面向大视场视觉测量的摄像机标定技术

提出了一种面向大视场高精度视觉测量的摄像机标定新方法,该方法采用亮度自适应的单个红外发光二极管(IR-LED)作为目标靶点,将该靶点固定在三坐标测量机的测头上,并依次精确移动至预先设定的空间位置,每次靶点到达设定的空间位置时,摄像机对靶点进行图像采集。利用三坐标测量机的精确位移,在三维空间构成一个虚拟立体靶标。针对虚拟立体靶标在大视场摄像机标定中只能覆盖一小部分标定空间的问题,通过自由移动摄像机在多个方位对虚拟立体靶标进行拍摄,使得多个虚拟立体靶标分布于整个标定空间。摄像机在每个方位对虚拟立体靶标的拍摄都标定出一组摄像机的内、外参数,然后以摄像机内参数和摄像机在各个方位下拍摄的虚拟立体靶标在摄像机坐标系下的位置及姿态参数为优化变量,建立以所有三维靶点位置重投影误差平方和为最小的目标函数,采用非线性优化方法求解摄像机标定参数的最优解。该方法较好地解决了大视场视觉测量中大尺寸靶标加工困难、摄像机标定精度难以保证的问题。仿真和实际标定实验均证明此方法可以有效提高大视场摄像机的标定精度。     

Quantum efficiency calibration of opto-electronic detector by means of correlated photons method

A new calibration method of detectors can be realized by using correlated photons generated in spontaneous parametric down-conversion (SPDC) effect of nonlinear crystal.An absolute calibration system of detector quantum efficiency is performed.And its principle and experimental setup are introduced.A continuouswave (CW) ultraviolet (351 nm),diode-pumped,frequency-doubled,and solid-state laser is used to pump BBO crystal.The quantum efficiencies of the photomultiplier at 633,702,and 789 nm are measured respectively.The coincidence peaks are observed using coincidence circuit.Some measurement factors including the filter bandwidth of trigger channel,the detector position alignment and polarization of the pump light are analyzed.The uncertainties of this calibration method are also analyzed,and the relative uncertainties of total calibration are less than 5.8%.The accuracy of this method could be improved in the future.     

光电校靶中捷联惯导轴线的表征校准方法

光电校靶采用捷联惯导系统,需将惯导轴线用光电自准直系统表征捷联,用于对设备轴线的测量。光电自准直系统所表征的轴线与惯导轴线的一致性是影响校靶精度的重要因素,为提高光电校靶系统测量精度和效率,提出了一种惯导轴线的光电表征和校准方法。该方法是在分析测量结果偏差与一致性关系的基础上,采用实验数据拟合的方式得到自准直系统光轴与惯导轴之间的角度偏差值,用于系统修正,从而实现高精度校准。通过试验,将传统光机校正法和光电校准法结合使用,可大幅度提高系统校正效率,同时得到惯导与光轴一致性精度在15″以内。试验结果表明,与传统光学平晶引出的光机校正法相比,该方法的表征准确度和校准精度更高,适用于高精度惯性测量系统。     

A vision measurement model of laser displacement sensor and its calibration method

Laser displacement sensors (LDSs) use a triangulation measurement model in general. However, the non-linearity of the triangulation measurement model influences the measurement accuracy of the LDS, and the geometric parameters calibration process of the components of the LDS is tedious. In this paper, we present a vision measurement model of the LDS based on the perspective projection principle. Furthermore, a corresponding calibration method is proposed. A planar target with featured lines is moved by a 2D moving platform to some preset known positions. At each position, the world coordinates of calibration points are obtained by the cross ratio invariance principle and the linear array camera of the LDS is used for collecting target images. The simulations verify the effectiveness of the proposed model and the feasibility of the calibration method. The experimental results indicate that the calibration method achieves a calibration accuracy of 0.026 mm. Compared with the traditional measurement model, the vision measurement model of the LDS is more comprehensive and avoids a linear approximation procedure, and the corresponding calibration method is easily complemented.     

基于太阳漫射板的星上定标方法研究

基于太阳漫射板的星上定标方法是一种具有高精度、高频次、高效率等优点的独立定标方法,是目前提高我国遥感定标精度的重要手段之一。文章阐述了基于太阳漫射板的星上定标原理、方法及实现过程,建立了空间辐射标准,同时给出了星上反射率定标物理模型。分析定标物理模型发现,影响星上定标不确定度最主要的因素是太阳漫射板BRDF实时量值的确定。为此,首先介绍了星上定标时机的选择,根据所确定定标时机的太阳照明角度对太阳漫射板在实验室相应入射角度下的BRDF进行了测量。通过对太阳漫射板从制作完成到星上使用寿命终结整个过程中各阶段的BRDF量值的监测及修正,确保太阳漫射板定标时刻可为遥感器提供精确已知的辐射输入,实现遥感器全寿命期的高精度星上定标。最后,结合国内对定标模型中相关参数项测量的不确定度水平,按照测量不确定度B类评定的方法对基于太阳漫射板星上定标不确定度进行了预估,可实现星上反射率定标不确定度优于2.03%,绝对辐射定标方法不确定度优于2.04%。     

水下目标回波盲分离性能的瞬时频率特征评价方法

在水下主动声呐目标回波与混响盲分离中,针对分离结果顺序不确定性以及缺乏分离有效性衡量手段的问题,提出了以信号瞬时频率特征为指标的盲分离性能评价方法。推导了目标回波与混响的时频分布特性,理论表明目标回波在瞬时频率序列的中心偏离程度以及整体随机程度上低于混响,据此提取信号的瞬时频率方差与瞬时频率熵两种信号特征,并将二者作为从盲分离结果中识别目标回波的依据。海试数据结果表明,在盲分离得到的所有分离信号中,目标回波具有最小的瞬时频率特征值,并且该特征值越小,目标回波与混响的盲分离程度就越高。      

基于动平台多源数据的运动目标测量方法研究

根据运动目标性能试验需求及试验平台的特点,建立一个影像数据测量系统,实现目标的运动视频记录和外部参数测量。采用基于OpenCV的棋盘格内参数标定结合基于平台上固定标识点、线为基准的外场标定的摄像机标定方法,采用高速影像数据、中线视频数据和GPS数据相结合的方法实现目标运动的轨迹、姿态等参数的测量。通过测量精度分析及多次试验结果证明,测量精度达到水平方向优于10 cm,高程方向优于5 cm,姿态精度优于05。     

声学回波统计的鱼群密度评估方法*

与传统的回波积分法相比，回波统计鱼群数量密度评估方法具有无需回波信号绝对量和鱼群中个体鱼的平均目标强度先验知识的优点。对该方法在鱼群数量密度评估上的应用问题进行了实验研究，并针对其中鱼群密度分布的不均匀性及统计样本量偏少导致评估结果偏差的问题，提出了一种基于能量阈值的鱼群回波数据预处理方法和统计样本的改进抽样方法，有效提高了该方法鱼群密度评估的精确度。与传统的回波积分法评估结果的对比分析表明，该评估方法适用于低密度鱼群的评估。     

近景大视场角分区域标定方法研究

针对飞行试验测量视场大相机标定精度低的问题,提出一种高精度CCD相机分区域标定方法。该方法首先通过将标靶均匀布置在摄像机视场内,使得标靶尽可能均匀错落地充满整个视场范围,再结合人眼判读的方式求解靶标的像面位置,最终与全站仪三维坐标形成精确的空间标定点集。接着,将像平面按横向方向等间距分割成Ｎ个区域,并结合后方交会的方法分别对每个子区域进行相机参数的计算。实验结果表明：经过分区域标定,相机采集点的总误差比单区域标定法降低了4％(Ｎ＝3)。算法可实现指定区域的相机参数计算,基本满足中高等精度的工业测量要求。所本文研究可应用于位置相对固定不变的工业视觉测量,特别是大工件测量领域。     

Calibration for stereo vision system based on phase matching and bundle adjustment algorithm

Calibration for stereo vision system plays an important role in the field of machine vision applications. The existing accurate calibration methods are usually carried out by capturing a high-accuracy calibration target with the same size as the measurement view. In in-situ 3D measurement and in large field of view measurement, the extrinsic parameters of the system usually need to be calibrated in real-time. Furthermore, the large high-accuracy calibration target in the field is a big challenge for manufacturing. Therefore, an accurate and rapid calibration method in the in-situ measurement is needed. In this paper, a novel calibration method for stereo vision system is proposed based on phase-based matching method and the bundle adjustment algorithm. As the camera is usually mechanically locked once adjusted appropriately after calibrated in lab, the intrinsic parameters are usually stable. We emphasize on the extrinsic parameters calibration in the measurement field. Firstly, the matching method based on heterodyne multi-frequency phase-shifting technique is applied to find thousands of pairs of corresponding points between images of two cameras. The large amount of pairs of corresponding points can help improve the accuracy of the calibration. Then the method of bundle adjustment in photogrammetry is used to optimize the extrinsic parameters and the 3D coordinates of the measured objects. Finally, the quantity traceability is carried out to transform the optimized extrinsic parameters from the 3D metric coordinate system into Euclid coordinate system to obtain the ultimate optimal extrinsic parameters. Experiment results show that the procedure of calibration takes less than 3 s. And, based on the stereo vision system calibrated by the proposed method, the measurement RMS (Root Mean Square) error can reach 0.025 mm when measuring the calibrated gauge with nominal length of 999.576 mm.     

Fish target strength estimation using multiple echo statistics

When fish strength is estimated indirectly from the sounder echo amplitudes, the inverse techniques of solving the so-called “single-beam integral equation” are quite satisfactorily used. This approach needs prior knowledge of the beam pattern PDF, as it represents the kernel of the integral equation to be solved and is usually calculated under the assumption of a uniform spatial distribution of fish. However, it may be shown that in some cases this assumption is not necessarily justified. For instance, when the density of fish increases, one receives multiple echoes from the same single fish in successive transmissions, which results in observing so-called fish echo traces. Typically used fish counting methods are either simple direct echo counting statistics or fish traces statistics [1]. Increased fish concentration is not only the reason of multiple echo formation resulting in the fish traces in consecutive pings. As it is easily seen from the geometry of the phenomenon, even a relatively low-density fish aggregation forms multiple echoes and, hence, fish traces if the vessel (or fish) relative speed is low enough and the beam pattern angular width (sampling volume) is large enough. In some situations, the uniform assumption works properly only for the cases of large numbers of samples. Taking into account this phenomenon, the accuracy of the solution can be improved by including the fish traces counting statistics in calculating the beam pattern PDF. In this paper, two different models of fish traces statistics are investigated: one assuming the vessel movement with stationary fish and the other with a stationary vessel and moving fish. Both approaches are modeled numerically and verified experimentally using the data obtained from a dual-beam system. The comparison of both approaches, i.e., for single echo traces and multiple echoes, is carried out using Windowed Singular Value Decomposition (WSVD) and Expectation Maximization and Smoothing (EMS) inverse techniques of fish target strength estimation in both the absolute domain (backscattering length estimation) and the logarithmic domain (target strength estimation).     

Diffuse surface calibration method to improve accuracy and dynamic range of aerosol elastic light scattering measurements

A new method to calibrate detectors for elastic light scattering (ELS) measurement based on diffuse scattering from a Lambertian surface is presented. The method produces a calibration signal that is approximately seven orders of magnitude larger than a propane gas Rayleigh scattering calibration. The method also allows for calibration of detectors such as photodiodes, which are not sensitive enough to detect Rayleigh scattering for calibration but possess characteristics desirable for the measurement of soot ELS. Since the method is only suitable for backward scattering calibrations, transfer of calibration data from a backward- to a forward-oriented detector is accomplished with a secondary laser and integrating sphere. In demonstration experiments, calibration constants for photomultiplier tube (PMT) detectors obtained using both Rayleigh scattering and diffuse surface scattering agreed within experimental uncertainties as did measurements of in-flame scattering coefficients obtained with PMTs and photodiodes. However, achievable uncertainties with the diffuse-surface calibration approach were significantly reduced. More importantly, by enabling the use of photodiode detectors in ELS measurements, the new method facilitates operation at higher photon fluxes resulting in improved signal-to-noise ratios, reduced influence of photon shot noise, and the ability to achieve higher dynamic range in transient measurements.     

A self-recalibration method based on scale-invariant registration for structured light measurement systems

The accuracy of structured light measurement depends on delicate offline calibration. However, in some practical applications, the system is supposed to be reconfigured so frequently to track the target that an online calibration is required. To this end, this paper proposes a rapid and autonomous self-recalibration method. For the proposed method, first, the rotation matrix and the normalized translation vector are attained from the fundamental matrix; second, the scale factor is acquired based on scale-invariant registration such that the actual translation vector is obtained. Experiments have been conducted to verify the effectiveness of our proposed method and the results indicate a high degree of accuracy.     

激光诱导叶绿素荧光寿命的测量及其特性分析

提出了一种用于评估植物生长状况及环境监测的激光诱导叶绿素荧光寿命测量方法. 采用波长355 nm的激光作为光源激发叶绿素荧光, 由光电倍增管接收其荧光信号, 由于被测叶绿素荧光衰减函数与激光脉冲、仪器响应函数卷积在一起, 根据它们的特性, 运用时间分辨测量法分别测得叶绿素荧光及其背景信号, 并结合一种新型解卷积算法可分离出真实的叶绿素荧光衰减函数, 从而获取叶绿素的荧光寿命. 测试结果表明: 该方法能够实现叶绿素荧光寿命的高精度实时监测, 对不同叶绿素含量的溶液荧光寿命进行了测试, 证明叶绿素含量与其荧光寿命具有相关性, 并且拟合了叶绿素含量与荧光寿命的标定曲线. 关键词： 荧光寿命 激光诱导荧光 时间分辨测量法 叶绿素含量     

激光跟踪虚拟坐标测量系统与自标定方法的实验研究

激光跟踪虚拟坐标测量系统满足了工业领域大型工件和空间形位测量所提出的要求。这些要求包括 :高精度、无导轨测量、动态实时跟踪测量、全姿态测量等。在实验室建立了基于角度 距离法的激光跟踪测量系统和基于纯距离法的多站跟踪测量系统 ,分别在三坐标测量机、光学平台光栅位移系统下进行了实际跟踪测量和精度比对实验。并运用虚拟坐标自标定算法在虚拟坐标系下确定了初始点位置、目标点坐标及各点间距离。最后 ,对两种方法的特点进行了分析比较     

基于精确光谱响应匹配的星载成像光谱仪交叉辐射定标

星载遥感器在轨运行中受到外太空环境以及遥感器自身特性衰变的影响,辐射特性会发生变化。为确保星载遥感数据能真实地反映被观测地物目标特征及其变化规律,需要定期对星载遥感器进行在轨辐射定标。环境小卫星超光谱成像仪(HJ1A/HSI)由于缺乏配套的星上定标系统,基于场地定标的方法难以满足高频次定标的需求。以EO-1/Hyperion为参考遥感器,以HJ1A/HSI为待定标遥感器,通过反卷积方法对两成像光谱仪光谱通道之间进行精确光谱响应匹配,消除波段设置的差异性,显著降低了HSI定标系数的不确定度。基于本定标方法得到的HSI 115个波段的绝对定标系数中,Band 1至Band 60之间的定标系数的不确定度稳定在5%～8%,除760 nm附近的氧气吸收波段与940 nm附近的水汽吸收波段外,其余波段的定标系数的不确定度为7%～18%,随着波长的增加,不确定度增大。与传统波段匹配方法相比,提高了约50%的精度,该定标精度基本可以满足遥感数据定量化应用的需求。该方法解决了在轨星载成像光谱仪光谱通道设置差异大、交叉定标精度低,难以实用的问题,为星载成像光谱仪高频率更新辐射定标数据提供了一种有效方法。     

高精度非致冷长波红外热像仪的辐射标定

为使非致冷长波红外热像仪在不同温度下保持较高的测温精度,建立了考虑探测器工作温度效应的非致冷长波红外热像仪的辐射标定模型。对非致冷长波红外热像仪进行辐射标定实验,在不同黑体温度和不同亮度增益值条件下,获得了16组图像灰度与探测器工作温度之间的函数关系,建立了目标温度的数学计算模型,并对定标结果进行了实验验证。结果表明：在25～40℃,探测器的工作温度效应可做线性化处理,且与目标温度无关。通过设定合适的亮度增益值可使红外热像仪的测温误差〈0.5℃,极大地提高了非致冷长波红外热像仪在不同温度环境下的测温精度。     

基于构建初始测量网络的相机内部参数校准

提出了一种基于构建初始测量网络的相机内部参数校准方法,有效解决了二维平面靶标在深度方向信息的不足以及三维靶标空间的限制等问题。通过对靶标板进行初始成像,按照测量网络的构建原则建立初始测量网络,经过后方交会求解外方位、前方交会求解空间三维靶标点坐标,最后由光束平差优化求解相机内部参数。利用标定后内部参数求解空间点坐标,实验结果表明,采用构建初始测量网的误差平均值为0.0794,优于平面靶标和立体靶标标定的-0.2443和-0.1916。同时校准所用时间也明显小于虚拟立体校准,即该方法具有快速、精确和方便等优点,满足大空间视觉测量中相机内部参数现场校准的要求。     

激光投影成像式运动目标位姿测量与误差分析

为了实现室内运动目标位姿的高精度测量,建立了一套激光投影成像式位姿测量系统.该系统利用两两共线且交叉排列在同一平面上的点激光投射器作为合作目标捷联在运动目标上,通过与光斑接收幕墙的配合共同组成运动目标位姿测量基线放大系统,利用高速摄像机实时记录幕墙上投影光斑的位置,利用摄像机标定结果求解投影光斑的世界坐标,利用投影光斑之间构成的单位向量建立运动目标位姿解算模型.最后,根据测量原理推导了图像坐标提取、摄像机外部参数标定、光束直线度与目标位姿解算结果之间的误差传递函数.实验结果表明,当摄像机的视场范围为14 000mm×7 000mm时,测量系统的姿态角测量精度为1′(1δ),位置测量精度为5mm,且误差大小与目标位姿测量误差传递函数理论计算值一致,验证了本文提出的目标位姿测量方法与测量误差传递模型的准确性,能够满足目标位姿测量高精度的要求.     

Preparation of sulfur reference materials that reproduce atmospheric particulate matter sample characteristics for XRF calibration

Energy‐dispersive X‐ray fluorescence (XRF) is an important tool used in routine elemental analysis of atmospheric particulate matter (PM) samples collected on polytetrafluoroethylene (PTFE) membrane filters. The method requires calibration against thin‐film standards of known elemental masses commonly obtained from commercial suppliers. These standards serve as a convenient and widely accepted interlaboratory reference but can differ significantly from samples in their chemical composition, substrate, and geometry. These differences can introduce uncertainties regarding the absolute accuracy of the calibration for atmospheric samples. Continuous elemental records of the US Interagency Monitoring of Protected Visual Environments (IMPROVE) PM monitoring network extend back to 1988. Evaluation of long‐term concentration trends and comparison with other networks demand a calibration that is accurate and precise compared with the uncertainty of the XRF measurement itself. We describe a method to prepare sulfur reference materials that are optimized for calibration of XRF instruments used to analyze IMPROVE PM samples. The reference materials are prepared by using the atmospheric form of the element, by reproducing the sample geometry, and by using the same substrate as in samples. Our results show that stable, pure, anhydrous, and stoichiometric deposits are collected onto the filter substrates, and furthermore, that the reference material masses are accurate and have acceptable uncertainty in the measurement range. The XRF response of the sulfur reference materials is similar to other commercial standards and is linear in the measurement range, and the slope of the multipoint calibration curve has very low uncertainty. These reference materials are valid for the calibration of XRF systems, and they bring improved transparency and credibility to the IMPROVE calibration. Copyright © 2013 John Wiley & Sons, Ltd.