[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 107 number of signals for row readout is larger by one than the total number of rows in the array. Example signals generated for microbolometer array are shown on Fig. 14. The applied ADC converter AD9251 from ANALOG DEVICES has its own latency needed to process incoming analog signal that equals to 9 clock cycles. This means that the result of analog-to-digital conversion is available after tenth measurement is triggered. 4.3 Bad Pixel Replacement Module Practically in all detector arrays here are some detectors that are not working properly, thus the signal from detected bad pixel has to be eliminated and replaced. During the calibration process the defective pixels are identified when they return incorrect signal value. On this basis the bad pixel map is stored in memory, where every bit corresponds to one detector in an array. If the detector is recognized as bad (meaning its output needs to be corrected) then the corresponding memory value is ‘1’. In case of good detector (no correction required) the value is ‘0’. The memory value is used to determinate if the signal from the detector will be displayed. For faulty detector the output value of previous good pixel is substituted instead. The simplified architecture of module realizing this algorithm is shown on Fig. 15. Fig. 15. Operation of bad pixel replacement module 4.4 Video Module One of the problems encountered in digital image processing is the case when the read-out rate of an array differs from displaying frame rate. And for thermal cameras the displaying frame rate is usually higher. Thus the special module has to be applied, which simplified operation is schematically presented in Fig. 16. Video module uses two external memories SRAM 1 and SRAM 2. Data from single frame is written to one of the memories (for example SRAM 1). At the same time data to be displayed is being read from second memory (SRAM 2). When whole data from single frame is entirely stored in the first memory, special “Memory select” signal is triggered and the roles of SRAM 1 and SRAM 2 memories are reversed. Now the next frame data is being written to SRAM 2 memory and SRAM 1 data is being read and displayed.
108 G. Bieszczad et al. Fig. 16. Operation of module for video displaying and adding additional information to output video data stream Another function performed by this module is adding additional information to independent video stream. This function is used to implement user interface and to show vital information like e.g. battery level. The video module includes also VGA controller which provides signals for an external display. 4.5 Non-uniformity Correction Module Infrared detector array always exhibits characteristic non-uniformity of detector responses to uniform incident radiation power [3, 4, 6, 7, 9]. Microbolometer FPA, features unwanted detector gain and offset differences between particular pixel detectors. It is caused by imperfection of individual detectors and readout circuit, characteristic to used technological process as well as array temperature. The effect of non-uniformity of detectors in an array is so called Fixed Pattern Noise (FPN) superimposed on the output image, which decreases the spatial NETD of a thermal imaging camera. Non-uniformity correction (NUC) consists in digital conversion of output signal from an array in order to eliminate FPN in resulting thermal image. To eliminate non-uniformity effects in the camera, various NUC methods are employed. The most common approach is to process the data from detector digitally. Correction data (NUC correction coefficients) are determined during calibration process where dete tors are exposed to uniform infrared radiation references. The most principal non-uniformity correction method is so called two-point correction (TPC) algorithm. TPC algorithm is realized according to the formula [4, 7]: (3) where is a digital value of detector response from i-th row and j-th column (i, j), and are respectively a gain and offset correction coefficients, and is a corrected value. NUC coefficients for two point correction are calculated during calibration according to formulas [4, 7]:
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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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Probabilistic Approach to Planning
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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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