Global Calibration Method of Multi-sensor Vision System Using Skew Laser Lines

Multi-sensor vision system plays an important role in the 3D measurement of large objects.However,due to the widely distribution of sensors,the problem of lacking common fields of view（FOV） arises frequently,which makes the global calibration of the vision system quite difficult.The primary existing solution relies on large-scale surveying equipments,which is ponderous and inconvenient for field calibrations.In this paper,a global calibration method of multi-sensor vision system is proposed and investigated.The proposed method utilizes pairs of skew laser lines,which are generated by a group of laser pointers,as the calibration objects.Each pair of skew laser lines provides a unique coordinate system in space which can be reconstructed in certain vision sensor＇s coordinates by using a planar pattern.Then the geometries of sensors are computed under rigid transformation constrains by taking coordinates of each skew lines pair as the intermediary.The method is applied on both visual cameras with synthetic data and a real two-camera vision system;results show the validity and good performance.The prime contribution of this paper is taking skew laser lines as the global calibration objects,which makes the method simple and flexible.The method need no expensive equipments and can be used in large-scale calibration.

Flexible Scanning Method by Integrating Laser Line Sensors with Articulated Arm Coordinate Measuring Machines

Measuring and reconstructing the shape of workpieces have been considered as a fundamental step in both reverse engineering and product quality control.Owing to increasing structural complexity of recent products,measurements from multiple directions are typically required in current scanning techniques.Specifically,the plane structured light can be applied to measure one area of a part at a time,with an additional algorithm required to merge the collected data of each area.Alternatively,the line structured light sensor integrated on CNC machines or CMMs could also realize multi-view measurement.However,the system needs to be repeatedly calibrated at each new direction.This paper presents a flexible scanning method by integrating laser line sensors with articulated arm coordinate measuring machines(AACMM).Since the output of the laser line sensor is 2D raw data in the laser plane,our system model introduces an explicit transformation from the 2D sensor coordinate frame to the 3D base coordinate frame of the AACMM(i.e.,the translation and rotation the of the 2D sensor coordinate in the sixth coordinate system of AACMM).To solve the model,the“conjugate pairs”are proposed and identified by measuring a fixed point(e.g.,a sphere center).Moreover,a search algorithm is adopted to find the optimal solution,which noticeably boosts the model accuracy.The experimental results show that the error of the system is about 0.2 mm,which is caused by the error of the AACMM,the sensor error and the calibration error.By measuring a complicated part,the proposed system is proved to be flexible and facilitate,with the ability to measure a part expediently from any necessary direction.Furthermore,the proposed calibration method can also be used for robot hand-eye relationship calibration.

Improvement of Binocular Reconstruction Algorithm for Measuring 3D Pavement Texture Using a Single Laser Line Scanning Constraint

The dense and accurate measurement of 3D texture is helpful in evaluating the pavement function.To form dense mandatory constraints and improve matching accuracy,the traditional binocular reconstruction technology was improved threefold.First,a single moving laser line was introduced to carry out global scanning constraints on the target,which would well overcome the difficulty of installing and recognizing excessive laser lines.Second,four kinds of improved algorithms,namely,disparity replacement,superposition synthesis,subregion segmentation,and subregion segmentation centroid enhancement,were established based on different constraint mechanism.Last,the improved binocular reconstruction test device was developed to realize the dual functions of 3D texture measurement and precision self-evaluation.Results show that compared with traditional algorithms,the introduction of a single laser line scanning constraint is helpful in improving the measurement’s accuracy.Among various improved algorithms,the improvement effect of the subregion segmentation centroid enhancement method is the best.It has a good effect on both overall measurement and single pointmeasurement,which can be considered to be used in pavement function evaluation.

A line laser detection screen design and projectile echo power calculation in detection screen area

A line laser with high power as the background light source for the design of a new photoelectric detection target is proposed in this paper, aiming to improve the detection ability of the traditional photoelectric detection target under low background illumination. The laser emitted pulse waveform function and the laser echo pulse response function were used to establish the mathematical model of the reflected echo power of projectile in the detection area and derive the calculation function of minimum detectable echo power in the line laser detection screen, according to information of the line laser emitted power, incident angle of projectile, duration time and detection distance of projectile passing through the line laser detection screen. Calculations and experimental results showed that the design method of line laser detection screen and calculation model of laser echo power are reasonable, and the detection ability of line laser detection screen is obviously higher than that of traditional photoelectric detection screen, especially in low background illumination;at the same time, the designed line laser detection screen was used to combine a six line laser detection screen intersection test system, based on live ammunition for shooting. The test system is stable and able to obtain the dynamic parameters of the flying projectile, verifying that the design of the line laser detection screen in new photoelectric detection target can be suitable for shooting range test applications.

A fast and precise three-dimensional measurement system based on multiple parallel line lasers

This paper conducts a trade-off between efficiency and accuracy of three-dimensional(3 D)shape measurement based on the triangulation principle,and introduces a flying and precise 3 D shape measurement method based on multiple parallel line lasers.Firstly,we establish the measurement model of the multiple parallel line lasers system,and introduce the concept that multiple base planes can help to deduce the unified formula of the measurement system and are used in simplifying the process of the calibration.Then,the constraint of the line spatial frequency,which maximizes the measurement efficiency while ensuring accuracy,is determined according to the height distribution of the object.Secondly,the simulation analyzing the variation of the systemic resolution quantitatively under the circumstance of a set of specific parameters is performed,which provides a fundamental thesis for option of the four system parameters.Thirdly,for the application of the precision measurement in the industrial field,additional profiles are acquired to improve the lateral resolution by applying a motor to scan the 3 D surface.Finally,compared with the line laser,the experimental study shows that the present method of obtaining 41220 points per frame improves the measurement efficiency.Furthermore,the accuracy and the process of the calibration are advanced in comparison with the existing multiple-line laser and the structured light makes an accuracy better than 0.22 mm at a distance of 956.02 mm.

Beam Line Design of Compact Laser Plasma Accelerator

A compact laser plasma accelerator that is a novel accelerator based on the interaction of ultra-intense laser and plasmas is being built now at Peking University. According to the results of experiments and numerical simulations, a beam line combining the advantages of quadrupole and analyzing magnets is designed to deliver proton beams with energy ranging from 1 to 44MeV, energy spread within ±5% and 10^6-8 protons per pulse. It turns out that the existence of space charge force of protons can be ignored for the increase of transverse and longitudinal envelopes even in the case of 10^9 protons in one pulse. To cope with the challenge to obtain a uniform distribution of protons at the final experiment target in laser acceleration, we manipulate the envelope beam waist in the Y direction to a proper position and obtain a relatively good distribution uniformity of protons with an energy spread of 0-±5%0.

Temperature Field in Laser Line Scanning Thermography: Analytical Calculation and Experiment

The temperature field in laser line scanning thermography is investigated comprehensively in this work,including analytical calculation and experiment.Firstly,the principle of laser line scanning thermography is analyzed.On this basis,a physical laser line scanning model is proposed.Afterwards,based on Fourier transform(FT)and segregation variablemethod(SVM),the heat conduction differential equation in laser line scanning thermography is derived in detail.The temperature field of the composite-based coatings model with defects is simulated numerically.The results show that the laser line scanning thermography can effectively detect the defects in the model.The correctness of the analytical calculation is verified by comparing the surface temperature distribution obtained by analytical calculation and numerical simulation.Additionally,an experiment is carried out and the changeable surface temperature obtained by analytical calculation is compared with the experimental results.It shows that the error of maximum temperature obtained by analytical calculation and by experiment is 8%with high accuracy,which proves the correctness of analytical calculation and enriches the theoretical foundation of laser line scanning thermography.

A Laser Line Scanner Based Hole Position Correction Mechanism for Automatic Drilling and Riveting in Aircraft Assembly

The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft assembly.In this paper,a novel approach of hole position correction using laser line scanner(LLS)is proposed to assign a single row of holes on the parts’surfaces.First,we adopt a space circle fitting method and the random sample consensus(RANSAC)to obtain the precise coordinates of center of the datum holes’coordinates.Second,LLS is calibrated by the laser tracker,and the relations between the LLS coordinate system and the tool coordinate system(TCS)can be calculated.Third,the kinematics model of the automatic riveting machine is established based on a two-point referencing strategy proposed in this paper.Thus,the positions of the holes to be drilled can be adjusted.Finally,the experimental results show that in TCS the measurement error of LLS is less than 0.1 mm,and the correction error of the hole position is less than 0.5 mm,which demonstrates the reliability of our method.

Investigation on the hydrodynamics of slab x-ray laser plasma by nonuiform line focused laser irradiation

Based on the two-dimensional model, this paper compares the hydrodynamics of slab x-ray laser plasma produced by different nonuniform line focused irradiations. It finds that the average intensity and the duration of laser pulse and the overall shape of the intensity distribution in the focal line have different influences on the plasma. Calculations show that the evolution of temperature variation is more sensitive to the pulse duration and the electron density variation is more sensitive to the pulse intensity. Pulses with duration of 200 ps to 500 ps and with intensity of 0.2 TW/cm2 to 1.0 TW/cm2 are proved acceptable in slab x-ray lasers.

Accuracy evaluation of a new three-dimensional reproduction method of edentulous dental casts, and wax occlusion rims with jaw relation

The article introduces a new method for three-dimensional reproduction of edentulous dental casts,and wax occlusion rims with jaw relation by using a commercial high-speed line laser scanner and reverse engineering software and evaluates the method’s accuracy in vitro.The method comprises three main steps：（i）acquisition of the three-dimensional stereolithography data of maxillary and mandibular edentulous dental casts and wax occlusion rims;（ii）acquisition of the three-dimensional stereolithography data of jaw relations;and（iii）registration of these data with the reverse engineering software and completing reconstruction.To evaluate the accuracy of this method,dental casts and wax occlusion rims of 10 edentulous patients were used.The lengths of eight lines between common anatomic landmarks were measured directly on the casts and occlusion rims by using a vernier caliper and on the three-dimensional computerized images by using the software measurement tool.The direct data were considered as the true values.The paired-samples t-test was used for statistical analysis.The mean differences between the direct and the computerized measurements were mostly less than 0.04 mm and were not significant（P.0.05）.Statistical significance among 10 patients was assessed using one-way analysis of variance（P,0.05）.The result showed that the 10 patients were considered statistically no significant.Therefore,accurate three-dimensional reproduction of the edentulous dental casts,wax occlusion rims,and jaw relations was achieved.The proposed method enables the visualization of occlusion from different views and would help to meet the demand for the computer-aided design of removable complete dentures.

Ultrasonic displacement field generated by laser pulse line source

Applying the Fourier transform to the wave equations of elastic medium at its surface a laser pulse line source is acted, the integral representations of solutions are obtained. Displacement waveforms are calculated numerically by using double FFT. The calculated results include the displacements of the elastic half space of Aluminum medium, and epicenter and off-epicenter of an Aluminum plate. The two exciting sources of thermoelastic and ablating generation are considered respectively. The experiment was made on the Aluminum medium with a Nd:YAG laser and the normal displacement signals are detected by a laser interferometer. The numerical results are quite in agreement with experiments.

Widely tunable laser frequency offset locking to the atomic resonance line with frequency modulation spectroscopy

A simple and robust technique is reported to offset lock a single semiconductor laser to the atom resonance line with a frequency difference easily adjustable from a few tens of megahertz up to tens of gigahertz. The proposed scheme makes use of the frequency modulation spectroscopy by modulating sidebands of a fiber electro-optic modulator output. The short-term performances of a frequency offset locked semiconductor laser are experimentally demonstrated with the Allan variance of around 3.9 × 10-11 at a 2 s integration time. This method may have many applications, such as in Raman optics for an atom interferometer.

Influence of computation algorithm on the accuracy of rut depth measurement

Rutting is one of the dominant pavement distresses, hence, the accuracy of rut depth measurements can have a substantial impact on the maintenance and rehabilitation （M 8： R） strategies and funding allocation. Different computation algorithms such as straight- edge method and wire line method, which are based on the same raw data, may lead to rut depth estimation which are not always consistent. Therefore, there is an urgent need to assess the impact of algorithm types on the accuracy of rut depth computation. In this paper, a 1B-point-based laser sensor detection technology, commonly accepted in China for rut depth measurements, was used to obtain a database of 85,000 field transverse profiles having three representative rutting shapes with small, medium and high severity rut levels. Based on the reconstruction of real transverse profiles, the consequences from two different algorithms were compared. Results showed that there is a combined effect of rut depth and profile shape on the rut depth computation accuracy. As expected, the dif- ference between the results obtained with the two computation methods increases with deeper rutting sections： when the distress is above 15 mm （severe level）, the average dif- ference between the two computation methods is above 1.5 mm, normally, the wire line method provides larger results. The computation suggests that the rutting shapes have a minimal influence on the results. An in-depth analysis showed that the upheaval outside of the wheel path is a dominant shape factor which results in higher computation differences.