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Calibration of a 3d sensor under Its Orientation Constraint

AUTOMATION ANd REMOTE CONTROL 2023年第6期84卷 655-672页

作者： Matasov, A. I. Yin, H. Moscow MV Lomonosov State Univ Fac Mech & Math Lab Control & Nav Moscow Russia

Three-dimensional (3d) sensors usually require a calibration procedure. In some cases, scale factor errors depend on the signs of the projections of the vector input signal onto the sensitivity axes of the sensor. To eliminate the ambiguity of scale factor errors, the angular positions of the sensor can be restricted so that the corresponding projections have a definite sign. This paper presents an analytical solution of the optimal calibration problem for a 3d sensor under a constraint on its angular positions.

关键词： 3d sensor calibration the guaranteeing approach to estimation

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Large-Screen Interactive Technology With 3d sensor Based on Clustering Filtering Method and Unscented Kalman Filter

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IEEE ACCESS 2020年 8卷 8675-8680页

作者： Yu, Lei Fei, Shumin Soochow Univ Sch Mech & Elect Engn Suzhou Peoples R China Huaiyin Inst Technol Jiangsu Smart Factory Engn Res Ctr Huaian Peoples R China Southeast Univ Sch Automat Nanjing Peoples R China

In this paper, a large screen interactive 3d sensor technology with clustering filtering method and unscented Kalman filter has been addressed. The surface and interactive area with the screen is mapped together using image processing and machine vision processing of 3d sensor. Then, the predictable and accurate multi-point interaction can be obtained. Also some operations can be achieved such as zooming, panning, selecting and moving image components, etc. Vision method, infrared induction, dynamic capture, image processing and other mixed technologies have been simultaneously utilized to recognize human gestures and simulate mouse event which can give participants a fully interactive experience. Experimental results show that this large-screen interactive technology with 3d sensor can achieve accurate multi-point interaction and gesture control, and have good human-machine interaction effect.

关键词： 3d sensor multi-point interactive gesture control human-computer interaction unscented Kalman filter

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Human Motion Tracking of Mobile Robot with Kinect 3d sensor

Human Motion Tracking of Mobile Robot with Kinect 3D Sensor

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Annual Conference of the Society-of-Instrument-and-Control-Engineers (SICE)

作者： Machida, Eiji Cao, Meifen Murao, Toshiyuki Hashimoto, Hiroshi Tokyo Metropolitan Coll Ind Technol Tokyo Japan Adv Inst Ind Technol Tokyo Japan

ISBN: (纸本)9784907764401

This paper describes a tracking control system of human motion with Kinect on-board a mobile robot. In the proposed system, the 3d position information of human obtained from Kinect enables us to control the velocity and attitude of the mobile robot directly. Meanwhile, there are noises and occlusion effect on the information of Kinect, the Kalman filter is used to reduce the noise and estimate human's motion state. The mobile robot is controlled to track the moving human in the view of Kinect. The experimental verification result is reported in this paper.

关键词： mobile robot human motion tracking 3d sensor Kinect Kalman filter

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An OpenCL-based speckle matching on the monocular 3d sensor using speckle projection 4

An OpenCL-based speckle matching on the monocular 3D sensor ...

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4th International Conference on Photonics and Optical Engineering

作者： Yin, Wei Zuo, Chao Feng, Shijie Tao, Tianyang Chen, Qian Nanjing Univ Sci & Technol Smart Computat Imaging SCI Lab Nanjing 210094 Jiangsu Peoples R China Nanjing Univ Sci & Technol Jiangsu Key Lab Spectral Imaging & Intelligent Se Nanjing 210094 Jiangsu Peoples R China

ISBN: (纸本)9781510643581

Single-shot speckle projection profilometry (SPP), which can build the global correspondences between stereo images by projecting a single random speckle pattern, is applicable to the dynamic 3d acquisition. However, the traditional stereo matching algorithm used in SPP has low matching accuracy and high computational cost, which makes it difficult to achieve real-time and accurate 3d reconstruction dynamically. For enhancing the performance of 3d sensing of single-shot speckle projection profilometry (SPP), in this paper, we proposed an OpenCL-based speckle matching on the monocular 3d sensor using speckle projection. In terms of hardware, our low-cost monocular 3d sensor using speckle projection only consists of one IR camera and a diffractive optical element (dOE) projector. On the other hand, an improved semi-global matching (SGM) algorithm using OpenCL acceleration was proposed to obtain efficient, dense, and accurate matching results, enabling high-quality 3d reconstruction dynamically. Since the baseline between the IR camera and the dOE projector is about 35mm, the absolute disparity range of our system is suitably set to 64 pixels to measure scenes with a depth range of 0:3m to 3m. The experiment results demonstrated that the proposed speckle matching method based on our low-cost 3d sensor can achieve fast and absolute 3d shape measurement with the millimeter accuracy through a single speckle pattern.

关键词： 3d sensor Speckle matching OpenCL

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GPU-Based Optimisation of 3d sensor Placement Considering Redundancy, Range and Field of View 15

GPU-Based Optimisation of 3D Sensor Placement Considering Re...

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15th IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： dybedal, Joacim Hovland, Geir Univ Agder Dept Engn Sci Grimstad Norway

ISBN: (纸本)9781728151694

This paper presents a novel and efficient solution for the 3d sensor placement problem based on GPU programming and massive parallelisation. Compared to prior art using gradient-search and mixed-integer based approaches, the method presented in this paper returns optimal or good results in a fraction of the time compared to previous approaches. The presented method allows for redundancy, i.e. requiring selected sub-volumes to be covered by at least n sensors. The presented results are for 3d sensors which have a visible volume represented by cones, but the method can easily be extended to work with sensors having other range and field of view shapes, such as 2d cameras and lidars.

关键词： 3d sensor optimal placement CUdA

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A Study on finding Key Movements to discriminate Expert and Novice by using a Kinect-like 3d sensor

A Study on finding Key Movements to discriminate Expert and ...

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IEEE International Conference on Information, Communication and Engineering (ICICE)

作者： Murao, Hajime Nonohara, Kazuaki Kobe Univ Grad Sch Intercultural Studies Kobe Hyogo Japan Kobe Univ Fac Intercultural Studies Kobe Hyogo Japan

ISBN: (纸本)9781538632024

What is an essential difference between the expert movement and the novice one at where the movement plays important role such as dancing, playing darts, or preparing tea at Japanese tea ceremony? We would like to figure out it from the movement of the human joints at an activity. Which will give us a hint how to improve our behavior. In our study, Structure sensor, a Kinect-like 3d sensor, is used to track and record 3-dimensional positions of the human joints during an action. The device is portable and does not require any sensors nor markers attached to observed persons. We then investigate the effectiveness of a statistical approach. Results of preliminary experiments established for dancing will be reported.

关键词： behavior analysis human action recognition 3d sensor kinect statistical analysis

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High-resolution LCOS microdisplay with sub-kHz frame rate for high performance, high precision 3d sensor

High-resolution LCOS microdisplay with sub-kHz frame rate fo...

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Conference on digital Optical Technologies

作者： Lazarev, Grigory Bonifer, Stefanie Engel, Philip Hoehne, daniel Notni, Gunther HOLOEYE Photon AG Albert Einstein Str 14 Berlin Germany Fraunhofer Inst Appl Opt & Precis Engn Albert Einstein Str 7 Jena Germany

ISBN: (数字)9781510611160

ISBN: (纸本)9781510611160;9781510611153

We report about the implementation of the liquid crystal on silicon (LCOS) microdisplay with 1920 by 1080 resolution and 720 Hz frame rate. The driving solution is FPGA-based. The input signal is converted from the ultrahigh-resolution HdMI 2.0 signal into Hd frames, which follow with the specified 720 Hz frame rate. Alternatively the signal is generated directly on the FPGA with built-in pattern generator. The display is showing switching times below 1.5 ms for the selected working temperature. The bit depth of the addressed image achieves 8 bit within each frame. The microdisplay is used in the fringe projection-based 3d sensing system, implemented by Fraunhofer IOF.

关键词： LCOS liquid crystal on silicon microdisplay fringe projection spatial light modulator 3d sensor

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A scanning 3d sensor and its object recognition for autonomous robots 18

A scanning 3D sensor and its object recognition for autonomo...

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Conference on MOEMS and Miniaturized Systems XVIII

作者： Shin, Joon-Oh Jang, In-Gyu Park, dae-Hee Park, Yong-Hwa Korea Inst Sci & Technol KAIST Dept Mech Engn Human Machine Interact Lab 291 Daehak Ro Daejeon 34141 South Korea

ISBN: (纸本)9781510625051

Real-time sensing of 3d geometric information is essential for autonomous vehicles and robots for detection of obstacles and environment. In most case of autonomously maneuvering robots, the relative motion of 3d sensor and the target object is involved so that accurate 3d geometry, as well as the relative velocity, need to be acquired for safe operation. In this paper, a small form-factor scanner-based 3d sensing system and operating architecture, so-called homodyne mixing method and its experimental verification are presented. Special attention is put on the accuracy improvement with small size realization under relative motion between sensor and objects in the application to autonomous working robots operating under various working environment. In the homodyne mixing method, as the working principle, phase delay induced by the time-of-flight of the amplitude-modulated light wave flying between camera and object is indirectly measured.(1) The homodyne mixing method has less computational and hardware complexity than other 3d sensing methods and it is robust to external light and has advantages in miniaturization. However, the homodyne mixing method is sensitive to the relative movement between the sensor and targeting object because it uses continuously modulated light wave. In this paper, an improved light processing methodology is established to tackle this weakness in a moving situation. The presented light processing methodology is robust to the relative movement and has the advantage to control the measurement precision of 3d depth information through variable scanning FOV (Field of View). As the application of suggesting a 3d sensing device and system to recognition in the robot system, we propose a geometry recognition method that extracts typical geometric features of objects from point-cloud data obtained from the 3d sensor. The result shows that the recognition of the geometry of an object is quick and accurate more than previous recognition technology u

关键词： 3d sensor 3d Geometry Continuous Wave Time-of-Flight Raser Scanning Axial Motion Object Recognition Convolutional Neural Network

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Vision based Object Recognition of Mobile Robot with Kinect 3d sensor in Indoor Environment

Vision based Object Recognition of Mobile Robot with Kinect ...

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Annual Conference of the Society-of-Instrument-and-Control-Engineers (SICE)

作者： Tanabe, Ryo Cao, Meifen Murao, Toshiyuki Hashimoto, Hiroshi Tokyo Metropolitan Coll Ind Technol Tokyo Japan Adv Inst Ind Technol Tokyo Turkey

In this paper, a vision based method of the recognition of a specific object from two or more moving objects with Kinect 3d sensor is proposed. Furthermore, the posture of the object can be estimated by the proposed m... 详细信息

ISBN: (纸本)9784907764401

关键词： vision object recognizing posture estimating 3d sensor Kinect

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Validation of Automated Mobility Assessment Using a Single 3d sensor 14

Validation of Automated Mobility Assessment Using a Single 3...

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14th European Conference on Computer Vision (ECCV)

作者： Kao, Jiun-Yu Nguyen, Minh Nocera, Luciano Shahabi, Cyrus Ortega, Antonio Winstein, Carolee Sorkhoh, Ibrahim Chung, Yu-chen Chen, Yi-an Bacon, Helen Univ Southern Calif Los Angeles CA USA

ISBN: (纸本)9783319488813;9783319488806

Reliable mobility assessment is essential to diagnose or optimize treatment in persons affected by mobility disorders, e.g., for musculo-skeletal disorders. In this work, we present a system that is able to automatically assess mobility using a single 3d sensor. We validate the system ability to assess mobility and predict the medication state of Parkinson's disease patients while using a relatively small number of motion tasks. One key component of our system is a graph-based feature extraction technique that can capture the dynamic coordination between parts of the body while providing results that are easier to interpret than those obtained with other data-driven approaches. We further discuss the system and the study design, highlighting aspects that provide insights for developing mobility assessment applications in other contexts.

关键词： Mobility assessment 3d sensor Parkinson's disease Human performance Classification

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