Abstract: A method and system for correcting alignment of images received from cameras by estimating camera alignment parameters based on perturbative correction such that corrected alignment parameters satisfy pairwise epipolar constraints as well as global loop closure constraints. The corrected alignment parameters are estimated as a Least-Mean-Square solution to a system of linear equations and an estimation algorithm may be implemented as a part of a Random Sample Consensus criterion estimation for improved robustness. The method and system is fast and efficient and may be implemented in a real-time system.

Abstract: A hookah bowl assembly including an insert having a crucible portion with an open upper end, a lower end with a plurality of holes formed therein, a sidewall extending from the upper end to the lower end, the crucible forming a cavity adapted to contain smoking material. A heat resistant material is located over the crucible open upper end. A securement element seals the heat resistant material over the upper mouth to seal the smoking material inside the cavity. A cover is removably disposed on the crucible lower end for sealingly retaining the smoking material inside the cavity. A housing defines an unobstructed passage extending therethrough. The housing has a first open end, and the insert is insertable in the housing first end.