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

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

Retinal Vessel Segmentation Using the 2-D Morlet Wavelet and Supervised Classification

We present a method for automated segmentation of the vasculature in retinal images. The method produces segmentations by classifying each image pixel as vessel or non-vessel, based on the pixel's feature vector. Feature vectors are composed of the pixel's intensity and continuous two-dimensional Morlet wavelet transform responses taken at multiple scales. The Morlet wavelet is capable of tuning to specific frequencies, thus allowing noise filtering and vessel enhancement in a single step. We use a Bayesian classifier with class-conditional probability density functions (likelihoods) described as Gaussian mixtures, yielding a fast classification, while being able to model complex decision surfaces and compare its performance with the linear minimum squared error classifier. The probability distributions are estimated based on a training set of labeled pixels obtained from manual segmentations. The method's performance is evaluated on publicly available DRIVE and STARE databases of manually labeled non-mydriatic images. On the DRIVE database, it achieves an area under the receiver operating characteristic (ROC) curve of 0.9598, being slightly superior than that presented by the method of Staal et al.Comment: 9 pages, 7 figures and 1 table. Accepted for publication in IEEE Trans Med Imag; added copyright notic

Validation of a consumer-grade activity monitor for continuous daily activity monitoring in individuals with multiple sclerosis.

Background:Technological advancements of remote-monitoring used in clinical-care and research require validation of model updates. Objectives:To compare the output of a newer consumer-grade accelerometer to a previous model in people with multiple sclerosis (MS) and to the ActiGraph, a waist-worn device widely used in MS research. Methods:Thirty-one individuals with MS participated in a 7-day validation by the Fitbit Flex (Flex), Fitbit Flex-2 (Flex2) and ActiGraph GT3X. Primary outcome was step count. Valid epochs of 5-min block increments, where there was overlap of ≥1 step/min for both devices were compared and summed to give a daily total for analysis. Results:Bland-Altman plots showed no systematic difference between the Flex and Flex2; mean step-count difference of 25 more steps-per-day more recorded by Flex2 (95% confidence intervals (CI) = 2, 48; p = 0.04),interclass correlation coefficient (ICC) = 1.00. Compared to the ActiGraph, Flex2 (and Flex) tended to record more steps (808 steps-per-day more than the ActiGraph (95% CI= -2380, 765; p < 0.01), although the ICC was high (0.98) indicating that the devices were likely measuring the same kind of activity. Conclusions:Steps from Flex and Flex2 can be used interchangeably. Differences in total step count between ActiGraph and Flex devices can make cross-device comparisons of numerical step-counts challenging particularly for faster walkers

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

PD-L1 testing for lung cancer in the UK: recognizing the challenges for implementation.

A new approach to the management of non-small-cell lung cancer (NSCLC) has recently emerged that works by manipulating the immune checkpoint controlled by programmed death receptor 1 (PD-1) and its ligand programmed death ligand 1 (PD-L1). Several drugs targeting PD-1 (pembrolizumab and nivolumab) or PD-L1 (atezolizumab, durvalumab, and avelumab) have been approved or are in the late stages of development. Inevitably, the introduction of these drugs will put pressure on healthcare systems, and there is a need to stratify patients to identify those who are most likely to benefit from such treatment. There is evidence that responsiveness to PD-1 inhibitors may be predicted by expression of PD-L1 on neoplastic cells. Hence, there is considerable interest in using PD-L1 immunohistochemical staining to guide the use of PD-1-targeted treatments in patients with NSCLC. This article reviews the current knowledge about PD-L1 testing, and identifies current research requirements. Key factors to consider include the source and timing of sample collection, pre-analytical steps (sample tracking, fixation, tissue processing, sectioning, and tissue prioritization), analytical decisions (choice of biomarker assay/kit and automated staining platform, with verification of standardized assays or validation of laboratory-devised techniques, internal and external quality assurance, and audit), and reporting and interpretation of the results. This review addresses the need for integration of PD-L1 immunohistochemistry with other tests as part of locally agreed pathways and protocols. There remain areas of uncertainty, and guidance should be updated regularly as new information becomes available

Do fencers require a weapon-specific approach to strength and conditioning training?

There are three types of weapon used in Olympic fencing: the foil, épée and sabre. The aim of this study was to determine if fencers exhibited different physical characteristics across weapons. Seventy-nine male (n = 46) and female (n = 33) national standard fencers took part in this study. Fencers from each weapon (male and female), i.e., épée (n = 19 and 10), foil (n = 22 and 14) and sabre (n = 13 and 10) were (mean ± SD) 15.9 ± 0.7 years of age, 178.5 ± 7.9 cm tall, 67.4 ± 12.2 kg in mass and had 6.3 ± 2.3 years fencing experience; all were in regular training (~ 4 times per week). Results revealed that across all performance tests (lower body power, reactive strength index, change of direction speed and repeat lunge ability) there was no significant difference between weapons (p = 3.66). Differences were found however, when comparing genders, with males performing significantly better during the countermovement jump (p = 0.001), reactive strength index (p = 0.002), change of direction speed (p < 0.001) and repeat lunge ability (p < 0.001). The former findings may be due to similarities in bout intensity and time, movement types (lunging and changing direction) and the need to execute competition actions as explosively as possible. Based on the findings of the current study, it could be indicated that épée, foil and sabre fencers do not require a weapon specific approach to strength and conditioning training. Each fencer should target the area they are weakest at, rather than the area that they feel best represents the unique demands of their weapon