Laser scanning measurement systems are capable of accurately obtaining three-dimensional surface information of objects, with wide measurement range, high precision, and fast measurement speed, which are widely used in biomedical fields such as dental mold fabrication and surgical navigation. The laser triangulation systems are one of the most commonly used laser scanning systems. In laser triangulation systems, the processing speed of laser stripe images is crucial for determining the system's measurement efficiency. This paper focuses on real-time processing methods for laser stripe images in laser triangulation systems, developing a fast and accurate processing method based on the Zynq MPSoC platform. Gaussian filtering was first applied to the laser stripe images, followed by the calculation of eigenvalues and eigenvectors of the Hessian matrix. Subsequently, the rapid and accurate calculation of the laser stripe center position was completed. Experiments verified the accuracy and speed of the FPGA-based image processing algorithm proposed in this paper. Results showed that the accuracy of the FPGA-based algorithm is consistent with that of the traditional OpenCV-based algorithm, with measurement time reduced to 1/18 of that on the software platform. This significantly improves the speed of laser stripe center extraction without compromising image processing accuracy. The FPGA-based laser stripe center extraction algorithm developed in this study is valuable for enhancing the measurement speed of laser triangulation systems and offers significant insights for high-precision, fast image processing technologies in related fields.
A data fusion attitude dynamic measurement method based on vision and Inertial Measurement Unit (IMU) was studied for attitude measurement in dynamic environment. Firstly, the composition and working principle of the attitude dynamic measurement system were introduced, and a mathematical model for attitude dynamic measurement was established. Secondly, a non-equal period Kalman data fusion algorithm was studied to address the differences in IMU and visual pose calculation cycles in measurement systems. Finally, an experimental platform was built, and a precision two-dimensional turntable was used as the standard value to evaluate the accuracy of the fused attitude. The experimental results show that the data update rate of the attitude measurement system can reach 100Hz. When the target rotates at 5°/s along the azimuth direction, the maximum absolute deviation of the azimuth angle at 3m is 0.49°, and the maximum absolute deviation of the azimuth angle at 15m is 1.05°. The proposed method can improve the dynamic performance of attitude measurement system and compensate for the limitation of visual solving which requires intervisibility.
Phase laser ranging technology is a significant approach for large-scale and high-precision measurement. Improving the precision of phase ranging by increasing the modulation frequency is considered as one of the most effective methods. However, the maximum sampling frequency of A/D devices limits the sampling rate of high-frequency modulated signals, which means that the modulation frequency cannot be increased infinitely. So, the using of under-sampling for high-speed and highfrequency modulation signals is proposed in this paper. The feasibility of this method is analyzed and verified. For further improvement in ranging precision, the advantage of all phase fast Fourier transform (apFFT) is analyzed by simulation. In addition, Kalman filtering technology is adopted in this paper to suppress noise in the system to improve the precision of phase discrimination. Based on the simulation results, a high-precision phase discrimination system using FPGA is designed in this paper. According to experimental results, when the modulation frequency is 1.616GHz and the sampling frequency is 1.6GHz, the ranging stability of the system can reach ±10.8ߤ݉ and the speed of phase discrimination can reach 2712 times per second.
KEYWORDS: Distance measurement, Cameras, Laser systems engineering, Prisms, Monte Carlo methods, Manufacturing, Laser applications, Imaging systems, 3D modeling
The Six-degree-of-freedom(6-DOF) measurement system based on laser tracking equipment provides a good solution for large-scale industrial measurement. However, there is no unified standard to evaluate the accuracy of attitude measurement system. At present, the accuracy evaluation method of attitude measurement mainly adopts the comparison method of standard parts, which is easily constrained by space dimensions. Aiming at this problems, a homogeneous coordinate transformation method based on spatial distance constraint is proposed to realize the on-site accuracy evaluation of attitude measurement. Firstly, a reasonable control field was arranged, and the distance constraints between the reference points and the measuring points were established. Secondly, the mathematical model which described the relationship between space distance and attitude was established by using homogeneous coordinate transformation matrix. Through the above evaluation method, the accuracy of attitude measurement can be evaluated by tracing the measurement results of attitude angle to the length measuring standards. The simulation results show that the accuracy of the evaluation model decreases linearly with the measurement distance of attitude measurement system. Assuming that the measurement accuracy of the distance constraint is 15μm+6μm/m, the size of the control field is 1.1m*6.4m*5.6m, and the attitude angle range is [-60°, 60°]. The accuracy of the evaluation model can be controlled within [0.34°,3.25°], when the working distance is 3 to 15 meters. This method provide an effective idea for the on-site evaluation of attitude measurement accuracy.
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