Calibration routine for a telecentric stereo vision system considering affine mirror ambiguity

A robust calibration approach for a telecentric stereo camera system for three-dimensional (3-D) surface measurements is presented, considering the effect of affine mirror ambiguity. By optimizing the parameters of a rigid body transformation between two marker planes and transforming the two-dimensional (2-D) data into one coordinate frame, a 3-D calibration object is obtained, avoiding high manufacturing costs. Based on the recent contributions in the literature, the calibration routine consists of an initial parameter estimation by affine reconstruction to provide good start values for a subsequent nonlinear stereo refinement based on a Levenberg–Marquardt optimization. To this end, the coordinates of the calibration target are reconstructed in 3-D using the Tomasi–Kanade factorization algorithm for affine cameras with Euclidean upgrade. The reconstructed result is not properly scaled and not unique due to affine ambiguity. In order to correct the erroneous scaling, the similarity transformation between one of the 2-D calibration plane points and the corresponding 3-D points is estimated. The resulting scaling factor is used to rescale the 3-D point data, which then allows in combination with the 2-D calibration plane data for a determination of the start values for the subsequent nonlinear stereo refinement. As the rigid body transformation between the 2-D calibration planes is also obtained, a possible affine mirror ambiguity in the affine reconstruction result can be robustly corrected. The calibration routine is validated by an experimental calibration and various plausibility tests. Due to the usage of a calibration object with metric information, the determined camera projection matrices allow for a triangulation of correctly scaled metric 3-D points without the need for an individual camera magnification determination

Tips and Tricks for Characterizing Shape Memory Wire Part 5: Full‐Field Strain Measurement by Digital Image Correlation

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/98220/1/ext717.pd

State-of-the-art active optical techniques for three-dimensional surface metrology: a review [Invited]

This paper reviews recent developments of non-contact three-dimensional (3D) surface metrology using an active structured optical probe. We focus primarily on those active non-contact 3D surface measurement techniques that could be applicable to the manufacturing industry. We discuss principles of each technology, and its advantageous characteristics as well as limitations. Towards the end, we discuss our perspectives on the current technological challenges in designing and implementing these methods in practical applications.Purdue Universit

Edge Detection and 3D Reconstruction Based on the Shape-from-Focus

Má práce vychází z průmyslového projektu, jehož cílem je postavit stroj pro přesnou manipulaci mikrokomponenty. Zmíněné mikrokomponenty jsou sledovány na základě hledání hran v obraze. Má práce popisuje přehled postupů používaných pro detekci hran v obraze a zároveň návrh algoritmu pro rekonstrukci povrchu mikrokomponent pomocí Shape-From-Focus v mikroskopickém prostředí. Použité obrázky byly pořízeny kamerou s telecentrickým objektivem s malou hloubkou ostrosti. Vyvinul jsem Shape-From-Focus algoritmus, který používá 3D konvoluční masku pro detekci hran a je schopný aproximovat povrchy bez struktury. Vyvinutá 3D konvoluční maska je založena na druhé derivaci obrazové funkce. V pokusech popisujících kalibraci kamery a pro opětovné zaostření optické soustavy byly použity rozličné metody pro detekci hran v obraze. V pokusech se také prezentují výsledky rekonstrukce povrchu pomocí navrženého Shape-From-Focus algoritmu.The work stems from the industrial project which aims to build the highly precise micro components assembly machine. The components are positioned via locating the edges in the image. The overview of the edge detection techniques and the design of the Shape-From-Focus algorithm in the microscopic environment are presented. The images used were captured with telecentric optics with a shallow Depth-of-Field. The Shape-From-Focus algorithm is developed together with the 3D convolutional mask and approximation of the surface in the textureless areas. The developed 3D convolutional filter is based on the seconds derivative of the image function. Various edge detection techniques are used in experiments to calibrate the camera and to refocus the optics. The experiments also show the surface reconstruction obtained by the Shape-From-Focus algorithm

Affine multi-view modelling for close range object measurement

In photogrammetry, sensor modelling with 3D point estimation is a fundamental topic of research. Perspective frame cameras offer the mathematical basis for close range modelling approaches. The norm is to employ robust bundle adjustments for simultaneous parameter estimation and 3D object measurement. In 2D to 3D modelling strategies image resolution, scale, sampling and geometric distortion are prior factors. Non-conventional image geometries that implement uncalibrated cameras are established in computer vision approaches; these aim for fast solutions at the expense of precision. The projective camera is defined in homogeneous terms and linear algorithms are employed. An attractive sensor model disembodied from projective distortions is the affine. Affine modelling has been studied in the contexts of geometry recovery, feature detection and texturing in vision, however multi-view approaches for precise object measurement are not yet widely available. This project investigates affine multi-view modelling from a photogrammetric standpoint. A new affine bundle adjustment system has been developed for point-based data observed in close range image networks. The system allows calibration, orientation and 3D point estimation. It is processed as a least squares solution with high redundancy providing statistical analysis. Starting values are recovered from a combination of implicit perspective and explicit affine approaches. System development focuses on retrieval of orientation parameters, 3D point coordinates and internal calibration with definition of system datum, sensor scale and radial lens distortion. Algorithm development is supported with method description by simulation. Initialization and implementation are evaluated with the statistical indicators, algorithm convergence and correlation of parameters. Object space is assessed with evaluation of the 3D point correlation coefficients and error ellipsoids. Sensor scale is checked with comparison of camera systems utilizing quality and accuracy metrics. For independent method evaluation, testing is implemented over a perspective bundle adjustment tool with similar indicators. Test datasets are initialized from precise reference image networks. Real affine image networks are acquired with an optical system (~1M pixel CCD cameras with 0.16x telecentric lens). Analysis of tests ascertains that the affine method results in an RMS image misclosure at a sub-pixel level and precisions of a few tenths of microns in object space

Stent optical inspection system calibration and performance

Implantable medical devices, such as stents, have to be inspected 100% so no defective ones are implanted into a human body. In this paper, a novel optical stent inspection system is presented. By the combination of a high numerical aperture microscope, a triple illumination system, a rotational stage, and a CMOS camera, unrolled sections of the outer and inner surfaces of the stent are obtained with high resolution at high speed with a line-scan approach. In this paper, a comparison between the conventional microscope image formation and this new approach is shown. A calibration process and the investigation of the error sources that lead to inaccuracies of the critical dimension measurements are presented.Postprint (author's final draft

The development of optical projection tomography instrumentation and its application to in vivo three dimensional imaging of zebrafish

OPT is a three dimensional (3D) imaging technique that can produce 3D reconstructions of transparent samples, requiring only a widefield imaging system and sample rotation. OPT can be readily applied to chemically cleared samples, or to live transparent organisms such as nematodes or zebrafish. For preclinical imaging, there is a trade-off between optical accessibility and biological relevance to humans. Adult Danio rerio (zebrafish) represent a promising compromise, with greater homology to humans than smaller animals, and superior optical accessibility than mice. However, their size and physiology present a number of imaging challenges including non-negligible absorption and optical scattering, and limited time for image data acquisition if the fish are to be recovered for longitudinal studies. A key goal of this PhD thesis research was to develop OPT to address these challenges and improve in vivo imaging capabilities for this model organism. This thesis builds on previous work at Imperial where angularly multiplexed OPT using compressed sensing was developed and applied to in vivo imaging of a cancer-burdened adult zebrafish, with a sufficiently short OPT data acquisition time to allow recovery of the fish after anaesthesia. The previous cross-sectional study of this work was extended to a longitudinal study of cancer progression that I undertook. The volume and quality of data acquired in the longitudinal study presented a number of data processing challenges, which I addressed with improved automation of the data processing pipeline and with the demonstration that convolutional neural networks (CNN) could replace the iterative compressed sensing algorithm previously used to suppress artifacts when reconstructing undersampled OPT data sets. To address the issue of high attenuation through the centre of an adult zebrafish, I developed conformal-high-dynamic-range (C-HDR) OPT and demonstrated that it could provide sufficient dynamic range for brightfield imaging of such optically thick samples, noting that transmitted light images can provide anatomical context for fluorescence image data. To reduce the impact of optical scattering in OPT, I developed a parallelised quasi-confocal version of OPT called slice-illuminated OPT (slice-OPT) to reject scattered photons and demonstrated this with live zebrafish. To enable 3D imaging with short wave infrared (SWIR) light, without the requirement of an expensive Ge or InGaAs camera, I implemented a single pixel camera and demonstrated single-pixel OPT (SP-OPT) for the first time.Open Acces

ELT HARMONI: Image Slicer Preliminary Design

Harmoni is the ELT's first light visible and near-infrared integral field spectrograph. It will provide four different spatial scales, ranging from coarse spaxels of 60 x 30 mas best suited for seeing limited observations, to 4 mas spaxels that Nyquist sample the diffraction limited point spread function of the ELT at near-infrared wavelengths. Each spaxel scale may be combined with eleven spectral settings, that provide a range of spectral resolving powers from R 3500 to R 20000 and instantaneous wavelength coverage spanning the 0.47 - 2.45 {\mu}m wavelength range of the instrument. The consortium consists of several institutes in Europe under leadership of Oxford University. Harmoni is starting its Final Design Phase after a Preliminary Design Phase in November, 2017. The CRAL has the responsibility of the Integral Field Unit design linking the Preoptics to the 4 Spectrographs. It is composed of a field splitter associated with a relay system and an image slicer that create from a rectangular Field of View a very long (540mm) output slit for each spectrograph. In this paper, the preliminary design and performances of Harmoni Image Slicer will be presented including image quality, pupil distortion and slit geometry. It has been designed by CRAL for Harmoni PDR in November, 2017. Special emphases will be put on straylight analysis and slice diffraction. The optimisation of the manufacturing and slit geometry will also be reported.Comment: 13 pages, 19 figures, 4 tables, Submitted to SPIE Astronomical Telescopes and Instrumentatio

3D image acquisition system based on shape from focus technique

agent Agrosup Dijon de l'UMREcolDurGEAPSIThis paper describes the design of a 3D image acquisition system dedicated to natural complex scenes composed of randomly distributed objects with spatial discontinuities. In agronomic sciences, the 3D acquisition of natural scene is difficult due to the complex nature of the scenes. Our system is based on the Shape from Focus technique initially used in the microscopic domain. We propose to adapt this technique to the macroscopic domain and we detail the system as well as the image processing used to perform such technique. The Shape from Focus technique is a monocular and passive 3D acquisition method that resolves the occlusion problem affecting the multi-cameras systems. Indeed, this problem occurs frequently in natural complex scenes like agronomic scenes. The depth information is obtained by acting on optical parameters and mainly the depth of field. A focus measure is applied on a 2D image stack previously acquired by the system. When this focus measure is performed, we can create the depth map of the scene

Powell Lens-based Line-Scan Spectral Domain Optical Coherence Tomography for Cellular Resolution Imaging of Biological Tissues

A line-scan spectral-domain optical coherence tomography system was developed for corneal imaging. It utilizes a Powell lens to achieve a better line illumination power distribution than the conventional use of cylindrical lenses. It achieves a lateral resolution of <2.1 microns and ~4.1 microns in the x and y directions and an axial resolution of ~1.5 microns in tissue