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Three-Dimensional TOF Robot Vision System

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2009年第1期58卷 141-146页

作者： Hussmann, Stephan Liepert, Thorsten Westcoast Univ Appl Sci Dept Elect Engn & Informat Technol D-25746 Heide Germany

Stereo vision (SV) is widely used and is well known for many 3-D image applications. In this paper, a 3-D time-of-flight system will be introduced, which is integrated into a robot vision system. The pros and cons of the system in comparison with SV are discussed, and the basic equations needed to acquire the range information are illustrated. Moreover, object segmentation algorithms working on the range data are presented. Experimental results show that the accuracy and repeatability of such a system is applicable for industrial applications.

关键词： Chain-code algorithm object segmentation phase-shift algorithm photonic mixer device (PMD) statistical moments time-of-flight (TOF)

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Real-Time Motion Artifact Suppression in TOF Camera Systems

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2011年第5期60卷 1682-1690页

作者： Hussmann, Stephan Hermanski, Alexander Edeler, Torsten Westcoast Univ Appl Sci Dept Elect Engn & Informat Technol D-25746 Heide Germany Westcoast Univ Appl Sci Inst Machine Vis Technol D-25746 Heide Germany

Object movement influences the distance reliability of 3-D time-of-flight cameras and thus affects subsequent processing tasks in a negative way. This paper proposed a simple motion suppression method for objects moving on a conveyor belt, which can be easily implemented in hardware. Due to the hardware implementation, real-time performance is guaranteed. The algorithm has been validated in software first and subsequently implemented into a field-programmable gate array. Experimental results show that the proposed algorithm is effectively working.

关键词： Motion artifact compensation optical distance measurement phase measurement phase-shift algorithm photonic mixer devices (PMDs) time of flight (TOF)

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Large area full-field Optical Coherence Tomography

Large area full-field Optical Coherence Tomography

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International Conference on Applications of Photonic Technology (Photonics North 2006)

作者： Chang, Shoude Sherif, Sherif Flueraru, Costel Natl Res Council Canada Opt Grp Inst Microstruct Sci 1200 Montreal Rd Ottawa ON K1A 0R6 Canada

ISBN: (纸本)0819464287

Optical Coherence Tomography (OCT) is a fundamentally new type of optical imaging technology. OCT performs high resolution, cross-sectional tomographic imaging of the internal structure in materials and biological systems. The biomedical applications of the OCT imaging systems have been developed for diagnostics of ophthalmology, dermatology, dentistry and cardiology. Most of existing OCT systems use point-scanning based technology, however, the 3-axis scanning makes the system slow and cumbersome. A few OCT systems working directly on 2D full-field images were reported, however, they are designed to work in a relatively small area, around couple of hundred microns square. In this paper, we present a design and implementation of a full-field OCT imaging system for acquiring tomography and with a working area around 15mm by 15mm. The problems rising from full-field OCT are addressed and analyzed. The algorithms to extract the tomography are proposed. Two applications of multilayer information retrieval and 3D object imaging using full-field OCT are described.

关键词： full-field optical tomography optical image processing phase-shift algorithm 3D imaging

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Systematic distance deviation error compensation for a ToF-camera in the close-up range

Systematic distance deviation error compensation for a ToF-c...

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29th Annual IEEE International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Hussmann, Stephan Huhn, Peter Hermanski, Alexander West Coast Univ Appl Sci Dept Elect Engn & Informat Technol Heide Germany West Coast Univ Appl Sci Inst Machine Vis Technol Heidelberg Germany

ISBN: (纸本)9781457717710

In machine vision applications, Time-of-Flight (TOF) sensors like the Photonic Mixer Devices (PMD) became considerable alternatives to common 3D sensing devices. Because of the enormous progress in TOF-vision systems, nowadays 3D matrix cameras can be used for many applications such as robotic, automotive, industrial, medical and multimedia applications. This paper focuses on the range data resolution for machine vision applications in the close-up range. A new approach is presented which achieves a range data resolution in the lower millimeter range for low-cost commercial TOF cameras. Experimental results show that the proposed approach is well suited for machine vision applications.

关键词： phase measurement phase-shift algorithm photonic mixer devices (PMD) time-of-flight (TOF) optical distance measurement component high resolution

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phase-determination algorithms compensating for spatially nonuniform phase modulation in phase shifting interferometry

Phase-determination algorithms compensating for spatially no...

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Conference on Laser Interferometry IX - Techniques and Analysis

作者： Hibino, K Yamauchi, M AIST Mech Engn Lab Dept Appl Phys & Informat Proc Tsukuba Ibaraki 3058564 Japan

ISBN: (纸本)0819429333

In phase shifting interferometers, spatial non-uniformity of the phase modulation often happens and affects high-precision phase measurement. Many phase measuring algorithms have been reported which compensate for nonlinear sensitivities of the phase shifter. This nonlinearity of the phase shifter usually gives only a constant bias to the measured phase in these algorithms. However, when the phase shift is spatially nonuniform, the measured phase is shown to suffer significant errors from these bias phases. We have shown that if we add a new symmetry to an algorithm we can remove the errors caused by the spatial nonuniformity of the phase shift. The algorithm needs at least one more image frame to acquire the symmetry. The lowest-order algorithm that compensates for a quadratic and spatially nonuniform phase shift consists of six frames. We have compared the performance of the new algorithm on several types of phase nonuniformity to the conventional error-compensating algorithms.

关键词： phase-measuring interferometry phase-shift algorithm nonlinear phase-shift random noise fizeau interferometer

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Real-time image processing of TOF range images using a reconfigurable processor system

Real-time image processing of TOF range images using a recon...

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Conference on Videometrics, Range Imaging, and Applications XI

作者： Hussmann, S. Knoll, F. Edeler, T. Westcoast Univ Appl Sci Inst Machine Vis Technol Ma Vi Tec D-25746 Heide Germany

ISBN: (纸本)9780819486813

During the last years, Time-of-Flight sensors achieved a significant impact onto research fields in machine vision. In comparison to stereo vision system and laser range scanners they combine the advantages of active sensors providing accurate distance measurements and camera-based systems recording a 2D matrix at a high frame rate. Moreover low cost 3D imaging has the potential to open a wide field of additional applications and solutions in markets like consumer electronics, multimedia, digital photography, robotics and medical technologies. This paper focuses on the currently implemented 4-phase-shift algorithm in this type of sensors. The most time critical operation of the phase-shift algorithm is the arctangent function. In this paper a novel hardware implementation of the arctangent function using a reconfigurable processor system is presented and benchmarked against the state-of-the-art CORDIC arctangent algorithm. Experimental results show that the proposed algorithm is well suited for real-time processing of the range images of TOF cameras.

关键词： phase measurement phase-shift algorithm photonic mixer devices (PMD) time-of-flight (TOF) optical distance measurement component real-time image processing instruction set interpretation custom instructions

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Real-Time Motion Artifact Suppression in TOF Camera Systems

Real-Time Motion Artifact Suppression in TOF Camera Systems

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IEEE International Instrumentation and Measurement Conference

关键词： Motion artifact compensation optical distance measurement phase measurement phase-shift algorithm photonic mixer devices (PMDs) time of flight (TOF)

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Investigation of different polar to Cartesian coordinate system conversion methods for ToF-cameras in the close-up range

Investigation of different polar to Cartesian coordinate sys...

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32nd Annual IEEE International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Hussmann, Stephan Holtorf, Tim Knoll, Florian West Coast Univ Appl Sci Fac Engn Heide Germany

ISBN: (纸本)9781479961139

In machine vision applications, Time-of-Flight (TOF) sensors like the Photonic Mixer Devices (PMD) became considerable alternatives to common 3D sensing devices. Because of the enormous progress in TOF-vision systems, nowadays 3D matrix cameras can be used for many applications such as robotic, automotive, industrial, medical and multimedia applications. This paper focuses on the range data resolution for machine vision applications in the close-up range. For many applications the 3D information of objects are required in Cartesian coordinates. However TOF cameras normally deliver polar coordinates. In this paper different polar to Cartesian coordinate system conversion methods and their influence of the range resolution in the close-up range of TOF cameras are investigated.

关键词： phase measurement phase-shift algorithm photonic mixer devices (PMD) time-of-flight (TOF) optical distance measurement component high resolution

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Susceptibility of error-compensating algorithms to random noise and nonlinear phase modulations in phase-shifting interferometry

Susceptibility of error-compensating algorithms to random no...

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Conference on Radar Processing, Technology, and Applications II

作者： Hibino, K Agency of Industrial Science and Technology (Japan)

ISBN: (纸本)0819425834

In phase shifting interferometry, many error-compensating algorithms have been reported. Such algorithms suppress systematic errors caused by nonlinear sensitivities of the phase shifter and nonsinusoidal waveforms of the signal. However, in a Fizeau interferometer where both error sources are equally dominant, the most common group of the algorithms produces errors comparable to those produced by discrete Fourier algorithms which have no capability to compensate for phase-shift errors. It is shown that if an algorithm has an extended immunity to nonlinear phase shift, it can suppress the effects of both error sources simultaneously and yield much smaller errors. When a phase-shifting algorithm is designed to compensate for the systematic phase-shift errors, it becomes more susceptible to random noise. The susceptibility of phase shifting algorithms to random noise is analyzed with respect to their immunity to phase-shift errors. It is shown that for the most common algorithms for nonlinear phase shift, random errors increase as the number of samples becomes large. This class of algorithms has an optimum number of samples for minimizing the random errors, which is not observed in the Fourier algorithms. However, for the new algorithms with an extended immunity to nonlinear phase shift, random errors decrease as the number of samples increases.

关键词： phase-measuring interferometry phase-shift algorithm nonlinear phase-shift random noise Fizeau interferometer

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Real-time motion supression in TOF range images

Real-time motion supression in TOF range images

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International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Hussmann, Stephan Hermanski, Alexander Edeler, Torsten Westcoast Univ Appl Sci Dept Elect Engn & Informat Technol Heide Germany

ISBN: (纸本)9781424428335

Object movement influences distance reliability of 3D TOF cameras and thus affects subsequent processing task in a negative way. This paper proposed a simple motion suppression method for objects moving on a conveyor belt, which can be easily implemented into a FPGA. Due to the hardware implementation real-time performance is guaranteed. Experimental results show that the proposed algorithm is working effectively.

关键词： phase measurement phase-shift algorithm photonic mixer devices (PMD) time-of-flight (TOF) optical distance measurement motion compensation

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