Optical remote sensor calibration using micro-machined multiplexing optical focal-planes

Li, Jin; Liu, Fengdeng; Liu, Si; Wang, Zhengjun

doi:10.1109/jsen.2017.2653398

Cited by 7 publications

(4 citation statements)

References 31 publications

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“…The calibration results are discussed in the Supplementary. In the previous studies 25 , 26 , we also calibrate the 2# camera and 3# camera. The calibration results are discussed in the Supplementary.…”

Section: Resultsmentioning

confidence: 99%

An efficient method for measuring the internal parameters of optical cameras based on optical fibres

Tian

2017

Sci Rep

Self Cite

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In this work, we report an expedient auto-collimating method for self-measuring the internal parameters (IPs) of optical cameras. Several key optical components, including the thin optical fibre (TOF), reflecting prism, and receiver, are introduced into optical cameras. The TOF outgoing end and area-array image receiver are integrated onto the focal-plane assembly of optical cameras. Different wavelengths of light, which are emitted by external sources, are transmitted to the focal plane through optical fibres. Because one optical fibre can transmit different wavelengths of light, the same position on the focal plane can obtain point light sources (PLSs) with different wavelengths. Then, the optical system of the cameras spontaneously transforms the PLSs into auto-collimating lights. The auto-collimating lights are reflected by a two-plane prism, return to the camera optical system, reach the focal plane and are received by the area-array sensor. Finally, the IPs are calculated based on a mathematical model of the imaging relation between fibre light sources and images. The experiment confirms that this method is efficient and has a level of precision of dozens of micrometres for an optical camera with a short focal length and small field of view. Our method is suitable for on-orbit IP measurements for cameras without spatial or temporal limitations.

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Section: Resultsmentioning

confidence: 99%

An efficient method for measuring the internal parameters of optical cameras based on optical fibres

Tian

2017

Sci Rep

Self Cite

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“…Normally, the hand-eye calibration procedure contains the steps of extracting the pose information of image data from the camera coordinate to the robot coordinate. After hand-eye calibration, the robot system can transform image information extracted from the camera into the representation of that with respect to the base coordinate so that the robot operation can be processed into the motion control instruction of the system, which is expressed in a unified coordinate [24]. Moreover, based on the classification of the camera mode, the hand-eye system can also be divided into three types, such as monocular, binocular, and the multi-ocular.…”

Section: Dual Quaternion Algebra and Hand-eye Calibrationmentioning

confidence: 99%

Modified Hand–Eye Calibration Using Dual Quaternions

Zou

Din

et al. 2022

Applied Sciences

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This paper presents a modified model for hand–eye calibration based on dual quaternion algebra. By using dual quaternions to represent the rotations and translations of a rigid body simultaneously in the task space, the formulation is elegant for the analysis of the hand–eye equation. The hand–eye transformation derived in this study is represented in a compact manner, which uses a combination of the dual part and the real part of the dual quaternion. Although the hand–eye equation can be solved by using six elements of a dual quaternion without using its scalar parts, the scaler numbers in both the real and dual parts of a dual quaternion contain part of the pose information. The originality is based on the derivation of the construct of the identification algorithm of external parameters of the camera by using all eight elements of a dual quaternion. Then, the data transformation between the cameras of the dual-arm hand–eye robot system is presented. The corresponding results demonstrate that the proposed hand–eye calibration algorithm can process measurement data with noise and can also improve the identification accuracy to verify its efficiency.

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“…For the problem of solving X, various scholars have employed different mathematical methods for the equation AX = XB. Common approaches include linear or nonlinear solving methods based on mathematical tools such as dual quaternions, rotation vectors, and so on [6][7][8][9][10][11][12][13][14][15]. The Tsai-Lenz method employs a nonlinear solving approach based on the least squares method for hand-eye calibration equations [16].…”

Section: Introductionmentioning

confidence: 99%

Research on Hand–Eye Calibration Accuracy Improvement Method Based on Iterative Closest Point Algorithm

Yan,

Li,

Liu

et al. 2023

Agriculture

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In the functioning of the hand–eye collaboration of an apple picking robot, the accuracy of the hand–eye relationship is a key factor affecting the efficiency and accuracy of the robot’s operation. In order to enhance the low accuracy of traditional hand–eye calibration methods, linear and nonlinear solving methods based on mathematical tools such as quaternions are commonly adopted. To solve the loss of accuracy in decoupling during the linearization solution and to reduce the cumulative error that occurs during nonlinear solutions, a hand–eye calibration method, based on the ICP algorithm, is proposed in this paper. The method initializes the ICP matching algorithm with a solution derived from Tsai–Lenz, and substitutes it for iterative computation, thereby ascertaining a precise hand–eye conversion relationship by optimizing the error threshold and iteration count in the ICP matching process. Experimental results demonstrate that the ICP-based hand–eye calibration optimization algorithm not only circumvents the issues pertaining to accuracy loss and significant errors during solving, but also enhances the rotation accuracy by 13.6% and the translation accuracy by 2.47% compared with the work presented by Tsai–Lenz.

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Optical remote sensor calibration using micro-machined multiplexing optical focal-planes

Cited by 7 publications

References 31 publications

An efficient method for measuring the internal parameters of optical cameras based on optical fibres

An efficient method for measuring the internal parameters of optical cameras based on optical fibres

Modified Hand–Eye Calibration Using Dual Quaternions

Research on Hand–Eye Calibration Accuracy Improvement Method Based on Iterative Closest Point Algorithm

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