Abstract

A real-time three-dimensional (3D) object sensing and reconstruction scheme is presented that can be applied on any arbitrary corporeal shape. Operation is demonstrated on several calibrated objects. The system uses curvature sensors based upon in-line fiber Bragg gratings encapsulated in a low-temperature curing synthetic silicone. New methods to quantitatively evaluate the performance of a 3D object-sensing scheme are developed and appraised. It is shown that the sensing scheme yields a volumetric error of 1% to 9%, depending on the object.

© 2012 Optical Society of America

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    [CrossRef]
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2009 (2)

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

2008 (1)

2007 (1)

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

2004 (1)

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

2003 (1)

M. Eltaib and J. R. Hewit, Mechatronics 13, 1163 (2003).
[CrossRef]

2002 (1)

S. Belongie, J. Malik, and J. Puzicha, IEEE Trans. Pattern Anal. Mach. Intell. 24, 509 (2002).
[CrossRef]

1999 (1)

L. Danisch, K. Englehart, and A. Trivett, Sens. Rev. 19, 106 (1999).
[CrossRef]

1996 (1)

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

1995 (1)

R. L. Hansen and W. P. Rickey, J. Petrol. Technol. 47, 675 (1995).
[CrossRef]

Belongie, S.

S. Belongie, J. Malik, and J. Puzicha, IEEE Trans. Pattern Anal. Mach. Intell. 24, 509 (2002).
[CrossRef]

Bennion, I.

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

Chang, T.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Chen, X.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Croom, J. M.

J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, in 2010 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2010), pp. 4591–4596.

Dai, Q.

Danisch, L.

L. Danisch, K. Englehart, and A. Trivett, Sens. Rev. 19, 106 (1999).
[CrossRef]

Davis, M. A.

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

Duncan, R. G.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Eltaib, M.

M. Eltaib and J. R. Hewit, Mechatronics 13, 1163 (2003).
[CrossRef]

Englehart, K.

L. Danisch, K. Englehart, and A. Trivett, Sens. Rev. 19, 106 (1999).
[CrossRef]

Everall, L. A.

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

Friebele, E. J.

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

Froggatt, M. E.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Fua, T.

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

Gifford, D. K.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Guan, C.

Gunnar, J.

J. Pretlove, C. Skourup, and J. Gunnar, in SPE Intelligent Energy Conference and Exhibition (Society of Petroleum Engineers, Utrecht, The Netherlands, 2010), p. 128232-MS.

Hansen, R. L.

R. L. Hansen and W. P. Rickey, J. Petrol. Technol. 47, 675 (1995).
[CrossRef]

Hewit, J. R.

M. Eltaib and J. R. Hewit, Mechatronics 13, 1163 (2003).
[CrossRef]

Ip, C. Y.

C. Y. Ip, D. Lapadat, L. Sieger, and W. C. Regli, in Proceedings of the 7th ACM Symposium on Solid Modeling and Applications (SMA, Saarbrućken, Germany, 2002), pp. 273–280.

Jiang, C.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Kersey, A. D.

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

Kreger, S. T.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Lapadat, D.

C. Y. Ip, D. Lapadat, L. Sieger, and W. C. Regli, in Proceedings of the 7th ACM Symposium on Solid Modeling and Applications (SMA, Saarbrućken, Germany, 2002), pp. 273–280.

Leng, J.

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

Liu, J.

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

Liu, Y.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Lloyd, G. D.

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

Lv, L.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Malik, J.

S. Belongie, J. Malik, and J. Puzicha, IEEE Trans. Pattern Anal. Mach. Intell. 24, 509 (2002).
[CrossRef]

Mokhtarian, F.

F. Mokhtarian and R. Suomela, in Proceedings of the International Conference on Image Processing and its Applications, Seventh International Conference on (Conf. Publ. No. 465) (Manchester, UK, 1999), pp. 206–210.

Pretlove, J.

J. Pretlove, C. Skourup, and J. Gunnar, in SPE Intelligent Energy Conference and Exhibition (Society of Petroleum Engineers, Utrecht, The Netherlands, 2010), p. 128232-MS.

Puzicha, J.

S. Belongie, J. Malik, and J. Puzicha, IEEE Trans. Pattern Anal. Mach. Intell. 24, 509 (2002).
[CrossRef]

Regli, W. C.

C. Y. Ip, D. Lapadat, L. Sieger, and W. C. Regli, in Proceedings of the 7th ACM Symposium on Solid Modeling and Applications (SMA, Saarbrućken, Germany, 2002), pp. 273–280.

Rickey, W. P.

R. L. Hansen and W. P. Rickey, J. Petrol. Technol. 47, 675 (1995).
[CrossRef]

Romano, J. M.

J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, in 2010 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2010), pp. 4591–4596.

Rucker, D. C.

J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, in 2010 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2010), pp. 4591–4596.

Sang, A. K.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Seeley, R. J.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Sieger, L.

C. Y. Ip, D. Lapadat, L. Sieger, and W. C. Regli, in Proceedings of the 7th ACM Symposium on Solid Modeling and Applications (SMA, Saarbrućken, Germany, 2002), pp. 273–280.

Sirkis, J.

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

Skourup, C.

J. Pretlove, C. Skourup, and J. Gunnar, in SPE Intelligent Energy Conference and Exhibition (Society of Petroleum Engineers, Utrecht, The Netherlands, 2010), p. 128232-MS.

Sugden, K.

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

Suomela, R.

F. Mokhtarian and R. Suomela, in Proceedings of the International Conference on Image Processing and its Applications, Seventh International Conference on (Conf. Publ. No. 465) (Manchester, UK, 1999), pp. 206–210.

Tian, F.

Trivett, A.

L. Danisch, K. Englehart, and A. Trivett, Sens. Rev. 19, 106 (1999).
[CrossRef]

Webster, R. J.

J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, in 2010 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2010), pp. 4591–4596.

Wolfe, M. S.

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Yang, J.

Yin, W.

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

Yuan, L.

Yuen, M.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Zhang, W.

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

IEEE Photon. Technol. Lett. (1)

G. D. Lloyd, L. A. Everall, K. Sugden, and I. Bennion, IEEE Photon. Technol. Lett. 16, 2323 (2004).
[CrossRef]

IEEE Trans. Pattern Anal. Mach. Intell. (1)

S. Belongie, J. Malik, and J. Puzicha, IEEE Trans. Pattern Anal. Mach. Intell. 24, 509 (2002).
[CrossRef]

J. Petrol. Technol. (1)

R. L. Hansen and W. P. Rickey, J. Petrol. Technol. 47, 675 (1995).
[CrossRef]

J. Smart Mater. Struc. (1)

M. A. Davis, A. D. Kersey, J. Sirkis, and E. J. Friebele, J. Smart Mater. Struc. 5, 759 (1996).
[CrossRef]

J. Softw. (1)

L. Lv, Y. Liu, W. Zhang, C. Jiang, X. Chen, T. Chang, and M. Yuen, J. Softw. 4, 413 (2009).
[CrossRef]

Mechatronics (1)

M. Eltaib and J. R. Hewit, Mechatronics 13, 1163 (2003).
[CrossRef]

Opt. Lett. (1)

Proc. SPIE (2)

W. Yin, T. Fua, J. Liu, and J. Leng, Proc. SPIE 7292, 72921H (2009).
[CrossRef]

R. G. Duncan, M. E. Froggatt, S. T. Kreger, R. J. Seeley, D. K. Gifford, A. K. Sang, and M. S. Wolfe, Proc. SPIE 6530, 65301S (2007).
[CrossRef]

Sens. Rev. (1)

L. Danisch, K. Englehart, and A. Trivett, Sens. Rev. 19, 106 (1999).
[CrossRef]

Other (4)

J. M. Croom, D. C. Rucker, J. M. Romano, and R. J. Webster, in 2010 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2010), pp. 4591–4596.

J. Pretlove, C. Skourup, and J. Gunnar, in SPE Intelligent Energy Conference and Exhibition (Society of Petroleum Engineers, Utrecht, The Netherlands, 2010), p. 128232-MS.

C. Y. Ip, D. Lapadat, L. Sieger, and W. C. Regli, in Proceedings of the 7th ACM Symposium on Solid Modeling and Applications (SMA, Saarbrućken, Germany, 2002), pp. 273–280.

F. Mokhtarian and R. Suomela, in Proceedings of the International Conference on Image Processing and its Applications, Seventh International Conference on (Conf. Publ. No. 465) (Manchester, UK, 1999), pp. 206–210.

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Figures (5)

Fig. 1.
Fig. 1.

Schematic of the curvature sensing array.

Fig. 2.
Fig. 2.

Schematics of the shapes used to evaluate the shaping sensing scheme.

Fig. 3.
Fig. 3.

3D sensing array representation obtained from the algorithm, all axis units are meters.

Fig. 4.
Fig. 4.

The overall product of cross-correlation of the different spheres.

Fig. 5.
Fig. 5.

The overall average scalar/dot product between the idealized shape and the shape reconstructed from the sensing array for the different spheres.

Tables (1)

Tables Icon

Table 1. Cross Correlation For Various Sphere Radii

Equations (2)

Equations on this page are rendered with MathJax. Learn more.

f(SSST)x,y,z=1nx,y,z(Sx,y,zSx,y,z)(Tx,y,zTx,y,z)σ(x,y,z)σ(x,y,z),
F(SSST)n=1nnSS·ST|ST|2.

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