[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 105 parameters like output impedance and possible output current. That is why it cannot be loaded with resistance lower than nominal (for example 100 kΩ). The majority of fast analog-to-digital converters have low input I pedance, so separate buffer is necessary. Additionally the buffer can be used to adjust the dynamic ranges of both devices – detector array and ADC. The most important parameters of ADC are resolution and speed. Sampling frequency of a converter depends on array design (readout speed and the number of outputs) and on frame rate. The required resolution of ADC is a result of signal to noise ratio (SNR) at the output of detector array If the amplitude of the noise in the array is UN, the amplitude of the signal is US, then the SNR is given by: (1) and the minimal resolution of ADC converter can be then calculated according to the formula: , (2) where N is a minimal bit count of ADC converter word. Digital signals driving detector array, has to be generated for every type of the detector. The task is complex, because different types of detector arrays have different interfaces and demands different signals and timings, even in case of the same manufacturer. A block diagram of UL 04 27 2 detector readout module realized as a FPGA functional block is shown in Fig 12. Fig. 12. Block diagram of read-out control module for ULIS’ UL 04 27 2 microbolometer FPA The digital signals for controlling the microbolometer array can be divided into two groups. One is to provide proper timing during readout from detectors whereas the second is used for array configuration. First group includes RESET, INT, MC and CLK_VIDEO. Execution of the module results in reading all the pixel values which are then sent for further processing via image data bus [8, 12, 13]. Example signal diagrams for UL 04 27 2 array are shown on Fig. 13.
106 G. Bieszczad et al. Fig. 13. Timing diagram of control signals for ULIS’ UL 04 27 2 microbolometer FPA A special control circuit was designed to read the signals from the particular detectors in an array. Its purpose is to obtain for of each detector signal proportional to incident IR radiation its digital representation. Data is further sent to other camera blocks by VideoBus link. All analog detector signals (OUT) need to be converted into digital form (DVIDEO). Conversion was performed by ADC converter, which requires clock signal (CLK_VIDEO). Fig. 14. Timing diagrm of control signals for ULIS’ UL 04 27 2 microbolometer FPA According to array catalogue data all control signal can be generated using single clock signal with MC period. To do this a module was realized with 5-state machine and two synchronous counters. First counter is used to determine the states of RESET signal and for counting clock cycles during the readout of an entire frame. Second counter is used to determine the states of INT and MC signals and performs cycle count during single row readout. On the basis of RESET, INT and MC signals the following VideoBus signals are simultaneously generated: VSYNC, HSYNC, STD, MCLK, VDATA. During the operation of UL 04 27 2 microbolometer array the signals on the output of array are delayed by the time of one row from the integration trigger signal. This is because at the beginning of each frame readout the signals from first row detectors are integrated. Then, during the readout of first row detectors the signals from second row detectors are integrated and the pattern is repeated for the consecutive rows. As a result the total
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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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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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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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Prototyping the Autonomous Flight A
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Feature Extraction and HMM-Based Cl
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344 Conclusions Control algorithms
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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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