Superfast high-resolution absolute 3 D recovery of a stabilized flapping flight process

Scientific research of a stabilized flapping flight process (e.g. hovering) has been of great interest to a variety of fields including biology, aerodynamics, and bio-inspired robotics. Different from the current passive photogrammetry based methods, the digital fringe projection (DFP) technique has the capability of performing dense superfast (e.g. kHz) 3D topological reconstructions with the projection of defocused binary patterns, yet it is still a challenge to measure a flapping flight process with the presence of rapid flapping wings. This paper presents a novel absolute 3D reconstruction method for a stabilized flapping flight process. Essentially, the slow motion parts (e.g. body) and the fast-motion parts (e.g. wings) are segmented and separately reconstructed with phase shifting techniques and the Fourier transform, respectively. The topological relations between the wings and the body are utilized to ensure absolute 3D reconstruction. Experiments demonstrate the success of our computational framework by testing a flapping wing robot at different flapping speeds. © 2017 Optical Society of America under the terms of the OSA Open Access Publishing Agreement OCIS codes: (120.0120) Instrumentation, measurement, and metrology; (100.5088) Phase unwrapping; (110.5086) Phase unwrapping; (100.5070) Phase retrieval. References and links 1. T. L. Hedrick, S. A. Combes, and L. A. Miller, “Recent developments in the study of insect flight,” Canadian Journal of Zoology 93, 925–943 (2014). 2. S. M. Walker, A. L. Thomas, and G. K. Taylor, “Photogrammetric reconstruction of high-resolution surface topographies and deformable wing kinematics of tethered locusts and free-flying hoverflies,” J. Royal Soc. Interface 6, 351–366 (2009). 3. C. Koehler, Z. Liang, Z. Gaston, H. Wan, and H. Dong, “3d reconstruction and analysis of wing deformation in free-flying dragonflies,” J. Exp. Biol. 215, 3018–3027 (2012). 4. Y. Ren, H. Dong, X. Deng, and B. Tobalske, “Turning on a dime: Asymmetric vortex formation in hummingbird maneuvering flight,” Physical Review Fluids 1, 050511 (2016). 5. B. W. Tobalske, D. R. Warrick, C. J. Clark, D. R. Powers, T. L. Hedrick, G. A. Hyder, and A. A. Biewener, “Three-dimensional kinematics of hummingbird flight,” J. Exp. Biol. 210, 2368–2382 (2007). 6. A. P. Willmott and C. P. Ellington, “The mechanics of flight in the hawkmoth manduca sexta. i. kinematics of hovering and forward flight,” J. Exp. Biol. 200, 2705–2722 (1997). 7. R. J.Wootton, “Leading edge section and asymmetric twisting in thewings of flying butterflies (insecta, papilionoidea),” J. Exp. Biol. 180, 105 (1993). 8. U. M. L. Norberg and Y. Winter, “Wing beat kinematics of a nectar-feeding bat, glossophaga soricina, flying at different flight speeds and strouhal numbers,” J. Exp. Biol. 209, 3887–3897 (2006). 9. S. Zhang, D. van der Weide, and J. Oliver, “Superfast phase-shifting method for 3-d shape measurement,” Opt. Express 18, 9684–9689 (2010). 10. L. Guo, X. Su, and J. Li, “Improved fourier transform profilometry for the automatic measurement of 3d object shapes,” Opt. Eng. 29, 1439–1444 (1990). 11. D. C. Ghiglia, and M. D. Pritt, Two-Dimensional Phase Unwrapping: Theory, Algorithms, and Software (John Wiley and Sons, 1998). 12. X. Su and W. Chen, “Reliability-guided phase unwrapping algorithm: a review,” Opt. Laser Eng. 42, 245–261 (2004). 13. H. Guo and P. S. Huang, “Absolute phase technique for the fourier transform method,” Opt. Eng. 48, 043609 (2009). 14. Y. Xiao, X. Su, Q. Zhang, and Z. Li, “3-d profilometry for the impact process with marked fringes tracking,” Opto-Electron. Eng. 34, 46–52 (2007). 15. B. Budianto, P. Lun, and T.-C. Hsung, “Marker encoded fringe projection profilometry for efficient 3d model acquisition,” Appl. Opt. 53, 7442–7453 (2014). Vol. 25, No. 22 | 30 Oct 2017 | OPTICS EXPRESS 27270 #307084 https://doi.org/10.1364/OE.25.027270 Journal © 2017 Received 13 Sep 2017; revised 15 Oct 2017; accepted 16 Oct 2017; published 23 Oct 2017 16. H. Yun, B. Li, and S. Zhang, “Pixel-by-pixel absolute three-dimensional shape measurement with modified Fourier transform profilometry,” Appl. Opt. 56, 1472–1480 (2017). 17. D. Malacara, Optical Shop Testing (John Wiley & Sons, 2007). 18. M. Servin, J. A. Quiroga and J. M. Padilla, Fringe Pattern Analysis for Optical Metrology: Theory, Algorithms, and Applications (John Wiley & Sons, 2014). 19. S. Zhang, High-Speed 3D Imaging with Digital Fringe Projection Techniques (CRC Press, 2016). 20. Y.-Y. Cheng and J. C. Wyant, “Two-wavelength phase shifting interferometry,” Appl. Opt. 23, 4539–4543 (1984). 21. Y.-Y. Cheng and J. C. Wyant, “Multiple-wavelength phase shifting interferometry,” Appl. Opt. 24, 804–807 (1985). 22. Y. Wang and S. Zhang, “Superfast multifrequency phase-shifting technique with optimal pulse width modulation,” Opt. Express 19, 5143–5148 (2011). 23. J.-S. Hyun and S. Zhang, “Enhanced two-frequency phase-shifting method,” Appl. Opt. 55, 4395–4401 (2016). 24. J. Pan, P. S. Huang, and F.-P. Chiang, “Color-coded binary fringe projection technique for 3-d shape measurement,” Opt. Eng. 44, 023606 (2005). 25. S. Zhang, “Flexible 3d shape measurement using projector defocusing: Extended measurement range,” Opt. Lett. 35, 931–933 (2010). 26. Y. Wang and S. Zhang, “Novel phase coding method for absolute phase retrieval,” Opt. Lett. 37, 2067–2069 (2012). 27. Y. Xing, C. Quan, and C. Tay, “A modified phase-coding method for absolute phase retrieval,” Opt. Lasers Eng. (2016). (in press). 28. Y. An, J.-S. Hyun, and S. Zhang, “Pixel-wise absolute phase unwrapping using geometric constraints of structured light system,” Opt. Express 24, 18445–18459 (2016). 29. C. Zuo, Q. Chen, G. Gu, S. Feng, and F. Feng, “High-speed three-dimensional profilometry for multiple objects with complex shapes,” Opt. Express 20, 19493–19510 (2012). 30. C. Zuo, Q. Chen, G. Gu, S. Feng, F. Feng, R. Li, and G. Shen, “High-speed three-dimensional shape measurement for dynamic scenes using bi-frequency tripolar pulse-width-modulation fringe projection,” Opt. Lasers Eng. 51, 953–960 (2013). 31. Y. Wang, S. Zhang, and J. H. Oliver, “3-d shape measurement technique for multiple rapidly moving objects,” Opt. Express 19, 5149–5155 (2011). 32. P. Cong, Z. Xiong, Y. Zhang, S. Zhao, and F. Wu, “Accurate dynamic 3d sensing with Fourier-assisted phase shifting,” IEEE Journal of Selected Topics in Signal Processing 9, 396–408 (2015). 33. B. Li, Z. Liu, and S. Zhang, “Motion induced error reduction by combining Fourier transform profilometry with phase-shifting profilometry,” Opt. Express 24, 23289–23303 (2016). 34. B. Li, S. Ma, and Y. Zhai, “Fast temporal phase unwrapping method for the fringe reflection technique based on the orthogonal grid fringes,” Appl. Opt. 54, 6282–6290 (2015). 35. S. Zhang, X. Li, and S.-T. Yau, “Multilevel quality-guided phase unwrapping algorithm for real-time three-dimensional shape reconstruction,” Appl. Opt. 46, 50–57 (2007). 36. H. Schreiber, and J.-H. Bruning, “Phase Shifting Interferometry”, inOptical Shop Testing, Third Edition, D. Malacaral, ed. (John Wiley & Sons, 2007). 37. W. Lohry and S. Zhang, “Fourier transform profilometry using a binary area modulation technique,” Opt. Eng. 51, 113602 (2012). 38. Y. Wang and S. Zhang, “Three-dimensional shape measurement with binary dithered patterns,” Appl. Opt. 51, 6631–6636 (2012). 39. B. Li, N. Karpinsky, and S. Zhang, “Novel calibration method for structured light system with an out-of-focus projector,” Appl. Opt. 53, 3415–3426 (2014).