An introduction of combined An introduction of combined X-ray and laser range imaging X-ray and laser range imaging

system for bone fragments system for bone fragments detection in chicken filletsdetection in chicken fillets

Bin ZhuBin Zhu

Biological Resources EngineeringBiological Resources Engineering

Dec. 3, 2003Dec. 3, 2003

NotesNotes

Most the research are done by Dr. Most the research are done by Dr. Xin, Dr. Hansong and Dr. Tao, in Bio-Xin, Dr. Hansong and Dr. Tao, in Bio-imaging and machine vision lab, imaging and machine vision lab, Biological Resources Engineering Biological Resources Engineering Department. Department.

Most materials and data are from Most materials and data are from their work. their work.

BiosensorsBiosensors

Utilizing the absorption and reflection Utilizing the absorption and reflection characters of bio-materials to get characters of bio-materials to get internal information from them.internal information from them.

X-ray: AbsorptionX-ray: Absorption Laser: ReflectionLaser: Reflection

BackgroundBackground

USDA,2000

Boneless 48%

Bone-in 52%

32.5 billion pounds 32.5 billion pounds ofof

poultry poultry annuallyannually

Ⅰ Ⅰ X-ray technology X-ray technology and food inspectionand food inspection

Overview of X-ray imaging Overview of X-ray imaging

u: Materialsu: Materialsd: Thicknessd: Thickness

),(0),( yxudxx eIyxI

Typical applications of X-ray imaging Typical applications of X-ray imaging

Medical DiagnosisMedical Diagnosis

Homeland SecurityHomeland Security

Material ResearchMaterial Research

Industrial Inspections Industrial Inspections

Challenge of bone detection Challenge of bone detection

The thickness is unevenThe thickness is uneven The bone fragments are very tinyThe bone fragments are very tiny

Current solutionsCurrent solutions

Submerging the chicken meat in waterSubmerging the chicken meat in water

? cross contamination ? cross contamination Press the meat mechanicallyPress the meat mechanically

? shape damaged? shape damaged Dual energy X-rayDual energy X-ray

? physics limitation? physics limitation

QuestionsQuestions

How can we address the thickness How can we address the thickness variation problem directly? variation problem directly?

How can we extract the thickness How can we extract the thickness information from the uneven chicken information from the uneven chicken meat?meat?

ⅡⅡ Laser 3D imagingLaser 3D imaging

ApproachesApproaches

Time-Of-Flight (TOF) based technique Time-Of-Flight (TOF) based technique

Structured light based technique Structured light based technique

Structured light based techniqueStructured light based technique

The laser 3D imaging subsystemThe laser 3D imaging subsystem

Ⅲ Ⅲ Combined X-ray and Combined X-ray and Laser Imaging SystemLaser Imaging System

Overview of the combined systemOverview of the combined system

DigitizerDigitizer

Buffer 1

Buffer 1

Buffer 2

Buffer 2

Image ProcessorsImage Processors

AlgorithmsAlgorithms ControlControl

X-ray:

X-ray Controller

Image ProcessorsImage Processors

X-ray Generator

X-ray Detector

Computer

ImageMonitor

ComputerMonitor

Image Processor

Image Digitizer

CameraCamera

Laser:

Combined System Combined System X-rayLaserLaser

0.6m/sec

Laser 3D Image to X-ray Image Laser 3D Image to X-ray Image MappingMapping

X-ray image:X-ray image:

3D Laser image:3D Laser image:

),(0),( yxudxx eIyxI

),(),( yxkdyxI l

TransformationTransformation X-ray image:X-ray image:

3D Laser image:3D Laser image:

myxdkeIyxI yxudxx ),('][)],(log[ ),(

0

),(),( yxkdyxI l

myxIk

kyxI lx ),(

')],(log[

Thickness compensation Thickness compensation

Results Results

Results Results

Lasers Cameras

X-ray beam slit

Object

ResultsResults

ResultsResults

ResultsResults

Thank you!Thank you!