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:[yjang@kookmin.ac.kr]

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