仿复眼视觉测距传感器视轴的快速标定法
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摘要
基于生物复眼的视觉结构特性及视神经处理机制,搭建了环形31通道的仿复眼视觉快速测距传感器,建立了基于侧抑制神经网络的仿生多通道视觉快速测距模型,并提出了基于高斯分布离散信息的多通道传感器多视轴快速标定法,实现环形传感器视轴标定.实验结果表明:传感器视轴标定后,传感器阵列中间视角区左眼相对准确度提高20.46%,右眼相对准确度提高9.00%;采用夹角6°的传感器阵列,在左右眼中间评测区内80%以上区域内测得目标所在角度误差小于±0.60°;实现了仿复眼视觉测距传感器对运动目标(速度50mm/s)定位误差在-3～10mm间的实时测距.
Based on the processing mechanism of optic nerve and the characteristics of visual structure of biological compound eye,a ring-shaped vision sensor based on bionic compound eye with fast distance measurement function and 31 channels is built,and a bionic multi-channel fast vision distance measurement model based on lateral inhibition neural network is established.To calibrate optic axis of ring sensors,a rapid way for optic axis calibration of muti-channel sensors based on discrete information with Gaussian distribution is proposed.The experimental results show that the relative accuracy of the left eye is increased by 20.46% and that of the right eye is increased by 9.00%in intermediate angle of view of sensor array after the calibration of optic axis of sensors.The angle measurement accuracy of more than 80% of the points in the middle evaluation area of the left and right eye is within±0.60°with the sensor array that use 6°angle spacing.The location error of binocular real time ranging results is kept within the range of-3mm to 10 mm under 50mm/s velocity.
Based on the processing mechanism of optic nerve and the characteristics of visual structure of biological compound eye,a ring-shaped vision sensor based on bionic compound eye with fast distance measurement function and 31 channels is built,and a bionic multi-channel fast vision distance measurement model based on lateral inhibition neural network is established.To calibrate optic axis of ring sensors,a rapid way for optic axis calibration of muti-channel sensors based on discrete information with Gaussian distribution is proposed.The experimental results show that the relative accuracy of the left eye is increased by 20.46% and that of the right eye is increased by 9.00%in intermediate angle of view of sensor array after the calibration of optic axis of sensors.The angle measurement accuracy of more than 80% of the points in the middle evaluation area of the left and right eye is within±0.60°with the sensor array that use 6°angle spacing.The location error of binocular real time ranging results is kept within the range of-3mm to 10 mm under 50mm/s velocity.
引文
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[2]FLOREANO D,PERICETCAMARA R,VIOLLET S,et al.Miniature curved artificial compound eyes[J].Proceedings of the National Academy of Sciences of the United States of America,2013,110(23):9267-9272.
[3]XING Qiang,DAI Zhen-dong,WANG Hao.A rapid position estimation algorithm inspired of compound eyes[J].Acta Photonica Sinica,2014,43(6):0612001.邢强,戴振东,王浩.仿复眼的动目标位置快速估计算法[J].光子学报,2014,43(6):0612001.
[4]GUO Shu-ji,SHI Li-fang,CAO A-xiu,et al.Study of large field of view compound-eye orientation technology[J].Acta Photonica Sinica,2016,45(5):0512003.郭书基,史立芳,曹阿秀,等.基于大视场人工复眼定位技术[J].光子学报,2016,45(5):0512003.
[5]LI Lun,HAO Yong-ping,DIAO Xiao-lei,et al.Aspherical compound eye optimization and positioning technology with variable focal length[J].Acta Photonica Sinica,2018,47(10):1022001.李伦,郝永平,刁晓蕾,等.可变焦距的非球面复眼优化及定位技术[J].光子学报,2018,47(10):1022001.
[6]JIAN Hui-jie,HE Jian-zheng,WANG Ke-yi.Geometric calibration of artificial compound eye system for large field view three-dimensional detection[J].Acta Optica Sinica,2017,37(2):215002.简慧杰,何建争,王克逸.用于大视场三维探测的人工复眼系统几何标定[J].光学学报,2017,37(2):215002.
[7]BORST A.Fly visual course control:behaviour,algorithms and circuits[J].Nature Reviews Neuroscience,2014,15(9):590-599.
[8]KELEM F,FRYE M A.Object-detecting neurons in drosophila[J].Current Biology,2017,27(5):680-687.
[9]ARENZ A,DREWS M S,RICHTER F G,et al.The temporal tuning of the Drosophila motion detectors is determined by the dynamics of their input elements[J].Current Biology,2017,27(7):929-944.
[10]JUUSOLA M,DAU A,SONG Z,et al.Microsaccadic sampling of moving image information provides Drosophila hyperacute vision[J].Elife,2017,6:e26117.
[11]LI Guo-qiang.Application of Gaussian quadrics fitting in the infrared point targets detection in sky background[J].Infrared Technology,2013,35(10):638-641.李国强.高斯曲面拟合在对空红外点目标检测中的应用[J].红外技术,2013,35(10):638-641.
[12]ZHANG Qiang,ZHAO Kai-chun,CHU Jin-kui,et al.Design and implementation of bionic angular measurement sensor based on embedded system[J].Transducer and Microsystem Technologies,2008,27(9):106-108.张强,赵开春,褚金奎,等.一种嵌入式仿生测角传感器的设计与实现[J].传感器与微系统,2008,27(9):106-108.
[13]ZHANG Qiang.Design and implementation of the bionic polarization prototype for navigation[D].Dalian:Dalian University of Technology,2009.张强.仿生偏振导航传感器样机设计与实现[D].大连:大连理工大学,2009.
[14]WANG Lu,WANG Yan-long,WANG Zhi-wen,et al.Bionic polarized light navigation sensor based on integrated photodetector[J].Dalian University of Technology,2016,35(1):91-94.王璐,王寅龙,王志文,等.基于集成光电探测器的仿生偏振光导航传感器[J].传感器与微系统,2016,35(1):91-94.
[15]HASSENSTEIN B,REICHARDT W.Structure of a mechanism of perception of optical movement[J].Journal of the American Chemical Society,1958,92(17):5267-5269.
[16]IIDAF.Biologically inspired visual odometer for navigation of a flying robot[J].Robotics and Autonomous Systems,2003,44(3):201-208.
[17]FRANCESCHINI N,RUFFIER F,SERRESJ.A bio-inspired flying robot sheds light on insect piloting abilities[J].Current Biology Cb,2007,17(4):329-335.
[18]VIOLLET S.A hyperacute optical position sensor based on biomimetic retinal micro-scanning[J].Sensors&Actuators A Physical,2010,160(1):60-68.
[19]SHENG T,ZENG L J.Compound eye model based on the spatial lateral inhibition network[J].Optical Technique,2007,33(3):337-336.
[20]ZHAO Jian-lin,HAO Jian-hua,LI An-pu,et al.A method of improving ccd’s resolution in laser triangulation measurement[J].Acta Photonica Sinica,1997,26(11):998-1002.赵建林,郝建华,李恩普,等.提高CCD在激光三角测距中分辨率的方法[J].光子学报,1997,26(11):998-1002.
[21]ZHOU Peng,ZHANG Wen-bin,WANG Jun-xing,et al.Peak detection algorithm of optical fiber spr signal based on the Gaussian fitting[J].Spectroscopy and Spectral Analysis,2016,36(6):1949-1953.周鹏,张文斌,王军星,等.基于高斯拟合的光纤型SPR信号的峰值检测算法[J].光谱学与光谱分析,2016,36(6):1949-1953.
[22]NI Jian,YANG Yu-li,XING Qiang,et al.Design of multi-channel visual velocity measurement system based on LabVIEW[J].Chinese Journal of Engineering Design,2018,25(2):209-215.倪健,杨预立,邢强,等.基于LabVIEW的多通道视觉测速系统设计[J].工程设计学报,2018,25(2):209-215.