Master Thesis - Fachbereich Informatik

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List of Figures 2.1. AccuracyandPrecision ............................. 10 2.2. Parallellinesatperspective ........................... 11 2.3. Pinholegeometry................................. 12 2.4. Thinlensmodel ................................. 13 2.5. Incidentlightingsetups ............................. 18 2.6. Edgemodels ................................... 21 2.7. Comparisonofdifferentedgedetectors..................... 24 2.8. Orientationselectivefilters ........................... 27 2.9. Subpixelaccuracyusinginterpolationtechniques ............... 28 3.1. Hardwaresetupoftheprototype ........................ 32 3.2. BAYERmosaic.................................. 34 3.3. Comparisonofcolorandgraylevelcamera................... 36 3.4. Colorinformationoftransparenttubes..................... 37 3.5. Telecentriclens.................................. 40 3.6. FieldofViewgeometry ............................. 42 3.7. Tubesatdifferentfrontlightingsetups..................... 44 3.8. Backlightingthroughaconveyorbelt ..................... 45 3.9. Polarizedbacklighting.............................. 46 3.10.Backlightpanel ................................. 47 3.11.Blowoutsetup .................................. 48 4.1. Systemoverview ................................. 52 4.2. Potentialimagestates .............................. 53 4.3. Tubemodels ................................... 54 4.4. Measuringplanedefinition............................ 55 4.5. Characteristicintensitydistributionoftransparenttubes........... 57 4.6. Tubeorientationerror .............................. 58 4.7. Cameracalibration-Calibrationimages.................... 60 4.8. Cameracalibration-Subpixelcornerextraction................ 61 4.9. Cameracalibration-Extrinsicparameters................... 61 4.10.Cameracalibration-Radialdistortionmodel ................. 62 4.11.Camerapositioning-OnlineGridCalibration................. 64 4.12.Camerapositioning-controlpoints....................... 65 4.13.Scanlinesforprofileanalysis .......................... 66 4.14.Profileanalysis .................................. 70 4.15.Motivationforaregion-basedprofilethreshold ................ 72 4.16.Ghosteffect.................................... 73 4.17.Characteristictubeedgeresponses ....................... 79 xiii
xiv List of Figures 4.18.TemplateDesign ................................. 81 4.19.TemplateOccurrence............................... 83 4.20.Templatewithextremeheightweightingcoefficient.............. 83 4.21.TemplateWeighting ............................... 84 4.22.Templaterotation-Motivation ......................... 85 4.23.Templatecurvatureoccurrence ......................... 86 4.24.Subpixelaccuratetemplatematching...................... 88 4.25.Perspectivecorrectionfunction ......................... 90 5.1. Measuring slide used for acquiring ground truth measurements by hand. . . 102 5.2. Intraandinterhumanmeasuringvariance...................103 5.3. Supplytube....................................104 5.4. Accuracyevaluationoflengthmeasurementsatsyntheticsequences.....108 5.5. Resultsofminimumspacingexperiment ....................109 5.6. Minimumtubespacingforblacktubes.....................110 5.7. Measuringresultsat20m/min..........................111 5.8. Resultsof8mmblacktubesat30m/min....................113 5.9. Resultsof8mmtransparenttubesat30m/min ................114 5.10.Brightnessvarianceofanemptyconveyorbeltatbacklight .........115 5.11.Bent6mmtube..................................116 5.12.Experimentalresultsofblacktubeswith6and12diameter .........117 5.13.Groundtruthdistanceofblacktubeswith6and12mmdiameter......118 5.14.Influenceofcross-sectiondeformationsat12diametertubes.........119 5.15. Experimental results of transparent tubes with 6 and 12mm diameter . . . 120 5.16. Ground truth distance of transparent tubes with 6 and 12mm diameter . . 120 5.17.Failureoftubeedgedetectionduetoapoorcontrast.............121 5.18.Repeatabilityofthemeasurementofonetube.................122 5.19. Repeatability of the measurement of a metallic cylinder . ..........123 5.20.Resultsofoutlierexperiment ..........................124 5.21.Resultsof30mmand70mmtubesat30m/min ................127 5.22.Performanceevaluationresults .........................129 5.23.Backgroundsuppressioninthefrequencydomain...............131 A.1.Comparisonofdifferentscanlines........................139
Page 1 and 2: Fachbereich Informatik Department o
Page 4: Acknowledgments First of all, I wou
Page 8 and 9: Contents Acknowledgments iii Abstra
Page 10 and 11: Contents ix 5.3.7. TubeLength .....
Page 12 and 13: List of Tables 1.1. Rangeoftubetype
Page 16 and 17: 1. Introduction Heat shrinkable tub
Page 18 and 19: 1.2. PROBLEM STATEMENT 3 hazards, r
Page 20 and 21: 1.4. RELATED WORK 5 Length [mm] Tol
Page 22 and 23: 1.5. THESIS OUTLINE 7 The vision pa
Page 24 and 25: 2. Technical Background 2.1. Visual
Page 26 and 27: 2.1. VISUAL MEASUREMENTS 11 (a) Fig
Page 28 and 29: 2.1. VISUAL MEASUREMENTS 13 Figure
Page 30 and 31: 2.1. VISUAL MEASUREMENTS 15 � xd
Page 32 and 33: 2.2. ILLUMINATION 17 tubes alternat
Page 34 and 35: 2.2. ILLUMINATION 19 effect of comp
Page 36 and 37: 2.3. EDGE DETECTION 21 i 2 i 1 0 (a
Page 38 and 39: 2.3. EDGE DETECTION 23 N × 1 kerne
Page 40 and 41: 2.3. EDGE DETECTION 25 These operat
Page 42 and 43: 2.3. EDGE DETECTION 27 (a) 0 ◦ (b
Page 44 and 45: 2.4. TEMPLATE MATCHING 29 accuracy
Page 46 and 47: 3. Hardware Configuration This chap
Page 48 and 49: 3.2. CAMERA SETUP 33 3.2. Camera se
Page 50 and 51: 3.2. CAMERA SETUP 35 eachcolorchann
Page 52 and 53: 3.2. CAMERA SETUP 37 Figure 3.4: Co
Page 54 and 55: 3.2. CAMERA SETUP 39 adjusting scre
Page 56 and 57: 3.2. CAMERA SETUP 41 further distan
Page 58 and 59: 3.3. ILLUMINATION 43 f V 12mm 129mm
Page 60 and 61: 3.3. ILLUMINATION 45 (a) (b) (c) Fi
Page 62 and 63: 3.3. ILLUMINATION 47 (a) (b) Figure
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3.4. BLOW OUT MECHANISM 49 A light
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4. Length Measurement Approach Whil
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4.2. MODEL KNOWLEDGE AND ASSUMPTION
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4.3. CAMERA CALIBRATION 59 4.2.7. B
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4.3. CAMERA CALIBRATION 61 Figure 4
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4.3. CAMERA CALIBRATION 63 is compu
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4.4. TUBE LOCALIZATION 65 (a) (b) F
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4.4. TUBE LOCALIZATION 67 � 1 Psm
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4.4. TUBE LOCALIZATION 69 Global Th
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4.4. TUBE LOCALIZATION 71 but also
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4.4. TUBE LOCALIZATION 73 Global Re
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4.5. MEASURING POINT DETECTION 75 f
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4.5. MEASURING POINT DETECTION 77 T
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4.5. MEASURING POINT DETECTION 79 -
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4.5. MEASURING POINT DETECTION 81 0
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4.5. MEASURING POINT DETECTION 83 o
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4.5. MEASURING POINT DETECTION 85 (
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4.5. MEASURING POINT DETECTION 87 w
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4.6. MEASURING 89 side of the tube,
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4.6. MEASURING 91 fcor(x) =−(c1x
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4.7. TEACH-IN 93 inthemeasuringplan
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4.7. TEACH-IN 95 The pair of a pixe
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5. Results and Evaluation 5.1. Expe
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5.1. EXPERIMENTAL DESIGN 99 between
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5.1. EXPERIMENTAL DESIGN 101 where
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5.1. EXPERIMENTAL DESIGN 103 Ground
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5.2. TEST SCENARIOS 105 enough, the
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5.3. EXPERIMENTAL RESULTS 107 The t
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5.3. EXPERIMENTAL RESULTS 109 Detec
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5.3. EXPERIMENTAL RESULTS 111 Lengt
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5.3. EXPERIMENTAL RESULTS 113 GTD [
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5.3. EXPERIMENTAL RESULTS 115 gray
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5.3. EXPERIMENTAL RESULTS 119 (a) (
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5.3. EXPERIMENTAL RESULTS 121 (a) (
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5.3. EXPERIMENTAL RESULTS 125 Total
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5.3. EXPERIMENTAL RESULTS 127 Color
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5.3. EXPERIMENTAL RESULTS 129 Task
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5.4. DISCUSSION AND FUTURE WORK 131
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6. Conclusion In this thesis a func
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Appendix 135
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138 APPENDIX A. PROFILE ANALYSIS IM
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140 APPENDIX A. PROFILE ANALYSIS IM
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142 APPENDIX B. HARDWARE COMPONENTS
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144 APPENDIX B. HARDWARE COMPONENTS
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146 Bibliography [18] C. Demant, B.
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148 Bibliography [51] K.K. Pingle.
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Master Thesis - Fachbereich Informatik

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