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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

A Frequency-Programmable Miniaturized Radio Frequency Transmitter for Animal Tracking

In animal tracking applications, smaller transmitters can reduce the impact of the transmitter on the tagged animal and thus provide more accurate data about animal behavior. By combining a novel circuit design and a newly developed micro-battery, we developed frequency-programmable and more powerful radio frequency transmitters that are about 40% smaller and lighter in weight than the smallest commercial counterpart for animal monitoring at the time of development. The new radio frequency transmitter has a miniaturized form factor for studying small animals. Designs of two coding schemes were developed: one transmits unmodulated signals (weight: 152 mg; dimensions: Ø 2.95 mm × 11.22 mm), and the other transmits modulated signals (weight: 160 mg; dimensions: Ø 2.95 mm × 11.85 mm). To accommodate different transmitter life requirements, each design can be configured to transmit in high or low signal strength. Prototypes of these transmitters were evaluated in the laboratory and exhibited comparable or longer service life and higher signal strength compared to their smallest commercial counterparts.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

A miniaturized long-life acoustic transmitter for animal tracking in marine environments

Marine and hydrokinetic (MHK) energy devices are early-stage technologies and their impacts to ocean life and environment are largely unknown, which consequently limits the progress of deploying these devices at commercial scale. Optical and acoustic imaging have been the primary technologies for monitoring marine animals’ behavior at existing or potential MHK sites. However, these technologies lack the ability to identify individual animals, which makes them less useful in identifying protected species as well as studying the animals’ long-term behavior. Implantable acoustic transmitters with unique identification codes could be used as a complementary technology. To minimize the tag burden on the tagged animal (and hence the resulting bias) and to satisfy the long-term monitoring needs, it is desired that the implanted transmitter be as small and light as possible and can last for as long as possible. To date, the smallest acoustic transmitters suitable for marine animal tracking have relatively short service life and detection range (up to 200 m). In this report, we introduce a new miniaturized acoustic transmitter which operates at 208.3 kHz. It offers a smaller dry weight (0.45 g), a significantly longer service life (140 days at a 5-second ping rate) as well as a greater detection range than the existing commercial counterparts, which will help obtain more comprehensive movement and behavioral information of animals around MHK energy devices.

Li, Huidong↗
DOE OSTI2023

A New Miniaturized Acoustic Transmitter for Marine Animal Tracking

Most marine renewable energy (MRE) technologies are still in their infancy. Many uncertainties remain regarding MRE systems’ impacts on the marine environment and species where they are deployed, which is one of the major hurdles for these systems to be widely adopted at a commercial scale. Currently, the primary technologies to monitor marine animals’ behavior around existing or potential MRE deployment sites are optical and acoustic imaging. However, these methods cannot identify individual animals and thus are less useful in identifying protected species and studying their behavior. Implantable acoustic transmitters with unique identification codes could serve as a complementary technology. To minimize potential bias introduced to the study results, the implanted transmitters must be sufficiently small and light to not affect the animals’ behavior while still having acceptable signal strengths and service life. Recently, we developed a new miniaturized acoustic transmitter that offers a significantly improved signal strength and service life (140 days [projected value] at a 5-s transmission interval) in a smaller and lighter package (0.45 g in the air), compared to the existing technologies. The detection range and detection efficiency of the new transmitter were tested in an actual marine environment and demonstrated a detection range of up to 330 m, a 65% improvement over the existing commercial counterparts operating at similar frequencies. Here, we report the design principles, performance, and manufacturing procedure of the transmitter. Finally, theoretical estimates of the detection range, the actual range, and detection efficiency results from the field testing are presented.

acoustic telemetry↗
DOE OSTI2024

Tracking animal movements via collaborative acoustic telemetry networks: Multiscale habitat use, phenology, and management insights

Abstract Estuaries support diverse fish and invertebrate communities, including resident species that rely on estuarine habitats year‐round and transient migratory species. The unique movement patterns of these animals connect habitats within and far beyond the estuary and are integrally linked to fisheries management objectives. With a focus on Chesapeake Bay, this study leveraged data from collaborative acoustic telemetry networks in the northwest Atlantic to assess habitat use and phenology of movements for seven species of fish (cownose rays, dusky sharks, smooth dogfish, alewife, striped bass, common carp, and blue catfish) and one invertebrate (horseshoe crabs). A total of 288 acoustically tagged individuals were detected >3.2 million times (6,743 to 2,095,717 detections per species) on receivers across ~20.5 degrees of latitude spanning the North American Atlantic seaboard from Florida, USA, to New Brunswick, Canada. Common metrics of movement and phenology grouped these species as resident (common carp, blue catfish, horseshoe crabs), primarily resident in estuaries (juvenile striped bass), and coastal migrant (cownose rays, dusky sharks, smooth dogfish, alewife); maximum distance traveled varied by three orders of magnitude among these species. Further analysis of phenology for coastal migrants elucidated the timing and duration of these species' use of Chesapeake Bay. Collectively, movements linked habitats within Chesapeake Bay and connected the estuary to coastal ecosystems both to the north (e.g., alewife) and south (e.g., cownose rays), creating networks of fisheries management jurisdictions that varied in complexity and identified opportunities for enhancement to current management or co‐management of some species. Our results elucidate the importance of estuaries to species with diverse movement behaviors, identify scales and pathways of habitat connectivity via animal movements, and highlight the utility of collaborative acoustic telemetry networks for quantifying movements relevant to both ecological research and fisheries management.

Livernois, Mariah C.↗
DOE OSTI2022

An implantable biomechanical energy harvester for animal monitoring devices

Insufficient service life and the resulting need for battery replacements have been a great challenge for implantable electronic devices. This is particularly true for animal tracking applications, because recapturing animals is often unlikely once they are released to the wild. To tackle this problem, we developed a biomechanical energy harvester that uses a Macro Fiber Composite™ (MFC) piezoelectric beam to harvest the mechanical energy from animals’ body bending movements as the power source for implantable and wearable devices. Prototypes of an underwater acoustic transmitter using this technology were subdermally implanted into juvenile white sturgeon and their energy harvesting performance was evaluated through the device’s transmissions. Additionally, the fish successfully recovered from the implantation surgery and freely swam inside a tank. The transmitter prototypes in the fish continually transmitted signals for a period up to 5 weeks. A benchtop test setup was also created to emulate the fish’s body bending, estimate the device’s energy harvesting performance in the live fish, and perform accelerated fatigue testing of the energy harvester by applying test parameters learned from a video study of the fish’s body movement and behavior characteristics. The gradual depolarization of the piezoelectric ceramic material in the MFC under cyclic mechanical loading was the main limiting factor for the life span of the energy harvester. Pathways for improvement are proposed to achieve long-term efficacy of powering implantable and wearable electronic devices.

42 ENGINEERING↗
DOE OSTI2026

Stereo-vision thermal imaging system for tracking flying animals in wind farm areas (CRADA #763) Abstract

CRADA 763: abstract ThermalTracker-3D (TT3D) is a stereo vision thermal imaging system that provides 3D flight information on detected birds, bats, and other flying targets. The system was initially developed for use in the siting and monitoring of offshore wind projects to establish pre-construction and operation collision risk data but can be applied to terrestrial wind energy projects as well as national security monitoring. This technology will reduce monitoring cost, decrease processing time, and provide more accurate data for wind energy developers/operators and regulatory agencies. While the current technology is at a high level of readiness, Technology Readiness Level (TRL) 7, there remain several barriers to commercialization, particularly around ease-of-use, that result in a low Adoption Readiness Level (ARL). The proposed work will advance commercialization readiness by streamlining calibration methods for built systems. This work will:1. 1. develop a software package for factory and dynamic calibration processes 2. test that package with existing prototype TT3D systems, and 3. conduct outreach with industry end-users.

ThermalTracker↗
DOE OSTI2022

Decoding Golden Eagle Movement Behavior from High-Resolution, Variable-Rate Telemetry Data Through Bayesian Filtering

The recent advances in animal tracking technology have enabled the collection of a vast amount of in situ data regarding the movement of wildlife at high spatiotemporal resolution. These data are usually available at variable time resolutions and contains noise (error) originating from GPS fixes. Decoding movement characteristics, particularly of flying animals, from telemetry data while handling these factors is a challenging yet important task for conservation purposes. Typically, this task is broken into two subtasks: resampling, and model calibration. The resampling subtask converts the variable rate positional data into a constant time interval data, while the model calibration subtask uses the resampled data to tune time-invariant parameters of the proposed models. For telemetry data at high temporal resolutions (order of 1 second), it is very challenging to decouple noise from actual movements using interpolation-based resampling techniques. Any errors introduced during resampling can significantly alter the the calibration and prediction attributes of the movement model. We address this problem through a unified Bayesian state-space framework that can handle both the resampling and calibration tasks in a single step. In addition, we use the speed and heading of the bird from telemetry data to regularize the position information of the bird. We use a Kalman filtering approach to include these nonlinearly related motion parameters within the state space framework. We cross-validated to quantify how this inclusion affects the model performance in estimating true bird movements. The relationship between the true state of the bird and environmental and topographical covariates is then represented parametrically. These parameters are then tuned using stochastic sampling strategies like Markov Chain Monte Carlo (MCMC). We use the telemetry data collected from golden eagles in the western USA to demonstrate the applicability of this approach to build a predictive, probabilistic movement model. Our preliminary results show that this approach provides improved predictive performance in terms of capturing higher-order motion parameters such as angular and horizontal accelerations, which may have simpler and more direct relationships with environmental covariates than corresponding speeds. In this talk, we will demonstrate how this state-space approach benefits the prediction capabilities of a movement model in simulating golden eagle paths through a wind power plant in Wyoming given certain atmospheric conditions. The model outcomes are aimed at informing mitigation strategies that can minimize the potential for collisions of golden eagles with wind turbines.

Bayesian methods↗
DOE OSTI2025

Barge Site - Avian Radar System / Derived Data

This is a combined data set of 67,410 bird/bat tracks from an avian radar system deployed on a research barge (MERLIN True3D, DeTect, Panama City, Florida, USA) and concurrent wind measurements from two scanning lidars (WindCube v2.1, Vaisala, Vantaa, Finland, and Halo XR+, Halo Photonics, Lannion, France). The research barge (16.5 m x 61 m) was deployed as part of the Wind Forecast Improvement Project (WFIP-3) off the northeast coast of the United States south of Massachusetts (40.9 deg N, 70.79 deg W). This data set comprises 5 weeks of data between August 27th 2024 and September 27th 2024. Radar data were provided by DeTect and Lidar data were accessed through the Wind Data Hub (wfip3/barg.WINDPROF.z01.a0) The data have been filtered and sorted into two size groups ("big" and "small") based on a clustering approach. See Snortland, A., Clerc, J., Hein, C., & Cotter, E. (2025). Wind as Driver of Bird and Bat Abundance, Flight Direction, Altitude, and Speed on the North Atlantic Shelf. arXiv preprint arXiv:2511.14983 for complete details. Data are provided in 2 files: "Birds" and "Birds_hourly" Birds: This file contains information about each of the 67,410 flying animal tracks detected by the radar during the data collection period, including parameters measured by the radar and wind information interpolated from the lidar wind measurements. We note that the raw radar dataset contained 301,618 tracks; tracks in this processed dataset were filtered based on the requirements described in Snortland et al. (2025). Birds_hourly: This file contains timeseries of the number of tracks detected per hour over the course of the data collection period, including wind conditions and sun position for each hour. These data were used for generalized additive modeling in Snortland et al. (2025).

17 WIND ENERGY↗
DOE OSTI2023

Deriving spatially explicit direct and indirect interaction networks from animal movement data

Abstract Quantifying spatiotemporally explicit interactions within animal populations facilitates the understanding of social structure and its relationship with ecological processes. Data from animal tracking technologies (Global Positioning Systems [“GPS”]) can circumvent longstanding challenges in the estimation of spatiotemporally explicit interactions, but the discrete nature and coarse temporal resolution of data mean that ephemeral interactions that occur between consecutive GPS locations go undetected. Here, we developed a method to quantify individual and spatial patterns of interaction using continuous‐time movement models (CTMMs) fit to GPS tracking data. We first applied CTMMs to infer the full movement trajectories at an arbitrarily fine temporal scale before estimating interactions, thus allowing inference of interactions occurring between observed GPS locations. Our framework then infers indirect interactions—individuals occurring at the same location, but at different times—while allowing the identification of indirect interactions to vary with ecological context based on CTMM outputs. We assessed the performance of our new method using simulations and illustrated its implementation by deriving disease‐relevant interaction networks for two behaviorally differentiated species, wild pigs ( Sus scrofa ) that can host African Swine Fever and mule deer ( Odocoileus hemionus ) that can host chronic wasting disease. Simulations showed that interactions derived from observed GPS data can be substantially underestimated when temporal resolution of movement data exceeds 30‐min intervals. Empirical application suggested that underestimation occurred in both interaction rates and their spatial distributions. CTMM‐Interaction method, which can introduce uncertainties, recovered majority of true interactions. Our method leverages advances in movement ecology to quantify fine‐scale spatiotemporal interactions between individuals from lower temporal resolution GPS data. It can be leveraged to infer dynamic social networks, transmission potential in disease systems, consumer–resource interactions, information sharing, and beyond. The method also sets the stage for future predictive models linking observed spatiotemporal interaction patterns to environmental drivers.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Pushing the Limits of Micro battery Capacity and Energy

Micro battery with higher energy density will extend the service life of the miniature sensors so that the scientists and engineers could be able to collect more data along with the time in ecological and environmental vectors, such as animal tracking. Within this project, a completely new cell design (Gen2) for micro batteries to further increase their cell capacity and energy is developed. The new cell design directly packages the active material in a hard aluminum case, decreasing the percentage of non-active components. The manufacturing process to improve wetting ability is studied and the trial run is finally given to evaluate the feasibility of the proposed technology. It’s found that both the capacity and energy with same battery size could be increased by 30% comparing with Gen1 micro battery technology previously developed by PNNL. The yield of Gen2 micro batteries is still lower due to the high degree of manual operation, especially for drilling process where more precise position control is needed. More effort is still required to improve the capability of automatic manufacturing processes. The new battery technology will support the development of smaller and lighter miniature sensors at PNNL and could potentially contribute to the large-scale manufacturing capabilities of micro batteries in US with reliable performances and long-term shelf life.

25 ENERGY STORAGE↗
DOE OSTI2020

Joint Channel Equalization and Symbol Detection for IoT Devices in Severe Multipath Channels

Internet of Things (IoT) devices often transmit very short message blocks without strong error correction coding or pilots for channel equalization. When the transmitted signals encounter a severe multipath channel, the receiver is often unable to equalize the resulting inter-symbol interference (ISI) via traditional methods, leading to a high retransmission rate. This paper proposes a joint channel equalization and symbol detection scheme for this scenario by utilizing the preamble sequence as a training pilot for equalization and the relatively weak cyclic redundancy check (CRC) 8-Dallas code for error correction. By assuming a sparse channel impulse response, the proposed joint channel equalization and symbol detection scheme formulates an l1 norm constrained optimization problem and solves it by a saddle-point algorithm. The proposed algorithm is applied to a set of real-world underwater animal tracking IoT data, and the results show improvement of correct message detection rate from 21:5% to 41:6%.

Jing, Shusen↗
DOE OSTI2024

Intrinsic and environmental drivers of pairwise cohesion in wild Canis social groups

Animals within social groups respond to costs and benefits of sociality by adjusting the proportion of time they spend in close proximity to other individuals in the group (cohesion). Variation in cohesion between individuals, in turn, shapes important group-level processes such as subgroup formation and fission–fusion dynamics. Although critical to animal sociality, a comprehensive understanding of the factors influencing cohesion remains a gap in our knowledge of cooperative behavior in animals. We tracked 574 individuals from six species within the genus Canis in 15 countries on four continents with GPS telemetry to estimate the time that pairs of individuals within social groups spent in close proximity and test hypotheses regarding drivers of cohesion. Pairs of social canids (Canis spp.) varied widely in the proportion of time they spent together (5%–100%) during seasonal monitoring periods relative to both intrinsic characteristics and environmental conditions. The majority of our data came from three species of wolves (gray wolves, eastern wolves, and red wolves) and coyotes. For these species, cohesion within social groups was greatest between breeding pairs and varied seasonally as the nature of cooperative activities changed relative to annual life history patterns. Across species, wolves were more cohesive than coyotes. For wolves, pairs were less cohesive in larger groups, and when suitable, small prey was present reflecting the constraints of food resources and intragroup competition on social associations. Pair cohesion in wolves declined with increased anthropogenic modification of the landscape and greater climatic variability, underscoring challenges for conserving social top predators in a changing world. We show that pairwise cohesion in social groups varies strongly both within and across Canis species, as individuals respond to changing ecological context defined by resources, competition, and anthropogenic disturbance. Our work highlights that cohesion is a highly plastic component of animal sociality that holds significant promise for elucidating ecological and evolutionary mechanisms underlying cooperative behavior.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Light-Level Geolocation of the LANL Population of Western Bluebirds

Options for tracking and reconstructing animal movement are increasingly accessible due to rapidly decreasing costs, smaller sizes, and a proliferation of analytical inference techniques (Rutz and Hays, 2009; Wikelski et al., 2007). A wide variety of options exists for determining movement patterns of animals—from high-resolution pinpoint ARGOS satellite tags to time-consuming and logistically challenging radio telemetry. One option, light-level geolocation, offers small, affordable devices with long battery lives known as global location sensors (GLS), making them ideal for gathering preliminary migratory data. Geolocation works by inferring patterns of animal movement from light-level transitions between day and night (Hill and Braun, 2001). The recent advances in tracking technologies allow biologists to zoom in on migratory behavior, delineating heretofore-unidentified intraspecific migratory behavior (Delmore et al., 2012). The ubiquity of migratory divides (populations within a species that exhibit different migratory patterns) remains largely unknown, but their existence can lead to favorable demographic metrics (e.g., genetic diversity) in conservation contexts (Møller et al., 2011) and necessitate the development of population-specific conservation plans (Delmore et al., 2012). Delimiting the populations within a species that migrate and the extent of their migrations relative to individuals that remain resident across a species’ range has important evolutionary, ecological, and conservation implications. Within this context, Los Alamos National Laboratory (LANL) biologists have leveraged the local Avian Nestbox Network (ANN; Fair and Myers, 2002) to evaluate the migratory behaviors of a common local bird species, the Western Bluebird (Sialia mexicana).

47 OTHER INSTRUMENTATION↗
DOE OSTI2022

Technical Performance and Cost Optimization of Unobtrusive Multi-static Serial LiDAR Imager (UMSLI) for Wide-area Surveillance and Identification of Marine Life at Marine Energy Installations

Florida Atlantic University developed an underwater optical monitoring system prototype - Unobtrusive Multi-static Serial LiDAR Imager (UMSLI) - suitable for marine energy full project lifecycle observation (baseline, commissioning, and decommissioning), with an automated real-time classification of marine animals. With precursor 2014 DOE funding (award DE-EE0006787), a prototype UMSLI was demonstrated in a controlled laboratory environment and achieved a TRL 6. This EERE DE-EE0007828 award aimed to both increase the TRL of the UMSLI by improving the technology performance (e.g., increase distance of marine animal target detection capability, add additional species classification capabilities, improve the system performance during the day, etc.) and reduce the cost. The UMSLI presents a novel application of underwater distributed Light Detection And Ranging (LiDAR), an advanced remote sensing method that uses light in the form of laser pulses for an application, this paired with an algorithm provides 360 degrees underwater detection, imaging, and classification of marine life. This solution for underwater monitoring of biota preserves the advantages of traditional optical and acoustic solutions while overcoming many associated disadvantages for marine energy site environmental monitoring, such as difficulties in species detection and classification in low light or night and turbid environments. This new approach is a purposefully designed, reconfigurable adaptation of an existing class 3B laser technology into one UMSLI instrument that can be easily mounted on or around different classes of marine energy equipment, such as devices to capture ocean current energy or wave energy. The system uses relatively low average power, utilizes far-red (> 635nm) laser illumination to be invisible and eye-safe to marine animals, is compact, and cost-effective. The equipment is designed for long-term, maintenance-free operations (i.e., current design is targeting more than 7 days continuous operation), to inherently generate a sparse primary dataset that only includes detected anomalies, and to allow robust real-time automated animal classification and identification with a low data bandwidth requirement. The technology’s overarching goal for application, is a system that can be deployed to collect pre-installation baseline species observations at a proposed marine energy deployment site with minimal post-processing overhead. The envisioned system will also produce high-resolution imagery of marine animals through a wide range of conditions and support automated tracking and notification of the presence of managed animals within established perimeters of marine energy equipment to satisfy deployed marine energy projects’ endangered and threatened species monitoring requirements. Through the current project, we demonstrated the UMSLI prototype in an operational environment and increased the UMSLI’s Technology Readiness Level from 6 to 7. The project resulted in many novel technologies, including: 1) an eye-safe red laser based, low-cost LiDAR system that can detect targets up to 10 meters distance; 2) the GAN-based machine learning underwater LiDAR image enhancement technique (this is the first known application of GAN technique in underwater LiDAR); 3) LiDAR-based real-time automated detection capabilities; and 4) a template matching based automated classification tool. These technologies build a solid foundation for future efforts to develop an extended range electro-optical monitoring system suitable for marine energy deployments. In addition to technology development, a key lesson learned is that addressing regulatory and safety requirements must be front and center in any marine energy monitoring applications.

16 TIDAL AND WAVE POWER↗
DOE OSTI2021

The NIH Somatic Cell Genome Editing program

The move from reading to writing the human genome offers new opportunities to improve human health. The United States National Institutes of Health (NIH) Somatic Cell Genome Editing (SCGE) Consortium aims to accelerate the development of safer and more-effective methods to edit the genomes of disease-relevant somatic cells in patients, even in tissues that are difficult to reach. Here we discuss the consortium’s plans to develop and benchmark approaches to induce and measure genome modifications, and to define downstream functional consequences of genome editing within human cells. Central to this effort is a rigorous and innovative approach that requires validation of the technology through third-party testing in small and large animals. New genome editors, delivery technologies and methods for tracking edited cells in vivo, as well as newly developed animal models and human biological systems, will be assembled—along with validated datasets—into an SCGE Toolkit, which will be disseminated widely to the biomedical research community. We visualize this toolkit—and the knowledge generated by its applications—as a means to accelerate the clinical development of new therapies for a wide range of conditions.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2022

Bio-inspired bistable piezoelectric energy harvester for powering animal telemetry tags: Conceptual design and preliminary experimental validation

Here, this paper presents the conceptual design, preliminary experimental validation, and performance evaluation of a novel bio-inspired bi-stable piezoelectric energy harvester for self-powered animal telemetry tags. The overall conceptual design, which includes a bio-inspired attachment and a bi-stable piezoelectric energy harvester, is introduced firstly with a specific application example of marine fish tracking. The self-powered telemetry tag can be externally deployed on fish (dorsal fin) to monitor fish habitats, population, and underwater environment. Inspired by the Venus flytrap's rapid shape transition, a bi-stable piezoelectric energy harvester is developed to scavenge energy from fish maneuvering and the surrounding fluid flow for a sustainable power supply. The bistability of the harvester is characterized by the measured force-displacement curve and double potential wells. A bluff body is integrated to the free end of the bistable piezoelectric energy harvester to enhance the structure-fluid interaction for the large-amplitude snap-through vibrations and higher voltage output. Controlled laboratory experiments are conducted in a water tank on the bio-inspired bi-stable piezoelectric energy harvester using a servo motor system to simulate fish swing motion at various conditions to evaluate the power generation performance. The preliminary underwater experimental results demonstrated that the proposed bio-inspired bi-stable piezoelectric energy harvester could effectively convert fish swing motions into electricity. The device collected 17.25 mJ of energy over 130 s under a peak-to-peak swing angle of 30° at 1.5 Hz in the capacitor charging experiments.

Animal tracking↗
DOE OSTI2021

ThermalTracker 3D

ThermalTracker-3D is a stereo-vision solution for evaluating flight tracks of birds and bats around offshore wind turbines. Using a pair of thermal video cameras, the technology remotely senses movement of animals and objects, day and night, near critical assets. It generates motion tracks by collapsing a sequence of video frames from each camera into a single image that contains an entire flight track and then applies stereo-vision processing to transform the flight track into three dimensions. The approach allows tracking in near real time and automatically identifies moving objects based on features from the motion track and object size.

Matzner, Shari↗