Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio

Calibration of a Telecentric Structured-light Device for Micrometric 3D Reconstruction

Structured-light 3D reconstruction techniques are employed in a wide range of applications for industrial inspection. In particular, some tasks require micrometric precision for the identification of microscopic surface irregularities. We propose a novel calibration technique for structured-light systems adopting telecentric lenses for both camera and projector. The device exploits a fixed light pattern (striped-based) to perform accurate microscopic surface reconstruction and measurements. Our method employs a sphere with a known radius as calibration target and takes advantage of the orthographic projection model of the telecentric lenses to recover the bundle of planes originated by the projector. Once the sheaf of parallel planes is properly described in the camera reference frame, the triangulation of the surface’s object hit by the light stripes is immediate. Moreover, we tested our technique in a real-world scenario for industrial surface inspection by implementing a complete pipeline to recover the intersections between the projected planes and the surface. Experimental analysis shows the robustness of the proposed approach against synthetic and real-world test data

The influence of wing–wake interactions on the production of aerodynamic forces in flapping flight

We used two-dimensional digital particle image velocimetry (DPIV) to visualize flow patterns around the flapping wing of a dynamically scaled robot for a series of reciprocating strokes starting from rest. The base of the wing was equipped with strain gauges so that the pattern of fluid motion could be directly compared with the time history of force production. The results show that the development and shedding of vortices throughout each stroke are highly stereotyped and influence force generation in subsequent strokes. When a wing starts from rest, it generates a transient force as the leading edge vortex (LEV) grows. This early peak, previously attributed to added-mass acceleration, is not amenable to quasi-steady models but corresponds well to calculations based on the time derivative of the first moment of vorticity within a sectional slice of fluid. Forces decay to a stable level as the LEV reaches a constant size and remains attached throughout most of the stroke. The LEV grows as the wing supinates prior to stroke reversal, accompanied by an increase in total force. At stroke reversal, both the LEV and a rotational starting vortex (RSV) are shed into the wake, forming a counter-rotating pair that directs a jet of fluid towards the underside of the wing at the start of the next stroke. We isolated the aerodynamic influence of the wake by subtracting forces and flow fields generated in the first stroke, when the wake is just developing, from those produced during the fourth stroke, when the pattern of both the forces and wake dynamics has reached a limit cycle. This technique identified two effects of the wake on force production by the wing: an early augmentation followed by a small attenuation. The later decrease in force is consistent with the influence of a decreased aerodynamic angle of attack on translational forces caused by downwash within the wake and is well explained by a quasi-steady model. The early effect of the wake is not well approximated by a quasi-steady model, even when the magnitude and orientation of the instantaneous velocity field are taken into account. Thus, the wake capture force represents a truly unsteady phenomenon dependent on temporal changes in the distribution and magnitude of vorticity during stroke reversal

Quantitative Binocular Assessment Using Infrared Video Photoscreening

Photorefraction is a technique that has been used in the past two decades for pediatric vision screening. The technique uses a digital or photographic camera to capture the examinee‟s retinal reflex from a light source that is located near the camera‟s lens. It has the advantages of being objective, binocular and low cost, which make it a good candidate for pediatric screening when compared to other methods. Although many children have been screened using this technique in the U.S., its sensitivity and other disadvantages make it unacceptable for continued use. The Adaptive Photorefraction system (APS) was developed at the Center for Laser Applications (CLA) at the University of Tennessee Space Institute (UTSI) to correct the problems in the existing PS devices. APS was designed to determine quantitatively binocular refractive errors and strabismus and to accomplish these tasks objectively, without the need of medical professionals, and it is capable of performing these objectives and reporting the digitally recorded results within one- to-two minutes. In this dissertation, two APS prototypes were constructed, and measurements were performed using both an artificial eye and human subjects. Binocular measurements of refractive error were determined, and the effects of the variation of pupil-size and gaze angle were determined. After initial corrections for ocular scattering effects, measurement of the binocular refractive error of forty human subjects was achieved, and in the myopic region with uncertainty of the method was 0.6 diopter. Ocular alignment determinations were achieved, and using a novel cover-uncover test, strabismus detection was demonstrated