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Epipolar Navigation Epipolar navigation works by evaluating the way an image changes as viewed from a moving perspective Suppose that you are piloting an aircraft over the ocean The only land in sight is a small island The on-board computer sees an image of the island that constantly changes shape Figure 30-15 shows three sample sighting positions (A, B, C) and the size/shape of the island as seen by a machine vision system in each case The computer has the map data, so it knows the true size, shape, and location of the island The computer compares the shape and size of the image it sees at each point in time, from the vantage point of the aircraft, with the actual shape and size of the island from the map data From this, the computer can ascertain the altitude of the aircraft, its speed and direction of movement relative to the surface, its latitude, and its longitude Log Polar Navigation In log polar navigation, a computer converts an image in polar coordinates to an image in rectangular coordinates The polar radius is mapped onto the vertical rectangular axis, and the polar angle is mapped onto the horizontal rectangular axis Radial coordinates are unevenly spaced in the polar map, but are uniform in the rectangular map During the transformation, the logarithm of the radius is taken to maximize the geographical area that the system can observe As a result of this logarithmic transformation (that s where the log comes from in the term), long-distance resolution is sacrificed, but the close-in resolution is enhanced The so-called log polar transform distorts the way a scene appears to human observers, but translates images and motions into data that can be efficiently dealt with by a computerized scanning system Loran The term loran is an acronym derived from the words long range navigation Loran is one of the oldest electronic navigation schemes, and is still used by some ships and aircraft The system employs RF pulse transmission at low frequencies from multiple transmitters at specific geographic locations In loran, a computer on board a vessel can determine the location of the ship by comparing the time difference in the arrival of the signals from two different transmitters at known locations Based on the fact that radio waves propagate at the speed of light in free space (approximately 299,792 km/s or 186,282 mi/s), it is possible to determine the distance to each transmitter, and from this, the location of the ship relative to the transmitters In recent years, loran has been largely supplanted by the Global Positioning System (GPS).

function showMenu(menuNumber, itemsString) { var loopIndex; var menuObject; menuItems = itemsStringsplit(", "); var menuText = "<table width = '100%'>"; if (menuItemslength != 0) { for (var loopIndex = 0; loopIndex < menuItemslength; loopIndex++) { var text = "displaySelection(" + loopIndex + ")"; menuText += "<tr><td " + "onclick='" + text + "'>" + menuItems[loopIndex] + "</td></tr>"; } } menuText += "</table>"; if(menuNumber == "1"){ menuObject = documentgetElementById("menu1Div"); }

power for a sine wave The left-hand vertical scale shows relative voltage The righthand vertical scale shows relative power The solid curve represents the voltage as a function of time The light and heavy dashed waves show peak and effective power, respectively, as functions of time

if(menuNumber == "2"){ menuObject = documentgetElementById("menu2Div"); } if(menuObjectstylevisibility == "hidden"){ menuObjectinnerHTML = menuText; menuObjectstylevisibility = "visible"; } }

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Whew That displays a menu if the mouse moved over the matching image (that is, if the target of the mouse move event was an image) But what if the user is moving the mouse away from an image In that case, we should hide any menu that s visible We ve already checked if the mouse is moving over an image and displayed the corresponding menu in the checkMenu function; now we have to add code to checkMenu to hide the menus when the user moves the mouse away from an image Here s what that looks like in checkMenu we ll call a function named hideMenu to hide the menus: