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

我研究的长期目标是专注于开发方法，以优化集成高精度多光谱成像传感器与无人系统的操作，以创建高精度产品，检测工具和制造过程。特别是，用于无人系统的基于光度和辐射的计量学已经引起了研究界的极大关注，因为它们在信息传输能力和所需的获取/处理时间方面超过了人类已知的其他传感器。然而，除了制造层面的物理挑战之外，这个难题的缺失部分是缺乏智能，但强大的信息过滤器来处理广谱成像传感器产生的大量数据。***科研界正在坚定地推动行业标准的制定：(1)从不同有利位置的成像传感器获得的高光谱图像中生成点云；(2)根据携带这些图像的无人系统获得的运动信息对点云进行组织；(3)将重叠的点云拼接在一起，生成3D Structure from motion （SFM）。虽然在可见光成像系统方面已经有了一些重要的工作，但在可见光以外的成像系统方面所做的工作却很少。***我的长期研究计划是专注于这一领域并做出贡献：设计和开发用于精确计量的算法程序，当在可见光以外的宽光谱范围的无人移动系统上使用成像传感器时。***申请人及其团队将在项目生命周期内重点关注以下两个项目：******项目一：开发基于光度和辐射的计量技术，并将其应用于基础设施、工业过程和制造业的检测。***方案二：用于自动化和精准农业的光度和辐射计量学。******在计划一中，主要焦点将是通过运动结构进行三维重建使用电磁波谱内的成像传感器在可见光范围之外。特别是，三维重建的热足迹的一个对象使用热像仪将进行研究。******在计划二中，我的研究计划是专注于自动化和精密农学的三个领域：(1)自动播种和施肥，(2)自动杂草检测和清除，(3)自主协作收获。我将重点讨论精准农业中基于光度学和辐射学的计量学的算法发展。我有一台25马力的拖拉机，在我的研究实验室里变成了全自动系统。参加这个项目的学生将有机会使用这种独特的自动拖拉机。据我所知，没有其他研究实验室能提供这样的实验装置。

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.