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Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 1
Project: IEEE P802.15 Working Group for Wireless Personal Area Networks (WPANs)
Submission Title: [Radiometric and Geometric Consideration for image sensor receiver]
Date Submitted: [July, 2015]
Source: [Md. Shareef Ifthekhar, Trang Nguyen, Nirzhar Saha, Nam Tuan Le, Mohammad Arif Hossain,
Chang Hyun Hong and Yeong Min Jang]
[Kookmin University]
Address [Kookmin University, Seoul, Korea]
Voice:[82-2-910-5068], FAX: [82-2-910-5068], E-Mail:[[email protected]]
Re: []
Abstract: [This document present radiometric and geometric consideration for image sensor receiver]
Purpose: [Contribution to IEEE 802.15.SG7r1]
Notice: This document has been prepared to assist the IEEE P802.15. It is offered as a basis for
discussion and is not binding on the contributing individual(s) or organization(s). The material
in this document is subject to change in form and content after further study. The contributor(s)
reserve(s) the right to add, amend or withdraw material contained herein.
Release: The contributor acknowledges and accepts that this contribution becomes the property of IEEE
and may be made publicly available by P802.15.
July 2015
Yeong Min Jang, Kookmin University
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 2 Yeong Min Jang, Kookmin University
July 2015
Optical Camera Communications
doc. : IEEE 802. 15-15-0526-007a
Submission
doc. : IEEE 802. 15-15-0526-007a
Optical Camera Communications
Slide 3 Yeong Min Jang, Kookmin University
July 2015
1s
1/30s
#1 #2 #30#29…..
…..
#15
Frame sampling
Data is send at the rate than 100
hz to avoid flickering
Frame rate only 30
frames/sec
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 4 Yeong Min Jang, Kookmin University
July 2015
Camera Geometry (pin hole camera model)
doc. : IEEE 802. 15-15-0526-007a
C is the camera position in world
coordinate system
X is any point in world coordinate
system
x is image point of X
R is rotation matrix between world
coordinate and camera coordinate
[ ]KR Ix C X X
x
y
X
z
Camera coordinate
system
Principal
point
image
point
Pinhole
Camera
C
Y Z
World coordinate system
x
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 5 Yeong Min Jang, Kookmin University
July 2015
Camera Radiometry (Lambertian model)
doc. : IEEE 802. 15-15-0526-007a
It determines the object image intensity in an imaging plane
Camera
Camera
Lambertian
emission
ϕi(x, y)
ψ i(x, y)
ψ i(x, y)
(xc,yc) (xi,y
i) f
rc(x,y)
x
y
z
(0 0 -1)
LED
Camera Coordinate
dLens
World
CoordinateX
YZ
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 6 Yeong Min Jang, Kookmin University
Camera Radiometry and Geometry
(Combine approach)
July 2015doc. : IEEE 802. 15-15-0526-007a
(b)
ϕi(x, y)
ψ i(x, y)
ψ i(x, y)
(xc,yc) (xi,y
i) f
rc(x,y)
x
y
z
(0 0 -1)
LED
Camera Coordinate
dLens
World
CoordinateX
YZ
(a)
Yaw
Pitc
h
Roll
z
y
x
World
Coordinate
X
YZ Camera
Coordinate
LED
Camera FOV
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 7 Yeong Min Jang, Kookmin University
July 2015
Camera Radiometric Response (Irradiance to image
intensity)
doc. : IEEE 802. 15-15-0526-007a
• Image sensor nonlinearly response to irradiance and generate
image intensity values or pixel values
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10
0.2
0.4
0.6
0.8
1
Irradiance
Imag
e I
nte
nsit
y
Camera Radiometric Response Curve
Red Channel
Green Channel
Blue Channel
Submission
doc. : IEEE 802. 15-15-0526-007a
Slide 8 Yeong Min Jang, Kookmin University
July 2015
Simulation Parameters
Parameters Value
LED position
(Center of the circular LED)
[1700 1900 3500]
LED diameter 170 mm
Half Power emission, ϕ 70 deg
Transmit power, Pt 1500 mw
Focal length 1.4 or 3 mm
Image size 3250×2450
Camera Principal point (xc, yc) [1625 1225]
Skew 0
Pixel edge length, s 7.1e-3 mm
Submission
doc. : IEEE 802. 15-15-0526-007a
Yeong Min Jang, Kookmin UniversitySlide 9
Effect of camera rotation
(Out of Focus issue)
July 2015
Z
Yaw
Pitch
Roll
x
World Coordinate
X
YZ
Camera Coordinate
LED
z
yYaw
Pitch
Roll
x
World Coordinate
X
Y
Camera Coordinate
LED
z
y
(a)(b)
Submission
doc. : IEEE 802. 15-15-0526-007a
Yeong Min Jang, Kookmin UniversitySlide 10
Effect of camera rotation (Out of Focus issue)July 2015
1000
2000
3000
1000
2000
3000-65
-60
-55
X (m)
(a) Camera Rotation=[0.0314 0.0314 0.7854],
imagesize=3250 x 2450 and f=1.40 mm
Y (m)
Receiv
ed
po
wer
(dB
m)
1000
2000
3000
1000
2000
3000-65
-60
-55
X (m)
(b) Camera Rotation=[0.0419 0.0419 2.0944],
imagesize=3250 x 2450 and f=1.40 mm
Y (m)
Receiv
ed
po
wer
(dB
m)
1000
2000
3000
1000
2000
3000-80
-60
-40
X (m)
(c) Camera Rotation=[0.5236 0.0785 0.7854],
imagesize=3250 x 2450 and f=1.40 mm
Y (m)
Receiv
ed
po
wer
(dB
m)
1000
2000
3000
1000
2000
3000-80
-60
-40
X (m)
(d) Camera Rotation=[0.0314 0.0314 0.7854],
imagesize=3250 x 2450 and f=3.00 mm
Y (m)
Receiv
ed
po
wer
(dB
m)
1000
2000
3000
1000
2000
3000-80
-60
-40
X (m)
(e) Camera Rotation=[0.0419 0.0419 2.0944],
imagesize=3250 x 2450 and f=3.00 mm
Y (m)
Receiv
ed
po
wer
(dB
m)
1000
2000
3000
1000
2000
3000-80
-60
-40
X (m)
(f) Camera Rotation=[0.5236 0.0785 0.7854],
imagesize=3250 x 2450 and f=3.00 mm
Y (m)R
eceiv
ed
po
wer
(dB
m)
Indoor automated guided vehicle – need to preprogrammed in order to ensure received signal
Camera geometry is needed to ensure that
Fig 3. Receive power across the room (4 m2) for different rotation and
focal length of a camera, where receiving plane height Z = 1500 mm.
Submission
doc. : IEEE 802. 15-15-0526-007a
Yeong Min Jang, Kookmin UniversitySlide 11
Simulation Parameters
July 2015
Parameters Value
LED position
(Center of the circular LED)
[1200 1400 3500] (LED 1)
[1700 1400 3500] (LED 2)
[1700 1900 3500] (LED 3)
[1200 1900 3500] (LED 4)
LED diameter 170 mm
Half Power emission, ϕ 70 deg
Transmit power, Pt 1500 mw
Focal length 1.4 and 3 mm
Image size 1280×1080
Camera Principal point (xc, yc) [640 540]
Skew 0
Pixel edge length, s 7.1e-3 mm
Submission
doc. : IEEE 802. 15-15-0526-007a
Yeong Min Jang, Kookmin UniversitySlide 12
Simulation Results
July 2015
Camera Position = [1300 1600 1500], Camera Rotation = [0.0314 0.0419 0.5236] and f=3.00 mm
100 200 300 400 500 600 700 800 900 1000
200
400
600
800
1000
1200
Camera Position = [1300 1600 1500], Camera Rotation = [0.0314 0.0419 0.5236] and f=1.40 mm
100 200 300 400 500 600 700 800 900 1000
200
400
600
800
1000
1200
Radiometric response curve has been used to transform
LED irradiance on imaging plane into LED image
intensity
Submission
doc. : IEEE 802. 15-15-0526-007a
Yeong Min Jang, Kookmin UniversitySlide 13
OCC ApplicationsJuly 2015
Indoor Positioning and Location Based Services
World
coordinateX
(X1, Y1, Z1) (X2, Y2, Z2) (X3, Y3, Z3)
Z
Y
Smart
device
Imaging
lens
(x1, y1)
(x2, y2)
(x3, y3)
x
zImage
coordinate y
Coordinator
Image sensor
StreamingServer
Coordinator
Tx # 2
Mobile # 2
PLC
Mobile # 1
Tx # 1
Tx # N-1Tx # N
Mobile # N
Tx # 3
IP Network
Indoor Positioning
Guiding in museum Product Information Marketing
Submission
doc. : IEEE 802. 15-15-0526-007a
Conclusion
Camera radiometry and geometry both has been considered
Impacts on OCC from camera radiometric and geometric changes have
been analyzed.
Out of focus issues has been identified due to camera rotation
Which can not be neglect when camera movement is intense
Radiometric response curve has been used to transform irradiance into
image intensity
Slide 14 Yeong Min Jang, Kookmin University
July 2015