Stereo vision sensor calibration based on random spatial points given by CMM

This paper presents a new, high-precision calibration method for stereo vision sensor based on virtual template. Given 3D spatial points coordinates by coordinates measurement machine (CMM) and corresponding image points coordinates, the technique is realized by taking the projection matrix elements as unknown and using singular value decomposition to solve the least-squares solutions. The method avoids solving intrinsic and extrinsic parameters of each camera and introducing the calibration error which caused by template machining and measurement error. We measure the 3D coordinates of a group of random spatial points by the calibrated stereo vision sensor then compare the results with CMM measurement values, the errors are less than 0.05 mm in the Z axis direction, and less than 0.01 mm in the X and Y axis direction, the experiment results show that the technique is feasible and effective.     

基于十字靶标的双目立体测量系统标定

提出了一种基于十字靶标的双目立体测量系统标定方法。采用多视图几何约束和光束平差优化精确获得两相机内参数,同时得到在两相机各自坐标系下重建出的靶点三维坐标点集;由两组三维点集之间的刚体变换直接求得系统外参数。该方法只需双相机同时对十字靶标拍摄一次,再由两相机单独拍摄若干幅靶标图像即可,现场操作简单灵活。在标定结果的基础上,对长度为611.800mm的标尺进行多次测量,平均值为611.776mm,标准差为0.030mm。     

基于光学测棒的立体视觉坐标测量系统的研究

提出了一种基丁测量与校准功能合一的光学测棒的立体视觉坐标测最系统.采用光学测棒作为成像目标,通过任意放置的两台摄像机获取测棒上的发光特征点的图像实现被测物体三维坐标的测量,同时利用测量数据定期对两台摄像机外部方位参数进行校准.深入研究了两台摄像机内部参数和外部方位参数校准过程中的校准件和校准算法的设计,以及系统测量建模等关键技术,提出了相应的解决方案,减小了摄像机内外参数校准及测量模型对测量结果的影响,提高系统的测量精度.实验结果表明.该系统的最大测量误差为0.11 mm.     

Robust geometric,phase and colour structured light projection system calibration

This paper introduces a new comprehensive procedure for both geometric and colour calibration of structured light system. In order to perform both geometric and colour calibration procedure, a new calibration artifact is proposed. The intrinsic and extrinsic parameters of projector and camera are estimated by using an extended pinhole camera model with a tangential and radial distortion. Camera image plane coordinates are obtained by extracting features from images of a calibration artifact. Projector image plane coordinates are calculated on the basis of continuous phase maps obtained from a fringe pattern phase reconstruction procedure. In order to stereo calibrate camera-projector system, pairs of corresponding image plane points are calculated with subpixel accuracy. In addition, one of three pattern views is used in colour calibration. RGB values of a colour field pattern detected by camera and their reference values are compared. This comparison leads to derivation of a colour transformation matrix. The performance of the proposed method is tested by measuring plane, sphere and distance reference. Also 360 degrees complex object 3D model from a set of measurements is obtained. Residual mean errors for all tests performed are calculated.     

Shaft diameter measurement using a digital image

In this paper, a non-contact and high-precision method based on the processing of a digital image is presented to measure the diameter of a shaft. The method mainly involves three steps: first, the camera is calibrated by an improved approach, which only uses the feature points in the measurement area of the image to optimise the local camera model; second, with the help of the parameters of the model in the first step, a measurement method for determining the shaft diameter is proposed; finally, to embody the spatial attitude of the shaft accurately, the extrinsic parameters are re-calibrated by measuring a shaft whose diameter is known, and then the precision of measurement is improved by means of the new extrinsic parameters. The experimental data demonstrate that the proposed method exhibits high precision, with relative errors of approximately 0.005 mm.     

基于神经网络的视觉系统标定方法

为了解决摄像机标定存在的若干问题 ,根据立体视觉原理 ,提出了基于神经网络的双目视觉系统标定方法。通过对双目摄像机的有效视场分析 ,确定了一次测量面积 ,并把像对视差作为网络输入 ,建立空间点世界坐标与图像坐标非线性映射关系 ,使系统不经过复杂的摄像机内外参数标定 ,就能直接提取物体的三维信息 ,增加了系统的灵活性。实验证明 ,该方法有效可行     

A calibration method for stereo vision sensor with large FOV based on 1D targets

Large FOV (field of view) stereo vision sensor is of great importance in the measurement of large free-form surface. Before using it, the intrinsic and structure parameters of cameras should be calibrated. Traditional methods are mainly based on planar or 3D targets, which are usually expensive and difficult to manufacture especially for large dimension ones. Compared to that the method proposed in this paper is based on 1D (one dimensional) targets, which are easy to operate and with high efficiency. First two 1D targets with multiple feature points are placed randomly, and the cameras acquire multiple images of the targets from different angles of view. With the fixed angle between vectors defined by the two 1D targets we can establish the objective function with intrinsic parameters, which can be later solved by the optimization method. Then the stereo vision sensor with two calibrated cameras is set up, which acquire multiple images of another 1D target with two feature points in unrestrained motion. The initial values of the structure parameters are estimated by the linear method for the known distance between two feature points on the 1D target, while the optimal ones and intrinsic parameters of the stereo vision sensor are estimated with non-linear optimization method by establishing the minimizing function involving all the parameters. The experimental results show that the measurement precision of the stereo vision sensor is 0.046 mm with the working distance of about 3500 mm and the measurement scale of about 4000 mm×3000 mm. The method in this paper is proved suitable for calibration of stereo vision sensor of large-scale measurement field for its easy operation and high efficiency.     

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.     

大视场短焦距镜头CCD摄像系统的畸变校正

从光学测量角度出发,结合计算机视觉中的摄像机标定方法,解决了大视场短焦距镜头CCD摄像系统的畸变校正问题。与摄像机标定不同,畸变校正中仅标定内部参数,外部参数作为已知条件。采用线性畸变模型,由最小二乘法解线性方程组得到摄像系统畸变模型的畸变系数。介绍了数字图像中像素间距和光学中心的标定方法。通过比较由标定参数得到的畸变图像和摄像机采集的畸变图像对实验标定精度进行评定,实验结果表明边缘视场(112°)的标定精度达到了0 75%。     

基于立体视觉的空间运动分析

利用摄影测量方法和计算机视觉技术得出了一套完整的、由双目立体序列图像确定场景中目标运动信息的方法与步骤。讨论了双目立体视觉系统的在任检校,相关系数和松弛法相结合基于点特征的物体运动、立体匹配,运动前后三维特征点的对应,以及利用能减少待定变量、降低计算复杂性、提高算法精确性的反对称矩阵分解算法求解运动参数(R和T)等问题。给出了从一组真实图像中获取目标运动参数的计算结果。     

3D multi-directional sensor with pyramid mirror and structured light

Structured-light-based 3D multi-directional sensors are widely used due to their flexible field of view (FOV), which is a significant benefit. Nevertheless, existing 3D multi-directional sensors based on linear lasers are only capable of measuring a slice of a 3D scene at low resolution. In addition, other 3D multi-directional sensors are capable of measuring 3D scenes by shooting 2D structured light patterns in different directions through curved mirrors. However, the projected and captured structured light patterns are blurred due to the optical aberration property of curved mirrors, resulting in inaccurate 3D reconstruction. This paper proposes a 3D, high-resolution, high-accuracy, real-time multi-directional sensor that utilizes pyramid mirrors to decompose the FOVs into different directions and reduce the optical aberration phenomenon. The mathematical model of the 3D sensor is presented, and the FOV is analyzed. A dual-frequency phase-shifting fringe pattern is used for 3D reconstruction in real time. Moreover, the sensor is calibrated using a planar circle calibration gauge and the Householder reflection constraint. Finally, the experimental results demonstrate that the measurement error of the 3D multi-directional sensor is less than 1 mm and 0.03 rad, thus verifying the method's feasibility.     

High speed and high accuracy inspection of in-tray laser IC marking using line scan CCD with a new calibration model

This study used a high-speed high-resolution line scan CCD, and a Delta motor drive module to provide position feedback in a laser marking system. Based on a novel algorithm, image processing of the high-speed CCD scan was allowed the accurate determination of the laser marking location. This system was calibrated using a template, and a novel 1-D calibration model of the line scan CCD was developed. The relevant position of each IC in the tray was obtained based on the calibration algorithm. Gain and offset calibration, sub-pixel calculation, and normalized checks were performed in this automatic optical inspection system. The total processing time for laser correction marking, scanning and identification was about 2～2.5 s, the positioning accuracy was×9 μm, and the industrial specification and process capability index Cpk reached over 1.2.     

光笔式双目视觉测量系统标定技术研究

针对光笔式双目视觉测量系统的标定问题,讨论了关于相机内参、双相机外参以及测量笔的相关标定理论,开发了一整套基于LabVIEW的标定系统。运用张氏平面标定法实现了相机内参标定。结合基于标准长度的外部参数标定方法,实现了双相机外参数标定。运用粒子群算法和LM算法相结合,加快了目标函数高维寻优速度。在测量笔标定环节,提出了一种基于最小二乘法的现场校准方法。标定系统完成了后期开展相关测量前的所有准备工作,具有较高的精度和实用性。在测量系统标定结果基础上对直径25 mm标准陶瓷球进行测量,测量结果标准差达到0.019 mm。     

A new irradiated quartz for beta source calibration

For luminescence dating to be an accurate absolute dating technique it is very important that we are able to deliver absolutely known radiation doses in the laboratory. This is normally done using a radiation source (alpha, beta, X-ray) calibrated against an absolutely known reference source. Many laboratories have used the various different batches of Risø calibration quartz for the calibration of beta and X-ray sources, but these have been largely undescribed. Here we describe in detail the preparation and luminescence characteristics of a new quartz standard, based on a North Sea beach sand collected from south-western Denmark (Rømø). Two grain sizes (4–11 μm and 180–250 μm) have been examined in detail. These were pre-treated (annealed, dosed and annealed again) to sensitise and stabilise the luminescence signals before being given an absolutely known gamma dose from a point ¹³⁷Cs source in scatter-free geometry. The luminescence characteristics are described; the very intense blue-light stimulated signal is dominated by the fast OSL component and the IR-stimulated signal is negligible. The material is shown to be suitable for measurement using SAR, and the dose recovery ratio is indistinguishable from unity with a standard deviation of <2% for multi-grain aliquots. The material is also shown to be suitable for single-grain calibration, with >80% of the grains giving a useful signal. Although there is an unexplained dispersion in our calibration data of ∼3% (which we cannot attribute to instrument variability), we nevertheless conclude that this material is very suitable for transferring absolute known doses from a standardised gamma source to in-built irradiation sources.     

Influence and correction of temperature on optical measurement for fat and protein contents in a complex food model system

The influence of temperature on optical measurements has been studied for determining fat and protein contents in complex food systems. A model system consisting of mixtures of fat, protein, water and emulsion was developed to create an imitation of complex food systems. The changes in optical properties of the system from 25 °C to 40 °C were measured in the wavelength from 1100 nm to 1670 nm. Irregular changes as a whole were founded and therefore a statistical method was needed to correct the temperature effect. A method called global robust temperature calibration model is proposed and the correction effect was validated. The results indicated that it can significantly reduce the temperature effect on optical measurement.     

基于光学参考棒的立体视觉测量系统现场标定技术

为实现大空间复杂工件的准确测量,精确标定立体视觉系统变得越来越重要。为了克服传统立体摄像机标定过程繁复、户外实现困难的弱点,提出了一种基于光学参考棒的灵活、有效的立体视觉测量系统标定技术。参考棒水平和深度方向各有三个距离已知的红外LED作为特征点。通过在测量范围内的不同位置和方位移动光学参考棒,两像机同时捕获参考棒上特征点的图像。基于匹配的特征像点以及对极线约束,利用线性算法和Levenberg-Marquardt(LM)迭代算法快速地标定立体视觉测量系统。两像机之间平移量的比例因子由参考棒上特征点间的已知距离确定。参量标定过程中,自动地控制光强,优化曝光时间,使不同位置处光点图像的强度均一致,可以获得高的信噪比,提高标定精度。实验结果表明,该方法灵活、有效,在线标定能达到很高的精度,将现场标定过程应用到实际的大空间三维测量系统中,测量最大误差为0.18 mm。     

About ageing and fading of Cr-39 PADC track detectors used as air radon concentration measurement devices

PADC detectors are widely used as air radon concentration measurement devices and the typical procedure that a Radon Service Laboratory uses to manage the detectors provides a calibration phase followed by the field measurement. The calibration is performed in a reference radon concentration atmosphere, using high radon concentration values in order to achieve typical exposure values of few MBq h m^?3 with an exposure time of few days. On the other hand the field measurement is characterized by long term exposures lasting up to six months and by radon concentrations that are quite lower than the ones used in the calibration.The aim of this study is to check whether the calibration procedure is actually representative of a field measurement, or, in other words, whether and how much ageing or fading can affect the calibration factor.We found that the ageing and fading effect can produce a decrease in the detector sensitivity leading to an underestimation of the radon concentration up to 40% for exposure lasting few months. An important issue is that both ageing and fading can be ascribed to a decrease in the track etching velocity V_t.In the paper we also provide an algorithm to compensate for the sensitivity variation due to fading/ageing effect.     

大尺寸视觉测量系统在线标定的新方法

提出了一种新的基于视场边缘距离相对约束条件的摄像机标定方法,并用于大尺寸测量中摄像机的标定,该方法在标定摄像机内外方位参数的同时也完成了成像畸变的校正,将标定结果用于测量,在4×4×1m3的测量视场内,其相对精度达到1/2000,与传统标定方法相比,该标定方法灵活性高,更加适用于测量视场较大的情况。     

Automatic selection of focal lengths in a Depth From Defocus measurement system based on liquid lenses

A simple and compact Depth-From-Defocus (DFD) setup, using telecentric illumination and liquid-lens based camera observation, was shown to perform well for 3D shape acquisition over extended measuring range. A further step to ameliorate the system performance is described in this paper. We focused on finding an algorithm to speed up the calibration step of the method, that automatically determines the minimum number of focal lengths to be used in the calibration and measurement procedure. As a result, the calibration is significantly shortened (up to 80% with respect to the original procedure), and the need to manually (and to some extent arbitrarily) select the focal length pairs is overcome. Measurement errors down to 0.73 mm over the measurement depth range of 130 mm, corresponding to 0.55% of the depth range are achieved, in total agreement with the original system.     

Modeling ammonia oxidation over a Pt (533) surface

We present a new reaction model for ammonia oxidation on a Pt (533) surface and perform numerical simulations using mean field equations. Kinetic parameters were taken from experiments and Density Functional Theory (DFT) calculations. The model is based on an oxygen-activated ammonia decomposition and includes NHx (x = 0, 1, 2) intermediates. Reaction rates and coverages obtained from calculations show semiquantitative agreement with values from kinetic and in-situ XPS measurements up to 0.1 mbar pressures. Pathways for ammonia oxidation were analyzed by varying kinetic parameters in the model, which provides new insights into the relative importance of different reaction steps.