[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

Recommendations

Info

Thermal Camera for Autonomous Mobile Platforms 97 Fig. 2. General block diagram of a thermal camera with all main functional blocks the camera case. Low power operation and the flexible range of external supplying voltages are also important features of the presented camera. It was assumed, during the design of camera electronic modules, that the camera will accept supplying voltages in the 6V – 12V range. The device can be supplied from typical regular or rechargeable batteries thus allowing the camera to be applied even in mobile systems with autonomous power sources of limited capacity. 2.1 Lens Module Objective lens for far infrared spectral range is one of the most technologically sophisticated camera components. Its complexity is caused by the requirements for wide field of view, small overall dimensions, wide range of operating temperatures, anti-reflex coatings resistant to environmental conditions and the resolution matching 17 μm pixel pitch of a FPA. Those requirements imposed the application of modern design approach and materials. The lens features aspherical germanium optical elements which reduced the total number of optical elements in the lens design. And due to wide temperature range the passive athermalization of the lens was necessary. Each optical system is prone to misalignment due to temperature changes. Ambient temperature variations significantly affect the imaging quality of far infrared lens, because of material properties, such as coefficient of thermal expansion and thermal coefficient of refraction. As a result dimensions of mechanical and optical elements as well as optical properties of germanium change with temperature. Usually both those undesired effects do not compensate themselves but they are additive. As a result the focal length is shortened as the temperature rises. Furthermore the FPA itself, due to thermal expansion of the case and mount, is moved away from the reference focal plane. In order to create the lens operating within 1/4 wave Raleigh criteria in the whole -40C° to +60C° temperature range the particular elements were designed in
98 G. Bieszczad et al. such a way to provide compensation of both aforementioned undesired effects. The applied passive athermalization was achieved through certain design solutions and application of materials with appropriate thermal expansion properties, which made it possible to obtain compensation movement of desired magnitude. As a result the optical system was created with the following parameters: • Focal length 12mm, • Field of view (for 640 x 480 FPA, 17 um pixel pitch): HFOV~49 VFOW~38 • F-number 1.25, • weight 29.5g. It was confirmed during research that the use of a single aspherical lens provides good imaging quality, light weight and simplified mechanical mount of the resulting obje tive lens. Thus, in spite of complex dual-housing structure the compact unit was obtained and applied athermalization is sufficiently effective in the whole range of operating temperatures. Limiting the number of optical surfaces is also beneficial in terms of transmission losses, which is particularly important in infrared optical sys-tems made of germanium, a material with high refractive index. The losses can be minimized by lens coatings, but the reduction of the number of optical elements is also important. The resulting objective lens, in spite of a fairy large field of view, provides quite uniform illumination of a focal plane array. 2.2 Focal Plane Array Module Focal plane array module is the next one of the technologically advanced camera blocks. It is composed of a microbolometer focal plane array and a PCB board with read-out, control and power supply circuits. In the presented high resolution thermal camera the FPA made of amorphous silicon was applied. It is an uncooled infrared detector and its spectral range is defined by an optical filter, mounted as an outer cover of a detector case. Fig. 3. Single pixel of a microbolometer focal plane array
Page 1 and 2:
Studies in Computational Intelligen
Page 3 and 4:
Aleksander Nawrat · Zygmunt Kuś E
Page 5 and 6:
“In God We Trust, All others we o
Page 7 and 8:
VIII Preface valuable information i
Page 9 and 10:
Contents Part I: Design of Object D
Page 11 and 12:
Contents XIII Technology Developmen
Page 13 and 14:
XVI List of Contributors Adam Czorn
Page 15 and 16:
XVIII List of Contributors Henryk M
Page 17 and 18:
XX List of Contributors Józef Wron
Page 19 and 20:
2 Design of Object Detection, Recog
Page 21 and 22:
4 A. Babiarz et al. 1 Introduction
Page 23 and 24:
6 A. Babiarz et al. The description
Page 25 and 26:
8 A. Babiarz et al. a) b) Fig. 5. T
Page 27 and 28:
10 A. Babiarz et al. o o o “micvo
Page 29 and 30:
12 A. Babiarz et al. a) b) Fig. 7.
Page 31 and 32:
14 A. Babiarz et al. • The camera
Page 33 and 34:
16 A. Babiarz et al. the camera ser
Page 35 and 36:
18 A. Babiarz et al. a) b) Fig. 11.
Page 37 and 38:
20 A. Babiarz et al. patrol point i
Page 39 and 40:
22 A. Babiarz et al. particular ang
Page 41 and 42:
24 A. Babiarz et al. The sample cod
Page 43 and 44:
Recognition and Location of Objects
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
Page 53 and 54:
Page 55 and 56:
Page 57 and 58:
Page 59 and 60: Recognition and Location of Objects
Page 61 and 62: Recognition and Location of Objects
Page 63 and 64: 48 P. Demski et al. Fig. 1. Automat
Page 65 and 66: 50 P. Demski et al. E-Grip firing m
Page 67 and 68: 52 P. Demski et al. 4 Automatic Tar
Page 69 and 70: 54 P. Demski et al. implementing su
Page 71 and 72: Object Tracking for Rapid Camera Mo
Page 91 and 92: Object Tracking in a Picture during
Page 107 and 108: 94 Construction of Image Acquisitio
Page 109: 96 G. Bieszczad et al. effectivenes
Page 113 and 114: 100 G. Bieszczad et al. Table 1. No
Page 115 and 116: 102 G. Bieszczad et al. Fig. 7. Pri
Page 117 and 118: 104 G. Bieszczad et al. Fig. 10. Re
Page 119 and 120: 106 G. Bieszczad et al. Fig. 13. Ti
Page 121 and 122: 108 G. Bieszczad et al. Fig. 16. Op
Page 123 and 124: 110 G. Bieszczad et al. has to make
Page 125 and 126: 112 G. Bieszczad et al. MTF functio
Page 127 and 128: 114 G. Bieszczad et al. [11] Krupi
Page 129 and 130: 116 D. Bereska et al. Presented in
Page 131 and 132: 118 D. Bereska et al. Fig. 2. Image
Page 133 and 134: 120 D. Bereska et al. Fig. 4. Ortho
Page 135 and 136: Omnidirectional Video Acquisition D
Page 149 and 150: Part III Design of Vision Based Con
Page 151 and 152: Vision System for Group of Mobile R
Page 161 and 162:
Vision System for Group of Mobile R
Page 163 and 164:
Page 165 and 166:
Page 167 and 168:
Page 169 and 170:
A Distributed Control Group of Mobi
Page 171 and 172:
Page 173 and 174:
Page 175 and 176:
Page 177 and 178:
Page 179 and 180:
Page 181 and 182:
Page 183 and 184:
Page 185 and 186:
Page 187 and 188:
Page 189 and 190:
178 D. Bereska et al. The aim of th
Page 191 and 192:
180 D. Bereska et al. 3 Control Alg
Page 193 and 194:
182 D. Bereska et al. Fig. 5. Schem
Page 195 and 196:
184 D. Bereska et al. 4.1 Mechanica
Page 197 and 198:
186 D. Bereska et al. 4.1.3 Open-Lo
Page 199 and 200:
188 D. Bereska et al. Fig. 16. Comp
Page 201 and 202:
Probabilistic Approach to Planning
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
Page 209 and 210:
Page 211 and 212:
Page 213 and 214:
Page 215 and 216:
206 Practical Applications of Class
Page 217 and 218:
208 M. Mellado and K. Skrzypczyk an
Page 219 and 220:
210 M. Mellado and K. Skrzypczyk a
Page 221 and 222:
212 M. Mellado and K. Skrzypczyk wh
Page 223 and 224:
214 M. Mellado and K. Skrzypczyk Fi
Page 225 and 226:
216 M. Mellado and K. Skrzypczyk 6
Page 227 and 228:
Prototyping the Autonomous Flight A
Page 229 and 230:
Page 231 and 232:
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
Page 239 and 240:
Page 241 and 242:
Feature Extraction and HMM-Based Cl
Page 243 and 244:
Page 245 and 246:
Page 247 and 248:
Page 249 and 250:
Page 251 and 252:
Page 253 and 254:
Page 255 and 256:
248 K. Daniec et al. In this articl
Page 257 and 258:
250 K. Daniec et al. Fig. 2. Applic
Page 259 and 260:
252 K. Daniec et al. by the ability
Page 261 and 262:
254 K. Daniec et al. The idea of us
Page 263 and 264:
Selection of Individual Gait Featur
Page 265 and 266:
Page 267 and 268:
Page 269 and 270:
Page 271 and 272:
Page 273 and 274:
Page 275 and 276:
Page 277 and 278:
Page 279 and 280:
274 A. Nawrat et al. alia weather c
Page 281 and 282:
276 A. Nawrat et al. have an embedd
Page 283 and 284:
278 A. Nawrat et al. particular cha
Page 285 and 286:
280 A. Nawrat et al. • 1-phase el
Page 287 and 288:
282 A. Nawrat et al. The phase cond
Page 289 and 290:
284 A. Nawrat et al. Table 1. Compa
Page 291 and 292:
286 A. Nawrat et al. P3 P3 P3 71101
Page 293 and 294:
288 A. Nawrat et al. S, VA 4,510 4,
Page 295 and 296:
290 A. Nawrat et al. Comparison dif
Page 297 and 298:
Technology Development of Military
Page 299 and 300:
Page 301 and 302:
Page 303 and 304:
Page 305 and 306:
Page 307 and 308:
Page 309 and 310:
Page 311 and 312:
Page 313 and 314:
Page 315 and 316:
312 A. Czornik, A. Nawrat, and M. N
Page 317 and 318:
Page 319 and 320:
Page 321 and 322:
Page 323 and 324:
Page 325 and 326:
Page 327 and 328:
Page 329 and 330:
Page 331 and 332:
328 M. Koźlak, A. Kurzeja, and A.
Page 333 and 334:
Page 335 and 336:
Page 337 and 338:
Page 339 and 340:
Page 341 and 342:
Page 343 and 344:
Page 345 and 346:
Page 347 and 348:
344 Conclusions Control algorithms
show all

[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

Create successful ePaper yourself

Delete template?

Save as template?