Range imager performance comparison in homodyne and heterodyne operating modes

Range imaging cameras measure depth simultaneously for every pixel in a given field of view. In most implementations the basic operating principles are the same. A scene is illuminated with an intensity modulated light source and the reflected signal is sampled using a gain-modulated imager. Previously we presented a unique heterodyne range imaging system that employed a bulky and power hungry image intensifier as the high speed gain-modulation mechanism. In this paper we present a new range imager using an internally modulated image sensor that is designed to operate in heterodyne mode, but can also operate in homodyne mode. We discuss homodyne and heterodyne range imaging, and the merits of the various types of hardware used to implement these systems. Following this we describe in detail the hardware and firmware components of our new ranger. We experimentally compare the two operating modes and demonstrate that heterodyne operation is less sensitive to some of the limitations suffered in homodyne mode, resulting in better linearity and ranging precision characteristics. We conclude by showing various qualitative examples that demonstrate the system’s three-dimensional measurement performance

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

Micro-LiDAR velocity, temperature, density, concentration sensor

A light scatter sensor includes a sensor body in which are positioned a plurality of optical fibers. The sensor body includes a surface, in one end of each of the optical fibers terminates at the surface of the sensor body. One of the optical fibers is an illumination fiber for emitting light. A plurality of second optical fibers are collection fibers for collecting scattered light signals. A light sensor processor is connected to the collection fibers to detect the scattered light signals

A power-saving modulation technique for time-of-flight range imaging sensors

Time-of-flight range imaging cameras measure distance and intensity simultaneously for every pixel in an image. With the continued advancement of the technology, a wide variety of new depth sensing applications are emerging; however a number of these potential applications have stringent electrical power constraints that are difficult to meet with the current state-of-the-art systems. Sensor gain modulation contributes a significant proportion of the total image sensor power consumption, and as higher spatial resolution range image sensors operating at higher modulation frequencies (to achieve better measurement precision) are developed, this proportion is likely to increase. The authors have developed a new sensor modulation technique using resonant circuit concepts that is more power efficient than the standard mode of operation. With a proof of principle system, a 93–96% reduction in modulation drive power was demonstrated across a range of modulation frequencies from 1–11 MHz. Finally, an evaluation of the range imaging performance revealed an improvement in measurement linearity in the resonant configuration due primarily to the more sinusoidal shape of the resonant electrical waveforms, while the average precision values were comparable between the standard and resonant operating modes

The Waikato range imager

We are developing a high precision simultaneous full-field acquisition range imager. This device measures range with sub millimetre precision in range simultaneously over a full-field view of the scene. Laser diodes are used to illuminate the scene with amplitude modulation with a frequency of 10MHz up to 100 MHz. The received light is interrupted by a high speed shutter operating in a heterodyne configuration thus producing a low-frequency signal which is sampled with a digital camera. By detecting the phase of the signal at each pixel the range to the scene is determined. We show 3D reconstructions of some viewed objects to demonstrate the capabilities of the ranger

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

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

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

Unabated rise in number of adult deaths in South Africa

Mortality statistics are a fundamental cornerstone of the health status data needed for planning and monitoring the impact of health programmes. In developed countries, such data are generated through the death registration system, dating back to the 19th century in the case of the UK and Sweden. Until recently, South Africa’s death registration system was recognised as inadequate to provide such statistics for the majority of the population,1 but the postApartheid government has prioritised the collection of such statistics, as evidenced by a new-found collaboration between the Departments of Health and Home Affairs and Statistics South Africa.2 Registration of adult deaths improved from about 50% in 1990 to over 90% in 20003 as a result of the incorporation of the former homelands as well as national efforts to improve coverage. However, the production of timely cause of death statistics remains a challenge; the most recent year with full officially published statistics is 1996

Laser Induced Fluorescence for Photogrammetric Measurement of Transparent or Reflective Aerospace Structures

To support the requirement for non- contacting measurement of polymer membrane structures a new technique based on the principles of photogrammetry has been developed and is described here

Characterization of a succession of small insect viruses in a wild South African population of Nudaurelia cytherea capensis (Lepidoptera: Saturniidae)

The Tetraviridae are a family of small insect RNA viruses first discovered in South Africa some 40 years ago. They consist of one or two single-stranded (+) RNAs encapsidated in an icosahedral capsid of approximately 40 nm in diameter, with T = 4 symmetry. The type members of the two genera within this family, Nudaurelia β virus (NβV) and Nudaurelia ω virus (NωV), infect Nudaurelia cytherea capensis (pine emperor moth) larvae. The absence of N. capensis laboratory colonies and tissue culture cell lines susceptible to virus infection have limited research on the biology of NβV and NωV because the availability of infectious virus is dependent upon sporadic outbreaks in the wild N. capensis populations. In September 2002, dead and dying N. capensis larvae exhibiting symptoms similar to those reported previously in other tetravirus infections were observed in a wild population in a pine forest in the Western Cape province of South Africa. We report here the isolation of three small insect viruses from this population over a period of three years. Transmission electron microscopy and serological characterization indicate that all three are tetra-like virus isolates. One isolate was shown by cDNA sequence analysis to be NβV, which was thought to have been extinct since 1985. The two other isolates are likely new tetraviruses, designated Nudaurelia ψ virus (NψV) and Nudaurelia ζ virus (NζV), which are morphologically and serologically related to NωV and NβV, respectively