Least-Square-Method-Based Optimal Laser Spots Acquisition and Position in Cooperative Target Measurement
Abstract
:1. Introduction
2. Related Works
2.1. Position Relationship between Cameras and Target Coordinates
2.2. Laser Lighting Characteristics
2.3. Characteristics of the Camera’s Exposure Time
3. Data and Method
3.1. State Equation of the Imaging System
3.2. Acquisition of Experimental Images
3.3. Optimization Process
3.4. Determination of the Optimal Controllable Variables
4. Experimental Validation
4.1. Experiment Setup
4.2. Experiment Process and Data Analysis
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Supply Current (A) | Laser 1 (Pixel) | Laser 2 (Pixel) | Laser 3 (Pixel) |
---|---|---|---|
0.12 | (811.81, 969.86) | (828.50, 737.00) | (950.00, 813.50) |
0.18 | (812.29, 969.99) | (829.60, 737.25) | (951.18, 813.24) |
0.35 | (812.19, 969.94) | (829.33, 737.19) | (951.36, 813.13) |
0.63 | (812.13, 969.85) | (829.11, 737.10) | (950.84, 813.22) |
Exposure Time (ms) | Laser 1 (Pixel) | Laser 2 (Pixel) | Laser 3 (Pixel) |
---|---|---|---|
600 | (633.85, 728.64) | (694.08, 591.74) | (848.58, 728.96) |
1000 | (634.00, 728.72) | (694.30, 591.97) | (848.51, 728.86) |
1500 | (633.88, 728.92) | (694.19, 591.60) | (848.51, 728.86) |
2000 | (633.69, 728.89) | (694.23, 591.71) | (848.78, 729.01) |
Supply Current (A) | Laser 1 (Pixel2) | Laser 2 (Pixel2) | Laser 3 (Pixel2) |
---|---|---|---|
0.12 | 13 | 13 | 4.5 |
0.18 | 130 | 127 | 84 |
0.35 | 149.5 | 130 | 86 |
0.63 | 235.5 | 212.5 | 159.5 |
Exposure Time (ms) | Laser 1 (Pixel2) | Laser 2 (Pixel2) | Laser 3 (Pixel2) |
---|---|---|---|
600 | 116.5 | 131 | 134.5 |
1000 | 157.5 | 176 | 185.5 |
1500 | 225.5 | 229.5 | 241 |
2000 | 267 | 296.5 | 308.5 |
Results | Laser 1 (Pixel) | Laser 2 (Pixel) | Laser 3 (Pixel) |
---|---|---|---|
Supply current | (812.11, 969.91) | (829.14, 737.14) | (950.85, 813.27) |
Exposure time | (633.85, 728.79) | (694.20, 591.76) | (848.60, 728.92) |
Characteristics | Laser 1 | Laser 2 | Laser 3 |
---|---|---|---|
Supply current (A) | 0.47 | 0.60 | 0.58 |
Exposure time (ms) | 734 | 1610 | 997 |
Camera Type | Resolution | Optical Size | Pixel Size | Frame Frequency | A/D Transfer Precision | Pixel Depth | Exposure Style | Shutter Time | Laser Wavelength | Field of View Distance |
---|---|---|---|---|---|---|---|---|---|---|
MER-500-7UM-L | 2592 × 1944 | 1/2.5 inch | 2.2 µm × 2.2 µm | 7 fps | 12 bit | 8 bit | ERS/GRR | 6 µs–1 s | 480–550 nm | 3 m |
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Li, K.; Yuan, F.; Hu, Y.; Du, Y.; Chen, W.; Lan, C. Least-Square-Method-Based Optimal Laser Spots Acquisition and Position in Cooperative Target Measurement. Sensors 2022, 22, 5110. https://doi.org/10.3390/s22145110
Li K, Yuan F, Hu Y, Du Y, Chen W, Lan C. Least-Square-Method-Based Optimal Laser Spots Acquisition and Position in Cooperative Target Measurement. Sensors. 2022; 22(14):5110. https://doi.org/10.3390/s22145110
Chicago/Turabian StyleLi, Kai, Feng Yuan, Yinghui Hu, Yongbin Du, Wei Chen, and Chunyun Lan. 2022. "Least-Square-Method-Based Optimal Laser Spots Acquisition and Position in Cooperative Target Measurement" Sensors 22, no. 14: 5110. https://doi.org/10.3390/s22145110