Flexible Image Acquisition Service for Distributed Robotic Systems

Semeniuta, Oleksandr; Falkman, Petter

doi:10.1109/irc.2018.00024

Cited by 5 publications

(6 citation statements)

References 11 publications

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“…A stereo rig of two identical Prosilica GC1350 cameras with TAMRON 25-HB/12 lens is used to collect pairs of images with a chessboard calibration pattern. Allied Vision Vimba is used as an image acquisition driver, orchestrated by FxIS (Semeniuta & Falkman, 2018) to achieve synchronization across the two cameras.…”

Section: Experimental Setup and Data Collectionmentioning

confidence: 99%

Subset-based stereo calibration method optimizing triangulation accuracy

Semeniuta¹

2021

PeerJ Computer Science

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Calibration of vision systems is essential for performing measurement in real world coordinates. For stereo vision, one performs stereo calibration, the results of which are used for 3D reconstruction of points imaged in the two cameras. A common and flexible technique for such calibration is based on collection and processing pairs of images of a planar chessboard calibration pattern. The inherent weakness of this approach lies in its reliance on the random nature of data collection, which might lead to better or worse calibration results, depending on the collected set of image pairs. In this paper, a subset-based approach to camera and stereo calibration, along with its implementation based on OpenCV, is presented. It utilizes a series of calibration runs based on randomly chosen subsets from the global set of image pairs, with subsequent evaluation of metrics based on triangulating the features in each image pair. The proposed method is evaluated on a collected set of chessboard image pairs obtained with two identical industrial cameras. To highlight the capabilities of the method to select the best-performing calibration parameters, a principal component analysis and clustering of the transformed data was performed, based on the set of metric measurements per each calibration run.

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Section: Experimental Setup and Data Collectionmentioning

confidence: 99%

Subset-based stereo calibration method optimizing triangulation accuracy

Semeniuta¹

2021

PeerJ Computer Science

Self Cite

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“…A stereo rig of two identical Prosilica GC1350 cameras with TAMRON 25-HB/12 lens is used to collect pairs of images with a chessboard calibration pa ern. Allied Vision Vimba is used as an image acquisition driver, orchestrated by FxIS (Semeniuta and Falkman, 2018) to achieve synchronization across the two cameras.…”

Section: Experimental Validation Experimental Setup and Data Collectionmentioning

confidence: 99%

Peer Review #1 of "Subset-based stereo calibration method optimizing triangulation accuracy (v0.1)"

Chucherd¹

2021

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“…The robot control node coordinates the robot's work cycle and realizes communication with external systems. The system performing stereo acquisition from two cameras is designed as a streaming service, built using the FxIS framework (Semeniuta & Falkman, 2018). For each associated camera, a stream of images is captured in its own thread of execution, and a number of recent frames are retained at each moment.…”

Section: System Descriptionmentioning

confidence: 99%

EPypes: a framework for building event-driven data processing pipelines

Semeniuta

Falkman

2019

PeerJ Computer Science

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Many data processing systems are naturally modeled as pipelines, where data flows though a network of computational procedures. This representation is particularly suitable for computer vision algorithms, which in most cases possess complex logic and a big number of parameters to tune. In addition, online vision systems, such as those in the industrial automation context, have to communicate with other distributed nodes. When developing a vision system, one normally proceeds from ad hoc experimentation and prototyping to highly structured system integration. The early stages of this continuum are characterized with the challenges of developing a feasible algorithm, while the latter deal with composing the vision function with other components in a networked environment. In between, one strives to manage the complexity of the developed system, as well as to preserve existing knowledge. To tackle these challenges, this paper presents EPypes, an architecture and Python-based software framework for developing vision algorithms in a form of computational graphs and their integration with distributed systems based on publish-subscribe communication. EPypes facilitates flexibility of algorithm prototyping, as well as provides a structured approach to managing algorithm logic and exposing the developed pipelines as a part of online systems.

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Flexible Image Acquisition Service for Distributed Robotic Systems

Cited by 5 publications

References 11 publications

Subset-based stereo calibration method optimizing triangulation accuracy

Subset-based stereo calibration method optimizing triangulation accuracy

Peer Review #1 of "Subset-based stereo calibration method optimizing triangulation accuracy (v0.1)"

EPypes: a framework for building event-driven data processing pipelines

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