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Acta Optica Sinica, Volume. 40, Issue 10, 1015001(2020)

Symmetry-Based Projective Algorithm for 3D Localization of Small Target at a Wide Field of View

Xiao Wang1,2, Yuliang Liu1,2、*, and liyan Li1,2
Author Affiliations
  • 1Optoelectronic System Laboratory, Institute of Semiconductors, Chinese Academy of Sciences, Beijing 100083, China
  • 2Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (18)
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    References (16)
    Cited By (2)
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    Figures & Tables(18)
    Schematic diagram of structured light system based on fringe projection

    Fig. 1. Schematic diagram of structured light system based on fringe projection

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    Point cloud data of valve. (a) Front view; (b) top view

    Fig. 2. Point cloud data of valve. (a) Front view; (b) top view

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    Cylinder valve. (a) Physical map; (b) sketch map

    Fig. 3. Cylinder valve. (a) Physical map; (b) sketch map

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    Exact position for coordinate P and pose Q

    Fig. 4. Exact position for coordinate P and pose Q

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    Calculation pose Q. (a) QF-2/QF-2C; (b) YSF-1

    Fig. 5. Calculation pose Q. (a) QF-2/QF-2C; (b) YSF-1

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    Schematic diagram of each position in valve

    Fig. 6. Schematic diagram of each position in valve

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    Calculation coordinate P*. (a) QF-2/QF-2C; (b) YSF-1

    Fig. 7. Calculation coordinate P*. (a) QF-2/QF-2C; (b) YSF-1

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    Overall flow chart of the algorithm

    Fig. 8. Overall flow chart of the algorithm

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    Valve in experimental scene

    Fig. 9. Valve in experimental scene

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    Edge detection result with Canny algorithm

    Fig. 10. Edge detection result with Canny algorithm

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    Discrimination of detection accuracy

    Fig. 11. Discrimination of detection accuracy

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    Pre-processing. (a) Initial localization; (b) segmentation result

    Fig. 12. Pre-processing. (a) Initial localization; (b) segmentation result

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    Algorithm performance for defective data. (a) Reflection; (b) incomplete shooting

    Fig. 13. Algorithm performance for defective data. (a) Reflection; (b) incomplete shooting

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    Coordinate error results for different algorithms

    Fig. 14. Coordinate error results for different algorithms

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    • Table 1. 3D camera performance parameters

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      Table 1. 3D camera performance parameters

      Scanning speed /(frame·s-1)Resolution /pixelCenter distance /mmMeasurement range /mmFOV /mmRepeatability /μm
      2.13.21500±300600×45075

    • Table 2. Distribution of orientation errors

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      Table 2. Distribution of orientation errors

      Orientationerror /rad0-0.010.01-0.020.02-0.030.03-0.04
      Number of valves for QF-281831
      Number of valves for YSF-1101910

    • Table 3. Distribution of coordinate errors

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      Table 3. Distribution of coordinate errors

      Coordinate error /mm0.1-0.20.2-0.30.3-0.40.4-0.50.5-0.60.6-0.7
      Number of valves for QF-2389631
      Number of valves for YSF-12810532

    • Table 4. Coordinate errors for situation (a)&(b)

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      Table 4. Coordinate errors for situation (a)&(b)

      SituationCoordinate P /mmCoordinate P' /mmError /mm
      (a)(12.045, -35.056, 96.976)(12.270, -35.391, 96.874)0.416
      (b)(8.268, -8.520, 85.013)(8.057, -8.328, 84.898)0.328
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    Xiao Wang, Yuliang Liu, liyan Li. Symmetry-Based Projective Algorithm for 3D Localization of Small Target at a Wide Field of View[J]. Acta Optica Sinica, 2020, 40(10): 1015001

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    Paper Information

    Category: Machine Vision

    Received: Nov. 19, 2019

    Accepted: Feb. 14, 2020

    Published Online: Apr. 28, 2020

    The Author Email: Liu Yuliang (ylliu@semi.ac.cn)

    DOI:10.3788/AOS202040.1015001

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology