Photometry and radiometry-based metrology for design and development of high-precision fully-autonomous robotic inspection systems

基于光度测量和辐射测量的计量，用于设计和开发高精度全自动机器人检测系统

• 批准号: RGPIN-2017-06294
• 负责人: Mehrandezh, Mehran
• 金额: $ 1.82万
• 依托单位: University of Regina
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=753118
• 关键词: Photometry; radiometry; based; metrology; design

The long-term objective of my research is to focus on developing methods to optimally integrate high-precision multi-spectral imaging sensors with the operation of unmanned systems to create high precision products, inspection tools, and manufacturing processes. In particular, photometry- and radiometry-based metrology for unmanned systems have been drawing a significant attention within the research community since they surpass other sensors known to the man kind in terms of information transfer capacity and the required acquisition/processing time. The missing piece in this puzzle, aside from physical challenges at the manufacturing level, however, is the lack of intelligent, yet robust information filters to deal with the massive data generated by wide-spectrum imaging sensors. The research community is pushing resolutely on developing industry standards for: (1) generating Point Clouds from hyper-spectral images obtained via imaging sensors at different vantage pints, (2) organizing the Point Cloud based on the motion information obtained via the unmanned systems carrying them, and (3) stitching the overlapping Point Clouds together to generate a 3D Structure From Motion (SFM). While there has been some significant work in this area around the visible-light imaging systems, very little has been done on imaging systems beyond visible spectrum. My long-term research plan is to focus and contribute in this area: Design and development of algorithmic procedures for precise metrology when using imaging sensors onboard unmanned mobile systems with a wide spectral range beyond visible light. The applicant and his team will focus on two programs during the project's life cycle as follows: Program one: Development of photometry- and radiometry-based metrology techniques with applications in inspecting infrastructure, industrial processes, and manufacturing.Program two: Photometry- and Radiometry-based metrology for automated and precision agriculture. In program one, the main focus will be 3D reconstruction through Structure From Motion using imaging sensors within an electromagnetic spectrum beyond that in visible light. In particular, the 3D reconstruction of the thermal footprint of an object using thermal cameras will be investigated.In program two, my research plan is to focus on three areas of the automated and precision agronomy as: (1) automated seeding and fertilization, (2) automated weed detection and removal, and (3) autonomous collaborative harvesting. I will focus on algorithmic development of the photometry- and radiometry-based metrology in precision agriculture. I own a 25-hp tractor that was turned to a fully autonomous system in my research lab. Students recruited for this program will have access to this unique automated tractor. To the best of my knowledge, no other research lab provides an experimental setup with this caliber.

我的研究的长期目标是专注于开发方法，以将高精度多光谱成像传感器与无人系统的操作最佳地整合起来，以创建高精度产品，检查工具和制造工艺。尤其是，基于无人系统的基于光度法和辐射指定学的计量学在研究界一直引起人们的重大关注，因为它们在信息传输能力和所需的获取/处理时间方面超越了人类已知的其他传感器。但是，除了在制造水平上的物理挑战之外，这个难题中缺少的作品是缺乏智能但强大的信息过滤器来处理由广谱成像传感器产生的大量数据。研究社区正在坚决地开发行业标准：（1）通过不同有利位的成像传感器获得的超光谱图像产生点云，（2）基于通过携带它们的无人系统获得的运动信息来组织点云，以及（3）重叠点云与运动（SFM）缝制3D结构（SFM）。尽管在可见光成像系统周围的该领域进行了一些重要的工作，但在可见频谱以外的成像系统上几乎没有做任何事情。我的长期研究计划是将重点放在这一领域中：在使用成像传感器的板载无人机移动系统上，具有宽光谱范围的算法程序的设计和开发，用于精确计量。 申请人及其团队将在项目的生命周期期间专注于两个程序：程序一：基于光度法和辐射指定学的计量技术的开发，并在检查基础架构，工业流程和制造业方面进行了申请。在第一个程序中，主要焦点将是通过在可见光之外的电磁频谱中使用成像传感器进行的结构进行的3D重建。特别是，将研究使用热摄像机的对象的热足迹的3D重建。我将重点介绍精确农业中基于光度法和辐射指定学的算法开发。我拥有一个25马力的拖拉机，该拖拉机在我的研究实验室中变成了一个完全自主的系统。为此计划招募的学生将可以访问这个独特的自动拖拉机。据我所知，没有其他研究实验室为这种能力提供实验设置。