This paper presents the principle and mathematic model for the 3D depth map method based on space encoding images performed by modulating scanning structuredlight according to time sequences,and the synchro control ...This paper presents the principle and mathematic model for the 3D depth map method based on space encoding images performed by modulating scanning structuredlight according to time sequences,and the synchro control among the camera,laser diode modulation and scanning polyhedron.展开更多
The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the probl...The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the problem,this paper proposes an integrated calibration method for structured light vision sensors.In the proposed system,the sensor is mounted on a crawler-type mobile robot,which scans and measures the center height of guardrails while in motion.However,due to external disturbances such as uneven road surfaces and vehicle vibrations,the posture of the robot may deviate,causing displacement of the sensor platform and resulting in spatial 3D measurement errors.To overcome this issue,the system integrates inertial measurement unit(IMU)data into the sensor calibration process,enabling realtime correction of posture deviations through sensor fusion.This approach achieves a unified calibration of the structured light vision system,effectively compensates for posture-induced errors,and enhances detection accuracy.A prototype was developed and tested in both laboratory and real highway environments.Experimental results demonstrate that the proposed method enables accurate center height detection of guardrails under complex road conditions,significantly reduces posture-related measurement errors,and greatly improves the efficiency and reliability of traditional detection methods.展开更多
In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structur...In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.展开更多
A calibration procedure was developed for three-dimensional(3D) binocular structured light measurement systems. In virtue of a specially designed pattern, matching points in stereo images are extracted. And then suffi...A calibration procedure was developed for three-dimensional(3D) binocular structured light measurement systems. In virtue of a specially designed pattern, matching points in stereo images are extracted. And then sufficient 3D space points are obtained through pairs of images with the intrinsic and extrinsic parameters of each camera estimated prior and consequently some lights are calibrated by means of multi point fitting. Finally, a mathematical model is applied to interpolate and approximate all dynamic scanning lights based on geometry. The process of calibration method is successfully used in the binocular 3D measurement system based on structured lights and the 3D reconstruction results are satisfying.展开更多
Melanosomes, isolated by centrifugal separation from culture broth of B16 melanoma cells derived from mouse, were observed by scanning electron microscopy (SEM), and by transmission electron microscopy (TEM). Some int...Melanosomes, isolated by centrifugal separation from culture broth of B16 melanoma cells derived from mouse, were observed by scanning electron microscopy (SEM), and by transmission electron microscopy (TEM). Some interesting structural features were found inside and outside of the melanosomes. By SEM observation, the melanosomes were ellipsoid shape, their surface was not smooth and was covered with rough substructure, 10 to 20 nm particles. By TEM, uneven structure and micro particles were observed in the melanosomes. Furthermore, three-dimensional analysis was tried by using the ultra-high voltage electron microscopy(UHVEM). Micrographs of the melanosomes were taken at various tilted angles by UHVEM, after preparing 500 nm thickness specimens stained with lead citrate. From the micrographs collected, the three-dimensional structures were reconstructed by using i-mode software. Melanin stained by lead and non stained parts was clearly observed in the reconstructed structure. Non stained parts were round, regular size, and distributed widely in the melanosomes.展开更多
Nonlinear response is an important factor affecting the accuracy of three-dimensional image measurement based on the fringe structured light method.A phase compensation algorithm combined with a Hilbert transform is p...Nonlinear response is an important factor affecting the accuracy of three-dimensional image measurement based on the fringe structured light method.A phase compensation algorithm combined with a Hilbert transform is proposed to reduce the phase error caused by the nonlinear response of a digital projector in the three-dimensional measurement system of fringe structured light.According to the analysis of the influence of Gamma distortion on the phase calculation,the algorithm establishes the relationship model between phase error and harmonic coefficient,introduces phase shift to the signal,and keeps the signal amplitude constant while filtering out the DC component.The phase error is converted to the transform domain,and compared with the numeric value in the space domain.The algorithm is combined with a spiral phase function to optimize the Hilbert transform,so as to eliminate external noise,enhance the image quality,and get an accurate phase value.Experimental results show that the proposed method can effectively improve the accuracy and speed of phase measurement.By performing phase error compensation for free-form surface objects,the phase error is reduced by about 26%,and about 27%of the image reconstruction time is saved,which further demonstrates the feasibility and effectiveness of the method.展开更多
Three-dimensional(3D)imaging with structured light is crucial in diverse scenarios,ranging from intelligent manufacturing and medicine to entertainment.However,current structured light methods rely on projector-camera...Three-dimensional(3D)imaging with structured light is crucial in diverse scenarios,ranging from intelligent manufacturing and medicine to entertainment.However,current structured light methods rely on projector-camera synchronization,limiting the use of affordable imaging devices and their consumer applications.In this work,we introduce an asynchronous structured light imaging approach based on generative deep neural networks to relax the synchronization constraint,accomplishing the challenges of fringe pattern aliasing,without relying on any a priori constraint of the projection system.To overcome this need,we propose a generative deep neural network with U-Net-like encoder-decoder architecture to learn the underlying fringe features directly by exploring the intrinsic prior principles in the fringe pattern aliasing.We train within an adversarial learning framework and supervise the network training via a statisticsinformed loss function.We demonstrate that by evaluating the performance on fields of intensity,phase,and 3D reconstruction.It is shown that the trained network can separate aliased fringe patterns for producing comparable results with the synchronous one:the absolute error is no greater than 8μm,and the standard deviation does not exceed 3μm.Evaluation results on multiple objects and pattern types show it could be generalized for any asynchronous structured light scene.展开更多
Background There have been no detailed reports of the three-dimensional structure and the relationship between the external and internal vascularizations observed successively for a long duration in the rat fetus, alt...Background There have been no detailed reports of the three-dimensional structure and the relationship between the external and internal vascularizations observed successively for a long duration in the rat fetus, although many authors have studied the vascular morphology of the developing brain. This study examined the three-dimensional structure of both the external and internal vascularizations of the prenatal rat telencephalon from embryonic days 12 (E12) to 20 (E20).Method A microvascular casting method for scanning electron microscopy (SEM) was used in this study, along with vascular staining using gold-gelatine solution-autometallography (GGS-AMG) after intravascular injection of colloidal gold, as well as hematoxylin-eosin ( HE) staining for paraffin embedded specimens.Results In GGS-AMG stains, E16 fetuses had a few short perforating cortical blood vessels (SPCVs); E17 fetuses had long perforating cortico-medullary vessels (LPCVs). Older fetuses had specific patterns of vascular networks in the cortex and the deeper subcortical part of the telencephalon. In the cortex, fine longitudinal blood vessels were connected by transverse channels. The deep telencephalon had fine blood vessels running in all directions. Using SEM, the external vascularization was already visible in E12 fetuses as arborizations of arterial branches, forming a mesh of fine vascular networks covering the telencephalon. A coralliform fine venous plexus was observed in the external vascularization of E16 fetuses. There were ring-like anastomoses and bud-like protrusions in the network of small blood vessels, most likely the angiogenesis of fetal vessels. From E12 to E16, an immature and incomplete internal vascularization began to appear. There were short blood vessels with ballooned terminals branching from the external vascularization. They penetrated the brain tissue to form networks in the superficial layer, comparable to SPCVs. In E17 to E20 fetuses, tortuous venous branches, straight arterial blood vessels, and a fine network of small blood vessels formed the external vascularization. There were fewer arterial than venous branches connecting to the fine networks of small blood vessels. LPCVs were noted at E17, at the time the white matter emerged. They branched from the external vascularization, and perpendicularly penetrated the brain surface, traversing the cortical plate, and entering into the deep brain. At E17, arterial and venous blood vessels could be clearly distinguished in the external vascularization. At E20, the cortex and white matter contained specific arrangements of networks of fine blood vessels, as seen by GGS-AMG staining.Conclusion These findings show that the development of both the external and internalvascularization follows the development of thetelencephalon. In particular, the emergence ofthe cortical plate and white matter on E16 andE17 influence the development of both theinternal and the external vascularization. Thelaminal arrangement of blood vessels was notobserved corresponding to the respective laminalneuronal layers.展开更多
The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as man...The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as manual visual inspection,which suffer from significant limitations in accuracy,reliability,and efficiency.Given the increasing demand for safety performance inspections of highway infrastructure in China,traditional methods struggle to meet modern rapid inspection requirements.Therefore,this study proposes the design of a portable,non-destructive inspection device for rebar weld appearance,utilizing visible light vision and line-structured light 3D scanning technology.The device is equipped with an STM32 master control chip to manage encoder reading,scanning laser control,ring fill light,industrial camera synchronization,image acquisition,and serial port command transmission.Additionally,a weld image processing and detection software system was developed to receive,store,and identify weld defects.A field inspection prototype was created and subjected to various defect weld detection experiments in a laboratory setting.Experimental results demonstrate that the device can accurately measure weld parameters by acquiring multimodal images,fulfilling defect detection requirements.The device features high detection accuracy,portability,and user-friendliness,making it significant for the objective inspection and evaluation of rebar weld appearance and welding quality.展开更多
The optical recording of three-dimensional(3-D)reconstruction of CA1 pyramidal cells wasderived from the studies on the CA1 region of the hippocampus in adult male Wistar rats.The recordingwas produced by the Confocal...The optical recording of three-dimensional(3-D)reconstruction of CA1 pyramidal cells wasderived from the studies on the CA1 region of the hippocampus in adult male Wistar rats.The recordingwas produced by the Confocal Laser Scan Microscope(LSM-10).The attemption was to outline themorphological neural network of CA1 pyramidal cells organization,following the trail of axo-dendritic connec-tions in 3-D spatial distributions among neurons.The fractal structure of neurons with their dendritic andaxonal trees using fractal algorithm was noticed,and 2—18 simulated cells were obtained using PC-486 comput-er.The simulational cells are similar in morphology to the natural CA1 hippocampal pyramidal cells.There-fore,the exploitation of an advanced neurohistological research technique combining optical recording of theLSM-10 and computer simulation of fractal structure can provide the quantitative fractal structural basis forchaosic dynamics of brain.展开更多
文摘This paper presents the principle and mathematic model for the 3D depth map method based on space encoding images performed by modulating scanning structuredlight according to time sequences,and the synchro control among the camera,laser diode modulation and scanning polyhedron.
基金Supported by the Special Fund for Basic Scientific Research of Central-Level Public Welfare Scientific Research Institutes(2024-9007)。
文摘The accuracy of center height detection for corrugated beam guardrails is significantly affected by robot posture in the mobile highway guardrail detection systems based on structured light vision.To address the problem,this paper proposes an integrated calibration method for structured light vision sensors.In the proposed system,the sensor is mounted on a crawler-type mobile robot,which scans and measures the center height of guardrails while in motion.However,due to external disturbances such as uneven road surfaces and vehicle vibrations,the posture of the robot may deviate,causing displacement of the sensor platform and resulting in spatial 3D measurement errors.To overcome this issue,the system integrates inertial measurement unit(IMU)data into the sensor calibration process,enabling realtime correction of posture deviations through sensor fusion.This approach achieves a unified calibration of the structured light vision system,effectively compensates for posture-induced errors,and enhances detection accuracy.A prototype was developed and tested in both laboratory and real highway environments.Experimental results demonstrate that the proposed method enables accurate center height detection of guardrails under complex road conditions,significantly reduces posture-related measurement errors,and greatly improves the efficiency and reliability of traditional detection methods.
文摘In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.
基金The National Natural Science Foundation of China (No30470488)
文摘A calibration procedure was developed for three-dimensional(3D) binocular structured light measurement systems. In virtue of a specially designed pattern, matching points in stereo images are extracted. And then sufficient 3D space points are obtained through pairs of images with the intrinsic and extrinsic parameters of each camera estimated prior and consequently some lights are calibrated by means of multi point fitting. Finally, a mathematical model is applied to interpolate and approximate all dynamic scanning lights based on geometry. The process of calibration method is successfully used in the binocular 3D measurement system based on structured lights and the 3D reconstruction results are satisfying.
文摘Melanosomes, isolated by centrifugal separation from culture broth of B16 melanoma cells derived from mouse, were observed by scanning electron microscopy (SEM), and by transmission electron microscopy (TEM). Some interesting structural features were found inside and outside of the melanosomes. By SEM observation, the melanosomes were ellipsoid shape, their surface was not smooth and was covered with rough substructure, 10 to 20 nm particles. By TEM, uneven structure and micro particles were observed in the melanosomes. Furthermore, three-dimensional analysis was tried by using the ultra-high voltage electron microscopy(UHVEM). Micrographs of the melanosomes were taken at various tilted angles by UHVEM, after preparing 500 nm thickness specimens stained with lead citrate. From the micrographs collected, the three-dimensional structures were reconstructed by using i-mode software. Melanin stained by lead and non stained parts was clearly observed in the reconstructed structure. Non stained parts were round, regular size, and distributed widely in the melanosomes.
基金This work is funded by the Scientific and Technological Projects of Henan Province under Grant 152102210115.
文摘Nonlinear response is an important factor affecting the accuracy of three-dimensional image measurement based on the fringe structured light method.A phase compensation algorithm combined with a Hilbert transform is proposed to reduce the phase error caused by the nonlinear response of a digital projector in the three-dimensional measurement system of fringe structured light.According to the analysis of the influence of Gamma distortion on the phase calculation,the algorithm establishes the relationship model between phase error and harmonic coefficient,introduces phase shift to the signal,and keeps the signal amplitude constant while filtering out the DC component.The phase error is converted to the transform domain,and compared with the numeric value in the space domain.The algorithm is combined with a spiral phase function to optimize the Hilbert transform,so as to eliminate external noise,enhance the image quality,and get an accurate phase value.Experimental results show that the proposed method can effectively improve the accuracy and speed of phase measurement.By performing phase error compensation for free-form surface objects,the phase error is reduced by about 26%,and about 27%of the image reconstruction time is saved,which further demonstrates the feasibility and effectiveness of the method.
基金funding from the National Natural Science Foundation of China(Grant Nos.62375078 and 12002197)the Youth Talent Launching Program of Shanghai University+2 种基金the General Science Foundation of Henan Province(Grant No.222300420427)the Key Research Project Plan for Higher Education Institutions in Henan Province(Grant No.24ZX011)the National Key Laboratory of Ship Structural Safety
文摘Three-dimensional(3D)imaging with structured light is crucial in diverse scenarios,ranging from intelligent manufacturing and medicine to entertainment.However,current structured light methods rely on projector-camera synchronization,limiting the use of affordable imaging devices and their consumer applications.In this work,we introduce an asynchronous structured light imaging approach based on generative deep neural networks to relax the synchronization constraint,accomplishing the challenges of fringe pattern aliasing,without relying on any a priori constraint of the projection system.To overcome this need,we propose a generative deep neural network with U-Net-like encoder-decoder architecture to learn the underlying fringe features directly by exploring the intrinsic prior principles in the fringe pattern aliasing.We train within an adversarial learning framework and supervise the network training via a statisticsinformed loss function.We demonstrate that by evaluating the performance on fields of intensity,phase,and 3D reconstruction.It is shown that the trained network can separate aliased fringe patterns for producing comparable results with the synchronous one:the absolute error is no greater than 8μm,and the standard deviation does not exceed 3μm.Evaluation results on multiple objects and pattern types show it could be generalized for any asynchronous structured light scene.
文摘Background There have been no detailed reports of the three-dimensional structure and the relationship between the external and internal vascularizations observed successively for a long duration in the rat fetus, although many authors have studied the vascular morphology of the developing brain. This study examined the three-dimensional structure of both the external and internal vascularizations of the prenatal rat telencephalon from embryonic days 12 (E12) to 20 (E20).Method A microvascular casting method for scanning electron microscopy (SEM) was used in this study, along with vascular staining using gold-gelatine solution-autometallography (GGS-AMG) after intravascular injection of colloidal gold, as well as hematoxylin-eosin ( HE) staining for paraffin embedded specimens.Results In GGS-AMG stains, E16 fetuses had a few short perforating cortical blood vessels (SPCVs); E17 fetuses had long perforating cortico-medullary vessels (LPCVs). Older fetuses had specific patterns of vascular networks in the cortex and the deeper subcortical part of the telencephalon. In the cortex, fine longitudinal blood vessels were connected by transverse channels. The deep telencephalon had fine blood vessels running in all directions. Using SEM, the external vascularization was already visible in E12 fetuses as arborizations of arterial branches, forming a mesh of fine vascular networks covering the telencephalon. A coralliform fine venous plexus was observed in the external vascularization of E16 fetuses. There were ring-like anastomoses and bud-like protrusions in the network of small blood vessels, most likely the angiogenesis of fetal vessels. From E12 to E16, an immature and incomplete internal vascularization began to appear. There were short blood vessels with ballooned terminals branching from the external vascularization. They penetrated the brain tissue to form networks in the superficial layer, comparable to SPCVs. In E17 to E20 fetuses, tortuous venous branches, straight arterial blood vessels, and a fine network of small blood vessels formed the external vascularization. There were fewer arterial than venous branches connecting to the fine networks of small blood vessels. LPCVs were noted at E17, at the time the white matter emerged. They branched from the external vascularization, and perpendicularly penetrated the brain surface, traversing the cortical plate, and entering into the deep brain. At E17, arterial and venous blood vessels could be clearly distinguished in the external vascularization. At E20, the cortex and white matter contained specific arrangements of networks of fine blood vessels, as seen by GGS-AMG staining.Conclusion These findings show that the development of both the external and internalvascularization follows the development of thetelencephalon. In particular, the emergence ofthe cortical plate and white matter on E16 andE17 influence the development of both theinternal and the external vascularization. Thelaminal arrangement of blood vessels was notobserved corresponding to the respective laminalneuronal layers.
基金Supported by the Central Public-Interest Scientific Institution Basal Research Fund(2023-9062)the Transport Power Pilot Project(2021-C334)。
文摘The quality of rebar welds directly impacts the overall service performance of highway infrastructure.However,current assessments of weld appearance quality primarily rely on traditional inspection methods such as manual visual inspection,which suffer from significant limitations in accuracy,reliability,and efficiency.Given the increasing demand for safety performance inspections of highway infrastructure in China,traditional methods struggle to meet modern rapid inspection requirements.Therefore,this study proposes the design of a portable,non-destructive inspection device for rebar weld appearance,utilizing visible light vision and line-structured light 3D scanning technology.The device is equipped with an STM32 master control chip to manage encoder reading,scanning laser control,ring fill light,industrial camera synchronization,image acquisition,and serial port command transmission.Additionally,a weld image processing and detection software system was developed to receive,store,and identify weld defects.A field inspection prototype was created and subjected to various defect weld detection experiments in a laboratory setting.Experimental results demonstrate that the device can accurately measure weld parameters by acquiring multimodal images,fulfilling defect detection requirements.The device features high detection accuracy,portability,and user-friendliness,making it significant for the objective inspection and evaluation of rebar weld appearance and welding quality.
基金the National Natural Science Foundation of ChinaLaboratory of Visual Information Processing,Institute of Biophysics,Chinese Academy of Sciences
文摘The optical recording of three-dimensional(3-D)reconstruction of CA1 pyramidal cells wasderived from the studies on the CA1 region of the hippocampus in adult male Wistar rats.The recordingwas produced by the Confocal Laser Scan Microscope(LSM-10).The attemption was to outline themorphological neural network of CA1 pyramidal cells organization,following the trail of axo-dendritic connec-tions in 3-D spatial distributions among neurons.The fractal structure of neurons with their dendritic andaxonal trees using fractal algorithm was noticed,and 2—18 simulated cells were obtained using PC-486 comput-er.The simulational cells are similar in morphology to the natural CA1 hippocampal pyramidal cells.There-fore,the exploitation of an advanced neurohistological research technique combining optical recording of theLSM-10 and computer simulation of fractal structure can provide the quantitative fractal structural basis forchaosic dynamics of brain.
