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

Structured Light-Based 3D Reconstruction System for Plants.

Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance

Geometric Calibration and Radiometric Correction of LiDAR Data and Their Impact on the Quality of Derived Products

LiDAR (Light Detection And Ranging) systems are capable of providing 3D positional and spectral information (in the utilized spectrum range) of the mapped surface. Due to systematic errors in the system parameters and measurements, LiDAR systems require geometric calibration and radiometric correction of the intensity data in order to maximize the benefit from the collected positional and spectral information. This paper presents a practical approach for the geometric calibration of LiDAR systems and radiometric correction of collected intensity data while investigating their impact on the quality of the derived products. The proposed approach includes the use of a quasi-rigorous geometric calibration and the radar equation for the radiometric correction of intensity data. The proposed quasi-rigorous calibration procedure requires time-tagged point cloud and trajectory position data, which are available to most of the data users. The paper presents a methodology for evaluating the impact of the geometric calibration on the relative and absolute accuracy of the LiDAR point cloud. Furthermore, the impact of the geometric calibration and radiometric correction on land cover classification accuracy is investigated. The feasibility of the proposed methods and their impact on the derived products are demonstrated through experimental results using real data

Characterization of Thin p-on-p Radiation Detectors with Active Edges

Active edge p-on-p silicon pixel detectors with thickness of 100 $\mu$m were fabricated on 150 mm Float zone silicon wafers at VTT. By combining measured results and TCAD simulations, a detailed study of electric field distributions and charge collection performances as a function of applied voltage in a p-on-p detector was carried out. A comparison with the results of a more conventional active edge p-on-n pixel sensor is presented. The results from 3D spatial mapping show that at pixel-to-edge distances less than 100 $\mu$m the sensitive volume is extended to the physical edge of the detector when the applied voltage is above full depletion. The results from a spectroscopic measurement demonstrate a good functionality of the edge pixels. The interpixel isolation above full depletion and the breakdown voltage were found to be equal to the p-on-n sensor while lower charge collection was observed in the p-on-p pixel sensor below 80 V. Simulations indicated this to be partly a result of a more favourable weighting field in the p-on-n sensor and partly of lower hole lifetimes in the p-bulk.Comment: 23 pages, 16 figures, 1 tabl

Demonstrating an absolute quantum advantage in direct absorption measurement

Engineering apparatus that harness quantum theory promises to offer practical advantages over current technology. A fundamentally more powerful prospect is that such quantum technologies could out-perform any future iteration of their classical counterparts, no matter how well the attributes of those classical strategies can be improved. Here, for optical direct absorption measurement, we experimentally demonstrate such an instance of an absolute advantage per photon probe that is exposed to the absorbative sample. We use correlated intensity measurements of spontaneous parametric downconversion using a commercially available air-cooled CCD, a new estimator for data analysis and a high heralding efficiency photon-pair source. We show this enables improvement in the precision of measurement, per photon probe, beyond what is achievable with an ideal coherent state (a perfect laser) detected with 100% efficient and noiseless detection. We see this absolute improvement for up to 50% absorption, with a maximum observed factor of improvement of 1.46. This equates to around 32% reduction in the total number of photons traversing an optical sample, compared to any future direct optical absorption measurement using classical light