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适用于大视场红外地球敏感器的相机标定方法 Research Article

邓华健1,2,王昊1,2,韩晓亚3,刘洋1,2,金仲和1,2

《信息与电子工程前沿（英文）》 2023年 第24卷 第1期   页码 141-153 doi: 10.1631/FITEE.2200079

摘要： 相机的几何精度不足是制约大视场红外地球敏感器精度提升的主要因素。红外地球敏感器相机超大的视场与中心的盲区极大地限制了传统几何标定方法的准确性与可行性。本文提出并验证了一种新型的适用于红外地球敏感器的相机标定方法。三个红外靶标被用作控制点，而相机被安装于双轴转台上。随着转台的旋转，这些控制点将均匀地分布在整个相机视场中。与传统的平行光管与转台配合方法相比，传统方法无法有效覆盖大视场且需要苛刻的实验设备，而该方法更易于实施且成本较低。本文还提出了相应的三步参数估计算法，从而不需要精确测量相机和控制点的位置。本文用10台红外地球敏感器进行了实验，以验证标定方法的有效性。结果表明，所提出的方法是高度稳定可靠的，标定精度与现有其他方法相比提升至少30%。

关键词： 红外地球敏感器；全景红外相机；相机标定    

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Design and calibration of a new high-definition three-dimensional laparoscopic system

Jia TANG,Li-qiang WANG,Bo YUAN,Hong JIANG,Qi-ming ZHU

《信息与电子工程前沿（英文）》 2015年 第16卷 第1期   页码 79-84 doi: 10.1631/FITEE.1400149

摘要： We present a high-definition (HD) 3D laparoscopic system including a dual channel optical system, two cameras, a camera control unit (CCU), and an HD 3D monitor. This laparoscopic system is capable of outputting dual high-definition videos and providing vivid 3D images. A modified pinhole camera model is used for camera calibration and a new method of depth measurement to improve precision. The average error of depth measurement measured by experiment (about 1.13 mm) was small in proportion to the large range in distance of the system (10-150 mm). The new method is applicable to any calibrated binocular vision system.

关键词： Dual optical channels     Three dimensional     Camera calibration     Pinhole model     Depth measurement     Laparoscopic system    

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Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0698-y

摘要： Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand−eye coordination intuitive control. The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes. Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand−eye calibration is essential, which is a key component for developing intuitive control algorithm. We proposed a novel two-step modified dual quaternion for hand−eye calibration in this study. The dual quaternion was exploited to solve the hand−eye calibration simultaneously and powered by an iteratively separate solution. The obtained hand−eye calibration result was applied to the intuitive control by using the hand−eye coordination criterion. Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system. We extensively compared the proposed method with state-of-the-art methods. Results demonstrate this method can improve the calibration accuracy. The effectiveness of the intuitive control algorithm was quantitatively evaluated, and an improved hand−eye calibration method was developed. The relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery     hand−eye calibration     intuitive control     surgical robot     dual quaternion    

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一种机械臂在线标定装置开发 Research Article

万梓威1,2,周春琳1,3,张昊天4,吴俊1

《信息与电子工程前沿（英文）》 2023年 第24卷 第2期   页码 217-230 doi: 10.1631/FITEE.2200172

摘要：

提出一种名为MultiCal的新型接触式三维测量装置，可用于机械臂的现场标定和在线精度测量，具有使用方便、成本低（低于5000美元）、性能可靠等优点。该设备可灵活地设置在机械臂的工作环境中进行微米级精度三维测量。在标定过程中，通过一个三维位移测量装置，让机械臂的工具中心点运动至一个固定点，之后再绕该点旋转运动至不同姿态角并测量各关节角度（单点约束测量）。然后采用一个创新设计的夹具，将三维位移测量装置精确地安装在该夹具的不同工位上，并重复上述测量过程，从而实现多点约束测量。夹具上不同工位的相对位置在标定前已被精确测量，并作为标定的先验信息，以提高标定的精度与鲁棒性。理论分析表明，在相同水平的测量误差下，MultiCal的理论标定精度与传统的非接触式三维或六维测量设备（如激光跟踪器）相比降低10%—20%。而在Staubli TX90机械臂上进行的实际标定实验结果表明，MultiCal实际标定精度仅比带激光扫描仪的测量臂低7%—14%，时间效率比六维双目视觉测量系统低21%—30%，标定后的机械臂的最大和平均绝对定位误差分别为0.831 mm和0.339 mm。

关键词： 标定装置；运动学标定；现场标定；绝对定位精度    

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Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

《机械工程前沿（英文）》 2010年 第5卷 第3期   页码 316-321 doi: 10.1007/s11465-010-0021-1

摘要： According to the deficiencies of remote calibration mode based on material object reference, a new model of a remote calibration system for frequency based on in-place benchmark is introduced, which is made of a calibration subsystem on the spot and a remote management subsystem. The key technology of some key problems for the remote calibration system is particularly discussed, including the time and frequency benchmark receiving module based on global positioning system (GPS), frequency comparison based on a phase method, frequency division based on dual high-frequency phase locked loop (PLL), and remote calibration based on the web. The results show that the system possesses some characteristics, such as high precision, good versatility, and no limitation of time and place.

关键词： remote calibration     in-place benchmark     frequency comparison     global position system (GPS)    

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采用飞行时间相机的瞬态成像及其应用

Jing-yu Lin, Ri-hui Wu, Hong-man Wang, Ye-bin Liu,jylin@gxu.edu.cn,liuyebin@tsinghua.edu.cn

《信息与电子工程前沿（英文）》 2017年 第18卷 第9期   页码 1268-1276 doi: 10.1631/FITEE.1700556

摘要： 概要：瞬态成像是一种记录光从开始照射直到稳定状态全过程的摄像技术，这使得光速量级的事件可以被观测。介绍了采用飞行时间（time-of-flight, ToF）相机进行瞬态成像的三种数学模型，即相关函数模型、频域模型和压缩感知模型。瞬态图像应用主要基于光传输解析和不同光路光线分离。讨论了两种应用，即对散射介质内的物体进行成像和恢复被拐角遮挡物体的形状和纹理。

关键词： 瞬态成像；飞行时间（time-of-flight     ToF）；散射介质；拐角遮挡    

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 3-3 doi: 10.1007/s11465-021-0659-x

摘要： Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and treatment. The limited space for robot manipulation restricts structure volume and motion. In this paper, an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation, needle positioning, and needle insertion. A novel parallel structure is employed in the robot system for space saving, structural rigidity, and collision avoidance. The particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure accurately. The method identifies parameters in the modified kinematic model stepwise according to parameter discernibility. Verification experiments prove that the robot system can realize motions needed in targeting. By applying the calibration method, a reasonable, reliable forward kinematic model is built, and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point, respectively.

关键词： ultrasound image guidance     prostate percutaneous intervention     parallel robot     kinematics identification     particle swarm optimization     informative value    

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多孔径光学成像系统及其光场采集数学模型 Review Article

祁启明,傅瑞罡,邵铮铮,王平,范红旗

《信息与电子工程前沿（英文）》 2022年 第23卷 第6期   页码 823-844 doi: 10.1631/FITEE.2100058

摘要：

受昆虫复眼启发，为提高光学成像质量，如获得高分辨率图像或大视场图像，研究者提出了许多多孔径光学成像系统。光场采集数学模型是联系多孔径光学成像系统结构设计与应用的纽带，但光场采集数学模型较少被关注。本文系统梳理了典型多孔径光学成像系统（仿生复眼、光场相机、相机阵列），总结了不同结构下多孔径光学成像系统的一般性光场采集数学模型。列出的数学模型既可用于计算特定多孔径光学成像系统的关键指标，如视场大小和子图像重叠比等，也可作为数学工具，便于研究者完成对成像系统的定量设计与评估。

关键词： 多孔径光学成像系统；仿生复眼；光场相机；相机阵列；光场采集模型    

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Edge detection of steel plates at high temperature using image measurement

Qiong Zhou, Qi An

《机械工程前沿（英文）》 2009年 第4卷 第1期   页码 77-82 doi: 10.1007/s11465-009-0013-1

摘要： An edge detection method for the measurement of steel plate’s thermal expansion is proposed in this paper, where the shrinkage of a steel plate is measured when temperature drops. First, images are picked up by an imaging system; a method of regional edge detection based on grayscales’ sudden change is then applied to detect the edges of the steel plate; finally, pixel coordinates of the edge position are transformed to physical coordinates through calibration parameters. The experiment shows that the real-time, high precision, and non-contact measurement of the steel plate’s edge position under high temperature can be realized using the imaging measurement method established in this paper.

关键词： thermal expansion     image measurement     edge detection     image calibration    

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基于普通器件实现快1000倍的相机与机器视觉 Article

Tiejun Huang, Yajing Zheng, Zhaofei Yu, Rui Chen, Yuan Li, Ruiqin Xiong, Lei Ma, Junwei Zhao, Siwei Dong, Lin Zhu, Jianing Li, Shanshan Jia, Yihua Fu, Boxin Shi, Si Wu, Yonghong Tian

《工程（英文）》 2023年 第25卷 第6期   页码 110-119 doi: 10.1016/j.eng.2022.01.012

摘要：

在数码相机中，我们发现了一个重大缺陷，即从胶片相机继承的图像和视频模型阻碍了相机捕捉快速变化的光子世界。我们提出了一种新的视觉形式，称为视象（vform），这是一个比特序列阵列，其中每个比特表示光子的累积是否达到了一个阈值，从而可以记录和重建任何时刻场景的光强。仅使用消费级CMOS传感器和集成电路，开发了一种比传统相机快1000倍的脉冲相机。将视象看作生物视觉中的脉冲序列，进一步开发了基于脉冲神经网络的机器视觉系统，它可以将机器的速度和生物视觉的机理结合起来，从而实现了比人类视觉快1000倍的高速目标检测和跟踪，并通过辅助裁判和目标瞄准系统证明了脉冲相机和超级视觉系统的效用。视象模型和芯片有望从根本上改变图像和视频的概念以及摄影、电影和视觉媒体等相关行业，并开启一个全新的基于脉冲神经网络的速度自由的机器视觉时代。

关键词： Vidar相机     脉冲神经网络     超级视觉系统     全时成像    

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Application of micro-genetic algorithm for calibration of kinetic parameters in HCCI engine combustion

HUANG Haozhong, SU Wanhua

《能源前沿（英文）》 2008年 第2卷 第1期   页码 86-92 doi: 10.1007/s11708-008-0003-8

摘要： The micro-genetic algorithm (?GA) as a highly effective optimization method, is applied to calibrate to a newly developed reduced chemical kinetic model (40 species and 62 reactions) for the homogeneous charge compression ignition (HCCI) combustion of -heptane to improve its autoignition predictions for different engine operating conditions. The seven kinetic parameters of the calibrated model are determined using a combination of the Micro-Genetic Algorithm and the SENKIN program of CHEMKIN chemical kinetics software package. Simulation results show that the autoignition predictions of the calibrated model agree better with those of the detailed chemical kinetic model (544 species and 2 446 reactions) than the original model over the range of equivalence ratios from 0.1–1.3 and temperature from 300–3 000 K. The results of this study have demonstrated that the mGA is an effective tool to facilitate the calibration of a large number of kinetic parameters in a reduced kinetic model.

关键词： homogeneous     different     combustion     autoignition     compression    

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New method for computer numerical control machine tool calibration: Relay method

LIU Huanlao, SHI Hanming, LI Bin, ZHOU Huichen

《机械工程前沿（英文）》 2007年 第2卷 第3期   页码 301-304 doi: 10.1007/s11465-007-0053-3

摘要： Relay measurement method, which uses the kilogram-meter (KGM) measurement system to identify volumetric errors on the planes of computer numerical control (CNC) machine tools, is verified through experimental tests. During the process, all position errors on the entire plane table are measured by the equipment, which is limited to a small field. All errors are obtained first by measuring the error of the basic position near the original point. On the basis of that positional error, the positional errors far away from the original point are measured. Using this analogy, the error information on the positional points on the entire plane can be obtained. The process outlined above is called the relay method. Test results indicate that the accuracy and repeatability are high, and the method can be used to calibrate geometric errors on the plane of CNC machine tools after backlash errors have been well compensated.

关键词： positional     volumetric     information     process     repeatability    

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HY-2A卫星大气校正微波辐射计在轨数据定标和检验研究

王振占,张德海,赵谨,李芸

《中国工程科学》 2013年 第15卷 第7期   页码 44-52

摘要：

海洋二号（HY-2A）卫星大气校正微波辐射计（ACMR）是为雷达高度计提供大气路径延迟校正的微波辐射计。本文针对ACMR热真空定标试验的原理、方法、实施过程及试验结果进行了阐述和分析，得到了ACMR 3个频率的辐射传输系数和非线性系数，并进行了天线订正的发射前算法分析，给出了天线温度系数。利用这些系数对在轨数据进行了处理，得到了在轨天线温度转换系数，并与Jason-1、Jason-2卫星上搭载的微波辐射仪（JMR）进行了匹配比较，结果表明一致性良好。

关键词： HY-2A     ACMR     定标和检验    

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Multi-camera systems for rehabilitation therapies: a study of the precision of MicrosoftKinect sensors

Miguel OLIVER,Francisco MONTERO,José Pascual MOLINA,Pascual GONZÁLEZ,Antonio FERNÁNDEZ-CABALLERO

《信息与电子工程前沿（英文）》 2016年 第17卷 第4期   页码 348-364 doi: 10.1631/FITEE.1500347

摘要： This paper seeks to determine how the overlap of several infrared beams affects the tracked position of the user, depending on the angle of incidence of light, distance to the target, distance between sensors, and the number of capture devices used. We also try to show that under ideal conditions using several Kinect sensors increases the precision of the data collected. The results obtained can be used in the design of telerehabilitation environments in which several RGB-D cameras are needed to improve precision or increase the tracking range. A numerical analysis of the results is included and comparisons are made with the results of other studies. Finally, we describe a system that implements intelligent methods for the rehabilitation of patients based on the results of the tests carried out.

关键词： Kinect sensor     Rehabilitation system     Capture precision     Multi-camera system    

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基于GPS的高度计海面高度定标浮标设计

陈春涛,闫龙浩,张晓旭,张倩,翟万林,朱建华

《中国工程科学》 2014年 第16卷 第6期   页码 109-112

摘要：

全球定位系统（GPS）浮标是高度计海面高度定标的重要仪器。本文介绍了GPS浮标的组成和工作原理，分别对GPS浮标的外型设计、舱体设计、密封性设计、供电设计做了详细介绍，最后利用数值模拟的方式，对设计的GPS浮标在3 级海况下的摇摆和升沉响应进行模拟试验。结果表明自主设计的GPS浮标能够满足海上高度计海面高度定标的需求。

关键词： 卫星高度计     定标     GPS浮标     数值模拟    

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标题 作者 时间 类型 操作

适用于大视场红外地球敏感器的相机标定方法

邓华健1,2,王昊1,2,韩晓亚3,刘洋1,2,金仲和1,2

期刊论文

Design and calibration of a new high-definition three-dimensional laparoscopic system

Jia TANG,Li-qiang WANG,Bo YUAN,Hong JIANG,Qi-ming ZHU

期刊论文

Development of a novel hand−eye calibration for intuitive control of minimally invasive surgical robot

期刊论文

一种机械臂在线标定装置开发

万梓威1,2,周春琳1,3,张昊天4,吴俊1

期刊论文

Remote calibration system for frequency based on in-place benchmark

Xiaobin HONG, Guixiong LIU, Zhuokui WU, Xipeng DU,

期刊论文

采用飞行时间相机的瞬态成像及其应用

Jing-yu Lin, Ri-hui Wu, Hong-man Wang, Ye-bin Liu,jylin@gxu.edu.cn,liuyebin@tsinghua.edu.cn

期刊论文

Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle

期刊论文

多孔径光学成像系统及其光场采集数学模型

祁启明,傅瑞罡,邵铮铮,王平,范红旗

期刊论文

Edge detection of steel plates at high temperature using image measurement

Qiong Zhou, Qi An

期刊论文

基于普通器件实现快1000倍的相机与机器视觉

Tiejun Huang, Yajing Zheng, Zhaofei Yu, Rui Chen, Yuan Li, Ruiqin Xiong, Lei Ma, Junwei Zhao, Siwei Dong, Lin Zhu, Jianing Li, Shanshan Jia, Yihua Fu, Boxin Shi, Si Wu, Yonghong Tian

期刊论文

Application of micro-genetic algorithm for calibration of kinetic parameters in HCCI engine combustion

HUANG Haozhong, SU Wanhua

期刊论文

New method for computer numerical control machine tool calibration: Relay method

LIU Huanlao, SHI Hanming, LI Bin, ZHOU Huichen

期刊论文

HY-2A卫星大气校正微波辐射计在轨数据定标和检验研究

王振占,张德海,赵谨,李芸

期刊论文

Multi-camera systems for rehabilitation therapies: a study of the precision of MicrosoftKinect sensors

Miguel OLIVER,Francisco MONTERO,José Pascual MOLINA,Pascual GONZÁLEZ,Antonio FERNÁNDEZ-CABALLERO

期刊论文

基于GPS的高度计海面高度定标浮标设计

陈春涛,闫龙浩,张晓旭,张倩,翟万林,朱建华

期刊论文