Implementation of opto-digital stereo object tracking system

In this paper, a new opto-digital stereo object tracking system using the variable window mask and the optical binary phase extraction joint transform correlator (BPEJTC) is proposed. At the first step, with the distance information from the stereo camera to the tracking object easily acquired by the structural elements of a stereo vision system, the area of the tracking object can be digitally extracted by using the variable window mask. And, at the second step, by carrying out the optical BPEJTC between this reference image obtained from the variable window mask and the stereo input image, the coordinates of the tracking object's location can be acquired, and then with these values, the convergence angle and the pan/tilt of the stereo tracking camera can be finally controlled. From some experimental results, the proposed system is found to be able to effectively extract the area of the target object from the input image having the background noises by using the variable window mask. And, with the location values of the tracking object obtained by using the optical BPEJTC, the convergence angle and the pan/tilt of the stereo cameras can be controlled. Finally, a feasibility of real-time implementation of the adaptive stereo object tracking system using the proposed algorithm is also suggested.     

Simple and fast rail wear measurement method based on structured light

In this paper, a fast and accurate rail wear measurement method based on simple equipments is presented. The inner rail profile is measured by a line structured light vision sensor. Using the centers of the big and small circle from the rail waist profile as control points, the measured rail profile is registered to the reference profile. The rail wear, including the vertical and horizontal rail wear, is computed by comparing the registered measured profile with the reference profile. The method has three key contributions: (1) the rail waist light stripe center points in the images are located fast and accurately by first tracking the region containing the rail waist light stripe using the Kalman filter and then computing the sub-pixel precision image coordinates by Hessian matrix at pixels. (2) The rail waist profile is segmented automatically into arcs of big and small circles by thresholding the normal angle curve of the measured rail waist profile. The centers of the two circles are used as control points for registering the measured rail profile to the reference profile. (3) The fast location of rail wear points in the images is realized by projecting the rail wear constraint points to the image, which simplifies the problem of computing rail wear from 2d image processing to 1d searching along the line segment connecting two rail wear constraint points. Experiments show that the proposed method can achieve 500 fps measurement frequency. At a train speed of 350 km/h, the interval between two consecutive measurements is about 190 mm. The system is tested on a real running train, and the measurement results are compared with those rail wear measured manually by special gage. The RMS errors of vertical and horizontal rail wears are 0.34 and 0.30 mm, respectively.     

Rapid 3D surface profile measurement of industrial parts using two-level structured light patterns

This paper aims to present a rapid 3D shape measurement system based on novel monochromatic structured light patterns. The system consists of projectors shooting the fringe patterns onto the inspected parts and cameras recording the corresponding distorted images. Using the two-level fringe patterns, the correspondence between the projector image and camera image can be established with sub-pixel accuracy. The two-level pattern is based on three spatiotemporal binary stripes, in which the value of the stripe boundary (first-level coding) is determined by the two adjacent stripes patterns over time and the codeword of the strip boundary (second-level coding) depends on its values and neighbor boundary values in space. The proposed pattern is robust to ambience light variation and part texture. Moreover, the occlusion can be overcome and high density measurement can be achieved. Experiments with different 3D parts are conducted to evaluate the robustness and accuracy of the inspection system using the two-level patterns. The results show that the system has desired properties of high accuracy, high density, rapid acquisition, and robustness, which are essential for industrial application.     

基于线结构光的双目三维体积测量系统

针对工业应用中工件的体积测量问题,设计了一个基于双目立体视觉原理的体积测量系统。线结构光投射到被测物表面产生变形的激光条纹,精确提取光条中心线,利用极线约束实现左右图像特征点匹配;根据双目视觉原理,由光条图像坐标计算出其在相机坐标系下的三维坐标,完成三维重建;将相机坐标系下的三维点云转换到理想的世界坐标系下,经过积分计算得到被测物体积。采用该系统对不规则棱锥实现三维重建,并完成体积测量。实验结果表明该方法具有一定的可行性和有效性,在工业检测领域有较好的应用前景。     

Defocus and binocular vision based stereo particle pairing method for 3D particle tracking velocimetry

We propose a new method, based on the depth-from-defocus technique and binocular vision, for solving the stereo particle pairing problem in 3D particle tracking velocimetry (PTV). Firstly, the apparent particle depth is measured with a single camera, using the depth-from-defocus technique. Secondly, a strict mathematical model of the particle-to-particle correspondence relationship between the left and right images, taking into account the refractions at the interfaces in the optical path, is presented, with the assumption that the apparent particle depth is measured. Thirdly, based on the apparent particle depth and particle-to-particle correspondence relationship, the epipoplar line is truncated into a short line segment by cutting off, where the apparent particle depth extends beyond its estimated range. For the first time, the range of the blur circle radius is employed as an additional stereo particle pairing constraint. Finally, the optimal pairing particle is selected by applying the epipolar line segment and blur circle radius constraints. The experimental results show that the rate of correct pairing is significantly improved compared with the epipolar line nearest neighbor analysis, especially when the particle density is increasing.     

A high dynamic range structured light means for the 3D measurement of specular surface

This paper presents a novel structured light approach for the 3D reconstruction of specular surface. The binary shifting strip is adopted as structured light pattern instead of conventional sinusoidal pattern. Based on the framework of conventional High Dynamic Range (HDR) imaging technique, an efficient means is first introduced to estimate the camera response function. And then, dynamic range of the generated radiance map is compressed in the gradient domain by introducing an attenuation function. Subject to the change of lighting conditions caused by projecting different structured light patterns, the structure light image with middle exposure level is selected as the reference image and used for the slight adjustment of the primary fused image. Finally, the regenerated structured light images with well exposing condition are used for 3D reconstruction of the specular surface. To evaluate performance of the method, some stainless stamping parts with strong reflectivity are used for the experiments. And the results showed that, different specular targets with various shapes can be precisely reconstructed by the proposed method.     

Inspecting verticality of cylindrical workpieces via multi-vision sensors based on structured light

In mechanical manufacturing industry, cylindrical workpiece is one of the most commonly used type of man-made workpieces, and the verticality inspection is a very important task for guaranteeing the quality of the workpieces. In this paper, we proposed a system to inspect the verticality of cylindrical workpieces via multi-vision sensors based on structured light, which has many advantages compared with the traditional methods: fast, on-line, non-contact, flexible and remarkably more accurate. The principles and methods about how to inspect the verticality were given in details, and a real system was set up to carry out the experiments. In the system, a “sensor-unit” which consists of two stripe structured light sensors is used to address the problem of short light stripe. The experiment results indicate a high capability of the proposed system for inspecting large workpieces.     

虚拟坐标激光动态跟踪测量系统中光路的琼斯矩阵分析

激光跟踪测量系统应用于工业领域 ,实现动态目标的实时跟踪和虚拟坐标的测量 ,是测控一体化的计算机集成系统。推导出该系统中光学系统的琼斯矩阵 ,采用矢量分析的方法 ,分析了光学系统 (包括分束器、平面跟踪镜和角锥棱镜 )对于任意方向入射光偏振态的影响以及光强变化的影响。在数值仿真的基础上 ,对光学系统进行优化设计 ,提高整个系统的跟踪测量性能。     

Experimental measurement and analysis of the optical trapping force acting on a yeast cell with a lensed optical fiber probe

Based on an optical trapping system with a single-lensed fiber probe inserted at an angle, the sub-picoNewton trapping force acting on a yeast cell as a function of the displacement is measured experimentally by the static and dynamic methods, respectively, whose measurement processes are presented in detail. The measured maximum trapping efficiency is 0.07 in our experiment, which is an order of magnitude lower than that of the optical tweezers. The characteristics of the trapping force in the various horizontal directions are discussed. Finally, the analysis of the measurement error shows the factors and their magnitude which cause error, and offers a way to reduce the error in future.     

3-D surface profilometry based on modulation measurement by applying wavelet transform method

A new analysis of 3-D surface profilometry based on modulation measurement technique by the application of Wavelet Transform method is proposed. As a tool excelling for its multi-resolution and localization in the time and frequency domains, Wavelet Transform method with good localized time-frequency analysis ability and effective de-noizing capacity can extract the modulation distribution more accurately than Fourier Transform method. Especially for the analysis of complex object, more details of the measured object can be well remained. In this paper, the theoretical derivation of Wavelet Transform method that obtains the modulation values from a captured fringe pattern is given. Both computer simulation and elementary experiment are used to show the validity of the proposed method by making a comparison with the results of Fourier Transform method. The results show that the Wavelet Transform method has a better performance than the Fourier Transform method in modulation values retrieval.     

基于单数码相机的三维视觉测量数据拼接方法

针对大型物体三维形貌视觉测量,提出了一种新的视觉测量三维数据拼接方法。以一台高分辨率数码相机作为全局测量设备,在测量过程中固定不动,并以数码相机坐标系作为全局坐标系。视觉传感器流动到不同位置对物体各子区域进行测量,获得局部坐标系下的三维数据。以一平面靶标为中介将视觉传感器在各位置的局部坐标系统一到全局坐标系下,从而将三维数据统一到全局坐标系下,完成三维拼接。该方法无需在被测物上贴标记,因此适用于任何材质的被测物,且消除了拼接累积误差。实验结果表明,该方法相对拼接误差为0.076%。以Venus石膏像为被测对象,视觉传感器对其三个局部区域进行测量,给出了局部测量结果及拼接结果。     

Review of surface profile measurement techniques based on optical interferometry

With the fast development of modern science and technology, two or three-dimensional surface profile measurement techniques with high resolution and large dynamic range are urgently required. Among them, the techniques based on optical interferometry have been widely used for their good properties of non-contact, high resolution, large dynamic measurement range and well-defined traceability route to the definition of meter. A review focused on surface profile measurement techniques of optical interferometry is introduced in this paper with a detailed classification sorted by operating principles. Examples in each category are discussed and analyzed for better understanding.     

基于opencv的单目视觉测量系统的研究

_{介绍一种基于机器视觉的测量工件宽度的新方法,在开源计算机视觉库OpenCV的支持下,设计并实现一种对工件宽度进行动态实时测量的系统。为了降低其它光的影响,在CCD镜头下面固定一块红光滤光片,系统通过采集经红光线激光器投射的工件图像,对图像进行二值化、截取感兴趣区域、轮廓提取等处理,最后实现工件宽度的自动测量。对不同尺寸的工件进行了自动测量实验,实验结果表明,采用的测量方法在实际工件测量中是可用的,整个测量过程用时在100ms左右,最大相对误差不超过1.5%。}     

A novel optical polarimeter based on the signal width measurement of the waveform

For the optical polarimeter based on the structure of polarizer–Faraday modulator–analyzer, a novel method of optical rotation measurement was proposed by the waveform analysis of optical intensity signals. The calculation method of the optical rotation was provided by measuring the signal width of the waveform. Furthermore, the optical rotations of sugar solutions with different concentrations were measured by this method, and the fitting degree of obtained fitting curve is 0.9996. This showed that this method was effective.     

A composite-structured-light 3D measurement method based on fringe parameter calibration

This paper proposes a novel method for reducing measurement error caused by spectrum overlapping in composite-structured-light 3D measurement systems. For a composite-structured-light 3D measurement system, spectrum overlapping causes parameters of each deformed phase-shifting fringe to change, and therefore leads to phase measurement errors. The proposed fringe parameter calibration method is based on the fact that variations in each deformed fringe's parameters are independent of height and reflectivity of the measured object. Three frames of composite grating are projected on the reference plane, and each carrier channel includes the information of three phase-shifting sinusoidal gratings used in Phase Measuring Profilometry (PMP). With the parameter calculation formulas of PMP, the parameters of fringes demodulated from the same carrier channel can be calculated, and therefore parameter relation coefficients between fringes demodulated from different carrier channels may be obtained. When an object is measured, these relation coefficients can be used to calibrate the parameters of the deformed phase-shifting fringes. A new 3D measurement mathematical model is established to reconstruct the shape of the object. Experimental data proved that the proposed method can effectively restrain the effect of spectrum overlapping and improve measurement accuracy by more than three times.     

High-accuracy and real-time 3D positioning,tracking system for medical imaging applications based on 3D digital image correlation

This paper presents a system for positioning markers and tracking the pose of a rigid object with 6 degrees of freedom in real-time using 3D digital image correlation, with two examples for medical imaging applications. Traditional DIC method was improved to meet the requirements of the real-time by simplifying the computations of integral pixel search. Experiments were carried out and the results indicated that the new method improved the computational efficiency by about 4–10 times in comparison with the traditional DIC method. The system was aimed for orthognathic surgery navigation in order to track the maxilla segment after LeFort I osteotomy. Experiments showed noise for the static point was at the level of 10⁻³ mm and the measurement accuracy was 0.009 mm. The system was demonstrated on skin surface shape evaluation of a hand for finger stretching exercises, which indicated a great potential on tracking muscle and skin movements.     

基于光流分层方法的平面3D运动估测

无人机自主着舰末端视觉导引中舰机间相对位姿的估测,可以看作机载摄像机对甲板平面3D运动的估测。提出了一种光流分层方法:首先利用已知焦距的机载摄像机拍摄着舰靶标区域的图像序列,并采用Lucas方法计算相邻两帧图像的光流场;而后通过分层模型,将由光流场进行3D运动检测的非线性问题转化为了两个线性问题。该方法无需图像间的特征匹配,可线性解算出着舰靶标区域相对于无人机的三维运动参数,进而得到舰机间的相对位姿信息。计算机合成图和摄像机实拍图像的实验结果验证了该算法的正确性和有效性。     

基于生物视觉center-surround机制的光团目标检测与跟踪

基于生物视觉的center-surround机制,提出一种用改进的LoG(Laplacian of Gaussian)算子检测光团目标的方法。首先明确了光团目标的成像模型,分析了LoG算子的性质及其响应,接着提出了归一化的LoG算子。理论上指出该算子可用于检测光团目标。仿真和实验证明：该算子可以用于检测图像中已知大小和未知大小的光团目标,并且实用性优于其他常规方法。结合Kalman滤波和粒子滤波,该算子还可以用于序列图像中单目标和刚体的跟踪。理论推导和实验结果表明,该方法是稳健和高效的。     

基于计算机视觉的非朗伯表面三维重构

基于计算机视觉的三维重构方法已经广泛应用在各行各业中。目前的三维重构研究主要针对不透明的朗伯表面,且已经比较成熟,但对非朗伯表面仍然面临诸多问题。而实际场景中的物体表面大多是非朗伯表面,因而,随着实际应用的推广,非朗伯表面的三维重构问题在计算机视觉领域越来越受到关注。虽然本现状研究不能完全涵盖针对非朗伯表面三维重构的所有方法,但它包涵了三维重构每个步骤中的各种典型方法。文中按照图像获取过程中的照明方式和重构原理对现有方法进行了分类,并逐类进行了介绍。由于不存在公共测试网络平台和带有标准视差的非朗伯表面立体图像集,因而,很难对各种算法的计算效率和匹配质量进行比较,文中主要对非朗伯表面的现有三维重构方法的原理、特点、适用范围和最新研究方向进行了介绍,对非朗伯表面三维重构的现有问题和发展前景进行了讨论。     

基于自由曲面的裸眼3D显示柱透镜光栅设计

设计了一种用于裸眼3D显示屏的低串扰新型双面柱透镜光栅板,光栅板的入射面为等间距排列的与显示器子像素数量相同的凹形自由曲面光栅结构,出射面为斜置的凸形自由曲面光栅结构.根据裸眼3D显示原理和几何光学原理推导了双面光栅板的光栅单元自由曲面设计公式和光栅参数计算公式.通过MATLAB编程计算和SolidWorks软件建模得到光栅板模型.用TracePro软件对所设计的光栅板模型进行光线追迹仿真,结果表明:参数优化后的6视点斜置柱透镜双面光栅3D显示在最佳视角的图像串扰度为0.068%,与传统6视点斜置柱透镜光栅的最佳视角图像串扰度相比降低了2个数量级,并且在观看距离2 000mm~3 000mm范围内图像串扰度基本不变.