Single-photon Lidar (SPL) has many applications, ranging from geographic surveying to autonomous navigation. For accurate range extraction and range-walk-error (RWE) correction, a good TCSPC histogram is usually required and collected by using thousands of accumulations. While in high-flux regime, using a few accumulations is possible to perform range extraction and RWE correction and could speed up data acquisition process. This paper proposed a method to deal with two challenges of depth estimation when only a few accumulations (less than 10 times) are applied, including the extreme sparsity of photon-counting data and the non-steady state in free-running SPL. We first developed a forward model for non-steady state free-running SPL. As a second step, we computed the initial depth through our coarse depth estimation method, which incorporated the maximum of cross-correlation, threshold filtering, and cluster analysis of potential range candidates. Then solving an inverse problem through our forward model and initial values gives the estimate of the depth. Monte Carlo simulated results indicated good improvement in performance of detection probabilities and RWE correction. As compared with a baseline method, our method maintains a same detection probability while shows a 26% less false alarm probability on average. When signal-background ratio SBR is 0.2 (S = 2, B = 10) and accumulating times is only 4, our method gives a 75% less RWE. Our method could enable improvement of depth estimation from sparse photon-counting data collected by a few accumulations in SPL.
Waveform decomposition techniques are commonly used to extract attributes of targets from light detection and ranging (LiDAR) waveforms. The conventional Gaussian decomposition (GD) cannot deal with system waveforms (SWs) with non-Gaussian shapes, whereas the recently proposed B-spline-based decomposition method holds an assumption of similarity transformation. We present a multi-Gaussian decomposition (MGD) algorithm that employs a Gaussian mixture model (GMM) to represent the SW. Compared with the GD algorithm, the MGD algorithm exploits the characteristic of the SW using the GMM and hence can fit the received waveforms better than the GD algorithm. In contrast to the B-spline-based method, the proposed algorithm holds a more reasonable assumption that a received waveform is a convolution result of the SW with the target response, which accords with the ranging principle better. The MGD algorithm was validated using the experimental waveforms with negative tails collected by our self-designed LiDAR system. The GD algorithm and the B-spline-based decomposition were also introduced and studied for comparison. The experimental results show that the GMM with six components fit the SW with an acceptable residual. The experimental results also show that the MGD algorithm produced better decomposition results than the other two algorithms in terms of range retrieval, whereas the B-spline-based decomposition showed the best performance with regards to the root-mean-square-error for waveform fitting.
Waveform light detection and ranging detection (LiDAR) systems capture the entire backscattered signal from the interaction of the laser beam with objects located within the laser footprint. The target response (TR) is a time-dependent curve implying the geophysical attribute of the detected objects. TR restoration by removing the effect of the system waveform (SW) from the received waveform is crucial but suffers from ill-posedness. We recast the deconvolution problem to a nonlinear least squares problem and use the proposed method to deal with the LiDAR waveforms with negative tails. The proposed method is an iterative algorithm starting with a practical initial TR seen as the combination of parts of the deconvolution results obtained by the L1- and L2-regularization methods, then ending by a stopping criteria set empirically. A set of hybrid LiDAR waveforms constructed by the SW of our LiDAR and the synthetic TRs are employed to evaluate the performance of the TR retrieval. The results show the superior performance of the proposed method in both reconstructions of the flattened and sharp curves of the TRs as compared to the L1- and L2-regularization methods. This demonstrates the potential of the nonlinear least squares method for retrieving the range and geometric physical information from the LiDAR waveforms.
LiDAR (light detection and ranging) has recently been recognized as one of the most promising remote sensing techniques due to its excellent performance in the detection of forest inventory, topographic mapping, and automatic driving. Compared to discrete return systems that can provide only range information with a limited number of backscatter intensity value, the full-waveform LiDAR systems record the entire backscattered signals containing more comprehensive geometric physical information, such as depth, shape, and reflectivity, of the target. Waveform decomposition techniques are commonly used to extract attributes of targets from LiDAR waveforms, which consider the received waveform as a mixture of one or more standard probability distribution functions after linearly stretch in the range and magnitude directions. However, the new exponential decomposition algorithm proposed in this paper considers the received waveform as a superposition of several system waveform after linear translation and scaling transformation. The system waveform is fitted by several exponential functions, thus the received waveforms can be treated as similarity transformation of the functions. In the experiment, the method was verified using a system waveform with a negative tail. The significant improvement in range accuracy and reduction of waveform fitting residual indicated that the proposed method can deal with LiDAR waveforms with negative tails and has the potential to extract more accurate structural parameters of the detected object.
The starting and the stopping of the moving carrier can cause tens of thousands of gravitational accelerations of mechanical impact, which may lead to the damage of photoelectric detection parts, especially the optical system. For the study of the anti-overload ability of the optical system in strong impact environment, based on the finite element modeling method, taking the optical system with a diameter of 35 mm lens as the subject, the deformations and the stress nephograms of different materials of optical lenses under 10000g impact condition are obtained and the influences of different lens mounting structures on anti-overload ability of the system is analyzed. The consistency of the simulation results and the physical model test results, fully illustrates the correctness of the theory and the model. This paper explores an effective way for the analysis of the mechanical and structural evolution characteristics of optical system in strong impact environment.
Obstacle detection and location are the key points of path planning and autonomous walking of indoor robot. Laser radar is one of the best sensors for robot to perceive the external environment. In this paper, we studies single-line laser radar to acquire point cloud data, establishes a 2D indoor environment map and achieves the location of indoor robot. And we establish a new point cloud data clustering model which is based on adaptive threshold to detect obstacle on the path. The experiment is based on single-line laser radar, and we have established an experimental system for laser detection of obstacles in indoor robots. The experimental results of scanning and imaging typical indoor scenes show that obstacles can be correctly identified by the above algorithms. Therefore, an effective method has been explored for the obstacle detection and location of indoor robots based on radar.
Recently, with the rapid development of unmanned vehicles, When laser radar is used in road graphing of unmanned vehicles, due to the height limitation of the vehicle, the angle between the detection axis of the laser radar and the normal line of the road surface is large, and the probe beam is in a grazing incidence state, which is close to the normal incidence of the conventional laser radar. There is a big difference in detection imaging. This difference has a crucial impact on the rangefinder imaging capabilities of Laser Radar, but to best of the authors’ knowledge, there has not been any papers published studying with this particular working condition. In this paper, we are the first to establish the simulation model of the laser radar ranging signal based on the principle of light transmission delay, and obtains the influence curve of laser oblique incidence, road roughness, and pit package on the laser echo waveform by numerical calculation. Based on this, an experimental system for testing the ranging signal of the laser radar at high angle incidence conditions was established on the prototype of a single-line laser radar, and the laser echo waveforms under different incident angles and road surface conditions were tested. The curves in the numerical analysis have a good consistency, which verifies the correctness of the theoretical model. In addition, it shows that the model we proposed is an effective tool for quantitatively analyzing the influence of pavement characteristics on the laser echo signal under large-angle incident conditions.
With the development of nanotechnology, nanomaterial have been widely used in many fields, such as medical technology, catalysis, and biotechnology. Among the methods of nanomaterial fabrication, pulsed laser ablation in liquids (LAL) has attracted great attention as a green and versatile approach to fabricate manifold nanomaterial with ligand-free surface. LAL physical process and mechanism is complicated. Firstly laser focus on the target material through the liquid layer, and the surface material is exfoliated. Then the plasma is generated and expands, accompanying the plasma shock wave. Afterwards, the plasma quenches and releases energy into the surrounding liquid. Finally cavitation bubble appears and collapses. These complex mechanisms affect the properties of the prepared nanomaterial, including shape, size, structure, photoelectric properties, etc. Here, we investigate physical process and mechanism of nanomaterial prepared by LAL in detail using high-speed camera experimental system and CFD (Computational Fluid Dynamics) simulation mode. According to the analysis of LAL mechanism, it is reasonable to assume that laser-induced bubble can act as an ideal reactor for nanomaterial synthesis. The movement of the nanoparticles depends on the bubble oscillation. They move outward when the bubble expands and move inward when the bubble shrinks. It shows that the velocity, pressure and the temperature are high at the beginning of expansion and the collapse moment of the bubble, which is quiet benefited for the nanomaterial synthesis.
A low false alarm rate in smoke has always been chasing after pulse laser ranging system. Smoke distributes particularly random in space so that different smoke distributions produce distinct interference echoes even if they are under same attenuation degree. Based on the theory of single scattering, in this paper the echo-element superposition model is established to study the relationship between smoke backscattering pulse and smoke thickness under the condition of same attenuation but different spatial distribution. The analysis shows that at a constant threshold, the pulse width of backscattered echoes in smoke are first broadened logarithmically by the thickness of the smoke and then compressed to zero with a negative exponential relationship, while a maximum width appears in the process; the peak of the backscattered echoes gradually decreases with the inverse of smoke thickness. In order to validate the model, the Monte Carlo method for photon tracing is used to simulate the model. The simulation results are in good agreement with the theoretical analysis. At the same time, an experimental device is set up in which pulse laser is transmitted in the smoke environment. Experimental results show that with the detection distance, one-way attenuation, transmitted pulse width of 25m, 60%, 20ns respectively, the pulse width of target echoes remains basically unchanged while smoke thickness varies, and the peak value and pulse width of the backscattering pulse are consisted with theoretical analysis within an error of 5%. This results can be used for laser ranging system in low-visibility environment for interference suppression and reducing false alarm rate, so as to improve system stability and anti-interference ability.
Optical theories were all originating from the experimental phenomena, as a result, we can combine the theories and experiments organically in optics teaching that can make the teaching content more intuitive and vivid to stimulate the students' learning interests. In this paper, we proposed the "Experiment-Guidance-Theory" teaching mode in optics course by integrating the theory of optics courses with corresponding experiments. Before the theoretical learning, the students would do some basic experiments to observe the optical phenomena on themselves and answer the corresponding illuminating questions to put themselves into the role, and then the teachers explain the corresponding optical methods and theories, at last, the students must attend an expansive discussion and innovation experiment around the optical theme to expand their scientific view and innovation ability. This is a kind of inquiry-based teaching method, which can stimulate the students' studying interests and improve learning initiative. Meanwhile, the ideas of scientific research also be integrated into teaching, which is beneficial to cultivate students' ability to carry out innovative research.
The principle of spatial filtering experiment has been introduced, and the computer simulation platform with graphical user interface (GUI) has been made out in Matlab environment. Using it various filtering processes for different input image or different filtering purpose will be completed accurately, and filtering effect can be observed clearly with adjusting experimental parameters. The physical nature of the optical spatial filtering can be showed vividly, and so experimental teaching effect will be promoted.
Noninvasive monitoring of blood glucose is the current international academic research focus. Near-infrared (NIR) spectroscopy is the most prospective method of the present study, however, with the flaw of insufficient specificity to glucose. Tissue polarimetry has recently received considerable attention due to its specificity to glucose. Thus the glucose predicting accuracy would be improved by combining spectral intensity and polarization characteristics. However the backscattering spectral polarization characteristics of turbid media have not been reported within the wavelength range from visible to near-infrared light. In this paper, we simulated the backscattering spectral Mueller matrix of turbid medium by vector Monte Carlo. And the polarization characteristics, which are linear/circular degree of polarization (DOP) and linear/circular diattenuation, can be extracted from the simulated Mueller matrix by polar decomposition. Circular diattenuation is not discussed because it remains almost zero on the backscattering plane. While reduced scattering coefficient increases linearly with increasing wavelength, the spectral curves show distinct wavelength dependencies. Interestingly, the wavelength dependencies at center position are different from those at off-center position for linear/circular DOP and linear diattenuation. As expected, it is shown that both linear DOP and linear diattenuation increase with the increasing wavelength. However it is not the case for linear DOP in the central area around the incident point. In this area linear DOP decays approximately exponentially with increasing wavelength. As for circular DOP, it varies with wavelength non-monotonically. These results should be meaningful when spectral polarization characteristics are used to combine with spectral intensity to extract glucose concentration by chemometrics.
Laser airborne particle counting sensor (LAPCS), based on light scattering of particle, is specially used in clean environment monitoring. LAPCS samples the air by a pump, and uses a laser illuminating the sampled air in the chamber, then counts the total number of scattering signal and its amplitude distribution, which can characterize the number of particles and size distribution. The structure of air-flow-path in LAPCS directly influences the flow of sampling air, the particle trajectories and velocity distribution in chamber that will influence the performance of LAPCS. In this paper, a finite element arithmetic based on Ansys Fluent14 software environment was developed to simulate the air flow and particle flow in LAPCS. Based on numerical calculations, velocity distribution of airflow and particle trajectories in chamber of LAPCS with different nozzles are presented intuitively. A few particles probably are disturbed outside the air-flow path and pass the photosensitive area many times, which can make the LAPCS iteration count. The results can provide a theoretical basis for optimizing design of the LAPCS.
Phase distribution detection of cells and tissues is concerned since it is an important auxiliary method for observing biological samples. Here, in this paper, we have proposed phase
retrieval algorithms dealing with microscopic interferograms in order to solve two-dimensional phase
distribution. Based on phase distributions solved by phase retrieval algorithms, three-dimensional
refractive index distribution of biological sample is reconstructed which could reflect inner structure of
the cell. We believe these methods could be powerful tools in biological and medical fields.
In this paper, polarization property of RBCs was discussed by polar decomposition. Experimental results were compared
with a three-dimensional Monte Carlo simulation for the erythrocyte suspensions with the same concentration. And there
is a good agreement for both experimental and simulative results. Furthermore, Mueller matrices were measured for
erythrocyte suspensions with different concentration under 10%, in this condition light coherent phenomena can be
ignored. Using polar decomposition, the conclusion comes out that degree of polarization (DOP) and diattenuator for
erythrocyte suspensions decrease with increasing concentration. Because when suspension concentration increases,
scattering coefficient will be changed increasingly simultaneously and DOP and diattenuator decreases with added
scattering times. These results will be referred as useful information for noninvasive diagnosis of blood.
The quality of the range image obtained by laser radar will directly influence the target profile reconstruction and the
target identification, and the quality of the range image is mainly determined by the parameters of laser radar system. As
a result, this paper concentrates on discussing the effect of laser radar's parameters on the quality of range image. To
evaluate the quality of range image quantitatively, two parameters, the mean squared error of range (R-MSE) and peak
signal noise ratio of range (R-PSNR), are introduced and a simulation program is developed to study the influence of
system's parameters on the range imaging quality. The results show that for a given pulse width, there has an optimal
bandwidth and threshold level, that make the range image has better image quality. Above results have important
significance to optimize the parameter design of laser radar.
On the basis of electromagnetic theory, the scattering light intensity from a series of dielectric surfaces
with different roughness is calculated by using monte-carlo method and the boundary condition of
Kirchhoff approximation. The geometry profile of rough surfaces obeys Guass distribution and all of
the surfaces have the same corelation length. With the increasing of rms height, the width of diffuse
scattering intensity distribution, the attenuation of scattering peak value and its moving to the normal
direction are observed. After theoretical analysis, it is obtained that the statistical distribution of the
local slope varies with the rms height and reflecting index of these local slope are the main reasons for
these phenomenon.
Microscopic interferometry is a noncontact technique for quantitative phase imaging of live cells. The method combines
the principles of single-shot slightly-off-axis interferometry and confocal microscopy and is characterized by real-time
acquisition capabilities and optimized spatial resolution. However, slightly-off-axis interferometry requires less detector
bandwidth than traditional off-axis interferometry and fewer phase-shifted steps than on-axis interferometry. Meanwhile,
confocal microscopy allows microstructure magnification imaging. To validate the utility of this technique, experimental
and theoretical comparisons are given. The potential of the technique for phase microcopy is demonstrated by
experiments on red blood cells. This study will set the basis for interferometric phase measurements of dynamic
processes with fine spatial details, especially for observing live biological cell dynamics.
In this paper, the transposition process of the polarization of light state is described by the
Stokes-Mueller formula, according to which the depolarized capability of the p-polarized light by
rough surfaces is discussed. The values of M11/M00 in Mueller matrix of the typical targets' surfaces
are measured by experiment. The results indicate that the value of M11/M00 decreases with the
increasing of surface roughness, which implies that the depolarized capability of the p-polarized light
increases. Besides, the values of M11/M00 of metal targets are larger than 0.61, while the values of
camouflage cloth, wooden plates and cement boards are all less than 0.3, which provides a possible way to detect metal targets by polarization imaging.
A semi-analytical method has been developed to calculate the spatially resolved diffuse light in layered biological tissues irradiated by converging laser beam based on the diffusion theory. Monte Carlo method is used to evaluate the correctness of the method, results show that they have good consistency and our method has higher computational efficiency. Numerical calculations disclosure same important features that are uniquely related to the propagation of the converging light in biological tissues. Those features are valuable to optimize the optical diagnosis and therapy.
This paper mainly discusses the effective refractive indices of biological tissues and its experimental determination. The implication of effective refractive indices of biological tissues is illustrated and its action on the light transporting in biological tissues is also discussed. After then, an experimental measuring method is proposed to obtain the effective refractive index. Corresponding setup and data processing algorithm are presented in this paper, which is applied to obtain the effective refractive indices of typical samples.
In this paper, spatial distributions of light emitting from slice chicken muscle tissue and sub-skin fatty tissue are measured on experiment. Experimental results indicate that muscle tissue have better diffraction ability, therefore, muscle tissue can't be treated as a kind of highly scattering medium simply and the traditional radiative transfer theory is not suitable for describing its light transporting properties. In order to calculate light transporting in muscle tissues, traditional radiative transfer theory is modified and diffraction effects are considered in the model. The muscle tissue is regarded as a synthesis of scattering, diffraction and absorption. According to the modified theoretical model, numerical calculations are executed for chicken muscle tissues and the results are well matched with experimental measurements. Moreover, based on the modified model, the inversions of the diffractions parameters such as the wavelength of the refractive index fluctuation are also discussed simply.
In this paper, a mathematical expression of reflectance point-spread-function, that is defined as the spatial distribution of light diffuse-reflected from biological tissues irradiated by pencil light, is derived from the diffusion approximation (DA) theory. Through calculating partial derivative of the reflectance point-spread function with respect to effective scattering coefficient, we proposed a quantitative criterion for the applicability of diffuse approximation. Moreover, by the introduction of the reflectance point-spread-function, we can use convolution method to calculate the spatial resolved reflectance from dense and thick tissues irradiated by photon beams with finite diameter. We called this method DA based convolution method. Numerical calculations show that the DA based convolution method has much higher computing efficiency compared with the Monte Carlo method.
From the view of refractive index distribution, biological tissue can be regarded as a refractive index random media. Inhomogeneous distribution of refractive index is the physical basis of the high scattering property of biological tissue, whose scale is close to wavelength. Disperse scatter model and statistical distribution function are introdcued to describe the refractive index distribution in biological tissues such as blood tissue. Based on the disperse scatter model and scatter theory, the relations between refractive index fluctuation and scattering coefficient of biological tissue are derived and corresponding formulas are given to calculate the refractive index fluctuation in biological tissue. The formulas are applied to calculate the refractive index distribution of blood tissue in different status, combining the Rayleigh scattering describing the single scattering events. The calculating results are illustrated in the paper.
In this paper, we adopt normal tissue embedded a focus to simulate the local pathological changes tissue. Under the condition of thin beam irradiance, the model of local pathological changes tissue is simplified. Based on the simplified model, the adding method is used to analyze the reflective angular spectrum from the biological tissue. According to the calculations, the effective optical depths, where the focus can affect the reflective angular spectrum obviously are calculated and discussed in the different biological tissues. The effects ofthe geometrical parameters and the position of the focus on the reflective angular spectrum are also analyzed comprehensively.
In this paper, depolarization property of light propagating through layered biological tissues is investigated by experiment. Intrialipid suspensions of different concentrations are chosen as liquid model of layered biological tissues. An experimental setup was established to measure the polarization state of light emitting from the Intrialipid suspensions. Under different polarization angle, light distributions transmitting through intrialipid suspensions of different concentration and thickness are measured by a Beam Profiler. The gray images obtained by the Beam Profile are used to analyze the polarization property of light emitting from biological tissue. According to the results, the relation of depolarization degree of emitting light from intrialipid suspensions with emitting position, concentration and thickness of intrialipid suspensions are discussed comprehensively.
In order to describe angular intensity distribution of light in biological tissues, the concept of spatial angular spectrum is introduced in this paper. Light transmitting property in biological tissues can be described by radiative transfer theory, and discrete ordinates method is adopted in solving the radiative transfer equation. A differential equation group is obtained, which can describe the diffuse light field in biological tissues, and its general solutions are also presented in this paper. Based on the general solution, a computer program was designed to calculate the angular spectrum in different biological tissues. And numerical calculates are executed both for isotropic tissues and anisotropic tissues. The results of spatial angular spectrum in biological tissues are illustrated in the form of curves, which illustrates the effects of optical parameters on the angular spectrum in different biological tissues.
Contact laser scalpel has been proved to have many advantages over the traditional non-contact ones since it was first proposed and applied in laser surgery in the middle of 1980's. In order to adapt to different clinical applications and achieve optimum curative effect, the emergent power distribution of the contact laser scalpels is crucial, which highly depends on the construction of the contact probes. By means of the development of restraint equations of light propagation in contact laser scalpels, a design scheme for such scalpels is presented. The coupling problems in different parts of the scalpels are considered carefully and their related construction is determined. In addition, because we generally can not describe the emergent power distribution of a contact laser scalpel in an analytic formula, the Monte Carlo method is introduced to simulate the behavior of light transmitting through the scalper. The simulation results are consistent with those of the experimental measurements. Different design parameters that effect the emergent power distribution are also discussed comprehensively.
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