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Calibration of robotic manipulator systems for cone beam tomography imaging

Calibration of robotic manipulator systems for cone beam tomography imaging
Calibration of robotic manipulator systems for cone beam tomography imaging
Image reconstruction of tomographic data relies on the precise knowledge of the geometric properties of the scan system. Common tomography systems, such as rotational tomography, C-arm systems, helical scanners, or tomosynthesis scanners, generally use motions described by a few rotational or linear motion axes. We are interested in applications in nondestructive testing, where objects might have large aspect ratios and complex shapes. For these problems, more complex scan trajectories are required, which can be achieved with robotic manipulator systems that have several linear or rotational degrees of freedom. For the geometric calibration of our system, instead of using an approach that scans a calibrated phantom with markers at a known relative position, we propose an approach that uses one (or several) markers with unknown relative positions. The fiducial marker is then moved by a known amount along one degree of freedom, thus tracing out a “virtual” phantom. Using the assumed spacial locations of the markers together with the locations of the markers on the imaging plane, we use a nonlinear optimization method to estimate the orientation of the linear and rotational manipulator axes, the detector and source location, and the detector orientation.
Laminography, x-ray tomography, geometric calibration
0018-9499
1384-1393
Blumensath, Thomas
470d9055-0373-457e-bf80-4389f8ec4ead
O'Brien, Neil
2e05fb57-6800-4a98-b20a-f7775efd011e
Wood, Charles
45eae1e9-e6f2-4656-96eb-a055f4d68aec
Blumensath, Thomas
470d9055-0373-457e-bf80-4389f8ec4ead
O'Brien, Neil
2e05fb57-6800-4a98-b20a-f7775efd011e
Wood, Charles
45eae1e9-e6f2-4656-96eb-a055f4d68aec

Blumensath, Thomas, O'Brien, Neil and Wood, Charles (2018) Calibration of robotic manipulator systems for cone beam tomography imaging. IEEE Transactions on Nuclear Science, 65 (7), 1384-1393. (doi:10.1109/TNS.2018.2843807).

Record type: Article

Abstract

Image reconstruction of tomographic data relies on the precise knowledge of the geometric properties of the scan system. Common tomography systems, such as rotational tomography, C-arm systems, helical scanners, or tomosynthesis scanners, generally use motions described by a few rotational or linear motion axes. We are interested in applications in nondestructive testing, where objects might have large aspect ratios and complex shapes. For these problems, more complex scan trajectories are required, which can be achieved with robotic manipulator systems that have several linear or rotational degrees of freedom. For the geometric calibration of our system, instead of using an approach that scans a calibrated phantom with markers at a known relative position, we propose an approach that uses one (or several) markers with unknown relative positions. The fiducial marker is then moved by a known amount along one degree of freedom, thus tracing out a “virtual” phantom. Using the assumed spacial locations of the markers together with the locations of the markers on the imaging plane, we use a nonlinear optimization method to estimate the orientation of the linear and rotational manipulator axes, the detector and source location, and the detector orientation.

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More information

Submitted date: 13 November 2017
Accepted/In Press date: 30 May 2018
e-pub ahead of print date: 4 June 2018
Published date: 5 July 2018
Keywords: Laminography, x-ray tomography, geometric calibration

Identifiers

Local EPrints ID: 415612
URI: http://eprints.soton.ac.uk/id/eprint/415612
ISSN: 0018-9499
PURE UUID: 82b208a8-6552-4725-8c2e-1e3c608614a9

Catalogue record

Date deposited: 16 Nov 2017 17:30
Last modified: 10 Dec 2019 05:42

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