Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras

Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic calibration that generally does not meet the accuracy requirements needed by many robotics applications (e.g., highly accurate 3D environment reconstruction and mapping, high precision object recognition and localization, ...). In this paper, we propose a human-friendly, reliable and accurate calibration framework that enables to easily estimate both the intrinsic and extrinsic parameters of a general color-depth sensor couple. Our approach is based on a novel two components error model. This model unifies the error sources of RGB-D pairs based on different technologies, such as structured-light 3D cameras and time-of-flight cameras. Our method provides some important advantages compared to other state-of-the-art systems: it is general (i.e., well suited for different types of sensors), based on an easy and stable calibration protocol, provides a greater calibration accuracy, and has been implemented within the ROS robotics framework. We report detailed experimental validations and performance comparisons to support our statements

2D Reconstruction of Small Intestine's Interior Wall

Examining and interpreting of a large number of wireless endoscopic images from the gastrointestinal tract is a tiresome task for physicians. A practical solution is to automatically construct a two dimensional representation of the gastrointestinal tract for easy inspection. However, little has been done on wireless endoscopic image stitching, let alone systematic investigation. The proposed new wireless endoscopic image stitching method consists of two main steps to improve the accuracy and efficiency of image registration. First, the keypoints are extracted by Principle Component Analysis and Scale Invariant Feature Transform (PCA-SIFT) algorithm and refined with Maximum Likelihood Estimation SAmple Consensus (MLESAC) outlier removal to find the most reliable keypoints. Second, the optimal transformation parameters obtained from first step are fed to the Normalised Mutual Information (NMI) algorithm as an initial solution. With modified Marquardt-Levenberg search strategy in a multiscale framework, the NMI can find the optimal transformation parameters in the shortest time. The proposed methodology has been tested on two different datasets - one with real wireless endoscopic images and another with images obtained from Micro-Ball (a new wireless cubic endoscopy system with six image sensors). The results have demonstrated the accuracy and robustness of the proposed methodology both visually and quantitatively.Comment: Journal draf

Generic Techniques for the Calibration of Robots with Application of the 3-D Fixtures and Statistical Technique on the PUMA 500 and ARID Robots

A relatively simple, inexpensive, and generic technique that could be used in both laboratories and some operation site environments is introduced at the Robotics Applications and Development Laboratory (RADL) at Kennedy Space Center (KSC). In addition, this report gives a detailed explanation of the set up procedure, data collection, and analysis using this new technique that was developed at the State University of New York at Farmingdale. The technique was used to evaluate the repeatability, accuracy, and overshoot of the Unimate Industrial Robot, PUMA 500. The data were statistically analyzed to provide an insight into the performance of the systems and components of the robot. Also, the same technique was used to check the forward kinematics against the inverse kinematics of RADL's PUMA robot. Recommendations were made for RADL to use this technique for laboratory calibration of the currently existing robots such as the ASEA, high speed controller, Automated Radiator Inspection Device (ARID) etc. Also, recommendations were made to develop and establish other calibration techniques that will be more suitable for site calibration environment and robot certification

Equalization-Based Digital Background Calibration Technique for Pipelined ADCs

In this paper, we present a digital background calibration technique for pipelined analog-to-digital converters (ADCs). In this scheme, the capacitor mismatch, residue gain error, and amplifier nonlinearity are measured and then corrected in digital domain. It is based on the error estimation with nonprecision calibration signals in foreground mode, and an adaptive linear prediction structure is used to convert the foreground scheme to the background one. The proposed foreground technique utilizes the LMS algorithm to estimate the error coefficients without needing high-accuracy calibration signals. Several simulation results in the context of a 12-b 100-MS/s pipelined ADC are provided to verify the usefulness of the proposed calibration technique. Circuit-level simulation results show that the ADC achieves 28-dB signal-to-noise and distortion ratio and 41-dB spurious-free dynamic range improvement, respectively, compared with the noncalibrated ADC

Study and Characterization of a Camera-based Distributed System for Large-Volume Dimensional Metrology Applications

Large-Volume Dimensional Metrology (LVDM) deals with dimensional inspection of large objects with dimensions in the order of tens up to hundreds of meters. Typical large volume dimensional metrology applications concern the assembly/disassembly phase of large objects, referring to industrial engineering. Based on different technologies and measurement principles, a wealth of LVDM systems have been proposed and developed in the literature, just to name a few, e.g., optical based systems such as laser tracker, laser radar, and mechanical based systems such as gantry CMM and multi-joints artificial arm CMM, and so on. Basically, the main existing LVDM systems can be divided into two categories, i.e. centralized systems and distributed systems, according to the scheme of hardware configuration. By definition, a centralized system is a stand-alone unit which works independently to provide measurements of a spatial point, while a distributed system, is defined as a system that consists of a series of sensors which work cooperatively to provide measurements of a spatial point, and usually individual sensor cannot measure the coordinates separately. Some representative distributed systems in the literature are iGPS, MScMS-II, and etc. The current trend of LVDM systems seem to orient towards distributed systems, and actually, distributed systems demonstrate many advantages that distinguish themselves from conventional centralized systems