Abstract: An example method for determining three-dimensional coordinates of an object from a plurality of two-dimensional images may include: acquiring two-dimensional input frames via a camera, the camera being associated with one or more calibration parameters; isolating a contour of at least one object contained within each input frame; calculating coordinates of one or more visual rays corresponding to each contour in a direction specified by at least one of the calibration parameters; estimating a spatial tangent vector of each contour using finite differences; estimating a tangent space of the visual rays at each visual ray; calculating epipolar numbers based on basis vectors of the tangent space, the one or more calibration parameters, and the tangent vector; forming a line-based epipolar matrix using the epipolar numbers and line coordinates; and de-homogenizing the column space of the matrix into object points.

Abstract: The present invention relates to wastewater treatment facilities, and more particularly to an improved membrane bioreactor for treatment of wastewater. In one embodiment, a membrane bioreactor for treatment of wastewater includes first and second anoxic basins for anoxic treatment of such wastewater, and first and second aerobic basins for aerobic treatment of such wastewater. The bioreactor also includes a first flow path connecting the first anoxic basin and the first aerobic basin, and a second flow path connecting the second anoxic basin and the second aerobic basin, for flow of the wastewater from the respective anoxic basin into the respective aerobic basin. The bioreactor also includes a membrane chamber with a plurality of membrane tanks, the membrane chamber being arranged in series with the aerobic basins, and the membrane tanks being arranged in parallel with each other, and third and fourth flow paths connecting the membrane chamber to the first and second aerobic basins.

Abstract: The present invention relates to wastewater treatment facilities, and more particularly to an improved membrane bioreactor for treatment of wastewater. In one embodiment, a membrane bioreactor for treatment of wastewater includes first and second anoxic basins for anoxic treatment of such wastewater, and first and second aerobic basins for aerobic treatment of such wastewater. The bioreactor also includes a first flow path connecting the first anoxic basin and the first aerobic basin, and a second flow path connecting the second anoxic basin and the second aerobic basin, for flow of the wastewater from the respective anoxic basin into the respective aerobic basin. The bioreactor also includes a membrane chamber with a plurality of membrane tanks, the membrane chamber being arranged in series with the aerobic basins, and the membrane tanks being arranged in parallel with each other, and third and fourth flow paths connecting the membrane chamber to the first and second aerobic basins.