Method of rotation angle measurement in machine vision based on calibration pattern with spot array.
We propose a method of rotation angle measurement with high precision in machine vision. An area scan CCD camera, imaging lens, and calibration pattern with a spot array make up the measurement device for measuring the rotation angle. The calibration pattern with a spot array is installed at the rotation part, and the CCD camera is set at a certain distance from the rotation components. The coordinates of the spots on the calibration pattern is acquired through the vision image of the calibration pattern captured by the CCD camera. At the initial position of the calibration pattern, the camera is calibrated with the spot array; the mathematical model of distortion error of the CCD camera is built. With the equation of coordinate rotation measurement, the rotation angle of the spot array is detected. In the theoretic simulation, noise of different levels is added to the coordinates of the spot array. The experiment results show that the measurement device can measure the rotation angle precisely with a noncontact method. The standard deviation of rotation angle measurement is smaller than 3 arc sec. The measurement device can measure both microangles and large angles.
Vision-based measurement for rotational speed by improving Lucas-Kanade template tracking algorithm.
Rotational angle and speed are important parameters for condition monitoring and fault diagnosis of rotating machineries, and their measurement is useful in precision machining and early warning of faults. In this study, a novel vision-based measurement algorithm is proposed to complete this task. A high-speed camera is first used to capture the video of the rotational object. To extract the rotational angle, the template-based Lucas-Kanade algorithm is introduced to complete motion tracking by aligning the template image in the video sequence. Given the special case of nonplanar surface of the cylinder object, a nonlinear transformation is designed for modeling the rotation tracking. In spite of the unconventional and complex form, the transformation can realize angle extraction concisely with only one parameter. A simulation is then conducted to verify the tracking effect, and a practical tracking strategy is further proposed to track consecutively the video sequence. Based on the proposed algorithm, instantaneous rotational speed (IRS) can be measured accurately and efficiently. Finally, the effectiveness of the proposed algorithm is verified on a brushless direct current motor test rig through the comparison with results obtained by the microphone. Experimental results demonstrate that the proposed algorithm can extract accurately rotational angles and can measure IRS with the advantage of noncontact and effectiveness.
Detection of moving object by mobile stereo omnidirectional system (SOS)
Moving object detection with a mobile image sensor is an important task in robotics and computer vision, when considering the practical use of robotics in human environments. In this paper, we propose a robust method that detects moving objects in the environment using the omnidirectional depth information obtained by a mobile Stereo Omnidirectional System (SOS). In order to detect only the moving objects within the depth image that are obtained by a sensor in motion, we first estimate the ego‐motion of the sensor, and generate a predicted depth image for the current time from the depth obtained at the previous time by only considering the ego‐motion of the sensor. Then the predicted depth image is compared with the actual one obtained at the current time, and the inconsistent regions are detected as moving objects. When the sensor moves, occlusions will occur in the scene and they will cause false detections. However, these false detections can be suppressed by estimating the occlusion regions using the ego‐motion parameters of the sensor and the jump edges in the depth image. The effectiveness of the method is shown with experimental results for a real environment. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 152(3): 29–38, 2005; Published online in Wiley InterScience (www.interscience. wiley.com). DOI 10.1002/eej.20155