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ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: 3D Cameras

ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: 3D Cameras. Prepared by: Scott Marchant Dept. of Electrical and Computer Engineering Utah State University Email: y2kdar@gmail.com. 3/9/2012. Outline. Applications in Mechatronics

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ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: 3D Cameras

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  1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Topic: 3D Cameras Prepared by: Scott Marchant Dept. of Electrical and Computer Engineering Utah State University Email: y2kdar@gmail.com 3/9/2012

  2. Outline • Applications in Mechatronics • Other Related Applications • Basic Working Principle • Types of 3D Cameras • Other 3D Sensors • Major Specifications • Limitations and Disadvantages • 3D Camera Producers • Minora 3D Webcam • CognexVisionPro3D • Microsoft Kinect • Where to Buy • Reference list • To probe further ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  3. Reference list • [1] “How do 3D Video Cameras Work?”. Retrieved 14:44, March 16, 2012. [Online] Available: http://www.3d-video-camera.net/how-do-3d-video-cameras-work/ • [2] “Triangulation”. (2012, February 14). from Wikipedia, The Free Encyclopedia. Retrieved 19:04, March 15, 2012. [Online] Available: http://en.wikipedia.org/w/index.php?title=Triangulation&oldid=476800965 • [3] S. Bouchard. “Using The Kinect For Robotic Manipulation”. (August 16, 2011). [Online] Available: http://blog.robotiq.com/bid/40428/Using-The-Kinect-For-Robotic-Manipulation ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  4. To explore further (survival pointers of web references etc) • Autostereoscopy - 3D display technology that doesn’t require special glasses for viewing • http://en.wikipedia.org/w/index.php?title=Autostereoscopy&oldid=476619972 • Stereoscopy – The study of imitating 3D images • http://en.wikipedia.org/w/index.php?title=Stereoscopy&oldid=481931047 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  5. Applications in Mechatronics • Robotics • 3D environment sensing • Vision-guided pick-and-place assembly • Obstacle avoidance • Other • Missile and projectile optical guidance • Autonomous vehicle optical guidance ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  6. Other Related Applications • Movies • Recording 3D movies (stereography) • 3D photography • Holograms • Video Gaming • Microsoft Kinect • Nintendo 3DS • 3D modeling of existing landscape and architecture ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  7. Basic Working Principle (1) To understand how 3D cameras work, one must first understand the basics of how human vision works. “…humans use something called binocular vision. Binocular vision is achieved because we have two eyes.  Our eyes are about 3 inches apart and therefore they see slightly different images. These two images are projected on to our retinas and the difference between the images is known as binocular disparity. When our brain is processing these images it joins them together to create one 3D image, giving us our depth perception (stereopsis) and ability to judge distance.” [1] ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  8. Basic Working Principle (2) So, to summarize, humans perceive depth by using two images of the same area taken from slightly different viewpoints to achieve depth perceptions. Typical 3D video recording and playback systems record two images with two separate viewpoints (similar to the two eyes with humans). The playback system (eg. 3D projector) projects these two separate images in such a way that the humans left eye receives the “left eye” image, and the right eye receives the “right eye” image. This is explained graphically on the next slide. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  9. Basic Working Principle (3) Capture and storage Playback Right Image for Right Eye Storage Storage Retrieval 3D Projector Left Image for Left Eye Screen 1. Separate images are captured and stored. 2. Images are combined and stereographically projected. Stereographic Filtering Left Eye Image Right Eye Image 3. The combined image is then filter so that each eye receives the correct image ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  10. Basic Working Principle (4) For robots, same images can be processed to add depth to images using triangulation. Example: D α β A B Left Image Right Image L • An object is identified in both images (the star) • The angle α is calculated using the star’s horizontal displacement in the left image • The angleβis calculated using the star’s horizontal displacement in the right image • The length L is given by the distance between the left and right cameras • The distance D from the 3D camera to the star can then be computed using the equation given below • This same method is applied for vertical displacement as well • In this manner, a 3D landscape can be iteratively computed from the two images [2] (see derivation on following slide) ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  11. Basic Working Principle (5) The distance equation is derived as follows [2]: D α β A B L ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  12. Types of 3D Cameras • Film Recording • Dual image sensors, or dual lenses • Records image stream to disk • Typically can’t be used in real-time control systems due recording nature of system • Zooming and focusing lens options • Webcam • Similar to film recording cameras, but images are streamed over a connection instead of stored on the camera • No on-board storage • Typically no dynamic optical zooming is available ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  13. Other 3D Sensors • LADAR – Laser detection and ranging, aka Laser Radar • Employs laser pulses in a manner similar to radar, combined with typical 2D optics, to create a 3D image • LIDAR – Light detection and ranging • This is similar technology-wise to LADAR. One difference is that LIDAR sometimes refers to systems using different wavelengths of light than LADAR. Additionally, LIDAR has a more commercial connotation, whereas LADAR has a more military-like connotation. Other than that LIDAR and LADAR are often used interchangeably to describe the same technology. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  14. Major Specifications • Frame Rate – The number of frames per second the camera records • Image Resolution – The width and height of each image • Output Format – The available format of the output stream • Physical Interfaces – Ways to connect to the device, such as USB • Depth Resolution – How accurately depths can be determined from the sensor images • Depth Range – The minimum and maximum range for which depth can be resolved • Bridge Distance – The distance between the two eyes. This a large factor in the field of view, depth range, and depth resolution. Larger values aren’t necessarily better for all applications ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  15. Limitations and Disadvantages • Environmental Disadvantages • Poor performance in low-light conditions • Poor performance in dusty or cloudy environments • Susceptible to blinding by the sun or sun’s reflection • Other Disadvantages • Extensive computation required to process data • Complex computer vision libraries and software needed to be useful • Higher power consumption than 2D optic systems ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  16. 3D Camera Producers Here is a list of 3D Camera Producers. More information about each product is provided in following slides. 3D Webcams • Minoru 3D Webcam 3D Robot Vision • Cognex • Microsoft Kinect for Windows Image Source: http://www.minoru3d.com/ Image Source: http://www.cognex.com/gfx/2009/Cognex_Logo.png Image Source: http://www.microsoft.com/global/en-us/kinectforwindows/PublishingImages/kinectforwindows-logo.gif Kinect and Windows are registered trademarks of the Microsoft Corporation. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  17. Minoru 3D Webcam • The Minoru 3D Webcam claims to be the first 3D webcam to market. The device is made for 3D video-chats, but has been adopted for use with robot vision. There are even source code libraries available using the device as a ranging sensor. Links: • Minoru 3D Main Website • Robot Vision Google Source Code Website • Minoru and OpenCV Project Image Source: http://www.amazon.com/Trustin-MINORU-Webcam-Red-Chrome/dp/B001NXDGFY ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  18. Cognex VisionPro 3D • The CognexVisionPro 3D camera is made specifically for pick-and-place assembly line robots. The device comes with supporting software and technical support. Links: • VisionPro 3D Main Website • VisionPro 3D Documentation ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  19. Microsoft Kinect: Application Notes • The Microsoft Kinect can be used in real time to provide robot vision with depth vision. Microsoft has even developed an SDK for using the Kinect in robotics. Links: • Kinect Developer's Website • Visual Studio Express • Microsoft Robotics Devloper Studio • Kinect Robot Platform • Blog About Using Kinect with Robots Image Source: http://www.parallax.com/Eddie ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  20. Microsoft Kinect: Specifications Following are the specifications for the Kinect, quoted directly from source [3]. • Central camera is an RGB camera (8-bit VGA resolution of 640X480) for image acquisition • Two-side camera (11-bit VGA resolution of 640X480) infrared lasers with CMOS image sensing for 3D depth sensors • Microphone array • Proprietary connector USB-like with additional power • Motorized tilt on the base • Sensor field view of 57° horizontally and 43° vertically ±27° from the motor • Programmable LED” [3] ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  21. Microsoft Kinect: Physical Layout Image Source: http://blog.robotiq.com/bid/40428/Using-The-Kinect-For-Robotic-Manipulation Important Note: The retail Kinect version (sold separate from xbox’s) has a usb port to plug straight into a PC. The version that comes with the slim xbox 360 does not plug into a computer without a separate adapter, so be careful which one you buy. ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  22. Where to Buy • Minoru 3D Webcam • Minoru 3D Webcam on Amazon.com • Cognex VisionPro 3D • Cognex Sales Website • Microsoft Kinect for Windows • Kinect for Windows on Amazon.com • Kinect for Windows on Newegg.com ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

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