[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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Gyro-Stabilized Platform for Multispectral Image Acquisition Damian Bereska, Krzysztof Daniec, Karol Jędrasiak, and Aleksander Nawrat Abstract. This article presents design and implementation of a gyro-stabilized platform for visible light and infrared image acquisition. The process of selection of appropriate vision sensors and their calibration is presented. Additionally there are presented results of conceptual work, design and construction of the working prototype of the device. 1 Introduction In many technical applications visible light image analysis is insufficient. Often, obtaining the necessary information requires observing the analyzed objects or the entire scene in a different range of electromagnetic waves. Available imaging techniques cover the entire spectrum of electromagnetic waves. However the most commonly analyzed are images acquired at visible light or infrared spectrum. This is the result of the unprecedented progress that has been made in the construction of infrared sensors in recent years. As a result, there is a significant price reduction of cameras working in the range and thus their greater availability. Damian Bereska ⋅ Karol Jędrasiak ⋅ Krzysztof Daniec ⋅ Aleksander Nawrat Silesian University of Technology, Institute of Automatic Control, Akademicka 16, 44-101 Gliwice, Poland e-mail: {damian.bereska,karol.jedrasiak, krzysztof.daniec,aleksander.nawrat}@polsl.pl Aleksander Nawrat Ośrodek Badawczo-Rozwojowy Urządzeń Mechanicznych “OBRUM” sp. z o.o., ul. Toszecka 102, 44-117 Gliwice, Poland e-mail: anawrat@obrum.gliwice.pl A. Nawrat and Z. Kuś (Eds.): Vision Based Systems for UAV Applications, SCI 481, pp. 115–121. DOI: 10.1007/978-3-319-00369-6_7 © Springer International Publishing Switzerland 2013
116 D. Bereska et al. Presented in this article opto-electronic gimbal is the result of the first stage of the work carried out over a gyro-stabilized platform for autonomous vehicles. It was designed to enable the installation of optical sensors allowing simultaneous acquisition of images in the visible and infrared bands. At this stage the priority was to create a gyro-stabilized platform for selected optical sensors. The platform enables rotation around two axes. 2 Optical Sensors Paradoxically, the selection of appropriate optical sensors is not a simple task. Great variety of available solutions and their types requires an analysis of several technical documentations. It is useful to predefine basic criteria such as the availability of equipment, price, native resolution, weight, size, power consumption or operating temperature. In case of a dedicated platform for unmanned ground vehicles (UGVs) a criterion based on dimension of weight is not critical. Important are however image resolution, operating temperature and of course price. During selection of equipment a special attention was paid to the availability of dedicated optical systems, which in case of infrared cameras significantly increase the weight of the device and its price. As a result of the analysis it was decided to purchase two cameras. The visible light camera was chosen as block camera Sony FCB-EX980 with integrated optics and motorized 26x zoom. The camera is characterized by an extensive automation. As the infrared sensors the Miracle Thermoteknix Systems Ltd. was chosen. It is characterized by a very good price to cost ratio. Technical parameters of both cameras are shown in the tab. 1. It is also sufficient for object detection [7]. 3 Camera Calibration As noted in the introduction the resulting opto-electronic gimbal is ought to allow the installation of optical sensors in such a way that simultaneous acquisition of images from both visible and infrared band are possible. For many image processing algorithms it is important that both cameras are mutually fit. The desired installation outcome is when both cameras provide consistent output image in terms of size and content of the scene. Such effect can be achieved by adjusting the optical axes of the cameras, their mutual appropriate location and suitable setting of their lenses. In order to achieve the desired parameters (tab.1) a dedicated test platform was developed and created. A tripod used to enable the measurement of the convergence of optical axes is presented in fig. 1.
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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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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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