High-dynamic-range imaging optical detectors

Imaging spectrometers allowing spatially resolved targets to be spectrally discriminated are valuable for remote sensing and defense applications. The drawback of such instruments is the need to quickly process very large amounts of data. In this paper we demonstrate two imaging systems which detect a dim target in a bright background, using the coherence contrast between them, generating much less data but only operating over a limited optical bandwidth. Both systems use a passband filter, a Michelson interferometer, coupling optics and a CCD camera. The first uses the interferometer in a spatial mode, by tilting one of the mirrors to create a set of line fringes on the CCD array. The visibility of these fringes is proportional to the degree of coherence. The interferogram is displayed spatially on the CCD array, as a function of the path differences. The second system uses the interferometer in a temporal mode. A coherent point target and an extended background are imaged through the interferometer onto the CCD array, and one of the interferometer's mirrors is scanned longitudinally to vary the path difference in time. In both cases the coherent target is detected over a large dynamic range down to negative signal-to-background power ratios (in dB). The paper describes an averaging technique to improve the signal-to-noise ratio and correction techniques required to extract interferograms from the images. The spatial technique developed has the advantage of using no moving parts

Volume measurement using 3D Range Imaging

The use of 3D Range Imaging has widespread applications. One of its applications provides us the information about the volumes of different objects. In this paper, 3D range imaging has been utilised to find out the volumes of different objects using two algorithms that are based on a straightforward means to calculate volume. The algorithms implemented succesfully calculate volume on objects provided that the objects have uniform colour. Objects that have multi-coloured and glossy surfaces provided particular difficulties in determining volume

Heterodyne range imaging in real-time

A versatile full-field range imaging system has previously been constructed. This system is configurable in software to produce either high precision or fast acquisition range images. Indicatively a 10 second exposure has been shown to produce a range image of sub-millimeter precision, whilst video frame rate (30 fps) acquisition provides for centimetre precision. Currently the acquisition time of the system is to a large degree constrained by the off-line processing of the frames by an external computer. This paper presents an alternative to the off-line PC image processing utilising an Altera Stratix II FPGA. Processing rates up to 30 frames per second have been achieved with the added advantage that many of the previous systempsilas existing digital electronics can also be accommodated, providing for an even more compact and flexible system

High dynamic range imaging for archaeological recording

This paper notes the adoption of digital photography as a primary recording means within archaeology, and reviews some issues and problems that this presents. Particular attention is given to the problems of recording high-contrast scenes in archaeology and High Dynamic Range imaging using multiple exposures is suggested as a means of providing an archive of high-contrast scenes that can later be tone-mapped to provide a variety of visualisations. Exposure fusion is also considered, although it is noted that this has some disadvantages. Three case studies are then presented (1) a very high contrast photograph taken from within a rock-cut tomb at Cala Morell, Menorca (2) an archaeological test pitting exercise requiring rapid acquisition of photographic records in challenging circumstances and (3) legacy material consisting of three differently exposed colour positive (slide) photographs of the same scene. In each case, HDR methods are shown to significantly aid the generation of a high quality illustrative record photograph, and it is concluded that HDR imaging could serve an effective role in archaeological photographic recording, although there remain problems of archiving and distributing HDR radiance map data

Heterodyne range imaging as an alternative to photogrammetry

Solid-state full-field range imaging technology, capable of determining the distance to objects in a scene simultaneously for every pixel in an image, has recently achieved sub-millimeter distance measurement precision. With this level of precision, it is becoming practical to use this technology for high precision three-dimensional metrology applications. Compared to photogrammetry, range imaging has the advantages of requiring only one viewing angle, a relatively short measurement time, and simplistic fast data processing. In this paper we fist review the range imaging technology, then describe an experiment comparing both photogrammetric and range imaging measurements of a calibration block with attached retro-reflective targets. The results show that the range imaging approach exhibits errors of approximately 0.5 mm in-plane and almost 5 mm out-of-plane; however, these errors appear to be mostly systematic. We then proceed to examine the physical nature and characteristics of the image ranging technology and discuss the possible causes of these systematic errors. Also discussed is the potential for further system characterization and calibration to compensate for the range determination and other errors, which could possibly lead to three-dimensional measurement precision approaching that of photogrammetry

Multiple frequency range imaging to remove measurement ambiguity

Range imaging systems use a specialised sensor to capture an image where object distance (range) is measured for every pixel using time-of-flight. The scene is illuminated with an amplitude modulated light source, and the phase of the modulation envelope of the reflected light is measured to determine flight time, hence object distance for each pixel. As the modulation waveform is cyclic, an ambiguity problem exists if the phase shift exceeds 2π radians. To overcome this problem we demonstrate a method that superposes two different modulation frequencies within a single capture. This technique reduces the associated overhead compared with performing two sequential measurements, allowing the system to retain high range measurement precision at rapid acquisition rates. A method is also provided to avoid interference from aliased harmonics during sampling, which otherwise contaminate the resulting range measurement. Experimental results show the potential of the multiple frequency approach; producing high measurement precision while avoiding ambiguity. The results also demonstrate the limitation of this technique, where large errors can be introduced through a combination of a low signal to noise ratio and suboptimal selection of system parameters

A high-resolution full-field range imaging system

There exist a number of applications where the range to all objects in a field of view needs to be obtained. Specific examples include obstacle avoidance for autonomous mobile robots, process automation in assembly factories, surface profiling for shape analysis, and surveying. Ranging systems can be typically characterized as being either laser scanning systems where a laser point is sequentially scanned over a scene or a full-field acquisition where the range to every point in the image is simultaneously obtained. The former offers advantages in terms of range resolution, while the latter tend to be faster and involve no moving parts. We present a system for determining the range to any object within a camera's field of view, at the speed of a full-field system and the range resolution of some point laser scans. Initial results obtained have a centimeter range resolution for a 10 second acquisition time. Modifications to the existing system are discussed that should provide faster results with submillimeter resolution

A contribution to laser range imaging technology

The goal of the project was to develop a methodology for fusion of a Laser Range Imaging Device (LRID) and camera data. Our initial work in the project led to the conclusion that none of the LRID's that were available were sufficiently adequate for this purpose. Thus we spent the time and effort on the development of the new LRID with several novel features which elicit the desired fusion objectives. In what follows, we describe the device developed and built under contract. The Laser Range Imaging Device (LRID) is an instrument which scans a scene using a laser and returns range and reflection intensity data. Such a system would be extremely useful in scene analysis in industry and space applications. The LRID will be eventually implemented on board a mobile robot. The current system has several advantages over some commercially available systems. One improvement is the use of X-Y galvonometer scanning mirrors instead of polygonal mirrors present in some systems. The advantage of the X-Y scanning mirrors is that the mirror system can be programmed to provide adjustable scanning regions. For each mirror there are two controls accessible by the computer. The first is the mirror position and the second is a zoom factor which modifies the amplitude of the position of the parameter. Another advantage of the LRID is the use of a visible low power laser. Some of the commercial systems use a higher intensity invisible laser which causes safety concerns. By using a low power visible laser, not only can one see the beam and avoid direct eye contact, but also the lower intensity reduces the risk of damage to the eye, and no protective eyeware is required

Shape and deformation measurement using heterodyne range imaging technology

Range imaging is emerging as a promising alternative technology for applications that require non-contact visual inspection of object deformation and shape. Previously, we presented a solid-state full-field heterodyne range imaging device capable of capturing three-dimensional images with sub-millimetre range resolution. Using a heterodyne indirect time-of-flight configuration, this system simultaneously measures distance (and intensity), for each pixel in a cameras field of view. In this paper we briefly describe our range imaging system, and its principle of operation. By performing measurements on several metal objects, we demonstrate the potential capabilities of this technology for surface profiling and deformation measurement. In addition to verifying system performance, the reported examples highlight some important system limitations. With these in mind we subsequently discuss the further developments required to enable the use of this device as a robust and practical tool in non-destructive testing and measurement applications