Day 3 columns of Table 5. The proposed multicamera system calibration was applied, where the IOPs and CMPs for all the cameras in the system were estimated simultaneously. Since the network geometry of the different data sets was kept consistent, the standard deviations for the estimated parameters had similar ranges. The only noticeable differences in the adjustment quantities were in the total number of image points. This was due to the slight difference in the number of observation epochs and thus the number of images.
The result from the multisystem calibration can be seen under the Days 1 + 2 + 3 column of Table 5. Note that a "per system normalization" was applied to some of the adjustment quantities in the last column of the table, that is, some of the quantities were divided by the number of systems in order to make the comparisons more objective. It should also be noted that the object space coordinates of the portable test field were what tied the three systems in this adjustment. Thus, the assumption for this type of solution was that the test field did not deform during the multiday experiment. In the individual versus multicamera calibration test in Section 4.1, there was an improvement in both the network geometry and the redundancy of the bundle adjustment. Since the network geometry between the different systems was similar, in this individual versus multisystem calibration test, the improvement was only in the redundancy. Due to the greater redundancy, it would be expected that the precision values for the IOP and CMP ranges would improve for the Days 1 + 2 + 3 calibration compared to the calibrations for the individual days. According to Table 5, however, this was not the case. A speculation as to why this was would be that the test field did experience some level of deformation during the multiday experiment. Nevertheless, the multisystem calibration is still a practical option as multiple data sets can be run in the same adjustment (i.e., three versus one runs in this case). Also, since all the data sets share the same object space, potentially more realistic system stability analysis can be performed.
In addition to analyzing the adjustment quantities from the two system calibration approaches, the results from the individual versus multisystem calibrations can be compared again via a system stability analysis method. More specifically, the Day 1 individual versus Day 1 multisystem, Day 2 individual versus Day 2 multisystem, and Day 3 individual versus Day 3 multisystem comparisons are listed in Table 6. The total image space RMSE value for any camera pair was under one pixel, while the total object space RMSE ranged from 0.05 mm to 0.44 mm. Again, the compatibility between the two types of system calibration solutions was considered acceptable for the work in this research initiative.
5. Conclusions
A mathematical model for a more straightforward-to-implement multicamera system calibration was described in this paper. The model was based on the use of a single or multiple reference camera(s) and built-in relative orientation constraints where the IOPs and the CMPs for all the cameras were explicitly estimated simultaneously in a single step. The complexity of the system calibration model is not affected by the number of cameras in the system or the number of observation epochs. The implemented adjustment for this model was able to handle an individual camera calibration, a calibration of multiple nonconstrained cameras, an individual multicamera system calibration, and a multicamera multisystem calibration. Moreover, an in situ multicamera system calibration routine was carried out, where a newly designed portable calibration test field was used. A notable feature of the test field was that it had a piece cut out of it in order for it to fit around otherwise obstructing objects. This routine fulfilled the requirements for a successful calibration, that is, it ensured that a suitable network geometry is present and that the usable image format for all cameras involved in the system had an even distribution of targets. It also proved that the multicamera system or multicamera multisystem calibration yielded the most practical and the strongest adjustment solutions due to the increased number of observations, the reduced number of unknowns, and the improved network geometry.
While the precision achieved by the system was considered sufficient for the 3D reconstruction in this research work, there are a few aspects of the calibration that can be improved. (i)Explore different AP models in order to further optimize the precision of the results.(ii)Investigate if the image coordinate measurement precision differs between cameras or images.(iii)Experiment with modifying the test field in order to turn it from a 2D one to a 3D one so as to reduce the level of projective compensation or high correlations between and within the interior and exterior orientation parameters and also to make it less prone to any deformations.(iv)Perform RMSE analysis for the 3D object space coordinates of the target points or distances between them; the ground truth values should be provided by a coordinate measuring machine or laser interferometry, that is, techniques which can achieve accuracy at the micron level.(v)Test if the calibration procedure can be run on a divergent multicamera system; this is important as some multicamera systems are being set up with divergent geometry due to preferences of coverage over network strength.
Conflicts of Interest
The authors declare that there are no conflicts of interest regarding the publication of this article.
The authors would like to thank Jeremy Steward and Dr. Hervé Lahamy for their help during the data collection and Dr. Zahra Lari for her development of the coded targets. In addition, the authors are grateful to Dr. Mamdouh El-Badry, his students, and the civil engineering support staff for the opportunity to work in the structures laboratory at the University of Calgary. Portions of this paper come from the doctoral dissertation of the first author [37].
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- There are a few ways to recover a disabled Google account.
- One way is to answer the security questions you set up when you created the account.
- If you can't remember the answers, Google may be able to help you if you provide some other information such as the last password you remember using or the phone number associated with your account.
- Another way to recover a disabled Google account is to request a manual review from Google.
How To Recover Disabled Google & Email Account in Hindi || 2 Minutes Me Recover 2021 #TOPINFORMATION
How To Recover Disabled Google & Gmail Account 100% || Disbale Gmail Account Recovery (2022)
If you have lost access to your disabled Google account, you can try to recover it by following these steps:
Go to the Google Accounts Recovery page.
Enter the email address associated with your disabled Google account.
Click on "I don't know my password."
Follow the instructions to reset your password.
Log in to your disabled Google account.
Google account suspensions usually last around two weeks, but can vary depending on the severity of the offense.
There are a variety of reasons why Google accounts might get disabled. One common reason is that the account has been hacked and the hacker is attempting to use it to send spam or commit other malicious activities. Another reason might be that the account has been used to violate Google's terms of service, for example by uploading copyrighted content without permission. In some cases, Google might disable an account simply because the owner has not logged in for a long time.
If your account is disabled, you can request that it be reactivated by following the instructions on this page: https://www.quora.com/How-do-I-contact-Quora-if-my-account-needs-to-be-disabled.
To reactivate your Gmail account, you'll need to enter your email address and password. If you've forgotten your password, you can reset it.
There are a few ways to contact Google customer service. You can call them at 1-855-836-3987, use the online chat feature on their website, or send them an email.
When your account is disabled, it means that you can no longer sign in to your account or use any of its features.
To activate your Google Account, you'll need to provide some basic information and create a password.
Go to https://accounts.google.com/ and click on "Create account."
Enter your first and last name, birthday, and gender.
Choose a username and password.
Re-enter your password.
Click on "I agree to the Terms of Service."
Click on "Create account.
Yes, there is a phone number to contact Google support. The number is 1-855-836-3987.
If your Google account is locked, you can try to unlock it by following these instructions. If you're still having trouble, you can contact Google for help.
There is not a live chat for Google, but there are a variety of ways to get in touch with them. You can find contact information on their website, or you can call them directly.
A locked account is one that has been temporarily suspended by the account owner or by Instagram for violating its terms of service. A disabled account, on the other hand, is one that has been permanently removed by Instagram.
There could be a number of reasons why your email has been disabled. It's possible that you violated the terms of service, or that your account was hacked. If you believe that your email was disabled in error, you can contact customer support for assistance.
There is no specific way to contact Gmail administrators, as they are not a separate entity. If you are experiencing a problem with your Gmail account, you can try contacting Google's support team for help.
Yes, you can talk to someone at Gmail. You can find contact information for Gmail support on the Google support website.

subset: commoncrawl


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Crypto earning, products, services & tools > Useful Cryptocurrency Resources
Awesome Miner - New Windows application to manage and monitor mining
Awesome Miner is a Windows application for managing and monitoring mining of Bitcoin, Litecoin and other crypto currencies.
Feature overview
* Manage and monitor multiple miners across multiple servers
* Coin statistics and revenue calculations
* Built in Web engine with full mobile support, to enable monitoring of all miners from a smart phone
* The Managed Miner feature will monitor and restart the miner if crashed - including remote miners
* Multiple mining engines supported, including Cgminer and Sgminer, providing support for a wide range of mining algorithms including the popular SHA-256, SHA-3, Scrypt, Scrypt Adaptive N, X11 and X13.
Pool management
Awesome Miner is available in both Free and Paid editions. The Free edition contains 90% of all functionality.
Download and read more on the Awesome Miner web site
Please try the software and give feedback about what kind of functionality you would like to see in the next version. All comments and suggestions are welcome. The goal is to make mining easier and also provide powerful features to manage the mining.
Patrik Engström - IntelliBreeze Software
Twitter: @AwesomeMinerApp
Web site: www.awesomeminer.com
[0] Message IndexGo to full version


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Phd thesis human resource
Canada PhD/Doctorate in Human Resources Management Degree
Research a contemporary issue in employment relations. Construct a sustained argument in response to the question. Utilise and conform to the principles of academic rigour in the production of an acceptable, formal response to the question. DETAILS Read the following publicised commitment to diversity in the workplace: 'The evidence shows that a … Continue reading "Human resource"
Phd Thesis On Strategic Human Resource Management
A dissertation on Human Resources (HR) can encompass a wide range of topics, therefore it is vital to start wide and then focus in on a specific subject area. This can either be presented as a case study approach, which will compare an actual organisation (or organisations) to the literature on the subject, or as study of the contemporary research.
PhD in Management and Human Resources | Wisconsin School
Creating A Doctoral Thesis On Human Resource Management. The doctoral thesis is one of the most difficult projects to do during your college life. However, if you have the right pattern and content, you will be able to create the best and highest quality exposition on human resource management possible.
I'm looking for a dissertation Topics in Human resource
Through Regent's Ph.D. in Organizational Leadership – Human Resource Development, you'll gain expertise in the dynamics that contribute to the growth of an organization's human resources. Our online doctoral program in organizational leadership is a research-based …
human resource | Custom PHD Thesis
The Management and Human Resources Department offers a slate of foundational PhD seminars across the group's core areas of research: strategy, human resource management, organizational behavior, organization theory, and entrepreneurship. The department also offers two research methods seminars.
Doctorate Human Resource Development Texas, PhD Human
PhD Thesis Topics In Human Resource Management PhD thesis topics should be reflective and contextual. Human resource management is a vast and research based subject. Give new theories or strategies in your PhD dissertation to have good remarks from superiors. Topics to write PhD academic papers in human resource management must be attractive
How to Create a Human Resource Management Thesis Proposal
8/18/2020 · Thesis on banking and finance; Biography essay introduction; Frequently Asked Questions (PDF download) The history of art the american pdf management phd thesis in human resource evaluation associate conferenc resources margaret hargreaves. And the axis of the managerial hierarchy of authority, that was one for multiplication and a second ns s.
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Effective Tips for Your Human Resources Management Thesis Proposal — How to Write a Human Resource Management Thesis Proposal. Your HRM dissertation is an extended piece of work primary homework help volcanoes a topic of your own choosing. Working on a dissertation often involves searching for more specialized subject information beyond your University library catalog.
Phd Thesis In Human Resource Management
A PhD in thesis resources is a dba degree sought after by educators, human resource leaders, and industrial-organizational psychologists. A PhD in HR is heavily focused on research and students can expect to work closely with faculty to create and publish their own unique research.
Engaging PhD Research Topics in Human Resource Management
The sooner you approach towards your PhD degree, the more difficult but necessary your doctoral thesis becomes. Your thesis should directly contribute to the study of human resource management. Such a thesis is based on a productive and relevant research focused upon a doable research topic.
24 PhDs in Human Resource Management - PhDportal.com
For the Ph.D., your thesis is the most important part, you have to write the whole thesis about the "Human Resources Management" with one of our supervisors. The following modules you will study during the first year: Global Management; Strategic Management and Leadership; Project Management; Strategic Information System Analyses; Accounting
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List Of Thought-Provoking PhD Thesis Topics In HRM. Human resource management (HRM) is a fast-developing area, so it isn't surprising that many PhD students write their thesis papers on topics related to talent management, green HRM, managing diversity, psychological contract, and others.
Human Resource Management Research Topics for HRM Students
Exceptional PhD human resource and human resource management to preserve a strategic distance from and manipulate of PhD thesis topics in. Strategic Human Resource Management Order Description Assignment Your task is to write a report about a major human resource management (HRM) issue affecting your.
Crafting A Good Human Resource Management PhD Thesis
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11/4/2020 · Human Resource Thesis Topics look at topicsmill.com. We have list of 36 Human Resource Thesis Ideas 2020 you can use today.
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Phd Thesis In Human Resource Development. A human resource refers to the department in an organization that deals with hiring and training people. A Ph.D. in human resource is the highest degree that is awarded in this field and as such exemplary performance is expected.
Research Proposal Topics in Human Resource Management
Studying the synthesis of "strategic human resource management" and "strategic human capital" has potential for further investigation. See the following article for your reference. https://doi.org


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Project cost: $10,000
Inland Woods + Trails has recently been awarded a $10,000 International Mountain Bicycling Association (IMBA) Trail Accelerator Grant for this summer. In June 2022, folks from IMBA will be visiting the Community Forest to get the plan started!
IWT and a host of community partners want to add trails to the Bethel Community Forest and the Bingham Forest, with the end goal of a 30 to 40-mile diverse trail system close to town, which includes three schools. At the same time, the increase in trails will help Bethel leverage its current winter tourism into a recreation-based economic driver year-round, while protecting and enhancing the wild, natural beauty of the area. Although Oxford County is blessed with outdoor opportunity, it is still one of the least healthy counties in Maine, so the trails will offer a vital avenue to help local residents improve their physical and mental health. Once the trail system is under way, two local youth riding programs will enjoy better access and sustainability to bolster their efforts.
More information about the grant can be found on IMBA's site: https://www.imba.com/


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The 13 most important leaders of the Fintech ONE supported by Walmart
- Walmart entered the fintech space with the launch of ONE.
- Leadership came to ONE from companies like Goldman Sachs, Apple and Lyft.
- Meet the 13 top executives running ONE, from C-suiters to product and engineering talent.
Walmart has hinted at its ambitions in the fintech space for nearly two years.
In January 2021, the Bentonville, Arkansas-based retail giant first announced it was suing a fintech company in partnership with venture capital firm Ribbit Capital, which was l an early backer of Robinhood.
Details about the project were scarce, but it wasn't long before Walmart was making headlines again.
The following month, news broke that the project had lured two high-profile executives, Omer Ismail and David Stark, away from fledgling Goldman Sachs consumer bank Marcus.
The group has been steadily adding talent from blue-chip tech and financial companies, but it has kept most details of its strategy under wraps.
The secret firm, formerly known as Hazel, caused a stir again in January, announcing that it had acquired both Even, a salary access startup, and neobank ONE. Following this latest acquisition, Hazel took on the ONE name and brand.
The deal also offered a behind-the-scenes look at the new company's plan. Ismail told the Wall Street Journal at the time of the acquisitions the company was planning to create a super finance app.
Super Apps consolidate multiple activities, such as banking, budgeting, shopping, and stock and crypto trading, into one place. Universal banking models have had huge success in markets like China and Southeast Asia, but similar efforts in other startups have struggled in a U.S. banking market dominated by incumbent financial firms.
The field is rife with other competitors ranging from big players like PayPal, Cash App and SoFi, to smaller companies like Chime and buy-it-now and pay-later providers like Klarna and Affirm.
Legacy banks are also increasingly responding to the threat of fintech startups with varying levels of success. From JPMorgan Chase and Bank of America to Marcus, major financial firms have revamped their digital offerings throughout the pandemic and emphasized technological approaches.
However, attempts by major banks to digitize can sometimes fail. Finn, JPMorgan's digital-only bank aimed at a younger demographic, was shut down less than two years after it launched. Marcus has also faced challenges, as Insider previously reported, as he matures and struggles to launch new products, like a checking account and a robo-advisor.
The departures of the main leaders of these changes can therefore have consequences for the actors in place. In February, for example, Bloomberg reported that Goldman executives, dismayed by the departure of Ismail and Stark, clawed back stock bonuses for the already acquired duo.
At ONE, meanwhile, Bloomberg recently reported that the company plans to beta test its own checking accounts in the coming weeks and will soon launch a refund feature for select purchases made with ONE's debit card, including those from Walmart.
Insider identified the key people shaping the secret company's strategy using LinkedIn profiles and news stories. ONE currently has approximately 300 employees, many of whom have combined experience in both early-stage startups and large financial services firms or technology companies.
ONE representatives declined Insider's request for comment.


text: [FIX] No Sound Output From HDMI in External Monitor In Ubuntu Post last modified:April 27, 2021 Post author:Gagan Mishra Post comments:1 Comment Yesterday I connected my laptop to the TV to watch Resident Evil Extinction. When I played the movie, the Audio was coming from the Laptop instead of the T.V. After that, I have solved my issue with getting under the hood of setting and change the output source. So, I thought you also face this kind of problem, why not make an article on this and solve our folk issues. Table of Contents How to Solve no sound output from HDMI?Output option is selected defaultStep 1Step 2Output Source MissingWrap up How to Solve no sound output from HDMI? There are two possibilities of sound is not coming from External Monitor or TV except wire fault are as follows The output option is selected default. Output Source Missing. We will cover both the way First we will see How to resolve when the output source is default Read this: How to Format USB Drive or Pendrive on Linux? Output option is selected default First of all, connect your laptop to the TV. through HDMI Cable after doing this step need to follow few steps to change the default audio Step 1 In this step, you need to get inside the setting. To get the setting option, press the "Super Key" and search for sound or click on the arrow which is on the top-right corner Step 2 Now go to the sound options, and Inside the sound option, you will see the Output. Click on the "Speaker-Built-in Audio" and change to HDMI Audio Source. If you are not able to see HDMI Source make sure is it connected properly. Else the issue will be different. Output Source Missing When you check the sound setting, you cannot see HDMI Output Option even the HDMI cable is connected to the TV and Laptop So. To solve this, You need to pass command into a terminal. pulseaudio -k That's it now you can see the option for the Audio Output Source. Even If the problem persist run the same command again. Wrap up I Think so audio is coming from the External Monitor. If you are still facing issues, feel free to contact us. Gagan MishraA man with a tech effusive who has explored some of the amazing technology stuff and is exploring more. While moving towards, I had a chance to work on Android development, Linux, AWS, and DevOps with several open-source tools. Please Share This Share this content Opens in a new window Opens in a new window Opens in a new window Opens in a new window Opens in a new window This Post Has One Comment dave August 16, 2022 Reply Didn't work. Pulseaudio said there was no daemon to kill. Leave a Reply Cancel replyCommentEnter your name or username to comment Enter your email address to comment Enter your website URL (optional) Save my name, email, and website in this browser for the next time I comment. Notify me via e-mail if anyone answers my comment. This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.


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Price: Low to High Price: High to Low Modified: Newest to Oldest Modified: Oldest to Newest
Page 1 of 1, showing 1 records out of 1 total, starting on record 1, ending on 1
Stunning & popular hotel and restaurant with owners apartment in the heart of Jonzac
This beautiful hotel and restaurant occupies a prime position in the heart of the beautiful . . .
Poitou Charentes
0 M2 land
709 M²size
8 beds
6 baths


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Wellness & Aquatics Center classes are weekend dates. Both days are required. Saturday times are 8AM-Noon and Sunday times are Noon to 4PM. Registration must be completed through the St. Mary's County Department of Parks and Recreation. Click on the date of the class below to be directed to the registration page. After registration is complete and payment has been made, please contact us to obtain your online E-learning code.**
Located in Leonardtown, MD at the College of Southern Maryland Campus
2022 Wellness and Aquatics Center Pool Dates
2023 Wellness and Aquatics Center Pool Dates
**Due to contractural requirements, the courses held at the WAC will cost $295 for St. Mary's County residents and $300 for non-residents. The course fee covers the online course and pool work. There will be an additional $300 due to complete the certification once you are ready to sign up for one of our quarry checkout weekends to finish the final 4 dives required to obtain certification. The $300 checkout weekend fee will be paid directly to us once you decide on a weekend that works for your schedule.**
2023 Evening Class Pool Schedule
Classes held at our on-site pool are broken down into (4) 2 hour sessions that run from 6PM-8PM on either a Mon/Wed or Tues/Thurs schedule for two weeks. The first date of class is an orientation night. Orientation night consists of gear fitting, paperwork, and the required swim test and usually lasts about an hour and a half.
Located at our dive shop in California, MD
2023 SMD On-Site Pool Schedule
Monday / Wednesday Classes
June 12th, 19th, 21st, 26th, 28th
July 10th, 17th, 19th, 24th, 26th
August 7th, 14th, 16th, 21st, 23rd
Sept 11th, 18th, 20th, 25th, 27th
Tuesday / Thursday Classes
May 30th, June 6th, 8th, 13th, 15th
June 27th, July 4th, 6th, 11th, 13th
July 25th, August 1st, 3rd, 8th, 10th
August 29th, Sept 5th, 7th, 12th, 14th
Classes held at our on-site pool are broken down into (4) 2 hour sessions that run from 6PM-8PM. The first date of each class is an orientation meeting and the swim test.
2023 Quarry Checkout Weekends
**The quarry checkout weekend is the final step required to obtain certification and is completed after your pool sessions are done**
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Character - Katie Maloney - Fashion - Tops - Shows - Vanderpump Rule
Katie Maloney's Pearl Trim Hoodie
January 22, 2020-
Katie Maloney's Pearl Trim Hoodie
Vanderpump Rules Season 8 Episode 3 Fashion
While Katie Maloney and Tom Schwartz had a lot to discuss about Tom Tom gate (everything is a gate now, amiright?) while she was wearing this cute pearl trim hoodie on last night's Vanderpump Rules, TBH I'm more interested in what they were packing for their upcoming trip to Miami. This trip is going to be a big one and I can't wait to see what happens. After all, being Jax Taylor's fiancé while he is out for his bachelor party is prettttty much my worst nightmare even if I was in the same town, next to Katie's cute sweatshirt being totally sold out.
The Realest Housewife,


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25 Amazon Gift Ideas for Her That Are Surprisingly Chic
Contrary to popular belief, Amazon isn't just a place to gift vacuums and Instant Pots. There are plenty of luxe (but still useful) Amazon gift ideas for her if you're hoping to tick "holiday shopping" off your list with your next Prime order.
From viral beauty products to chic pajama sets and handmade jewelry, the limit does not exist for quality products worth buying on Amazon (with two-day shipping, to boot). But sometimes you need an extra set of eyes to uncover the good stuff—which is exactly what we spend our time doing.
Dried flowers? Way smarter than fresh blooms for mom. Artsy linen towels? Your sister will think they came from a museum gift shop. And yes, there's a Pandora's box of naughty-but-nice options for your significant other. The holiday season is approaching at a lightning-fast speed, so start loading up that cart with the 25 best Amazon gift ideas for her.
All products featured on Glamour are independently selected by our editors. However, when you buy something through our retail links, we may earn an affiliate commission.
- More from Glamour
- More from Glamour
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Manchester M50 3UB
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With social distancing and more stringent hygiene measures to take into account, brands are now actively seeking alternatives to handing out free samples to amplify awareness and garner feedback.
Digitally activated brand campaigns not only replace traditional sampling practices but surpass them in terms of benefits. This is especially true when the digital activation takes place in-venue.
Author: Catherine Titherington, Business Development Manager (Brands), Eagle Eye Solutions Ltd
As a proven, long-term, equity building tactic, sampling is one of the most marketing effective tools for convincing a consumer to buy. It's the only one to actually put your product in their hands.
Even before the turbulent period brought on at the beginning of 2020 by the global coronavirus pandemic, brands were looking for more effective ways to amplify and quantify campaign success.
But, with social distancing and more stringent hygiene measures to take into account, they are now actively seeking alternatives to handing out free samples to amplify awareness and garner feedback.
Digitally activated brand campaigns not only replace traditional sampling practices but surpass them in terms of benefits. This is especially true when the digital activation takes place in-venue.
Building incentivised sampling into traditional, above-the-line (ATL) advertising campaigns can also deliver performance marketing mechanics to generate customer data, as well as sales and feedback.
Digitised brand sampling delivery
By tracking the issuance of incentives to digitally opted-in consumers through to the point of sale in a store or venue, brands can inject new experiential elements into the sampling experience too.
Using existing creative media to deliver more targeted marketing, including calls to action via social media, can also gamify more compelling experiences. Consider 19 Crimes' innovative example.
California winemaker, 19 Crimes, uses augmented reality (AR) to bring the historical stories of infamous colonists to life with talking wine labels via its Living Wine Labels app.
The often cited Product Sampling Study, found 35% of customers who try a sample will buy the sampled product in the same visit or shopping trip. With digital delivery, uplift can be even higher.
Integrating a sampling experience into digital 'through the line' campaign execution avoids the dreaded "dead end" of mass broadcast, ATL approaches. But it also disjoins the delivery process.
Alongside traditional experiential agencies, some sampling companies are starting up as agencies. Then there is product discovery hub, TryIt.co.uk. But the reach of such new entrants is online only.
End-to-end tracking and attribution
The capability they are all looking to provide is tracking of a sampling campaign through to next phase, which is a redemption at till. Only then is it possible to calculate true return on investment.
Budgets may be constrained, but this creates the perfect opportunity to demonstrate what can be achieved with the scale, reach and precision targeting and tracking available with digital activations.
Identify a category, e.g. snacks or alcoholic beverages, and work with brands to fund campaigns that boost awareness of a new branded product, the merchant's association with it and sales for both.
Digital activation and media agencies must to take the lead in CPG marketing and show the way forward for sampling in a post-lockdown world. So brands can truly get to know their customers.
Learn more about the benefits of digital activation sampling: check out this recently recorded on-demand webinar, "Winning the Recovery in Hospitality post Covid-19," with Catherine Titherington.
Please contact us to find out how Eagle Eye can support your digital activation sampling campaigns.


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Discussions about representation in assemblies, democracies and legal cases are usually reserved to human beings. But recent discussions around the Anthropocene and new materialism have fiercely challenged such anthropocentric limitations. Professor for Law Radha D'Souza argues that the concept of rights is fundamentally flawed as it is always associated with private property, contracts, and contractual social relations. Drawing on insights from indigenous cultures and everyday practices, she points out the centrality of assembly for collective life among animals and humans. Performance maker and theorist Sibylle Peters deals in her practice as theorist and theatre maker since many years with concepts of assembling – recently also trying to create zones of companionship in which humans and other co-species can come together without food chains or zoo cages getting in-between.
Tag: Language
RADHA D'SOUZA ° Crows, Covid and Reflections on Assembling
Drawing on insights from indigenous cultures and everyday practices, D'Souza's talk focuses on the centrality of assembly for collective life among animals and humans. Capitalist modernity introduces a rupture between natures, peoples and places by transforming nature into property, people into 'labour force' and place into territory. The concept of rights in liberal theory and practice plays a critical role in transforming a natural relationship into a legal one founded on property and contract. The challenge is to go beyond "othering"
IV: Choirs of Precarity & Power (Claudia Bosse, The Church of Stop Shopping, Alia Mossallam & Florian Malzacher)
Choirs are a very specific form of assembling – from representing "the people" in Greek tragedy via all kinds of religious choirs, political choirs, revolutionary choirs up to the legendary human mic at Occupy Wall Street and the iconic chants at Tahrir Square in 2011. Theatre director Claudia Bosse, art theorist Alia Mossallam, and the activists of The Church of Stop Shopping discuss the potential (and perhaps dangers), the tenderness, the precarity and the power of synchronised singing, chanting, shouting along concrete artistic and activistic practices in Cairo, New York and Vienna.
CLAUDIA BOSSE ° Assemble in Choirs
Choir is also a gathering of different interests that approach each other over a period of time, negotiating their differences, experiences and understandings.
Sharing, articulating. not always with words, but with actions in a physical articulation in space, space-grasping.
A connection to others, previously unfamiliar, is created.
Society and play at the same time.
ALIA MOSSALLAM ° To Chant the Worlds Away. The Anatomy of the 2011 Revolution
'unshaken'. It was one of the newer chants that were infused into us on the 25th of January 2011 – every time the police launched an offensive, and people started to run, someone would shout "Ithabt" as he or she stopped moving, and then several would shout it, and then tens and hundreds, until thousands would stop. I would close my ears and squeeze my eyes shut and let the thousands of voices shake through me, shake out the fear, and stabilise my resolve.


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Distributed for Seagull Books
Throughout the course of twenty-seven chapters that draw on the mythological and artistic resources of Western and Far Eastern culture—including the tragic love of Dido and Aeneas; the scandalous figure of Mary Magdalene; Lascaux and Golgotha; voyeurism and melancholy; Saint Augustine and Freud—the book is a disquisition on vision, temporality, generation, and creation in all its forms. Forty-eight brilliant and sensual color images accompany the text, as Quignard questions the origin of our being and explains the unexplainable, while noted translator Chris Turner lends a crisp voice to the entire collection.
124 pages | 48 color plates | 6 x 7 1/2 | © 2014
Art: Art--General Studies
"Intelligible, mournful, and profound."
New York Times
"The Sexual Night explores much more thoroughly and universally than ever before this 'invisible' sexual scene that founds and forever affects us. . . . A thoroughly stimulating book."
Arts Fuse
Table of Contents
Dido and Aeneas
The Invisible Scene
Lot and His Daughters
Noah and His Sons
Noli Me Tangere
Mary Magdalene
Nyx and Nox
Sleep and Dreams
Saint Augustine and Desiderio
The Nether World
The Wild Beasts
Actaeon and Diana
Mars and Venus
Baubo and Demeter
A French Scene
A Chinese Primal Scene
The Origin of The World
The Origin of Painting
Eros and Psyche
Leander and Hero
The Last Image
The Fourth Night
Esto Es Lo Que Hay
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Two people behind the story of how it all came about are Tom Oostrom, director of the Dutch Kidney Foundation and BarentsKrans partner Marleen van den Horst, member of the Board of the Neokidney Foundation and former member of the Supervisory Board of the Dutch Kidney Foundation. With great dedication and tireless effort they got this development on track, involving a wide range of partners.
Tom: "Marleen and I have known each other for a long time, we've been working together for more than a decade and teamwork is key in our relationship. Her great commitment, network, knowledge and legal expertise are extremely important for the Dutch Kidney Foundation." Marleen: "There is no formal client relationship with our firm. For eight years, I was active on the Supervisory Board of the Dutch Kidney Foundation and for a couple of years now, I've been a member of the Board of the Neokidney Foundation. My knowledge of patent law and experience in the pharmaceutical industry are very useful. It's my personal choice to devote myself to the work of the Kidney Foundation. Social commitment, using my qualities for a good cause, is something I feel strongly about. BarentsKrans supports and facilitates these activities. After the end of my term on the Supervisory Board of the Foundation, the vacant position was filled by Caroline van Gent, who is a partner at BarentsKrans, specialised in employment law."
Tom: "Many health funds allocate almost all their money for research. We also set innovations in motion. People know us from special events, like the National Kidney Check in 2007. This was a free test to detect damage to kidneys at an early stage, in which no less than 1.2 million Dutch adults participated! It was really new in the Netherlands. Prevention is better than cure. In addition, we are committed to creating a better life for kidney patients. Traditional dialysis has a huge impact on the daily life of a kidney patient. With the development of a portable artificial kidney, we want the restore the kidney patient's freedom, providing him or her with more convenience, more effective results and more control." Marleen: "We felt it was time to pay attention to this development, no one else picked it up. We set the ball rolling, apart from the Kidney Foundation we established a new entity: the Neokidney Foundation. With a special holding company and separate operating company. A new fund with the aim to revolutionise kidney dialysis."
Envisioned was a public-private partnership with top people in the field of hardware, technology and biomedical expertise. Tom: "That we found in a joint development with Debiotech from Switzerland and Awak from Singapore. Supported by an Advisory Board with leading professors and a solid financial and business plan." Marleen: "We had discussions with many parties, until we had the right mix. We were on the watch for shelving, participation in the project by a party for the purpose of slowing down the development." Tom adds: "It is our ambition to generate a revenue stream, of each copy sold, the Neokidney Foundation will receive a royalty. With these proceeds, we can fund the next innovation."
The financing behind the portable artificial kidney is a story in itself. Tom: "With a project like this it's very important to get the right people leading the way. After a process of extensive talks and negotiations, we reached a unique agreement with three large Dutch health care insurance providers (Zilveren Kruis, CZ and Menzis), who committed themselves for an investment of € 6.8 million." Marleen: "An incredible success, never before have insurers joined forces in such manner to enable innovation in healthcare. This innovative character reflects on everyone."
Tom Oostrom is already thinking ahead: the artificial kidney 2.0. The implantable version. Tom: "We want to have an impact, creative thinking and …doing!"


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Butter Brioches
Butter Brioches
Our large Butter Brioche (600g / 1.32lbs) is made in the northwest of France, traditionally hand braided and baked using the finest French butter and flour. This famous French bread is known for its soft, fluffy texture and golden-brown crust.
How To Serve
How To Serve
Ready to eat – enjoy your Butter Brioche both sweet and savory during any day of the week. You can make up to 13 French toasts with one loaf.
Unbleached unbromated wheat flour, eggs, sugar, water, butter, raising agent (unbleached unbromated wheat flour, water, salt), invert sugar syrup, emulsifier (mono- and diglycerides of fatty acids), yeast, salt, thickener (carboxymethyl cellulose), antioxidant (ascorbic acid, natural flavors).
Contains wheat, eggs and milk.
100% butter
Cage-free eggs
100% French flour
CRC certified flour
Palm oil free
Butter Brioche
The earliest recorded history of the term "Brioche" dates back to 1404. Considered a viennoiserie or French baked specialty, the brioche has been enjoyed for centuries both as a delicacy and as a symbol of status. During the 18th century famine, the amount of butter in your brioche would be proportional to your prosperity. The brioche, which is best described as a cross between bread and cake, is now traditionally consumed with tea, and acts as a vessel for sweet or savory fillings in various cuisines.


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SETTLING IN John O'Mahony and James Waldron, Mayo GAA Chairman, are pictured at Monday night's press conference to announce O'Mahony as the new Mayo manager in The Welcome Inn Hotel, Castlebar.
Johnno returns to finish job
Sean Rice
THE Mayo dream has been rekindled with the return of John O'Mahony. His reunion with Mayo football comes some fifteen years after his acrimonious departure from the county he had led to an All-Ireland final in 1989.
Less self-assured managers might not have survived a split of that nature. John O'Mahony harboured no such doubts. Determined to prove the County Board wrong he cultivated his coaching interest. But only when he guided Leitrim to the Connacht title in 1994, their first in sixty-seven years, did it begin to dawn on the football world that the Ballaghaderreen man had wrought a minor miracle.
The victory was accomplished at the expense of his native county, and regarded by some as retributive justice. The giant-killing achievement must have nipped sorely on the Mayo conscience, and while O'Mahony was too reserved to brag, he would be forgiven if he had uttered an exultant whoop of delight.
Further evidence of his leadership qualities would come with his appointment to the Galway management, but not before the accession of John Maughan to a similar post in Mayo. In a blaze of promise Maughan had taken the reins in his native county. He had been a member of the All-Ireland winning u21 team of 1983 coached by O'Mahony. Like O'Mahony, he, too, had shaped some sort of phenomenon in steering Clare to a Munster senior title.
His appointment to Mayo was greeted with genuine hope, and only the heartbreak hop of a ball in 1996 precluded the Crossmolina native from heroic status in Mayo football folklore. The disappointment of that defeat was nothing compared to their failure to Kerry the following year. But at least Mayo were stirring, the first county from the west to make a genuine bid for All-Ireland honours in decades.
The relative success of Maughan aroused an envious Galway. In scouring the country for someone to prod their football into life, they hit on John O'Mahony. Not overwhelmingly greeted at first by Galway devotees - mainly because he was a Mayo man - it did not take O'Mahony long to make his mark.
His reign was secured with an All-Ireland title in 1998, his first year in control. Three years later Galway were back on the winners' podium, and their manager sowed the seeds of future success when he also guided their U21s to a national title.
In his seven years leading the Tribesmen, O'Mahony had demonstrated his ability to identify the cause of their thirty-two years stint of failure, to root it out of their system and re-establish the county to its former glory. In Galway his name is now enshrined in the pantheon of managerial icons . . . a Mayo man, dismissed by his own, lighting fires in the hearts of an old foe. For all that, the high esteem in which he was held in Mayo was reflected in the number of invitations he received to the annual functions of clubs.
He would later write that too often, Mayo followers saw the beating of Galway as an end in itself whereas Galway saw their wins over Mayo only as means to an end.
His departure from Galway, after seven years at the helm, was the cue for a sustained effort to secure his services in Mayo. But O'Mahony was wise enough to know that the fickle expectations of Mayo supporters would soar with his appointment, and wear thin if he had not fulfilled their hopes in the first year of his leadership.
Having declined the offer to take charge, O'Mahony wrote subsequently that there would be a national celebration if Mayo won an All-Ireland because when they played well theirs was a beautiful brand of flowing football that was enjoyed by Gaelic football followers everywhere.
Writing in a 'Century of Service' to mark the centenary of the founding of the Mayomen's Association, O'Mahony said that supporters of the Green and Red were so passionate about their football there was either elation or despair. There needed to be a middle path.
He recalled how no more than forty or fifty people attended Galway's final training session before the All-Ireland of 1998, and most of those came looking for tickets for the match. In 1989 when he was in charge in Mayo thousands attended the final training session. Similar hype accompanied Kildare's training sessions in 1998, and that gave Galway an advantage going into the final.
At the other end of the scale was the depth of despair into which Mayo people sank after defeats. Despondency to the same degree affected no other county in which he was involved.
THESE are some of the issues with which John O'Mahony must have been wrestling over the past months before making up his mind about taking the post. He was never one to make an instant, hurried decision, and over this appointment he mulled long and hard.
He would have in mind the danger of being accused of taking the post more for political reasons than for his confidence in emulating his achievements in Galway. As a candidate in the General Election, O'Mahony will be well aware that some members of the opposition might seize the opportunity to belittle his motives.
But the Ballaghaderreen man will not be deflected from giving full commitment to both undertakings. That is part of his make-up. Meticulous to the tiniest detail, nothing is left to chance. Having carefully weighed up the situation, he must be confident that he will have the full support of everyone in Mayo in trying to break the county's 56-years-old duck.
In that same article, O'Mahony stressed that the need for "total unity of purpose among players, management and county board was paramount. That did not mean that you had to be in full agreement with everybody all of the time. There would be differences of opinion and emphasis, but the bottom line had to be the success of the team on the field. Personal egos or other agendas had to be cast aside because if the team won everyone gained.
He stressed the importance of management having "total and absolute backing of your county board at all times. My experience is that success comes when that happens. On a personal level I got that backing totally in Galway during my years there, but it wasn't always present during my time in Mayo."
Is it any wonder he has taken so much time deciding whether to answer the collective wish of every footballer and supporter in the county to resume where he left off so many years ago. Managers have come in the meantime convinced they could succeed where others had failed, but left baffled and frustrated. What had been an irresistible challenge became an insurmountable obstacle.
"I firmly believe that with a structured and common sense approach, with a unity of purpose that is present in all the top teams in the country at the moment that Mayo don't have a divine right to lose every All-Ireland that they play in. That unity of purpose would involve having the best players in the country available and committed to that cause."
Now that he has made up his mind, the speculation that for months has gripped the football community of Mayo about his return will now be refocused on how soon the Ballaghaderreen man will lead a Mayo senior team to an All-Ireland title.
Not even the return of this master coach can guarantee Mayo All-Ireland success. But his advent is Mayo's best chance for many a long year. He'll be a freer man at the controls, free from interference and intervention by officials. He'll call for patience, and there will be more of it for him than for other managers because of his proven ability.
He'll bring a new interest to football in the county; build greater conviction among players . . . with a genuine hope of final fulfilment. Everyone, everywhere with Mayo blood, inside and outside the county, will greet his return. His first big test is next June against the county he led to two All-Irelands. He will not predict any stirring success next year because it will take time to build the team of Mayo dreams. But already that depressing day in Croke Park last September is becoming an opaque memory.