Linear terrestrial laser scanning using array avalanche photodiodes as detectors for rapid three-dimensional imaging

As an active remote sensor technology, the terrestrial laser scanner is widely used for direct generation of a three-dimensional (3D) image of an object in the fields of geodesy, surveying, and photogrammetry. In this article, a new laser scanner using array avalanche photodiodes, as designed by the Shanghai Institute of Technical Physics of the Chinese Academy of Sciences, is introduced for rapid collection of 3D data. The system structure of the new laser scanner is first presented, and a mathematical model is further derived to transform the original data to the 3D coordinates of the object in a user-defined coordinate system. The performance of the new laser scanner is tested through a comprehensive experiment. The result shows that the new laser scanner can scan a scene with a field view of 30° × 30° in 0.2 s and that, with respect to the point clouds obtained on the wall and ground floor surfaces, the root mean square errors for fitting the two planes are 0.21 and 0.01 cm, respectively. The primary advantages of the developed laser scanner include: (i) with a line scanning mode, the new scanner achieves simultaneously the 3D coordinates of 24 points per single laser pulse, which enables it to scan faster than traditional scanners with a point scanning mode and (ii) the new scanner makes use of two galvanometric mirrors to deflect the laser beam in both the horizontal and the vertical directions. This capability makes the instrument smaller and lighter, which is more acceptable for users.     

大视场线结构光视觉传感器的现场标定

针对大视场线结构光视觉传感器的现场标定,提出了一种基于自由组合一维靶标的标定方法。自由组合多个一维靶标并固定,其中每个一维靶标至少包含3个共线特征点。靶标在传感器测量空间内自由摆放至少两次。以一维靶标两两之间夹角恒定为约束求解摄像机内部参数;由一维靶标消影点性质和特征点之间距离约束,求解各特征点在摄像机坐标系下的空间坐标;根据交比不变计算光平面与各一维靶标交点的摄像机坐标,拟合出光平面方程。实验表明,该方法可获得与平面靶标相当的标定精度,具有靶标加工容易、精度高、摆放次数少的特点,适合大视场线结构光视觉传感器的现场标定。     

3-D ultrasound guidance of surgical robotics: a feasibility study

Laparoscopic ultrasound has seen increased use as a surgical aide in general, gynecological, and urological procedures. The application of real-time, three-dimensional (RT3D) ultrasound to these laparoscopic procedures may increase information available to the surgeon and serve as an additional intraoperative guidance tool. The integration of RT3D with recent advances in robotic surgery also can increase automation and ease of use. In this study, a 1-cm diameter probe for RT3D has been used laparoscopically for in vivo imaging of a canine. The probe, which operates at 5 MHz, was used to image the spleen, liver, and gall bladder as well as to guide surgical instruments. Furthermore, the three-dimensional (3-D) measurement system of the volumetric scanner used with this probe was tested as a guidance mechanism for a robotic linear motion system in order to simulate the feasibility of RT3D/robotic surgery integration. Using images acquired with the 3-D laparoscopic ultrasound device, coordinates were acquired by the scanner and used to direct a robotically controlled needle toward desired in vitro targets as well as targets in a post-mortem canine. The rms error for these measurements was 1.34 mm using optical alignment and 0.76 mm using ultrasound alignment.     

基于拉普拉斯网格变形的三维植物叶片建模

论文提出一种基于拉普拉斯网格变形的三维植物叶片交互式设计方法。该方法以叶片轮廓及叶片主脉中轴点数据输入并生成网格曲面,通过拉普拉斯网格变形技术对叶片的曲面网格进行交互式编辑。轮廓中轴数据点既可以通过三维数字化获得,也可以根据叶脉形态计算得到。实验证明,该方法具有较好的普适性,变形计算快速,能够达到实时交互设计的需要,所生成的叶片不仅能够很好地保持叶片的面积特征,同时在形态上具有较强的真实感。     

白车身视觉检测系统中多类型传感器全局校准技术

针对白车身视觉检测系统中传感器数量多、种类各异、分布空间大、位置关系复杂等问题,提出了一种适用于工业现场的多视觉传感器全局校准技术。基于坐标系间接统一法,设计多个精密立体靶标作为坐标系转换中介,利用激光跟踪仪获取现场校准数据,在单位四元数数学模型的基础上,求解两坐标系间最优转换矩阵,将固定式传感器和柔性传感器的测量坐标系统一到全局坐标系。该方法已在某企业在线测量项目中成功应用,现场只需完成传感器坐标系与全局坐标系转换关系标定,降低了复杂现场环境对多传感器全局校准的限制,简化了校准过程,提高了环境适应性,校准后检测系统各向测量精度均优于±0.2 mm,满足白车身在线测量精度要求。     

Data acquisition, analysis and applications of multi-sensor integration

This paper presents some key techniques for multisensor integration system, which is applied to the intelligent transportation system industry and surveying and mapping industry, e.g. road surface condition detection, digital map making. The techniques are synchronization control of multisensor, spacetime benchmark for sensor data, and multisensor data fusion and mining. Firstly, synchronization control of multisensor is achieved through a synchronization control system which is composed of a time synchronization controller and some synchronization subcontrollers. The time synchronization controller can receive GPS time information from GPS satellites, relative distance information from distance measuring instrument and send spacetime information to the synchronization subcontroller. The latter can work at three types of synchronization mode, i.e. active synchronization, passive synchronization and time service synchronization. Secondly, spacetime benchmark can be established based on GPS time and global reference coordinate system, and can be obtained through position and azimuth determining system and synchronization control system. Thirdly, there are many types of data fusion and mining, e.g. GPS/Gyro/DMI data fusion, data fusion between stereophotogrammetry and PADS, data fusion between laser scanner and PADS, and data fusion between CCD camera and laser scanner. Finally, all these solutions presented in paper have been applied to two areas, i.e. landborne intelligent road detection and measurement system and 3D measurement system based on unmanned helicopter. The former has equipped some highway engineering Co., Ltd. and has been successfully put into use. The latter is an ongoing research.     

Detecting three-dimensional location and shape of noisy distorted three-dimensional objects with ladar trained optimum nonlinear filters

We propose a filtering technique that uses laser radar (ladar) data to detect a target's three-dimensional (3D) coordinates and shape within an input scene. A two-dimensional ladar range image is converted into 3D space, and then the 3D optimum nonlinear filtering technique is used to detect the 3D coordinates of targets (including the target's distance from the sensor). The 3D optimum nonlinear filter is designed to detect distorted targets (i.e., out-of-plane and in-plane rotations and scale changes) and to be noise robust. The nonlinear filter is derived to minimize the mean of the output energy in response to the input scene in the presence of disjoint background noise and additive noise and to maintain a fixed output peak for the members of the true-class target training set. The system is tested with real ladar imagery in the presence of background clutter. The background clutter used in the system evaluation includes false objects that are similar to the true targets. The correlation output of ladar images shows a dominant peak at the target's 3D coordinates.     

Image-based rendering for photo-realistic visualization

Digital models of objects have long stood synonymous for 3D models with fixed textures. More recently, image-based rendering has made its way to offer an effective alternative. Rather than producing a 3D model, views are created by interpolating between images taken from many different viewpoints. The advantages are that the resulting visualizations look very realistic and that a wider range of objects can be dealt with. One can go a step further and follow a similar strategy for the illumination direction: for every reference viewpoint, now take multiple images, each with a different illumination. Again, images for novel illumination directions follow from interpolation. But there is an obvious catch in that many, many images are needed, unless at least a crude 3D shape model and preferably also a model for the surface reflectance are used to support the interpolation from more sparsely taken images. Even then, the number of images needed remains appreciable. Hence, we present a dome to efficiently capture such images.

Fortunately, it is possible to generate this crude 3D model, as well as the surface reflectance characteristics' directly from the images. We describe methods to achieve this. Also, in order to make real-time visualization possible, all critical steps of the visualization pipeline are programmed on off-the-shelf graphics hardware. The dome provides an easy to use and structured acquisition procedure. Yet, the applicability of the algorithms is not limited to structured input. The images could, for example be taken with a hand-held camera.     

Non-laser-based scanner for three-dimensional digitization of historical artifacts

A 3D scanner, based on incoherent illumination techniques, and associated data-processing algorithms are presented that can be used to scan objects at lateral resolutions ranging from 5 to 100 microm (or more) and depth resolutions of approximately 2 microm. The scanner was designed with the specific intent to scan cuneiform tablets but can be utilized for other applications. Photometric stereo techniques are used to obtain both a surface normal map and a parameterized model of the object's bidirectional reflectance distribution function. The normal map is combined with height information, gathered by structured light techniques, to form a consistent 3D surface. Data from Lambertian and specularly diffuse spherical objects are presented and used to quantify the accuracy of the techniques. Scans of a cuneiform tablet are also presented. All presented data are at a lateral resolution of 26.8 microm as this is approximately the minimum resolution deemed necessary to accurately represent cuneiform.     

Image-based rendering for photo-realistic visualization

Digital models of objects have long stood synonymous for 3D models with fixed textures. More recently, image-based rendering has made its way to offer an effective alternative. Rather than producing a 3D model, views are created by interpolating between images taken from many different viewpoints. The advantages are that the resulting visualizations look very realistic and that a wider range of objects can be dealt with. One can go a step further and follow a similar strategy for the illumination direction: for every reference viewpoint, now take multiple images, each with a different illumination. Again, images for novel illumination directions follow from interpolation. But there is an obvious catch in that many, many images are needed, unless at least a crude 3D shape model and preferably also a model for the surface reflectance are used to support the interpolation from more sparsely taken images. Even then, the number of images needed remains appreciable. Hence, we present a dome to efficiently capture such images.

Fortunately, it is possible to generate this crude 3D model, as well as the surface reflectance characteristics’ directly from the images. We describe methods to achieve this. Also, in order to make real-time visualization possible, all critical steps of the visualization pipeline are programmed on off-the-shelf graphics hardware. The dome provides an easy to use and structured acquisition procedure. Yet, the applicability of the algorithms is not limited to structured input. The images could, for example be taken with a hand-held camera.     

Design and development of a low-cost laser range sensor

Active 3D vision is concerned with extracting 3D information from the visible surfaces of the scene. With the use of recent technological advances made in electronics, photonics and computer vision, it is now possible to develop a reliable, high-resolution and accurate 3D active range sensor. In this paper, first we present the development of Laser range sensor using only consumer-grade technologies to ensure affordable hardware cost and high angular resolution. In the designed Laser range sensor, a diode Laser projects the Laser line on the surface through a cylindrical lens while the camera captures the Laser line profile. Next, a new calibration technique of the range sensor is presented to acquire the range information based on relative pose between the Laser and the camera by taking single view of the scene. Experiments are carried out on real scene and efficient 3D reconstructed model of the objects has been obtained.     

Geodesic Gaussian Processes for the Parametric Reconstruction of a Free-Form Surface

Reconstructing a free-form surface from 3-dimensional (3D) noisy measurements is a central problem in inspection, statistical quality control, and reverse engineering. We present a new method for the statistical reconstruction of a free-form surface patch based on 3D point cloud data. The surface is represented parametrically, with each of the three Cartesian coordinates (x, y, z) a function of surface coordinates (u, v), a model form compatible with computer-aided-design (CAD) models. This model form also avoids having to choose one Euclidean coordinate (say, z) as a “response” function of the other two coordinate “locations” (say, x and y), as commonly used in previous Euclidean kriging models of manufacturing data. The (u, v) surface coordinates are computed using parameterization algorithms from the manifold learning and computer graphics literature. These are then used as locations in a spatial Gaussian process model that considers correlations between two points on the surface a function of their geodesic distance on the surface, rather than a function of their Euclidean distances over the xy plane. We show how the proposed geodesic Gaussian process (GGP) approach better reconstructs the true surface, filtering the measurement noise, than when using a standard Euclidean kriging model of the “heights”, that is, z(x, y). The methodology is applied to simulated surface data and to a real dataset obtained with a noncontact laser scanner. Supplementary materials are available online.     

Interactive three-dimensional ultrasound using a programmable multimedia processor

We developed an interactive three-dimensional (3D) ultrasound (US) workstation that is inexpensive and suitable for use in research and clinical environments. Our personal computer–based system produces 3D volumes by acquiring a series of 2D images from a commercial ultrasound scanner, spatially registering the images using an electromagnetic position sensor, and reconstructing the data into a regular 3D Cartesian volume. The 3D US system uses an imaging board based on the Texas Instruments TMS320C80 Multimedia Video Processor (MVP), a fully programmable mediaprocessor that includes multiple processing units on a single chip. We developed efficient volume reconstruction and visualization algorithms for the MVP that allow our 3D US system to provide the same immediate feedback as current 2D US technologies with the added advantage of presenting information in three dimensions. For example, for acquired sequences of 512 × 512 US images, volumes can be reconstructed using six degree-of-freedom position measurements at 11.4 frames/s. A modified reconstruction algorithm that performs incremental reconstruction was developed to enable real-time volume reconstruction and visualization during acquisition and operates at 12.5 frames/s. US volumes can be rendered via shear-warp factorization and maximum intensity projection (MIP) at 10 frames/s for 128 × 128 × 128 volumes and 1.45 frames/s for 255 × 255 × 255 volumes. © 1998 John Wiley & Sons, Inc. Int J Imaging Syst Technol 9: 442–454, 1998     

靶标成像双目视觉坐标测量建模

提出了一种利用手持式靶标实现双目视觉三维坐标测量建模的新方法。利用空间透视变换建立了非线性测量模型．介绍了基于牛顿非线性迭代的测量方程的求解方法。以矩阵分析理论为基础，讨论了影响测量方程求解的因素，并提出了方法中重要部件手持式靶标上特征点分布的基本约束条件，为这一方法在实际应用中获得较高的测量精度提供了较为完善的理论分析依据。通过数值分析与计算，验证了理论分析的正确性和这一方法应用的可行性。     

Three-dimensional sensor-based face recognition

We describe a face recognition system based on two different three-dimensional (3D) sensors. We use 3D sensors to overcome the pose-variation problems that cannot be effectively solved in two-dimensional images. We acquire input data based on a structured-light system and compare it with 3D faces that are obtained from a 3D laser scanner. Owing to differences in structure between the input data and the 3D faces, we can generate the range images of the probe and stored images. For estimating the head pose of input data, we propose a novel error-compensated singular-value decomposition that geometrically estimates the rotation angle. Face recognition rates obtained with principal component analysis on various range images of 35 people in different poses show promising results.     

OPTICAL SENSOR DESIGN USING NONLINEAR PROGRAMMING

Nonlinear programming is used to design a non-contact high resolution optical system capable of sensing all six degrees of freedom of an object. This system uses two wide-beam lasers to illuminate two reflective fiducial markers placed on the object's surface. Light rays reflected from these markers are incident on three position sensitive detectors, which measure the x-y coordinates of the ccntroids of the incident light spots. The mathematical model of the system, which maps object coordinates into light spot coordinates, is very complex and highly nonlinear. The purpose of the study is to find designs that optimize three objectives: linearity error, range, and sensitivity, both singly and in combination, and to gain insight into the design tradeoffs among them. The design variables include the angular orientation of the laser beams, the positions of each of the fiducial markers, and the distance between sensor and object planes. Analysis of the model shows how these variables must be changed to improve each objective. Computational results obtained using a generalized reduced gradient (GRG) algorithm show how geometric constraints on system area and component overlap limit the attainment of each objective. Tradeoff studies show the strong tradeoffs among these objectives, and indicate that the most important design variables are the orientations of the light sources. The methodology shows great promise for reducing the development time of sensors with specific requirements, and for improving sensor performance.     

Contemporary technologies for 3D digitization of Maori and Pacific Island artifacts

Three‐dimensional (3D) digitization is a key aspect in the preservation and exhibition of museum artifacts. The objective of this article is to investigate contemporary technologies for creating accurate 3D digital models of artifacts from the Maori and Pacific heritage and to establish a generic digitization methodology so that the 3D models can be archived and exhibited both over the internet and within museum displays. This process involves procedures for selecting artifacts that are suitable for laser scanning and then setting up the artifact for scanning. This is followed by the actual scanning and postprocessing stages. To achieve this, the Polhemus FastSCAN laser scanner has been used to collect raw point cloud surface data from artifacts of various sizes, shapes, textures, colors, and materials. The article explains the generic steps developed for postprocessing of raw scan data in the form of a cloud of geometric data points to a completely rendered 3D model with colors mapped on to the model. These generic steps involve removal of background noise, enhancement of texture, filling of holes, merging of separate scans, and color mapping. The results from the scanning and postprocessing of a wahaika, (a Maori club‐like weapon) and a Polynesian stone pounder reveal that it is important to use a scanner that is flexible enough to capture all the surface information irrespective of the artifact's geometry, and one with the capability of capturing color information with high accuracy. © 2009 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 19, 244–259, 2009     

Signal Averaging for Noise Reduction in Mobile Robot 3D Measurement System

Accurate information from sensors plays an important role in precision measurement. In such measurement small component of a noise can leads to a large variation in the output of the system. For the applications like multi-sensor data integration, sequences of observations from a number of different sensors are used to integrate into a single best estimate of the state of the environment. For integration of sensory information, sensor registration is considered as an important step. This research work is focused upon reduction of a noise from the repetitive motion of the pan tilt unit. The outcome of this paper is implemented on 3D feature extraction of the mobile robot’s environment using a laser range finder. In the proposed work averaging technique is implemented on the Pan Tilt Unit (PTU) of the system where laser range finder is fixed upon the PTU to extract the 3D feature of the target objects. Registration of the angular displacement of PTU and laser range finder is an essential element of the 3D feature extraction. An experimental result of sensor registration shows a substantial improvement in signal to noise (S/N) ratio and quality of 3D feature extraction is also found improved.     

3D Point Cloud Analysis for Detection and Characterization of Defects on Airplane Exterior Surface

Three-dimensional surface defect inspection remains a challenging task. This paper describes a novel automatic vision-based inspection system that is capable of detecting and characterizing defects on an airplane exterior surface. By analyzing 3D data collected with a 3D scanner, our method aims to identify and extract the information about the undesired defects such as dents, protrusions or scratches based on local surface properties. Surface dents and protrusions are identified as the deviations from an ideal, smooth surface. Given an unorganized point cloud, we first smooth noisy data by using Moving Least Squares algorithm. The curvature and normal information are then estimated at every point in the input data. As a next step, Region Growing segmentation algorithm divides the point cloud into defective and non-defective regions using the local normal and curvature information. Further, the convex hull around each defective region is calculated in order to englobe the suspicious irregularity. Finally, we use our new technique to measure the dimension, depth, and orientation of the defects. We tested and validated our novel approach on real aircraft data obtained from an Airbus A320, for different types of defect. The accuracy of the system is evaluated by comparing the measurements of our approach with ground truth measurements obtained by a high-accuracy measuring device. The result shows that our work is robust, effective and promising for industrial applications.     

Transportable infrared line scanner based equipment for thermal nondestructive testing

Transportable equipment for on-site thermal nondestructive testing is described. The equipment is constructed from two separate units: a hand-held infrared line scanner and a remote unit containing all the necessary control devices. The sample surface is heated by manually scanning a line source over the surface and the resulting surface temperature rise is simultaneously measured with the line scanner. The heating line is generated either by a line-focused laser beam or by a radio frequency induction coil. The obtained surface temperature distribution of the monitored area is presented as a pseudo-color image. The feasibility of the method is demonstrated with a carbon-glass fiber composite sample.