WO2005111536A1 - Procede et dispositif de detection en hyperacuite d'un bord contraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord contraste. - Google Patents
Procede et dispositif de detection en hyperacuite d'un bord contraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord contraste. Download PDFInfo
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- WO2005111536A1 WO2005111536A1 PCT/FR2005/000643 FR2005000643W WO2005111536A1 WO 2005111536 A1 WO2005111536 A1 WO 2005111536A1 FR 2005000643 W FR2005000643 W FR 2005000643W WO 2005111536 A1 WO2005111536 A1 WO 2005111536A1
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- scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
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- the invention relates to a method and a device for optical detection in hyperacuity of a substantially rectilinear contrast edge and a system for acquiring and tracking a target comprising at least one such contrast edge.
- a solution making it possible to obtain a very high resolution image sensor consists in associating a sensor with high pixel density with suitable optics. Besides a large footprint this solution has a very high cost.
- Another solution consists in moving an image sensor by micro-displacement step, submultiples of the spacing between the pixels of the latter, and in reconstructing a final image from the partial images acquired with each micro-displacement.
- optical detection techniques For the automatic piloting and stabilization of a ship or an aircraft, in addition to the techniques using inertial units, optical detection techniques have been proposed.
- the above-mentioned optical detection techniques essentially consist in measuring a difference in intensity of the infrared and / or visible radiation between the sky and the ground.
- Other experimental systems have also been proposed. This type of system uses a CCD sensor and an image processing algorithm to extract the horizon with suitable precision.
- CCD sensor CCD sensor
- image processing algorithm to extract the horizon with suitable precision.
- such a system requires high luminance and requires significant computing power.
- Millimeter wave radars are capable of detecting a 6 mm diameter steel cable at a distance of approximately 25 m and ultra wide band radars are capable of detecting a same diameter steel cable at a distance of approximately 80 m.
- techniques using a scanning laser make it possible to detect a cable of comparable diameter up to a distance limited, however, to 6 m.
- the corresponding scanning laser detectors are bulky, bulky and heavy, weighing 6 to 8 kg.
- This sensor for (Optical Scanner for the Control of Autonomous Robots) makes it possible to determine the angular position of a contrast having a substantially rectilinear edge, by means of two photodiodes offset spatially, to which a periodic microscanning in rotation is imposed, inspired by observations made on the fly's retina.
- the measurement of the relative movement of the visual environment, that is to say of the substantially rectilinear edge, is carried out by means of an Elementary Motion Detector circuit, DEM circuit, the principle of implementation and of functioning is inspired by that of the fly motion sensing neurons.
- the signal delivered by the DEM circuit, from the two photodiodes is a signal whose amplitude depends on the angular position of the contrasted edge relative to the mean direction of the global field of vision of the sensor, formed by the two photodiodes.
- this same sensor makes it possible in particular to obtain: - an acuity much finer than the angle A ⁇ separating the visual axes, axes of maximum sensitivity of the two photodiodes, defining the overall viewing angle of the sensor, such a sensor reacting to a rotation as low as 2.5% of the angle A ⁇ ; - a visible minimum much finer than the same angle A ⁇ , such a sensor easily detecting a black bar 1 cm wide at a distance of 200 cm, the latter underlying only an angle of 0.28 °, or an angle representing 7.8% of this overall viewing angle A ⁇ .
- Such a sensor has sufficient visual acuity performance to allow integration of the latter into a visuo-motor control loop, the static gain of the sensor varying, moreover, little depending on the nature of the object. , its contrast or its distance.
- the subject of the present invention is the implementation of a method and a device for hyperacuity detection of a substantially rectilinear contrasting edge, based on a similar principle but thanks to which both the bulk and the mass, the inertia and the power consumption of the detection device are significantly reduced, vis-à-vis the OSCAR sensor of the prior art, and which allows a particularly significant improvement in reliability, in the sense of the repeatability of the scanning operation , of the hyperacuity detection object of the invention.
- Another object of the present invention is, also, the implementation of a system for fixing and fine tracking of a target comprising at least one contrasting edge, having a substantially rectilinear light transition zone, making it possible to ensure the control and stabilization of the aiming direction of a hyperacuity detection device in accordance with the object of the invention, a system whose performance is comparable, at least qualitatively, to that of the VOR process, for Vestibulo Ocular Reflex, c is to say "vestibulo ocular reflex" known to stabilize the eye therefore the line of sight of the human gaze, thanks to the combination, on the one hand, of the process of hyperacuity detection, object of the invention, and, on the other hand, of a particularly fast command inspired by the aforementioned VOR process.
- the present invention finally relates to any application of the method, of the device for detecting a contrasting edge, objects of the invention, as well as of the system for fixing and fine tracking of a target, in particular, - detection and localization of horizon for the stabilization of an aircraft, spacecraft, sea or air; - detection of cables, posts, rails and other thin or filiform obstacles by an aircraft or other vehicle; - assistance in the stabilization and / or navigation of a flying object such as a piloted or remotely piloted helicopter in a narrow environment; - assistance in the maintenance of high voltage power lines, telephone lines or other, by implementing on an aerial or other machine piloted or remotely piloted a visuo-motor loop of great precision and great stability; - stabilization, by optical detection, of an aircraft in free flight or captive with respect to a fixed target placed on the ground; - stabilization of a platform with respect to fixed optical markers (instrument or machine supports, marine platform or other); - stabilization of an image sensor (camera, camera); - high
- the method and the device for detecting a contrasting edge having a substantially straight light transition zone in a determined direction are remarkable in that the latter consist, respectively, of carrying out, in another direction transverse to this determined direction, a periodic scanning of the position of the overall viewing angle of a first and a second optical sensor, by relative translation of the assembly formed by this first and this second optical sensor in this other direction, the periodic scanning law corresponding to a non-uniform scanning during at least part of each periodic scanning period, the overall viewing angle being defined by the mean direction of observation of this first and this second optical sensor, and to measure, from the signals delivered by the first and the second optical sensor, a time difference between these signals which is linked to the angular position of this light transition zone with respect to the mean direction of this overall viewing angle forming a reference direction, from the scanning law, this direction of reference being linked to a specific value of this time difference.
- the method and the device for detecting a contrasting edge, objects of the present invention find application in the industrial implementation of systems for fixing and fine tracking of a target having at least one contrasting edge, in which a compensation method of the line of sight similar to the VOR process of the human gaze is likely to be implemented, due both to the high precision and rapidity of this process and of this device as to the character of high miniaturization and extreme lightness of this device, whose very low inertia allows such an implementation in a particularly remarkable way.
- FIG. 1 shows, by way of illustration, a block diagram of the implementation of the method for detecting a contrasting edge object of the present invention
- FIGS. 2a to 2h represent, by way of illustration, different substeps for implementing the method represented in FIG.
- FIG. 3a shows, by way of illustration, a functional diagram of a device for detecting a contrasting edge in accordance with the object of the present invention
- - Figure 3b gives an example of static input / output characteristics (in volts per degree) of the detector according to the invention, obtained in front of a contrasting edge (Ci) respectively a black bar (C 2 ) of width 1 cm both placed at 130 cm from this detector
- - Figures 4a, 4b, 4c, 4d and 4e show, by way of illustration, specific examples of implementation of the detection device object of the present invention, as shown in Figure 3a, respectively
- FIG. 7b represents, by way of illustration, a global functional diagram of the visual fixation and fine tracking system object of the invention, for the parameters or state variables represented in FIG. 7a, when the device for detection object of the invention incorporates the visual fixation and fine tracking system of a target object of the invention, and that the visual fixation and fine tracking process is assisted by a second system corresponding substantially to the VOR stabilization process of the line of observation of the human gaze.
- the light contrast zone, light transition zone, and, in particular, the contrasted edge are rectilinear in a direction substantially orthogonal to the plane of the sheet containing FIG. 1, the direction determined being for example that of the edge E of a plate P shown here in successive positions 1, 2 and 3.
- the method which is the subject of the invention consists at least in carrying out in another direction transverse to the determined direction corresponding to the edge E of the plate P, a periodic angular position scan of the global viewing angle A ⁇ of a first and a second optical sensor denoted Di and D 2 .
- Di and D 2 a periodic angular position scan of the global viewing angle A ⁇ of a first and a second optical sensor denoted Di and D 2 .
- the periodic scanning of the position of the global viewing angle means an angular scanning of this position in the plane of FIG.
- this overall viewing angle can be formed by means of a converging lens L, the optical sensors D 1 and D 2 then being placed substantially in the image focal plane of the aforementioned lens L.
- the periodic scanning of the position of the global viewing angle A ⁇ is carried out by relative translation of the assembly formed by the first and the second optical sensor D 1 and D 2 and of the lens L in this other direction, this other direction being, in FIG. 1, contained in the plane containing this figure.
- the scanning by translation is noted S and represented by an arrow.
- the method which is the subject of the invention also consists in detecting the time difference between the signals delivered by the first and the second optical sensor D 1 and D 2 , time difference ⁇ t which is linked to the angular position of the light transition zone, that is to say from the edge E of the plate P, with respect to a reference direction.
- the reference direction is advantageously the AV direction 1 2 corresponding substantially to the mean time direction of the bisector between the viewing directions of the first and of the second optical sensor D, D 2 .
- a linear displacement of amplitude ⁇ applied to the assembly formed, for example, by the first and the second optical sensor D1 and D2 according to the scanning in translation S causes the rotation of the global viewing angle A ⁇ and makes it rotate by an angle ⁇ the directions of observation OY1, OY2.
- the process for measuring the aforementioned time difference ⁇ t image of the angular position of the light contrast zone E with respect to the reference direction MOY 12 , from the scanning law ⁇ will now be described in conjunction with FIGS. 2a at 2 a.m.
- FIG. 1 2 corresponding substantially to the mean time direction of the bisector between the viewing directions of the first and of the second optical sensor D, D 2 .
- a ⁇ of the contrasting edge E presenting the zone of light contrast which is substantially rectilinear and parallel to the axis OX, in FIG. 2a, this contrasting edge being located in position 1, 2 or 3 in the above-mentioned figure, has the effect that the angular speed ⁇ (t) of scanning the overall viewing angle and represented by 1 / ⁇ t measured by the pair of optical sensors Di and D 2 is different depending on whether the contrasted edge E of the plate P is located in position 1, 2 or 3.
- a periodic scanning law has been represented corresponding to a non-uniform scanning over time, the scanning law ⁇ as a function of time being represented in FIG.
- Figures 2c, 2d and 2e represent the output signals delivered by the optical sensors Di and D 2 , according to the position of the contrasting edge E during the scanning operation for positions 1, 2 and 3 represented in Figure 1, 2a or 2b.
- the above output signals are then advantageously filtered by means of a high-pass filter of order 1, which makes it possible to carry out a thresholding of the previously mentioned signals and thus to measure the time difference ⁇ t, as shown respectively in FIGS.
- the directions of the contrasted edge E orthogonal to the plane of FIG. 1 and of FIG. 2a and the transverse direction in which the angular position scan of the global viewing angle, corresponding substantially to the direction OX of FIGS. 1 and 2a, are orthogonal.
- the process for measuring the delay ⁇ t as shown in connection with FIGS.
- the scanning in translation either of the assembly formed by the first and the second optical sensor D 1 and D 2 , either unlike the lens L with respect to the latter, when the latter are fixed, makes it possible to carry out a law of scanning the angular position of the global viewing angle A ⁇ , according to an angular position of the latter, corresponding for example to the law of angular scanning of the assembly formed by the first and the second sensor D1 and D 2 and by the lens L, as described in the document A 2 mentioned above.
- the treatment process, for an angular position scan can then be substantially identical to that described in the aforementioned article, although the scan described in the latter either obtained by global rotation of the lens + optical sensors D ⁇ , D 2 assembly.
- a device for detecting a contrasted edge having a zone of light contrast that is substantially rectilinear in a determined direction in accordance with the object of the present invention, will now be given in conjunction with FIGS. 3a, 3b and the following figures.
- the device which is the subject of the invention comprises at least the first and the second optical sensor Di and D 2 of FIG.
- the first and second optical sensors D 1 and D 2 are placed substantially in the image focal plane of the lens L, the mean directions of observation of the first and second optical sensors D 1 and D 2 corresponding substantially to a line (O 1 OY 1 , O 2 OY 2 ) connecting the center of the first respectively of the second optical sensor and the optical center of the lens L, as shown in particular in FIG. 1.
- a line O 1 OY 1 , O 2 OY 2
- the device which is the subject of the invention further comprises resources for relative displacement in translation of the assembly formed by the first and the second optical sensor Di, D 2 with respect to the zone of light contrast, this is ie l the area targeted in another direction transverse to the determined direction of the aforementioned contrasting edge.
- This displacement is a displacement according to a periodic angular scanning of the above-mentioned global viewing angle A ⁇ according to the non-uniform periodic angular scanning law during at least part of each scanning period, scanning law ⁇ as shown in FIGS. 2a and 2b, repeated periodically.
- the relative displacement resources in translation are denoted A and
- the first and the second optical sensor D 1 and D 2 are each formed by a photoelectric sensor, such as a photoelectric diode, the spectral sensitivity of which can be chosen either in the visible range or even in the ultraviolet range, or on the contrary in the infrared range for night detection for example.
- a photoelectric sensor such as a photoelectric diode
- the choice of the wavelength of maximum sensitivity of the aforementioned photodiodes can then be made according to the chosen application of the contrast edge detection device object of the present invention.
- this can advantageously include a separation amplifier 20, also called trans-impedance amplifier, and an Elementary Motion Detection circuit 21, DEM circuit , receiving the signals delivered by the first and the second optical sensor Di and D 2 after amplification by the separating amplifier 20 and allowing, from the time delay ⁇ t and the non-uniform scanning law ⁇ to deliver an output signal V substantially proportional to the reverse, Vi. , of the time difference ⁇ t and therefore substantially proportional to the angular position of the light contrast zone E with respect to the reference direction MOY1 2 .
- FIG. 3b shows the output signal V delivered by the elementary motion detector circuit 21, the abscissa axis of FIG. 3b being graduated in positive angular values respectively negative of the angular position of the contrasted edge E with respect to to the line of sight MOY 1 2 of the sensor.
- the ordinate axis in FIG. 3b is graduated in positive relative negative respectively amplitude of the signal V delivered by the circuit 21.
- the relative displacement resources in translation comprise, when the lens L is fixed, a deformable support element A, one end of which is integral with a fixed reference mechanical support, and the other end of which carries the first and second optical sensors D 1 , D 2 .
- the aforementioned resources also include an application circuit on the deformable support A, then forming an actuator, of a periodic displacement control constraint making it possible to generate a periodic displacement in translation in the other direction, the scanning direction.
- S of the assembly formed by the first and the second optical sensor DL D 2 , according to the law of scanning with respect to the fixed reference mechanical support.
- the fixed reference support is represented by hatching.
- the actuator A supports all of the optical sensors D 1 and D 2 at one of its ends and the other end of the latter can, for example, be fixed to the fixed mechanical reference.
- the assembly can advantageously be enclosed in a tubular carbon enclosure, for example, the front end of the tubular enclosure comprising the lens L in FIG. 4a, while a window formed on the surface of revolution of the enclosure tubular accommodates the lens L, which is then placed vis-à-vis the optical sensors D 1 and D 2 , as shown in Figure 4b.
- a tubular carbon enclosure for example, the front end of the tubular enclosure comprising the lens L in FIG. 4a
- a window formed on the surface of revolution of the enclosure tubular accommodates the lens L, which is then placed vis-à-vis the optical sensors D 1 and D 2 , as shown in Figure 4b.
- the actuator A can be formed by two paired piezoelectric blades Ai and A 2 , which are fixed to the fixed support at one of their ends, the opposite end comprising all the optical sensors Di, Di, ... D n , as shown in FIG. 4c, respectively the lens L, as shown in FIG. 4d.
- the piezoelectric plates can be constituted in a nonlimiting manner by two paired bimorphic or monomorphic piezoelectric plates, or by a piezoelectric plate and a spring leaf, for example, or by equivalent means. Under these conditions, the application of an electrical voltage adapted in accordance with the scanning law makes it possible to apply a periodic displacement control constraint in the scanning direction S as shown in FIGS.
- one of the two piezoelectric plates can be used as a position sensor for the photodiodes Di, D 2 , FIG. 4c, or of the lens L, Fig. 4d, this sensor can then be included in a position control loop of the photodiodes or of the lens.
- a circuit for measuring, by strain gauges, the linear position of the first and second optical sensors Di, D 2 or of the lens L, from the deformation of the deformable support can advantageously be provided. As shown in FIG.
- the resource 1 allowing the application of a displacement control constraint may advantageously comprise a scanning generator 10 delivering a scanning voltage, a shaping circuit 11 receiving the scanning voltage and delivering an intermediate sweep control signal and a high voltage amplifier circuit 12 supplied with direct voltage by a high voltage generator 13, the high voltage amplifier circuit being controlled by the intermediate sweep control signal supplied by the shaping circuit 11 for deliver a periodic displacement control voltage, which is applied, of course, to the actuator A of FIGS. 4a and 4b and, in particular, to the piezoelectric blades Ai and / or A 2 of FIGS. 4c and 4d.
- this displacement constraint can be reduced to a simple calibration of the angular displacement described by article A 2 published in 1999.
- the displacement in translation ⁇ can be assimilated to the rotation ⁇ of the overall viewing angle A ⁇ or of the half-angle of the latter given substantially by the ratio of the half-distance of the centers O 1 and 0 2 separating the optical sensors D 1 and D 2 and the focal length f of the lens L.
- a plurality of devices as described above in conjunction with the aforementioned figures, can be provided in order to increase the overall field of vision of the detection device until making it panoramic. if necessary.
- Each device forming an elementary device comprises a fixed lens, denoted Li to L 3 , by way of nonlimiting example.
- These elementary devices are arranged substantially on a spherical surface comprising a common center, this common center constituting for the acquisition system the optical center of a global viewing angle enlarged to the set of global viewing angles A ⁇ of each of the devices. taken together.
- the number of elementary devices is deliberately limited to 3 so as not to overload the drawing.
- each pair of first and second sensors On, O12 ; O21, O22 and O3 1 , O32 for lenses Li, L2 and L3 respectively, can then be connected to an elementary motion detection device actually comprising a detection circuit, symbolized by 20-21, for each of the elementary devices considered .
- the output signal delivered by each V 1 , V2 and V 3 can then be sampled for subsequent digital processing.
- the direction S in which the periodic scanning by relative translation of the assembly formed by the first and the second optical sensor Dt, D 2 vis-à-vis the contrasted edge E is carried out, can be a priori arbitrary.
- this direction can advantageously be perpendicular to the determined direction in which the edge extends. contrasted E. It is indicated that such a procedure can be facilitated by orienting the scanning direction S in a plane corresponding substantially to the focal plane of the lens L.
- 5a and 5b advantageously comprises a device for orienting the assembly formed by the deformable support element A, or the set of first and second optical sensors Di, D 2 and the mechanical fixed reference support.
- This orientation device then makes it possible to orient the direction of the periodic displacement in translation S of the first and of the second optical sensor Di, D 2 in this other direction transverse to the determined direction of the substantially straight light contrast zone, the contrasted edge E.
- FIG. 1 In the case of FIG.
- the support may consist of a platform driven by a micromotor ⁇ M, subjecting the assembly formed by the actuator A, the diodes D 1 and D 2 , and of course the support fixes a rotation along the longitudinal axis of the assembly, represented by the double arrow OS, the effect of which is to modify the orientation of the scanning S. It is thus understood that the scanning direction S is then oriented relative to the direction not shown in the drawings the contrasting edge E.
- the assembly formed by the optical sensors D 1 and D 2 is placed opposite a fixed lens L, as shown in FIG.
- the actuator A in particularly when it is formed by the actuators Ai and A 2 , integral with the assembly formed by the diodes D 1 , D 2 , as shown in FIG. 5b, can then be advantageously mounted on a mobile circular crown, denoted CC, mounted on a ball bearing whose axis coincides with that of L with respect to a fixed support SF in the form of a circular guide rail, for example.
- the assembly of the circular crown CC of the actuator A or Ai, A 2 and all the diodes Di, D 2 in FIG. 5b can then be positioned in orientation by means of a micromotor ⁇ M not shown in drawings and thus delivering a new scanning direction S.
- the contrasting edge detection device object of the present invention may comprise, as shown in FIG. 6a, a first and a second detection device, as well as described previously in the description in connection with FIG. 4a to 4c, for example, the first and the second optical sensor of the first respectively of the second device detection and the directions of periodic relative movement of the latter being substantially perpendicular.
- the two optical sensors Di and D 2 can advantageously be replaced by an array of optical detectors such as photodiodes, each constituting a pixel Dj, the array of rectangular diodes thus formed forming a two-dimensional retina.
- the two directions of periodic relative displacement are then substantially perpendicular and referenced Sv respectively SH in FIG. 6a.
- the diode array can then be mounted in a frame F forming a rigid frame, suspended by springs SP ensuring sufficient suspension, with respect to frame F, for the diode array thus formed, and the actuators are then actuators Ai and A 2 mounted in a similar manner to that described in connection with FIGS. 4a to 4c, for example, by means of a microbead, to ensure scanning in the vertical direction Sv respectively horizontal SH.
- Such an arrangement can preferably be carried out, as shown in FIG.
- the piezoelectric type actuator with wide passband 500 Hz of low mass 1, 4 g makes it possible to generate a translation of amplitude as large as 1 mm, in open loop, with short response times.
- the use of a lens L with a focal distance 50 times greater than that of 8.5 mm of the detector device object of the invention tested makes it possible to detect a black bar of width 50 mm such as a power line cable to high voltage, at a distance of 500 meters, or a black bar with a diameter of 100 mm, such as a cable car cable, at a distance of 1 kilometer.
- FIG. 7a there is shown, in top view, an assembly constituting a system for stabilizing the line of sight and fine tracking of a target comprising at least one contrasting edge E, in accordance with the object of the present invention.
- the aforementioned system comprises a DD detection device, as described above in the description in conjunction with FIGS. 1 to 4, more particularly 4b and a mechanical support ET in which this detection device is capable of being oriented.
- ET designates a casing symbolically representing the spatial reference of the human skull and the DD device then constitutes a faithful representation of a human eye capable of moving in its orbit.
- An ⁇ ME electronic micromotor allows, by an articulation system by screw V connecting rod B and crank M without play, to ensure an orientation of the detection device DD in accordance with the object of the present invention with respect to the external casing ET and d '' provide a movement comparable to that of the eyeball in the orbit of the human skull.
- the angular position of the housing ET in an absolute coordinate system is noted Q h .
- the line of sight of the detection device DD (axis MOY 12 in FIG. 1) is denoted Q eh P ar ra PP ort in the housing AND and Q with respect to the absolute direction OY,
- FIG. 7a shows the functional diagram of the system for stabilizing the line of sight and fine tracking object of the invention.
- the system which is the subject of the invention further comprises a resource H (p) for measuring the speed of rotation ⁇ h of the mechanical support AND.
- This resource is advantageously constituted by a gyrometer, integral with the housing AND as indicated in FIG. 7a. It further comprises a direct control resource, from an open-loop control signal for the orientation of the reference direction of the detection device DD, this resource delivering a direct control signal UVOR from the measurement. the speed of rotation ⁇ h of the mechanical support ET.
- it includes a visual servo loop from the reference direction MOY 1 2 to the detected direction Q t of at least one contrasting edge belonging to the target.
- This visual control loop is formed by the detection device DD, an inverter Inv, a nonlinear circuit ZSL and a corrector Cv (p) and delivers the control signal U v .
- a fusion resource makes it possible to obtain a linear combination of the direct control signal UVOR. and, the control signal U v .
- the fusion resource is constituted by a subtractor
- the direct control signal UVOR being subtracted from the direct control command signal U v .
- the difference between 0 and Q t is an error signal that the DD detection device measures. It will be understood that, ultimately, the control U e of the electronic micromotor ⁇ ME results at all times from the difference between a signal U v coming from the visual servo loop based on the detection device DD and a UVOR signal coming from d '' a CVOR corrector having as input the angular speed of the housing ET, measured by means of the gyrometer H (p).
- This filter thus formed is formed of a pseudo-integrator cascaded with an all-pass filter bringing the negative phase without modifying the gain curve of the pseudo-integrator.
- the system of FIG. 7b makes it possible to combine (merge) a relatively slow visual loop, responsible for fixing and fine tracking of a contrasting edge, with an action allowing the detection device DD to react quickly to rotation disturbances applied on the support AND.
- this system makes it possible to make remarkably complementary coexistence, and in combination, two subsystems each bringing its contribution: - a first slow but precise subsystem, as it is endowed with hyperacuity: the visual loop formed by the control loop based on the DD detection device; - a second fast but imprecise subsystem (in terms of drift introduced by the gyrometer): the VOR system.
- the above-mentioned fusion or combination of the DD detection device system, object of the invention, with a gyrometric system constitutes a major development of the latter.
- the oculomotor system presented in figure 7a is perfectly capable, thanks to the fusion or combination carried out, of following a target moving according to a sinusoidal law
- the performance of the stabilization system of the line of sight and fine tracking of a target, object of the present invention is remarkable because the The aforementioned system, as described, is able in an application on board a full-scale helicopter to compensate for the fundamental mode of the vibrations at approximately 5 Hz introduced by the main rotor.
- We have thus described a method and a device for detecting a contrasting edge which is particularly efficient insofar as the method and the device which are the subject of the invention allow the implementation of a system reproducing the behavior of the gaze, therefore of the line. of sight of the eye of man or higher mammals.
- the method, the device for detecting a contrasting edge which is the subject of the present invention and the corresponding system, using the latter are capable of the most varied applications, as mentioned previously in the introduction to the description.
- the device for detecting a contrasting edge object of the present invention is capable of direct application using to the navigation of aircraft such as helicopters, for example piloted or remotely piloted, in particular when the latter are brought to evolve in difficult operational context and, in particular, in steep valley, in urban area, or in the presence of filiform objects such as high voltage lines.
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2563584A CA2563584C (fr) | 2004-04-23 | 2005-03-16 | Procede et dispositif de detection en hyperacuite d'un bord contraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord contraste. |
AT05742653T ATE468521T1 (de) | 2004-04-23 | 2005-03-16 | Verfahren und einrichtung zur hyperakuten detektion eines im wesentlichen rechteckigen kontrastrands und system zur fein-befolgung und fixierung des kontrastrands |
EP05742653A EP1738135B1 (fr) | 2004-04-23 | 2005-03-16 | Procede et dispositif de detection en hyperacuite d'un bord contraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord contraste. |
US11/587,163 US7667859B2 (en) | 2004-04-23 | 2005-03-16 | Method and device for hyperacute detection of an essentially rectilinear contrast edge and system for fine following and fixing of said contrast edge |
JP2007508928A JP4680988B2 (ja) | 2004-04-23 | 2005-03-16 | 実質的に直線状のコントラストエッジの高精度検知の方法と装置及び前記コントラストエッジの追従と固定のためのシステム |
DE602005021337T DE602005021337D1 (de) | 2004-04-23 | 2005-03-16 | Verfahren und einrichtung zur hyperakuten detektion eines im wesentlichen rechteckigen kontrastrands und system zur fein-befolgung und fixierung des kontrastrands |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR0404352 | 2004-04-23 | ||
FR0404352A FR2869494B1 (fr) | 2004-04-23 | 2004-04-23 | Procede et dispositif de detection en hyperacuite d'un bord constraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord |
Publications (1)
Publication Number | Publication Date |
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WO2005111536A1 true WO2005111536A1 (fr) | 2005-11-24 |
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PCT/FR2005/000643 WO2005111536A1 (fr) | 2004-04-23 | 2005-03-16 | Procede et dispositif de detection en hyperacuite d'un bord contraste sensiblement rectiligne et systeme de fixation et de poursuite fine de ce bord contraste. |
Country Status (9)
Country | Link |
---|---|
US (1) | US7667859B2 (fr) |
EP (1) | EP1738135B1 (fr) |
JP (1) | JP4680988B2 (fr) |
AT (1) | ATE468521T1 (fr) |
CA (1) | CA2563584C (fr) |
DE (1) | DE602005021337D1 (fr) |
ES (1) | ES2346327T3 (fr) |
FR (1) | FR2869494B1 (fr) |
WO (1) | WO2005111536A1 (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011073079A1 (fr) | 2009-12-15 | 2011-06-23 | Universite De La Mediterranee Aix-Marseille Ii | Procédé et dispositif permettant de mesurer la position angulaire d'un bord contrasté rectiligne d'un objet, et système destiné à la fixation et au suivi d'une cible comprenant au moins un tel bord contrasté |
WO2011073085A1 (fr) | 2009-12-15 | 2011-06-23 | Universite De La Mediterranee Aix-Marseille Ii | Procédé et dispositif permettant de mesurer la vitesse angulaire d'une zone de transition de luminance, et système d'aide au guidage destiné à la fixation et au suivi d'une cible comprenant au moins une telle zone de transition de luminance |
WO2016177781A1 (fr) * | 2015-05-06 | 2016-11-10 | Centre National De La Recherche Scientifique | Système de détection d'une cible contrastée |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2976911B1 (fr) * | 2011-06-27 | 2013-07-05 | Messier Bugatti Dowty | Procede pour commander l'orientation d'une partie orientable d'un atterrisseur d'aeronef. |
US9292913B2 (en) * | 2014-01-31 | 2016-03-22 | Pictometry International Corp. | Augmented three dimensional point collection of vertical structures |
CN117516348B (zh) * | 2024-01-04 | 2024-03-12 | 惠民县国土空间生态修复中心(惠民县土地整理储备中心) | 一种土地规划用面积测量装置 |
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US3507991A (en) * | 1967-07-27 | 1970-04-21 | North American Rockwell | Tracking system apparatus and signal processing methods |
JPS58138010U (ja) * | 1982-03-12 | 1983-09-17 | 株式会社太陽社 | 寸法測定装置 |
JP2002005636A (ja) * | 2000-06-19 | 2002-01-09 | Mitsubishi Electric Corp | 形状測定装置 |
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- 2004-04-23 FR FR0404352A patent/FR2869494B1/fr not_active Expired - Lifetime
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- 2005-03-16 EP EP05742653A patent/EP1738135B1/fr active Active
- 2005-03-16 DE DE602005021337T patent/DE602005021337D1/de active Active
- 2005-03-16 US US11/587,163 patent/US7667859B2/en active Active
- 2005-03-16 AT AT05742653T patent/ATE468521T1/de not_active IP Right Cessation
- 2005-03-16 ES ES05742653T patent/ES2346327T3/es active Active
- 2005-03-16 WO PCT/FR2005/000643 patent/WO2005111536A1/fr active Application Filing
- 2005-03-16 JP JP2007508928A patent/JP4680988B2/ja active Active
- 2005-03-16 CA CA2563584A patent/CA2563584C/fr active Active
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VIOLLET S ET AL: "Super-accurate visual control of an aerial minirobot", AUTONOMOUS MINIROBOTS FOR RESEARCH AND EDUTAINMENT. AMIRE2001. PROCEEDINGS OF THE 5TH HEINZ NIXDORF SYMPOSIUM HEINZ NIXDORF INST., UNIV. PADERBORN PADERBORN, GERMANY, 22 October 2001 (2001-10-22) - 25 October 2001 (2001-10-25), pages 215 - 224, XP001152416, ISBN: 3-935433-06-9 * |
VIOLLET S ET AL: "Visual servo system based on a biologically inspired scanning sensor", PROCEEDINGS OF THE SPIE - THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING SPIE-INT. SOC. OPT. ENG USA, vol. 3839, 19 September 1999 (1999-09-19), pages 144 - 155, XP002312064, ISSN: 0277-786X * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011073079A1 (fr) | 2009-12-15 | 2011-06-23 | Universite De La Mediterranee Aix-Marseille Ii | Procédé et dispositif permettant de mesurer la position angulaire d'un bord contrasté rectiligne d'un objet, et système destiné à la fixation et au suivi d'une cible comprenant au moins un tel bord contrasté |
WO2011073085A1 (fr) | 2009-12-15 | 2011-06-23 | Universite De La Mediterranee Aix-Marseille Ii | Procédé et dispositif permettant de mesurer la vitesse angulaire d'une zone de transition de luminance, et système d'aide au guidage destiné à la fixation et au suivi d'une cible comprenant au moins une telle zone de transition de luminance |
EP2341352A1 (fr) | 2009-12-15 | 2011-07-06 | Université de la Méditerranée - Aix-Marseille II | Procédé et dispositif de mesure de la vitesse angulaire d'une zone de transition de luminance et système d'aide de direction pour la fixation et le suivi d'une cible comportant au moins une de ces zones de transition de luminance |
EP2341312A1 (fr) | 2009-12-15 | 2011-07-06 | Université de la Méditerranée - Aix-Marseille II | Procédé et dispositif pour mesurer la position angulaire de l'angle d'apposition rectiligne d'un objet, système pour fixer et suivre une cible comportant au moins un de ces bords d'apposition |
WO2016177781A1 (fr) * | 2015-05-06 | 2016-11-10 | Centre National De La Recherche Scientifique | Système de détection d'une cible contrastée |
US10161741B2 (en) | 2015-05-06 | 2018-12-25 | Centre National De La Recherche Scientifique | System for detecting a contrasted target |
Also Published As
Publication number | Publication date |
---|---|
EP1738135B1 (fr) | 2010-05-19 |
ATE468521T1 (de) | 2010-06-15 |
DE602005021337D1 (de) | 2010-07-01 |
ES2346327T3 (es) | 2010-10-14 |
US7667859B2 (en) | 2010-02-23 |
CA2563584C (fr) | 2013-07-30 |
US20070216910A1 (en) | 2007-09-20 |
JP4680988B2 (ja) | 2011-05-11 |
CA2563584A1 (fr) | 2005-11-24 |
FR2869494A1 (fr) | 2005-10-28 |
FR2869494B1 (fr) | 2006-11-24 |
JP2007533992A (ja) | 2007-11-22 |
EP1738135A1 (fr) | 2007-01-03 |
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