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Preliminary Design Review
The Lone Rangers
Brad AlcornTim CaldwellMitch Duggan
Kai GelattJosh Peifer
Capstone – Spring 2007
3D Object Scanner
Goal: To be able to capture any small physical object as a three dimensional, digital model.
How do you do that?
We will use a process called Triangulation to map points in 3D spaceThe system will consist of a laser, a CCD camera, a turntable, and an FPGA to control everythingData will be gathered by the system, and sent to a PC where the 3D model will be constructed
TriangulationHow do we know the
distance to one point?
Block Diagram
Mechanical Equipment
TurntableStepper MotorRotary EncoderNeat stand for turntableEven more neat stand for camera (tripod)
MaterialsInitially, we will construct the turntable and stand from wood or PlexiglasIf possible, time and money permitting, we would construct a final design of machined aluminum
Line Laser
Projected vertically onto the object to be scanned
Set at a known angle
from the camera for
triangulation
calculations
CCD
Texas Instruments TC346RGB 658(H) x 496 (V) Active Pixels in Image Sensing
Area 10um square pixels Low dark current R, G, B primary mosaic filters
on chip 30 frames/s readout speed Serial connection to A/D
converter 12.5 MHz clock signal
Analog Front End
A/D converter between CCD and FPGA
Compatible with CCD and FPGA interfaces
Fast enough conversion rate to keep up with data from CCD
CCD Objective
Pinhole objective Pros
low cost decent resolution more rugged than a lens
Cons Low light intensity on CCD Resolution not adequate for
our needs
Lens objective Pros
Higher light intensity on CCD
Higher resolution
Cons Higher cost More
delicate/vulnerable to damage
FPGA Tasks
User interface that gets input from computer (keystrokes)Send stepper motor control signalsRead encoder from main axle to know angle of the objectTell camera/CCD when to take picturesReceive RGB data from camera/CCDSend data to computer for processingControl laser on/off and possibly movement
FPGA Choices
Xilinx or AlteraBuy FPGA and design a PCB for it Could be costly and difficult Less I/O options Efficient and small
Buy dev. Board Simplest method b/c board
already designed Many prebuilt I/O options
ex. Rs232, USB, GPIO pins etc.
Possible Alterations to FPGA Design
If camera is hard to control, connect to computer directly via USBImage processing – take RGB data and turn into b/w bitmapUse VGA output for a more self sustaining user interface
3D Plotting
Problem: Using points in R3 to generate visually nice 3D pictures represented in 2D.Solution: Use Matlab. Matlab has nice 3D plotting ability with zoom and rotate. May need to create algorithms for better pictures. Eg: Wireframes Cubic Splines
Wireframes3-Dimensional Connect the Dots
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Cubic Splines Guessing Between Points
0 1 2 3 4 5 6 7 8 9 10-1
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1Cubic Spline
0 1 2 3 4 5 6 7 8 9 10-1
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1Linear Spline
Si(x) = m1ix + m2i Si(x) = m1ix3 + m2ix2 + m3ix + m4i
Division of Labor
Brad- FPGAJosh- FPGA, SoftwareMitch- OpticsKai- Optics, Machining Tim- Software, EncoderAll- Stepper Motor
Schedule5/3
1/29 PDR
2/2 CDR
3/2 Milestone 1
3/23 Milestone 2
4/20 Expo
3/22
1/29 Select camera system and laser
2/19 Aquire camera and laser
2/5 Machine mounts for camera and laser
2/26 Calibrate optics, (if needed)
3/23
2/19 CCD PCB schematic
3/5 CCD PCB Layout
5/3
1/29 Be able to program FPGA (simple stuff)
2/12 Interface FPGA with motor and encoder
2/19 Interface FPGA with camera
3/5 Configure data processing
3/26 Software Interface
5/3
1/29 Setup Matlab code for displaying objects (data points)
1/29 User Interface
31 3 6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20 23 26 1 4 7 10 13 16 19 22 25 28 31 3 6 9 12 15 18 21 24 27 30 3 6 9 12 15 18 21 24 27 30 2 5 8 11 14 17 20 23 26 29 2January February March April May June July
Risks
Data is inaccurate.Not enough funding available for legit parts.Calibration of camera data is not plausible.CCD interface is too time consuming.
Contingency Plans
Use a Webcam instead of CCDUse wireframe only instead of smooth imaging.Simply plot points in MATLAB.
Extensions
Add color to 3D model, scan object for color as well as shape.Interface with 3D printer in the ITLL to duplicate the scanned object.Filter out noise due to vibrations or surrounding light sources from camera data to increase accuracy of scanner.Add another camera to increase the accuracy of the scanner.