双目立体视觉系统的精度分析

为提高双目立体视觉系统的测量精度,分析双目视觉系统的工作原理以及该系统各个环节的误差模型.通过提高标定模板的精度、增加标定图像,可以减小标定误差及图像校正行对齐误差.分析图像识别误差对视觉系统测量精度的影响,导入视觉系统的结构参数与测量误差之间的关系,从而确定结构参数对测量精度的作用.讨论物距对测量精度的影响,并给出合...     

机器人学习的可编程超声波传感器阵列摄像定位系统

提出一种用于摄像机室内移动物体定位的超声波传感器阵列,通过机器人学习的可编程软硬件来实现的系统。该传感器阵列可被编程设定为11对发送/接收器,通过传感器阵列初始化时所采集的静态环境数据与被定位对象进入静态环境时所采集的数据作比较,结合不可能概率事件与采样数据的正态分布及几何学的相交定位思想,以最大似然估计、最小方差计算等作为编程机制,得到水平定位极坐标。实验表明:其精准定位水平方向角为7.5°,定位目标更新周期为200 ms,1.2 s内锁定目标。并实现灵活变倍与聚焦,满足人们对于室内摄像机的定位要求。     

基于矢量差分的未标定摄像机P5P问题的求解

针对PnP问题的方程建立与求解, 提出一种基于矢量差分的未标定摄像机P5P问题的线性求解算法. 将5个控制点组成非共面的4点集合, 按照成像过程, 通过两个集合间的控制点矢量差分逐步构建摄像机姿态及相机矩阵的线性约束方程. 再依据线性理论与旋转阵 R 的正交性化简约束方程, 利用矢量积运算给出未标定P5P问题摄像机姿态及相机矩阵的解析解. 模拟和真实实验都验证了该方法的有效性.     

嵌入式平台下的RFID数据处理终端

介绍一种以AT91SAM9260处理器和Linux嵌入式操作系统为平台的RFID信息采集与处理系统。该系统充分利用AT91SAM9260芯片丰富的标准接口资源,集门禁、考勤、监控为一体,以Linux操作系统为软件平台,完成了RFID数据信息和USB摄像头照片数据的采集、保存与TCP/IP远程数据传输等。介绍了系统的硬件组成原理、软件设计方案和实现方法,为射频识别技术在智能一卡通系统中的应用提供了一种先进的解决方案。     

Theoretical analysis of polarization properties for tilted fiber Bragg gratings

The polarization properties for tilted fiber Bragg gratings (TFBGs) are investigated theoretically based on coupled-mode theory and Mueller matrix method. The expression of wavelength-related polarizationdependent loss (PDL) for TFBGs with different tilt angles is derived and calculated. Simulation results are compared, and the results indicate that the polarization capability of TFBGs with 45° angle is stronger than other TFBGs with smaller angles. The degree of polarization for unpolarized light passing T...     

简化UKF算法在摄像机标定中的应用

提出一种基于简化无迹卡尔曼滤波（UKF）算法的摄像机标定方法。将平面靶标图像上的不同特征点坐标视为同一个特征点在不同时刻的运动坐标。为避免欧拉角描述法带来的奇异问题,用单位四元数描述世界坐标系和摄像机坐标系之间的变换关系,选取摄像机内外参数作为系统状态变量。结合实际应用背景,简化标准UKF算法,将其用于摄像机参数估计,在保证标定精度的前提下降低运算复杂度。仿真结果表明了该方法的有效性。     

Terrain mapping under extreme light conditions with direct stereo matching method through aggregating matching costs by weight

One of the biggest problems in applying stereo vision techniques in field robotics is how to acquire 3D terrain maps under extreme light conditions. Through multiple exposures, the dynamic range of images can be increased. In this paper, instead of using existing lighting enhancement methods such as exposure fusion to increase the texture of 2D image, we propose that the matching costs of the images grabbed with multiple exposures are directly summed by weight. Compared with the previous methods such as exposure fusion, with the proposed method, it is not necessary to fuse the 2D images captured with multiple exposures, and for each pixel of the matching image, the local information in its local window can be better retained. Since it is possible that the camera is moved between exposures when the images are grabbed, the images captured with multiple exposures are aligned to the image acquired with auto exposure. In order to evaluate the performance of the proposed method, two different stereo matching algorithms were used: a local window-based method and semi-global method. Through experiments in laboratory and outdoors with a stereo vision camera fixed on a tripod and held in the hand, it was verified that the proposed method consistently allowed more valid points to be obtained and the 3D model of terrain can be built more accurately. Especially when the local window-based method was used, the proposed method performed much better.     

WIFI镜头机无线图像采集系统

针对有线摄像头移动性差、不够灵活等缺陷,提出将摄像头模块、WIFI模组和stm32芯片组合到一起形成一个WIFI无线镜头机.对摄像头模块和WIFI模组的原理和实物进行了研究,通过WIFI无线数据传输技术、LWIP协议及Socket网络编程将图像数据信息无线发送到显示设备处理器中.最终实现将带有网卡的显示设备连接到WIFI无线镜头机内部的WIFI热点,通过连接服务器、开启相机、保存图片等一系列的操作,方便快捷的完成无线图像传输、显示和存储的工作.     

A robust projector–camera interactive display system based on finger touch control by fusing finger and its shadow

A robust projector–camera interactive display system consisting of one camera and one projector is proposed, which enables users to interact with computer by touching on arbitrary surfaces with bare hand. The system utilizes the camera to recover 3D information of fingertip for touch detection. Firstly, predicted image generated from geometric and photometric calibration matrix is used to segment hand and its shadow. Secondly, fusion degree of the hand and its shadow is detected using linear‐scanning method. Finally, a square tracking mask is used to determine the touch action on the projection surface. Experimental results show that the proposed system is robust to different lighting conditions. The touch detection accuracy is 93.0% and the average processing time of each frame is 36 ms.     

Circular polarized dual‐band antenna for WLAN/Wi‐MAX application

A novel square ring printed antenna has been suggested for dual‐band circular polarization (CP). The geometry contains a square patch and a square ring structure for dual‐band operation. Circular polarization is achieved using triangular cut at the boundary and right angle bend with inner perturbation. The suggested antenna is excited from the lower layer through electromagnetic (EM) coupling technique. The antenna shows good impedance bandwidths of 90 MHz (2.43‐2.52 GHz) and 800 MHz (5.7‐6.5 GHz, respectively. The antenna shows 3 dB axial ratio bandwidth of 20 MHz at lower band and 120 MHz at upper band with improved gain > 6 dBi. The simulated and measured results are well agreed with each other. The antenna is promising wideband operation at the upper band. This antenna was implemented on fiberglass reinforcement laminated Arlon substrate with dielectric constant (?_r = 2.55), and the overall physical dimension of 30 × 30 × 3.048 mm³. The designed antenna can be extensibly applicable in WLAN/Wi‐MAX communication. The presented antenna is designed using hyperlynx IE3D and the simulated results are presented.