[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

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Thermal Camera for Autonomous Mobile Platforms 99 The applied infrared FPA has 640 by 480 single IR detectors (bolometers) . An active bolometer is made of a silicone membrane covered by an IR absorber. A single detector is a micro electro-mechanical structure. In such structure the detecting element is physically (and thermally) insulated from the rest of the components, including FPA housing. The schematic construction of a single detector in microbolometer array is shown in Fig. 3. Fig. 4. Simplified diagram of a single pixel read-out circuit Each individual bolometer is connected to a read-out circuit, which converts the resistance changes into proportional electric signal (voltage). The resistance variations are caused by temperature change of an active bolometer, introduced by total FPA temperature and incident infrared radiation. The conversion of bolometer resistance into voltage signal is performed in a circuit depicted in Fig. 4. Current-to-voltage converter is applied to obtain electric signal from individual bolometers. The charging current of integrator capacitance CINT is defined by the voltages VDET and VBUS and the resistances of a bolometer and MOSFET transistor. Integration time is set depending on actual frame rate. The portion of total bolometer resistance resulting from bolometer own temperature is also included in the conversion process. To determine its value the “blind” bolometer is applied, covered from incident radiation. Voltages GSK, GFID, VDET and VBUS that directly influence the output signal are shown in Fig. 4. The level of those voltages as well as precision and resolution of their setting determine the dynamic range and the quality of output image. As a result those voltages (values and noise levels) are strictly defined by a FPA manufacturer. Noise parameters of analogue supplying voltages are particularly important and they are defined by manufacturer over specified frequency bands. Allowed values are presented a table 1.
100 G. Bieszczad et al. Table 1. Noise requirements for FPS supplying voltages Voltage Noise level Measurement band 100 1 Hz 10 MHz , , 2 5 100 1 Hz 10 MHz 1 Hz 10 kHz 1 Hz 10 MHz Generally speaking, focal plane array module must provide analogue and digital supplying voltages for an array, analogue control signals for a FPA and buffering of digital control signals. This module should also include analog output stage. Fig. 5. Photo of a PCB board with FPA array (17 pixel pitch) In the presented camera a state-of-the-art array awas applied, with 640x480 pixels and 17 μm pixel pitch. Due to small pixel size (and consequently smaller linear dimesions of an array) the size of objective lens could be reduced, which also contributed to lower weight of the whole camera. In Fig. 5 the printed circuit board is shown with mounted focal plane array. 3 Digital Image Processing and Control Module In high resolution thermal cameras the fast image processing system has to be applied, which combines significant processing speed with a low power consumption. Additionally modern system has to be flexible, ready to perform different tasks wit out significant hardware modifications. Digital processing in high resolution cameras involves considerable amount of data, which must be processed within defined time window [8, 12, 13]. Data should be processed on the fly (in real time) without introducing excess latencies. For the continuity of data processing the system latencies should be constant, i.e. they cannot cumulate over time. This requires parallelization of image data processing.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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Recognition and Location of Objects
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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[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

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