Open Access Open Access  Restricted Access Subscription or Fee Access

Possibilities for Increasing the Signal-To-Noise Ratio in Technical Vision Systems of Robotic Complexes Using Laser Structured Lighting


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireme.v12i4.14583

Abstract


The development of high-resolution machine vision systems with a long observation distance is an urgent task. The possibilities to increase the observation distance by increasing the signal-to-noise ratio (SNR) based on the use of the active parallax method are discussed in the article. The achievable observation distance in such systems is determined by the brightness of the illumination source and the ratio of the brightness of the illumination source to the brightness of the background illumination (the SNR for the photodetector pixel). The goal of the investigation: The article considers the possibility of further increasing the SNR in machine vision systems with laser structured lighting due to the use of pulsed or repetitively pulsed mode of the backlight laser in combination with a time-gated photodetector. This allows to realize a machine vision system with gating, which will provide an increase in the observation distance due to the time cutoff of the background component of the recorded image. In the current scientific literature, the data on machine vision systems with temporal gating of the photodetector device are not known. Methods: To consider the possibilities of increasing the SNR in vision systems, a numerical analysis by analytical formulas was used for the parameters and the operating conditions typical for robotic technical systems. The data on the number of solar photons reflected by the object and backscattering photons arising from scattering of the both solar and laser radiation were used to calculate the SNR in machine vision systems with a conventional-type matrix photodetector and with a time-gated photodetector. Results: The calculation analysis has shown that, the using of laser illumination repetitively pulsed mode and a gated photodetector device allows to increase significantly both the SNR and the observation distance. Practical significance: The proposed technical vision system implementation can improve the characteristics of robotic systems.
Copyright © 2018 Praise Worthy Prize - All rights reserved.

Keywords


Signal-to-Noise Ratio; Robotics System; Machine Vision; Triangulation; Structured Lighting; Range Gating

Full Text:

PDF


References


Carsten Steger, Markus Ulrich, Christian Wiedemann (2018). Machine Vision Algorithms and Applications (2nd ed.). Weinheim: Wiley-VCH. p. 1.

Arun Kumar, Nitin Chauhan. Rewiew on application of mashine vision. International Journal of Mechanical Engineering and Technology (IJMET). Volume 8, Issue 7, July 2017, pp. 1710–1717.

Chen F., Brown G., Song M. Overview of three dimensional shape measurement using optical methods. Opt. Eng. 2000; 39:10–22.
http://dx.doi.org/10.1117/1.602438

R. I. Hartley and P. Sturm, Triangulation, Computer vision and image understanding, Vol. 68, No. 2, November, pp. 146–157, 1997.
http://dx.doi.org/10.1006/cviu.1997.0547

S. May, D. Droeschel, D. Holz, S. Fuchs, E. Malis, A. N¨uchter, J. Hertzberg, Three-dimensional mapping with time-of-flight cameras. Journal of Field Robotics, Special Issue on Three-Dimensional Mapping, Part 2 26 (11-12) (2009) 934–965.
http://dx.doi.org/10.1002/rob.20321

Pagès J., Collewet C., Chaumette F., Salvi J. A camera-projector system for robot positioning by visual servoing; Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW 2006); New York, NY, USA. 17–22 June 2006.
http://dx.doi.org/10.1109/cvprw.2006.9

N. A. Gryaznov, V. V. Kirichenko. Volumetric technical vision for autonomization of ground-based robotic systems, Proc. IX Vseross. scientific and technical. Conf. "Extreme robotics, SPb, 2006, p. 281.

N. A. Gryaznov, D. A. Kochkaryov, E. N. Sosnov. Laser-television triangulation system of three-dimensional positioning on the basis of a high-speed television camera, Scientific and technical lists of the St. Petersburg State Polytechnic University (“LETI”), SPb, 2013, p. 215.

Sturm J., Konolige K., Stachniss C., Burgard W. 3D pose estimation, tracking and model learning of articulated objects from dense depth video using projected texture stereo; Proceedings of the 2010 RGB-D: Advanced Reasoning with Depth Cameras Workshop; Zaragoza, Spain. 27 June 2010.

V. E. Karasik, V. M. Orlov. Locating laser vision systems. (Moscow, Izd. MSTU them. N.E. Bauman, 2013).

May S., Werner B., Surmann H., Pervolz K. 3D time-of-flight cameras for mobile robotics; Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006); Beijing, China. 9–15 October 2006; pp. 790–795.
http://dx.doi.org/10.1109/iros.2006.281670

S. Inbar and O. David, Laser Gated Camera Imaging System and Method, Patent Application, WIPO WO 2004/072678 A1

Christnacher Frank, Schertzer Stéphane, Metzger Nicolas, Bacher Emmanue, Poyet Jean-Michel. On the real performance of SWIR range-gated active imaging in scattering media. Proceedings of the SPIE, Volume 9987, id. 998702 10 pp. (2016).
http://dx.doi.org/10.1117/12.2240763

M. H. Ettenberg, R. M. Brubaker, M. A. Blessinger, and V. J. Burzi, A 320x256 InGaAs Camera for Range Gated and Staring Applications, presented at SPIE Conference on Defense and Security, Orlando, 2005.

Liang Weiwei, Chen Qianrong, Hao Yongwang, Guo Hao, Zhang Wenpan. Simulation of signal-to-noise ratio for the laser range-gated imaging system. Proceedings of the SPIE, Volume 9674, id. 967417 7 pp. (2015).
http://dx.doi.org/10.1117/12.2199353


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize