scholarly journals Methods of Evaluating 3D Perception Systems for Unstructured Autonomous Logistics

2021 ◽  
Vol 6 (1) ◽  
pp. 1-5
Author(s):  
Dylan Do Couto ◽  
Joseph Butterfield ◽  
Adrian Murphy ◽  
Joseph Coleman
Keyword(s):  
Time Of Flight ◽  
3D Perception ◽  
Depth Sensors ◽  
Unstructured Environments ◽  
Autonomous Guided Vehicle ◽  
Manufacturing Facilities

This study introduces methods of evaluating 3D perception systems, such as Time of Flight (ToF) systems, for automated logistics applications in unstructured environments. Here perception is defined as a system’s understanding of its environment and the Objects Of Interest (OOI) within that environment, through hardware consisting of cameras or depth sensors. Current computer guided machinery that rely on perception systems, such as an Autonomous Guided Vehicle (AGV), require structured environments that are specifically designed for such a machine. Unstructured environments include warehouses or manufacturing facilities that have not been tailor designed or structured specifically for the purpose of using a computer guided machine. In this study, two methods are proposed to assess 3D systems proposed for autonomous logistics in unstructured environments. The results of this study indicate that the methods presented here are suitable for future and comparative 3D perception and evaluation in this space.

Global shutter‐mesh architecture with surround‐boosted driving scheme for time‐of‐flight depth sensors

2015 ◽  
Vol 51 (8) ◽  
pp. 623-625 ◽  
Author(s):  
Jaehyuk Choi ◽  
Jungsoon Shin ◽  
Byongmin Kang
Keyword(s):  
Time Of Flight ◽  
Depth Sensors ◽  
Mesh Architecture

Mixed 2D/3D Perception for Autonomous Robots in Unstructured Environments

2011 ◽  
pp. 303-313
Author(s):  
Johannes Pellenz ◽  
Frank Neuhaus ◽  
Denis Dillenberger ◽  
David Gossow ◽  
Dietrich Paulus
Keyword(s):  
Autonomous Robots ◽  
3D Perception ◽  
Unstructured Environments

scholarly journals Distance Error Correction in Time-of-Flight Cameras Using Asynchronous Integration Time

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1156
Author(s):  
Eu-Tteum Baek ◽  
Hyung-Jeong Yang ◽  
Soo-Hyung Kim ◽  
Gueesang Lee ◽  
Hieyong Jeong
Keyword(s):  
Error Correction ◽  
Time Of Flight ◽  
Correction Method ◽  
Integration Time ◽  
Depth Information ◽  
Optical Noise ◽  
Depth Sensor ◽  
Distance Map ◽  
Distance Error ◽  
Depth Sensors

A distance map captured using a time-of-flight (ToF) depth sensor has fundamental problems, such as ambiguous depth information in shiny or dark surfaces, optical noise, and mismatched boundaries. Severe depth errors exist in shiny and dark surfaces owing to excess reflection and excess absorption of light, respectively. Dealing with this problem has been a challenge due to the inherent hardware limitations of ToF, which measures the distance using the number of reflected photons. This study proposes a distance error correction method using three ToF sensors, set to different integration times to address the ambiguity in depth information. First, the three ToF depth sensors are installed horizontally at different integration times to capture distance maps at different integration times. Given the amplitude maps and error regions are estimated based on the amount of light, the estimated error regions are refined by exploiting the accurate depth information from the neighboring depth sensors that use different integration times. Moreover, we propose a new optical noise reduction filter that considers the distribution of the depth information biased toward one side. Experimental results verified that the proposed method overcomes the drawbacks of ToF cameras and provides enhanced distance maps.

Applications of Time-OF-Flight Secondary Ion Mass Spectrometry (TOF-SIMS)

1990 ◽  
Vol 48 (2) ◽  
pp. 308-309
Author(s):  
Bruno Schueler ◽  
Robert W. Odom
Keyword(s):  
Mass Spectrometry ◽  
Secondary Ion Mass Spectrometry ◽  
Structural Information ◽  
Time Of Flight ◽  
Biological Tissues ◽  
Polymer Surfaces ◽  
Tof Sims ◽  
Secondary Ions ◽  
Ion Mass Spectrometry ◽  
Secondary Ion

Time-of-flight secondary ion mass spectrometry (TOF-SIMS) provides unique capabilities for elemental and molecular compositional analysis of a wide variety of surfaces. This relatively new technique is finding increasing applications in analyses concerned with determining the chemical composition of various polymer surfaces, identifying the composition of organic and inorganic residues on surfaces and the localization of molecular or structurally significant secondary ions signals from biological tissues. TOF-SIMS analyses are typically performed under low primary ion dose (static SIMS) conditions and hence the secondary ions formed often contain significant structural information.This paper will present an overview of current TOF-SIMS instrumentation with particular emphasis on the stigmatic imaging ion microscope developed in the authors’ laboratory. This discussion will be followed by a presentation of several useful applications of the technique for the characterization of polymer surfaces and biological tissues specimens. Particular attention in these applications will focus on how the analytical problem impacts the performance requirements of the mass spectrometer and vice-versa.

Assessment of extracranial-intracranial bypass in Moyamoya disease using 3T time-of-flight MR angiography: Comparison with CT angiography

VASA ◽  
2014 ◽  
Vol 43 (4) ◽  
pp. 278-283 ◽  
Author(s):  
Qian Chen ◽  
Rongfeng Qi ◽  
Xiaoqing Cheng ◽  
Changsheng Zhou ◽  
Song Luo ◽  
...  
Keyword(s):  
Image Quality ◽  
Moyamoya Disease ◽  
Mr Angiography ◽  
Time Of Flight ◽  
Consecutive Series ◽  
Tof Mra ◽  
Bypass Patency ◽  
Significant Difference ◽  
Contrast Technique ◽  
Vessel Integrity

Background: To evaluate the value of time-of-flight MR angiography (TOF MRA) for the assessment of extracranial-intracranial (EC-IC) bypass in Moyamoya disease in comparison with computed tomography angiography (CTA). Patients and methods: A consecutive series of 23 patients with Moyamoya disease were analyzed retrospectively. Twenty three patients underwent 25 procedures of extracranial-intracranial bypass. Cranial CTA was performed within one week after the surgery to assess bypass patency. Then TOF MRA was scanned within 24 h after CTA on a 3T MRI system. Using 5-point scales (0 = poor to 4 = excellent), two radiologists rated the image quality and vessel integrity of bypass for three segments (extracranial, trepanation, intracranial). Results: Image quality was high in both CTA and TOF MRA (mean quality score 3.84 ± 0.37 and 3.8 ± 0.41), without statistical difference (p = 0.66). Mean scores of TOF MRA with respect to bypass visualization were higher than CTA in the intracranial segment (p = 0.026). No significant difference of bypass visualization regarding the extracranial and trepanation segments was found between TOF MRA and CTA (p = 0.66 and p = 0.34, respectively). For the trepanation segment, TOF MRA showed pseudo lesions in 2 of all 25 cases. Conclusions: 3T TOF MRA, a non-contrast technique not exposing the patients to radiation, proved to be at least equal to CTA for the assessment of EC-IC bypass, and even superior to CTA with respect to the intracranial segment. In addition, readers should be aware of a potential overestimation showing focal pseudo lesions of the bypass at the trepanation segment in TOF MRA.

Sign in / Sign up

Export Citation Format

Share Document