计算机单目视觉测量系统

为了精确实现对空间物体的测量,提出了利用线激光、单CCD相机、小孔成像与激光面约束模型的激光线测量法。引进三维信息已知的标准阶梯块,作为激光面约束的标定块。由计算机控制摄像头对实物连续拍摄和实时处理,提取激光线上的像素坐标,利用建立的模型将二维坐标转换成三维坐标,再以点云的形式重构出物体,实现三维自动测量。实践中检测系统测量精度可达到0.05mm。     

关节式坐标测量机激光测量头参数标定

在三维视觉测量中,标定方法对测量结果的影响是决定性的.本文通过分析、比较各种视觉模型及标定方法,采用考虑镜头畸变因素的三维视觉模型以满足高精度测量系统的需求.由于关节式坐标测量机的激光测量头,使用单摄像机和线结构光来匹配被测物体表面的三维数据,本文设计了一种新型的阶梯形标定块,通过标定块图像和激光条纹图像完成了摄像机的内外参数标定和激光平面参数标定.实验证明,该标定操作过程简单,易于实现自动化,且具有较高的标定精度.     

基于同视场参考点的落点坐标测量系统的设计与应用

提出了一种用于测量空间三维点坐标的单摄像机模型。该模型利用透视投影几何关系,对摄像机参数进行标定,制定固定关联基准,建立参考点与被测点的平面方程,利用这两个条件,建立相应的数学模型,通过读取单目CCD摄像机像面坐标,就可重建物体落点的三维坐标。     

中厚钢板轮廓检测中线激光端点提取算法研究

提出了一种基于二次投影的边缘信息提取算法,并将这种算法应用于线激光端点的坐标提取.利用面阵CMOS相机获取入射在中厚板带钢表面的线激光图像,利用一次投影算法对预处理后图像进行处理,提取图像中激光线中心线的纵向位置坐标,并以它为基准,上下各取2行共5行作为提取图像中激光线端点位置坐标的目标行;然后,利用二次投影改进算法对这5行激光线分别进行处理,获取每行激光线端点的亚像素位置坐标,对该坐标值进行加权平均处理,所得值即为图像中激光线的端点位置坐标.所提出的二次投影改进算法不仅实现了目前中厚板形貌的非接触式测量,也提高了实际应用的检测精度.该算法光线端点检测精度可达0.003 5 pixel,在工程中具有较大的应用价值.     

先验知识辅助的条纹投影动态三维形貌测量

为改进条纹投影动态三维测量系统性能,根据动态物体三维形貌测量的特点提出了两步法测量方案：1)通过测量运动前物体或CAD模型,获得物体初始三维形貌及二维图像中特征点对应的三维坐标;2)进行物体运动变化过程的三维测量。通过检测动态图像中的特征点,根据二维、三维坐标对应关系计算物体不同时刻的运动参数,再由初始形貌估计出物体的近似形貌,以此来计算该时刻条纹图的近似相位。然后结合该近似相位及实际条纹的截断相位计算得到展开相位,最后获得该时刻物体的三维形貌。与时间相位展开法相比,该方案在相同测量精度下提高了测量速度;而与空间相位展开法相比,该方案在相同测量速度下提高了测量可靠度,并且不受条纹不连续影响。采用DLP投影仪和高速摄像机搭建了静态、动态双模式三维测量系统,实现了1280×1024点及70 f/s的三维形貌测量。实验结果表明该方案不但可以对刚体运动物体进行测量,而且对非刚体运动物体,只要其形变引起的条纹变化不超过半个周期也能够测量。同时,提出的方法对相邻时刻物体位姿变化有较大的容限。     

利用线激光的机器人作业系统三维物体扫描输入的研究

分析了几种三维物体模型的输入方法,并介绍了利用线激光器及彩色ＣＣＤ摄像机构成的三维物体扫描输入系统。着重讨论了利用神经网络的三维物体扫描测量系统的标定及测量方法,并给出了利用这一系统进行实际测量的效果。     

电路板锡膏均匀性参数检测系统

建构了电路板锡膏的三维测量系统,实现了印刷锡膏均匀性参数的获取,从而达到对表面贴装质量进行监控和评价的目的．该系统基于线结构光测量原理,借助扫描技术实现三维轮廓测量．利用Tsai的径向排列约束法标定摄像机参数,由特制的棱角标定块实现光平面参数的标定．提出了电路板基层面自动确定方法,即根据图像特性实现锡膏和基层面的分离;并采用主元素分析法进行平面拟合,实现锡膏均匀性参数的计算和统计．采用该实验设备在半导体生产线上进行了大量测量,实验结果表明该系统操作简单、稳定可靠．     

双目动态摄影测量技术研究与实现

针对振动条件下雷达天线型面变形测量问题,设计了基于双目视觉动态摄影测量系统.介绍了系统的组成和工作流程,并对其中的相机同步技术、相机控制场标定技术、圆形标志点中心定位技术、像点自动匹配技术进行了研究.系统通过图像采集卡实现了一种廉价的ns级双相机同步方式.用10参数模型对相机进行了标定.采用了一种高反射率的圆形人工标志,通过Canny灰度质心的方法实现了圆形标志点中心的定位.系统用两种方法实现了像点的自动匹配:第一种是基于待测物体近似坐标的驱动点匹配方法.第二种则是运用核线约束、像点残差约束和相对关系约束,完成像点自动匹配.进行了振动测量试验,试验结果表明在物距为1.5 m和物体振动频率小于50 Hz条件下,系统点位测量精度小于0.3 mm,平面度测量精度小于0.1 mm.     

地面激光扫描仪三维坐标测量精度检测方法

地面三维激光扫描仪是一种新型测量仪器,应用范围广泛,它的精度对测量成果质量起着至关重要的作用。目前,对三维激光扫描仪进行精度评定时,多将三维坐标反算为水平角、竖直角和距离,并建立基准对距离和角度进行精度评定。扫描仪给出的直接数据为三维坐标,反算会引起精度损失。文章提出两种方法评定地面三维激光扫描仪的坐标精度。以Leica AT901跟踪仪测量球形靶标坐标为基准,对Faro Photon80测量的三维坐标精度进行评定;以光滑平面作为基准,对点云进行拟合评定扫描仪精度。     

异形热态锻件几何尺寸测量方法的研究

提出一种异形热态锻件几何尺寸测量方法。基于线激光器、CCD和伺服系统构建线激光扫描测量系统,通过提取图像上被锻件表面轮廓调制的激光条纹二维信息,经过坐标变换及点云三维重构得到锻件三维尺寸信息。针对被测异形锻件形貌特征,建立基于摄像机运动的扫描测量模型,并提出一种基于棋盘参考平面的摄像机光心轨迹求解方法。根据平面上特征点在CCD图像不同帧中的坐标拟合摄像机的运动轨迹,结合扫描测量模型实现对异形锻件完整轮廓尺寸的测量。通过实验对封头进行扫描测量,得到球冠部分截面测量直径误差小于4 mm,满足热态锻件测量要求,验证了该方法的可行性。     

High-rate coding system for magnetic recording

A coding system for magnetic recording channels combining a high-rate error detection code with a list Viterbi algorithm (LVA) is proposed. This coding system can provide a coding gain of up to 2-3 dB for a modified extended extended partial response class IV (EEPR4) channel. A pipelined implementation of the LVA is presented, and an accurate estimation technique for the LVA performance is developed     

Decision-directed channel estimation based on iterative linear minimum mean square error for orthogonal frequency division multiplexing systems

A decision-directed (DD) channel estimation based on iterative linear minimum mean square error (LMMSE) is proposed for orthogonal frequency division multiplexing systems. Existing DD channel estimation is well known to have the problem of error propagation because of symbol-by-symbol detection. The proposed algorithm can estimate the correction term of current channel state information (CSI) according to the error vector of previous CSI by applying the orthogonality principle, and corrects the current CSI with this correction term. Analysis and simulation results have shown that this method has no error propagation problem. The performance of the proposed algorithm is much better than the conventional DD channel estimation, and close to the optimal LMMSE estimator, but with much less computational complexity compared with the optimal LMMSE estimator.     

Optimal power and subcarriers allocation in downlink OFDMA system with imperfect channel knowledge

Most of existing work on resource allocation in TDMA and OFDMA systems assumes the availability of perfect channel state information (CSI) at the transmitter, which is rarely possible due to feedback delay and channel estimation error. In this paper, we study the effect of feedback delay and channel estimation error on margin adaptive resource allocation in a downlink OFDMA system. By using convex optimization framework, we find an optimal solution to the problem. First, we study the individual effect of feedback delay and channel estimation error on resource allocation by considering them exclusively. Then, we consider the simultaneous presence of feedback delay and channel estimation error and study their combined effect on resource allocation. We derive an explicit close form expression for the users’ transmit power and propose an algorithm for power and subcarriers allocation for each of these three scenarios. The algorithms have polynomial complexities and solve the problem with zero optimality gaps. Simulation results show that the system performance is very sensitive to feedback delay and is affected significantly by imperfect channel estimation. Our proposed algorithms highly improve the system performance in the availability of only imperfect CSI at the transmitter.     

Effect of error in channel state information on the channel capacity with QAM signalling and the design of robust signal constellations

The effects of channel estimation errors on the channel capacity of a discrete time, discrete input, infinite output Rayleigh fading channel are investigated. The case of conventional modulation methods such as phase shift keying (PSK) and quatrature amplitude modulation (QAM) is investigated at first where it was observed that the capacity degrades rapidly with increasing channel estimation errors. The effect of error in the channel estimation is similar to the effect of higher noise in the channel that depends on the transmitted signal. A genetic algorithm is used to optimise the signal constellation in order to maximise the capacity for a given finite number of signal points. The aim of trying to maximise the capacity is to estimate the remaining gap in performance between a traditional modulation scheme such as QAM and the best possible constellation that is optimised for the channel. The constellations obtained from the genetic algorithm are, in general, not directly implementable. A method to design practical robust signal constellations that overcome the effect of channel state information (CSI) error is presented. The robust signal constellations obtained show a performance that is very close to the optimal constellations. In this work, the probability distribution of the error in CSI is assumed to be known.     

基于差分进化的时变信道最大似然估计算法

研究了隧道环境下的通信信道估计。针对隧道环境的地铁列车与轨旁设备之间无线通信中无线传输信道快速变化的特点,提出了一种采用元胞差分进化(DE)方法实时获取时变信道的有效信道长度的新型最大似然(ML)信道估计算法——DE-ML算法。仿真结果表明该算法在使用较少导频信息的情况下,通过差分进化方法有效估计跟踪有效信道长度,其估计性能优于最小二乘(LS)、线性最小均方误差(LMMSE)、传统ML等经典信道估计算法。该算法能在提高系统传输效率的同时显著提高算法的估计精度,尤其在高速移动情况下也具有了非常良好的性能。     

Joint ML time-frequency synchronisation and channel estimation algorithm for MIMO-OFDM systems

The maximum-likelihood (ML) time-frequency synchronisation algorithm combined with channel estimation for multiple input multiple output-orthogonal frequency division multiplexing (MIMO-OFDM) systems in frequency selective fading channels is addressed. In the proposed algorithm, the authors use two steps to maximise an ML metric to obtain first the frequency offset and then timing. A fast Fourier transform algorithm is used to estimate the frequency offset. Using these two estimates, the channel is identified. A simple iterative algorithm is proposed to improve the frequency offset estimation. The performance of the proposed synchronisation approach, in terms of timing failure probability and mean square error of the estimated frequency offset and bit error rate, is compared with others in the literature. Comparison of simulation results with the Cramer-Rao lower bound clearly illustrates the accuracy of the proposed algorithm, which outperforms the state-of-the-art synchroniser devices in the open literature.     

Efficient DFT-based channel estimation for OFDM systems on multipath channels

An improved discrete Fourier transform (DFT)-based channel estimation for orthogonal frequency division multiplexing systems is proposed. Conventional DFT-based channel estimations improve the performance by suppressing time domain noise. However, they potentially require information on channel impulse responses and may also result in mean-square error (MSE) floor due to incorrect channel information such as channel delay spread. In contrast, our purposed channel estimation can improve the performance by deciding significant channel taps adaptively without requiring any channel statistical information. Significant channel taps are detected on the basis of a predetermined threshold. The optimal threshold to reduce the MSE of the estimation is also derived, and it is confirmed by computer simulation. Simulation results demonstrate that the proposed algorithm can improve the MSE performance ~6.5 dB compared with the conventional DFT-based estimation, and the MSE floor is not observed in any channels.     

基于卡尔曼滤波的时变水声信道估计

为了能同时利用时变水声信道的簇状稀疏特性和时间相关性,构造了一种时变水声信道模型,并基于该模型对传统的卡尔曼滤波压缩感知算法进行改进。该方法主要利用前一时刻估计的信道状态响应来确定当前时刻信道的候选支撑集,并以此构造时变水声信道的状态转移方程。通过卡尔曼滤波迭代的方法计算候选支撑集上的系数,最后通过阈值法滤除误差原子。仿真结果表明：该方法能有效地利用水声信道间的时间相关性来提高信道估计的性能,同时由于水声信道存在簇状稀疏特性,因此经该方法也具有一定的鲁棒性。     

Efficient MIMO channel estimation using complementary sequences

Low complexity channel estimation for single-carrier block transmission systems over multiple-input multiple-output time varying frequency-selective channels is investigated. A time slot structure that uses Golay complementary sequences with perfect periodic autocorrelations as two-sided pilot blocks is presented. Employing this structure, optimal least square estimate in the minimum mean square error (MMSE) sense is achieved. Furthermore, a computationally efficient algorithm which is named as fast periodic Golay correlation is proposed based on the specific generator and the properties related to circulant matrices. Finally, the simulation results show the MMSE performance of the proposed scheme and algorithm.     

基于压缩感知的多中继协作通信系统稀疏信道估计算法研究

提出了一种基于压缩感知理论的多中继协作通信系统稀疏信道估计方法.采用正交匹配追踪（Orthogonal Matching Pursuit,OMP）压缩感知算法,对时域信道脉冲响应进行估计.对多中继协作通信系统进行稀疏建模;结合压缩感知理论构建观测矩阵,并给出卷积信道的稀疏表示;利用压缩信道感知算法重建了系统的卷积复合信道.仿真结果表明,与传统的最小二乘法（Least Square,LS）相比,采用压缩感知理论的信道估计算法,能利用较少的导频信号获得很好的信道估计性能,提高了频谱利用率.