Fig. 1 A heliostat reflection image taken from Sandia National Laboratories' National Solar Thermal Test Facility More about this image found in A heliostat reflection image taken from Sandia National Laboratories' Natio...

Fig. 2 The steps of the NIO method. ( a ) Collect images of the reflected tower scanning the heliostat surface using a UAS, ( b ) Calculate the camera position and detect heliostat and tower reflection features for each frame, and ( c ) Create a 3D model containing the known camera and estimate to... More about this image found in The steps of the NIO method. ( a ) Collect images of the reflected tower sc...

Fig. 3 Illustration of the collinearity relationship between the camera position coordinates, 3D world points in the camera FOV and the corresponding points on the camera sensor More about this image found in Illustration of the collinearity relationship between the camera position c...

Fig. 4 Shows the 3D world points grid as a flat heliostat, the camera position, and the ideal sensor space where the pixels lie. f C denotes the focal length of the camera. The line connecting the point on the 3D grid to the sensor denotes the mapping of a 3D world point to the ideal sens... More about this image found in Shows the 3D world points grid as a flat heliostat, the camera position, an...

Fig. 5 ( a ) The Crescent Dunes heliostat grid. ( b ) The Ashalim heliostat grid. ( c ) The Heliogen heliostat grid. Specifications for each heliostat geometry are given by Table 1 . More about this image found in ( a ) The Crescent Dunes heliostat grid. ( b ) The Ashalim heliostat grid. ...

Fig. 6 Illustration of the method used to estimate a minimum heliostat-to-camera distance ( D C ) based on the heliostat-to-tower distance to ensure that the tower reflection will span heliostat aperture height More about this image found in Illustration of the method used to estimate a minimum heliostat-to-camera d...

Fig. 7 The mean camera position error Δ X C of the camera position calculation over 1000 trials with respect to number of control points for the Crescent Dunes heliostat for a camera at a distance of ( a ) 20 m, ( b ) 60 m, and ( c ) 115 m for each of the camera vectors given in Table 3... More about this image found in The mean camera position error Δ X C of the camera position calcu...

Fig. 8 The standard deviation of the camera position error Δ X C of the camera position calculation over 1000 trials with respect to number of control points for the Crescent Dunes heliostat for a camera at a distance of ( a ) 20 m, ( b ) 60 m, and ( c ) 115 m for each of the camera vect... More about this image found in The standard deviation of the camera position error Δ X C of the ...

Fig. 9 The mean of the camera position error Δ X C of the camera position calculation over 1000 trials with respect to number of control points for the Ashalim heliostat for a camera position at a distance of ( a ) 10 m, ( b ) 15 m, and ( c ) 35 m for each of the camera vectors given in ... More about this image found in The mean of the camera position error Δ X C of the camera positio...

Fig. 10 The standard deviation of the camera position error Δ X C of the camera position calculation over 1000 trials with respect to number of control points for the Ashalim heliostat for a camera at a distance of ( a ) 10 m, ( b ) 15 m, and ( c ) 35 m for each of the camera vectors giv... More about this image found in The standard deviation of the camera position error Δ X C of the ...

Fig. 11 The mean camera position error for the calculated camera position over 1000 trials with respect to camera distance for pixel precision range of 1, 2, and 3 px for the ( a ) Crescent Dunes, ( b ) Ashalim, and ( c ) Heliogen heliostats. The camera position is given by (0,0, z ) in the helios... More about this image found in The mean camera position error for the calculated camera position over 1000...

Fig. 12 The standard deviation of the camera position error for the calculated camera position over 1000 trials with respect to camera distance for pixel precision range of 1, 2, and 3 px for the ( a ) Crescent Dunes, ( b ) Ashalim, and ( c ) Heliogen heliostats. The camera position is given by (0... More about this image found in The standard deviation of the camera position error for the calculated came...

Fig. 13 The mean camera position error for the camera position calculation averaged over 1000 trials with respect to increasing canting and facet mounting precision for the Crescent Dunes heliostat for a camera position at a distance of ( a ) 20 m, ( b ) 60 m, and ( c ) 115 m for each of the camer... More about this image found in The mean camera position error for the camera position calculation averaged...

Fig. 14 The standard deviation of the camera position error for the camera position calculation averaged over 1000 trials with respect to increasing canting and facet mounting precision for the Crescent Dunes heliostat for a camera position at a distance of ( a ) 20 m, ( b ) 60 m, and ( c ) 115 m ... More about this image found in The standard deviation of the camera position error for the camera position...

Fig. 15 The mean camera position error for the camera position calculation averaged over 1000 trials with respect to increasing canting and facet mounting precision for the Ashalim heliostat for a camera position at a distance of ( a ) 10 m, ( b ) 15 m, and ( c ) 35 m for each of the camera vector... More about this image found in The mean camera position error for the camera position calculation averaged...

Fig. 16 The standard deviation of the camera position error for the camera position calculation averaged over 1000 trials with respect to increasing canting and facet mounting precision for the Ashalim heliostat for a camera position at a distance of ( a ) 10 m, ( b ) 15 m, and ( c ) 35 m for each... More about this image found in The standard deviation of the camera position error for the camera position...