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

The relationship between various live animal scores/measurements and carcass classification for conformation and fatness with meat yield and distribution, and ultimate carcass value

End of project reportAccordingly, the primary objectives of the following study were to: (1) determine the relationship of live animal muscular and skeletal scores, ultrasonically scanned muscle and fat depth measurements of the m. longissimus dorsi, and carcass conformation and fat scores with kill-out proportion, carcass composition and value. (2) Specifically develop and test the accuracy of prediction equations for carcass meat, fat and bone proportions, derived from carcass conformation and fat scores, and develop prediction equations for total carcass composition from hind-quarter composition

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

Integrating Management, Research, and Monitoring: Balancing the 3-Legged Stool

Research and monitoring programs are often thought of as competing with “on the ground management” for attention and funding. This is false trichotomy; instead, it is more appropriate to view management, research, and monitoring as complementary endeavors, in which loss of any 1 of the 3 is disruptive to the remaining 2. There is often significant or even profound uncertainty about the system’s likely response to management, beyond environmental and other sources of uncontrolled variation. Sometimes this uncertainty can be reduced through directed research studies, including experimentation. However, management decisions usually cannot await the completion of elaborate, multiple-year studies. Adaptive resource management (ARM) provides managers a way to make optimal decisions with respect to resource objectives, given the current level of uncertainty about system response, and in anticipation that learning will improve decision-making through time. Under ARM, resource goals and objectives are always paramount and research and monitoring programs exist to provide managers with the tools they need to make better decisions. The essentials of ARM are clear, compelling, and critically needed in natural resource management. We can no longer afford the luxury, if we ever could, of management divorced from research and monitoring, and vice versa. By keeping the focus on management decision-making and resource objective outcomes, ARM places an explicit value on research and monitoring that then can be used to justify monitoring and research programs

Estimating abundance of Galliformes: tools and application

A large number of techniques are available for assessing populations of vertebrates. However, application of many of those techniques to Galliformes is hampered by a variety of constraints. These problems are often magnified by poor understanding of the biology of many species of concern, and an absence of valid estimates of abundance and demographic parameters. Researchers interested in developing estimates of Galliformes populations must address a number of key issues before collecting field data, to avoid biases in the resulting population estimates. General guidance exists for the identification of appropriate population estimation techniques, and a dichotomous key has been developed for abundance estimation of other vertebrates, such as mammals. First, we review some of the basic principles of abundance estimation, with the goal of identifying sources of bias, and avoiding these in field surveys. We then develop specific guidelines for Galliformes, and a key to abundance estimation for field researchers. Based on our knowledge of the general biology of Galliformes, the most applicable techniques for estimating abundance are based on variations of distance sampling techniques, mark-resighting techniques, and removal techniques. Use of indices should be considered only when more quantitative analyses are logistically or biologically impossible. However, their use can be made more valuable by employing double sampling or other methods that directly link indices to unbiased estimates of abundance

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