106 research outputs found

    Development and characterisation of an easily configurable range imaging system

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    Range imaging is becoming a popular tool for many applications, with several commercial variants now available. These systems find numerous real world applications such as interactive gaming and the automotive industry. This paper describes the development of a range imaging system employing the PMD-19 k sensor from PMD technologies. One specific advantage of our system is that it is extremely customisable in terms of modulation patterns to act as a platform for further research into time-of-flight range imaging. Experimental results are presented giving an indication of the precision and accuracy of the system, and how modifying certain operating parameters can improve system performance

    Maximizing precision over extended unambiguous range for TOF range imaging systems

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    The maximum unambiguous range for time-of-flight range imaging systems is inversely proportional to the chosen modulation frequency. However, increasing the unambiguous range by decreasing the modulation frequency will generally also degrade the range measurement precision. We describe a technique that significantly extends the range of a time-of-flight imaging system without compromising range precision. This is achieved by employing two modulation frequencies simultaneously. The chosen frequencies can be a combination of high and low frequency, or two similarly high frequencies. In this paper we present experimental results comparing single frequency; dual high and low frequency; and dual high frequency operation and demonstrate that range precision need not be appreciably compromised to achieve an extended unambiguous range

    Heterodyne range imaging in real-time

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    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

    Multiple frequency range imaging to remove measurement ambiguity

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    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

    Design and construction of a configurable full-field range imaging system for mobile robotic applications

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    Mobile robotic devices rely critically on extrospection sensors to determine the range to objects in the robot’s operating environment. This provides the robot with the ability both to navigate safely around obstacles and to map its environment and hence facilitate path planning and navigation. There is a requirement for a full-field range imaging system that can determine the range to any obstacle in a camera lens’ field of view accurately and in real-time. This paper details the development of a portable full-field ranging system whose bench-top version has demonstrated sub-millimetre precision. However, this precision required non-real-time acquisition rates and expensive hardware. By iterative replacement of components, a portable, modular and inexpensive version of this full-field ranger has been constructed, capable of real-time operation with some (user-defined) trade-off with precision

    Video-rate or high-precision: A flexible range imaging camera

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    A range imaging camera produces an output similar to a digital photograph, but every pixel in the image contains distance information as well as intensity. This is useful for measuring the shape, size and location of objects in a scene, hence is well suited to certain machine vision applications. Previously we demonstrated a heterodyne range imaging system operating in a relatively high resolution (512-by-512) pixels and high precision (0.4 mm best case) configuration, but with a slow measurement rate (one every 10 s). Although this high precision range imaging is useful for some applications, the low acquisition speed is limiting in many situations. The system’s frame rate and length of acquisition is fully configurable in software, which means the measurement rate can be increased by compromising precision and image resolution. In this paper we demonstrate the flexibility of our range imaging system by showing examples of high precision ranging at slow acquisition speeds and video-rate ranging with reduced ranging precision and image resolution. We also show that the heterodyne approach and the use of more than four samples per beat cycle provides better linearity than the traditional homodyne quadrature detection approach. Finally, we comment on practical issues of frame rate and beat signal frequency selection

    Genome-wide meta-analysis uncovers novel loci influencing circulating leptin levels.

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    Leptin is an adipocyte-secreted hormone, the circulating levels of which correlate closely with overall adiposity. Although rare mutations in the leptin (LEP) gene are well known to cause leptin deficiency and severe obesity, no common loci regulating circulating leptin levels have been uncovered. Therefore, we performed a genome-wide association study (GWAS) of circulating leptin levels from 32,161 individuals and followed up loci reaching P<10(-6) in 19,979 additional individuals. We identify five loci robustly associated (P<5 × 10(-8)) with leptin levels in/near LEP, SLC32A1, GCKR, CCNL1 and FTO. Although the association of the FTO obesity locus with leptin levels is abolished by adjustment for BMI, associations of the four other loci are independent of adiposity. The GCKR locus was found associated with multiple metabolic traits in previous GWAS and the CCNL1 locus with birth weight. Knockdown experiments in mouse adipose tissue explants show convincing evidence for adipogenin, a regulator of adipocyte differentiation, as the novel causal gene in the SLC32A1 locus influencing leptin levels. Our findings provide novel insights into the regulation of leptin production by adipose tissue and open new avenues for examining the influence of variation in leptin levels on adiposity and metabolic health

    Measurement of the View the tt production cross-section using eμ events with b-tagged jets in pp collisions at √s = 13 TeV with the ATLAS detector

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    This paper describes a measurement of the inclusive top quark pair production cross-section (σtt¯) with a data sample of 3.2 fb−1 of proton–proton collisions at a centre-of-mass energy of √s = 13 TeV, collected in 2015 by the ATLAS detector at the LHC. This measurement uses events with an opposite-charge electron–muon pair in the final state. Jets containing b-quarks are tagged using an algorithm based on track impact parameters and reconstructed secondary vertices. The numbers of events with exactly one and exactly two b-tagged jets are counted and used to determine simultaneously σtt¯ and the efficiency to reconstruct and b-tag a jet from a top quark decay, thereby minimising the associated systematic uncertainties. The cross-section is measured to be: σtt¯ = 818 ± 8 (stat) ± 27 (syst) ± 19 (lumi) ± 12 (beam) pb, where the four uncertainties arise from data statistics, experimental and theoretical systematic effects, the integrated luminosity and the LHC beam energy, giving a total relative uncertainty of 4.4%. The result is consistent with theoretical QCD calculations at next-to-next-to-leading order. A fiducial measurement corresponding to the experimental acceptance of the leptons is also presented

    Search for TeV-scale gravity signatures in high-mass final states with leptons and jets with the ATLAS detector at sqrt [ s ] = 13TeV

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    A search for physics beyond the Standard Model, in final states with at least one high transverse momentum charged lepton (electron or muon) and two additional high transverse momentum leptons or jets, is performed using 3.2 fb−1 of proton–proton collision data recorded by the ATLAS detector at the Large Hadron Collider in 2015 at √s = 13 TeV. The upper end of the distribution of the scalar sum of the transverse momenta of leptons and jets is sensitive to the production of high-mass objects. No excess of events beyond Standard Model predictions is observed. Exclusion limits are set for models of microscopic black holes with two to six extra dimensions
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