BM40A1200 Digital Imaging and Image

Preprocessing

Lecture 4

LUT Autumn 2014

LECTURE 4 : CONTENTS

• Summary and recap of CCD and CMOS image sensors

• Datasheet & price comparison of 3 cameras in different price
and performance levels
• Conclusions from comparison
• Short video

2
CCD IMAGE SENSOR SUMMARY
• Full frame CCD
• high fill factor, but requires an external shutter
• especially for low light level and scientific applications
• simplest CCD design

• Frame transfer CCD

• pixel similar to full frame, high fill factor
• works without external shutter, but still slow
• large chip area, therefore expensive to make

• Interline CCD
• separate light sensitive elements, and transfer elements
• inherently low fill factor, microlenses required CCD design comparison[1]
• built-in, fast global shutter, best CCD for high speeds
• currently dominating CCD design in the market
3
CCD IMAGE SENSORS, FUNCTIONAL DIAGRAMME

CCD functional diagramme [2]

4
CMOS IMAGE SENSOR SUMMARY
• APS CMOS
• light sensitive and charge storing element is an np
photodiode
• charge to voltage amplifier integrated into every pixel
• typical pixel designs include np photodiode and 3 or 4
transistors
• inherently low fill factor, microlenses required
• basic designs not very different, but functions built
into the sensor chip may vary
• inherently has a rolling shutter function

CMOS design comparison[1]

5
CMOS IMAGE SENSORS, FUNCTIONAL DIAGRAMME

CMOS functional diagramme [2]

6
CCD AND CMOS IMAGE SENSORS, HANDLING OF COLORS
• Colors are handled by devoting individual pixels to the primary colors of
the RGB color model: red, green and blue

• Typically, a Bayer mosaic filter

pattern is utilized.
• There are twice as many pixels
for the green color because
human eye is more sensitive to
green and green color accuracy is
more important Bayer filter mosaic, individual
pixels are devoted to measuring
only one color: red, green or blue
[3]

Bayer color filter arrangement on an image sensor [4]

7
CCD AND CMOS CAMERA SHUTTER
• Shutter means the device or function which defines how long, and in which way
the image sensors is exposed to the optical image presented by the lens
• A global shutter exposes all image
sensor pixels simultaneously to the
optical image presented by the lens.
Global shutter may be mechanical or
electronic as in an interline CCD
• In the case of a rolling shutter function, Global shutter principle [5]
image sensor rows start and stop light
integration at different moments of
time; this is CMOS sensor’s inherent
shutter mode

Rolling shutter principle [5]

8
CCD AND CMOS CAMERA BINNING
• Binning means an image sensor/ digital camera operating mode where signals
from several pixels are combined in such a way that the camera operates like it
would have larger pixels than it really has
• Binning in a CCD can be implemented
simply by using a different timing
scheme; in a CMOS, special binning
circuitry is needed
• The key motivation for pixel binning
is increasing signal while not
increasing noise in equal proportion

Demonstration of effects of binning

on VGA image quality [6] 9
CCD vs. CMOS, WHICH IS BETTER ?
• Depends on what you
need, and there is no
simple answer, but on the
consumer market with
high volumes, the
commercial game is clear:
CMOS sensors already
cover 97% of the shipped
image sensors
CCD and CMOS key characteristics: comparison

• CCDs will continue to have a role in high end and

scientific applications where very low noise and high fill
factor are keys to high quality images

Worldwide image sensor

10
market share forecast [7]
 COMPARISON OF 3 DIFFERENT CAMERAS
• Let’ see what you can get with 10.000 EUR vs. 20 EUR ......

Sparkfun low cost CMOS camera module

for DIY camera build, basic type CMOS
sensor, roughly 20 EUR [10]
Retiga-4000RV scientific camera, cooled CCD,
Unibrain scientific video conference/
roughly 10.000 EUR [8]
surveillance camera, progressive scan
CCD, roughly 90 EUR [9]
11
RETIGA-4000RV SCIENTIFIC CCD CAMERA WITH COOLING
• This is what you get for around 10.000 EUR:
• Camera strictly for professional, scientific use
• Provides enormous dynamic range and very low
noise
• Has extensive software support and a LED display
to show key camera information, good manuals,
Retiga-4000RV scientific camera, cooled CCD,
easy to use around 10.000 EUR [8]

• Even at this cost, does NOT include the lens

• Includes a high performance Kodak KAI-4021
interline CCD image sensor
• CCD is cooled to -30°C to achieve very low dark
current and noise, max exposure time is 18
minutes !
Retiga-4000RV image sensor, Kodak KAI-4031 [11]
12
RETIGA-4000RV SCIENTIFIC CCD CAMERA WITH COOLING
• This is what you get for around 10.000 EUR:

Snapshot from Retiga-

4000RV datasheet [8]

13
 DIGITAL IMAGING
made easy

RETIGA-4000RV
Deep-Cooled, High-Dynamic-Range IEEE 1394 FireWire® Digital CCD Camera

The QImaging® Retiga-4000RV CCD

digital camera has been specially engineered
for low-light, high-dynamic-range applications.
An 80,000e- full well capacity, combined with
a three-stage Peltier device using an all-metal,
hermetic-vacuum-sealed CCD chamber,
provides extreme dynamic range for
applications such as chemiluminescence, live-
cell imaging, and fluorescence. The camera’s
software-selectable regulated cooling enables
precise control in single-degree increments
down to -30˚C. The Retiga-4000RV features Note: Lens shown for illustration only and is not included.

a 4-megapixel CCD, 12-bit digital output, features benefits

and an IEEE 1394 interface for enhanced iGlo™ < OLED display for easy-to-verify key camera information in a simple,
connectivity and noise-shielding performance. ergonomic design
Black-Out Mode < Turns all lights off for low-light imaging applications
Additionally, the camera comes with iGlo™
High-Resolution, < Highly detailed, sharp images
technology, which features an organic light 4-Million-Pixel Sensor
emitting diode (OLED) display that provides Low-Noise Electronics < Quantitation & imaging of low light levels
users with key information about camera Optional/Removable < High-contrast, visible-range images with IR filter in place
settings in a convenient, ergonomic way. IR-Cutoff Filter < Removable for IR applications
Flexible Exposure < Optimal integration over a wide range of light levels
Control from 10μs to
camera models 17.9min
Includes: IEEE 1394 FireWire
External Sync & Trigger < Tight synchronization with flashlamps, automated filters,
cable, IEEE 1394 PCI card, power
shutters, & microscope stages
supply, QCapture Suite software,
Three-Stage Peltier < Reduced thermal noise for low-light, long exposures
and access to SDK
Cooling w/ Vacuum Seal
< Monochrome Retiga-4000RV: Binning < Increases sensitivity for quantitation & imaging of very low light levels
Model: RET-4000RV-F-M-12-C
< Increases frame rate
IEEE 1394 FireWire < Simple connectivity
camera options Connection < Better noise performance
< Removable IR-Cutoff Filter < Excellent connectivity ability
< Ease of use & installation
< RGB Color Filter < Portability with laptop computer
for monochrome < Simultaneous use of multiple cameras through a single port
cameras (F-mount
interface required), Extensive Application < Choose from a large selection of life science & industrial software for
refer to data sheet Software Support microscopy, machine vision, & video-streaming functions
for more details
< Extended Warranty
RETIGA-4000RV Specifications
ccd sensor
Light-Sensitive Pixels 4 million; 2048 x 2048
Binning Modes 2x2, 4x4, 8x8
ROI (Region of Interest) From 1x1 pixels up to full resolution, continuously variable
in single-pixel increments
Exposure/Integration 10μs to 17.9min in 1μs increments
Control
Sensor Type Kodak® KAI-4021 progressive-scan interline CCD (monochrome) iGlo technology features essential information
about camera settings.
Pixel Size 7.4μm x 7.4μm
Linear Full Well 40,000e- (1x1); 80,000e- (2x2)
Read Noise 12e- (at 20MHz)
applications
< Quantitative Fluorescence Imaging
Dark Current 0.084e-/pix/s
< Live-Cell Imaging
Cooling Technology Three-stage Peltier cooling with all-metal, hermetic-vacuum-sealed
chamber assembled in a Class 1,000 cleanroom < Semiconductor Inspection
Cooling Type Down to -30˚C, regulated, with software control in 1˚C increments < Chemiluminescence
Digital Output 12 bits < Particle Tracking
Readout Frequency 20, 10, 5MHz
< LCD Inspection
Frame Rate 4fps full resolution @ 12 bits (125fps maximum with binning and
ROI functions)
spectral response
camera 60

Black-Out Mode Turns all camera lights off to reduce light reflection during low-light
50

Quantum Efficiency (%)

applications; software controlled
40
iGlo Display Provides key camera information to the user, allowing easy
Without IR Filter
verification of camera settings 30

Computer Platforms/ Windows®, Mac OS*, Linux® 2.67+ with raw 1394 support 20

Operating Systems
10
Digital Interface IEEE 1394 FireWire
0
External Trigger TTL Input (optically coupled) 300 400 500 600 700 800 900 1000

Wavelength (nm)
Trigger Types Internal, Software, External
External Sync TTL Output (optically coupled)
Gain Control 0.493 to 23.5 times 2.5"

Offset Control -2048 to 2047

5.9" 3.0"
Optical Interface F-mount optical format; aspect ratio 1:1
Threadmount 1/4" – 20 mount
Power Requirements 30W; 12–24VDC
Weight 1.180kg
Warranty 2 years
Operating Environment 0 to 40˚C
Storage Temperature 0 to 50˚C

Humidity Less than 80% relative humidity

ISO 9001:2000 *Refer to QImaging website for detailed listing of supported operating systems.
Note: Specifications are nominal and subject to change.
RoHS iGlo and Retiga are trademarks and QImaging is a registered trademark of QImaging Corporation.
compliant FireWire and Mac OS are trademarks of Apple Computer, Inc., registered in the U.S. and other countries.
Kodak is a registered trademark of Eastman Kodak Company. Linux is a registered trademark
of Linus Torvalds. Windows is a registered trademark of Microsoft Corporation in the
United States and other countries. Other brand and product names are the trademarks
or registered trademarks of their respective owners and manufacturers.

Tel 604.708.5061 < Fax 604.708.5081 < info@[Link]

[Link]
04-0022A-A
UNIBRAIN Fire-i MONITORING/ SURVAILLANCE CAMERA
• This is what you get for around 90 EUR:
• Camera for monitoring/ video conference/
surveillance use
• Faster than Retiga-4000RV but everything else
concerning performance is much worse
• Has reasonably good documentation and
manufacturer has a decent website
Unibrain Fire-i camera [9]

• Includes a simple lens

• Includes a low performance Sony ICX098BQ
interline CCD image sensor
• Due to higher dark current and noise,
maximum integration time is 32ms
Camera board inside the camera [12]

Sony ICX098BQ interline CCD image sensor [13] 14

UNIBRAIN Fire-i MONITORING/ SURVAILLANCE CAMERA
• This is what you get for around 90 EUR:

Snapshot from Unibrain

Fire-i datasheet [9]

15
Unibrain Fire-i Digital Camera

IEEE-1394, IIDC 1.3 compliant camera

Sony Progressive Scan CCD
High quality lens
Low power consumption
Two firewire ports
Natively supported by Mac OS X

Overview
Applications
Fire-i™ Digital Camera is the best FireWire Color Digital Camera available for home/office
applications. Its superior VGA picture quality and lightweight housing clearly distinguishes Monitoring
it from other FireWire or USB cameras.
Several cameras can be daisy-chained and viewed simultaneously on a PC, via Unibrain’s Video Conference
Fire-i™ Software and the camera’s two FireWire ports. Fire-i™ Software allows the user to
monitor one or multiple cameras locally or remote (Internet). At the touch of a single Home/Office Surveillance
button, the user can store snapshots or live video-stream, change and adjust all camera
settings for each and every camera connected.

Features Packaging
 1/4” CCD progressive image sensor with VGA (640 x 480)  One Fire-i digital camera
resolution.  One 2m (6.6 f) 6p to 6p cable
 Full motion video at up to 30 frames per second.  Tripod attachment and mini-tripod
 High quality, bright (F2.0), glass elements lens with antire-  Drivers & Software for Windows, Linux
flective and infrared coating.  Natively Supported by Mac OS X
 Focus range: 1cm to infinity.
 Video modes: YUV (4:1:1, 4:2:2, 4:4:4), RGB-24 bit,
monochrome-8 bit. Requirements
 Built-in image processing for optimal picture quality.  Windows/Linux computer with 1GHz or faster processor
 White balance: automatic or manual control. and 512 MB RAM;
Running Windows 2000/XP/2003/Vista & 64bit XP/Vista
 Shutter: Automatic or Manual Control 1/3400s-1/31s.
or Linux 2.4 kernel or later
 Capture of static frames and uncompressed/compressed
 Macintosh computer with 1GHz or faster PowerPC G4, G5
video stream.
or Intel processor;
 Dual Firewire connection for video and power. Running MacOS X 10.2.5 or later
 Low power consumption.  Microphone for audio support
 Built-in external DC power jack (8 to 30 VDC) for laptop  Internet connection required for web camera use
connectivity. (128Kbps or faster broadband for video)

North & South America: Unibrain, Inc.

One Annabel Lane, Suite 109,
San Ramon, California 94583, USA.
Phone: +1-925-8663000, Fax: +1-925-8663520

Europe, Asia: Unibrain S.A.

19.5 km Markopoulou Ave.,
19002 Peania, Athens, Greece.
Phone: +30-210-6640600, Fax: +30-210-6646508
email: sales@[Link]
Web: [Link]
SPARKFUN SEN-11745 DIY CAMERA
• This is what you get for around 20 EUR:
• Simple CMOS camera for do-it-yourself
application
• Performance clearly shows benefits of CMOS vs.
CCD, except quality of shutter function is hard to
know without testing
• Incredibly bad documentation, hard to read,
difficult to understand
• No options, just plug and watch the video
image.... Sparkfun CMOS
camera module [10]
• Includes a low-cost Pixelplus PC1089K CMOS
image sensor
• Based on CMOS datasheet, performance better
that in the Unibrain, but you never know.... Pixelplus PC1089K CMOS image sensor [14]
16
 1. SPECIFICATION
Model 32KM NTSC 32KM PAL
1/3″ PIXEL CMOS
Image device
SENSOR PC1089K
TV Type NTSC PAL
Effective Pixels 728(H) x 488(V) 380K
Cell Size 6.35㎛(H) x 7.40㎛(V)
Horizontal Resolution More than 520 TV Lines
Sync. Type Internal
Scanning System 2:1 Interlace 2:1 Interlace
Scanning System
15.735KHz
Scanning Frequency (H) 15.625KHz
Scanning Frequency (V) 60Hz 50Hz
Video Output 1.0 vp­p Composite (75Ω)
Gamma Correction 0.45 typ.
Sensitivity 0.2 Lux @ F2.0
S/N Ratio More than 42Db (AGC
OFF)
Gain Control Gain Automatic Automatic
Control
Electronic Shutter 1/60 ~ 1/100,000sec Auto 1/50 ~ 1/100,000sec Auto
Power Supply Regulated DC12.0V (6V ~
20V)
Consumption Current Max 50mA
Reverse Polarity Yes
Lens Mount Fixed Lens Mount
10 50℃ (H idit 10％RH
60％RH) ­10 ~ 50℃
(Humidity: 10％RH ~ 60％
Operation Temp RH)
Operation Temp
­20 ~ 70℃ (Humidity: 10％
RH ~ 60％RH)
Preservation Temp
32mm(H) x 32mm(W)
Dimensions
Weight Approx. 26g
Lens Options Board

Pinhole
Varifocal f=3.6(Standard) / 2.2 / 2.9 /
RoHS 4.3 / 6 / 8 / 12mm
Varifocal Flat/Cone Pinhole:
Compliant f=3.7(Standard) / 2.8 / 4.3mm
Varifocal
Manual Varifocal: 4~8mm,
Compliant
28~12mm
Varifocal Manual Varifocal: 4~8mm,
Compliant 28~12mm

2. DIMENSION (mm)

3. INTERFACE SPECIFICATION
 3.1) Picture Status

3.2) I/O CONNECTOR FUNCTION

DC12.0V (RED) DC POWER INPUT(DC12V)

GND(BLACK) GROUND
VIDEO OUT(YELLOW) VIDEO SIGNAL OUTPU

3.3) I/O Harness

LETS LOOK AT THE SPECIFICATIONS OF THESE 3 CAMERAS

17
SOME NOTES
• Why didn’t we look at normal consumer digital
cameras ? Answer: it is very difficult to find out
which sensor is in which camera, and these
image sensor data sheets are not public
• However, let’s look at the datasheet of a
decent consumer camera in the price range of
500 eur, Nikon Coolpix P7800:
• 12 Mpixel CMOS sensor with mechanical and
electronic shutter, exposure up to 1s
• Sensor size is ”1/1.7” which means 7.6mm x 5.7mm
• Movie capability: Full HD: 1920x1080p / 30fps
• Nice performance, but we know nothing about the
CMOS sensor, obviously it is very fast... Nikon Coolpix P7800 digital camera [15]
18
LET’S REVIEW THIS ITEM: CCD vs. CMOS FUTURE ?
• Here is one opinion, again [16]:

• “Some applications are best served by CMOS imagers, some by CCDs....”

• “....it is impossible to make a general statement about CMOS versus CCD imagers that applies to
all applications”

• BUT

• ”In the case of high volume consumer area and line scan imagers, based on almost every
performance parameter imaginable, CMOS imagers outperform CCDs...”

• “ For most machine vision area and line scan imagers, CCDs are also a technology of the past.”

• “CMOS area and line scan imagers outperform CCDs in most visible imaging applications.”

It looks like CCDs will have market only in scientific applications in the future...
19
References
1. [Link]

2. [Link]

3. [Link]

4. [Link]

5. [Link]

6. [Link]

7. [Link]

8. [Link]

9. [Link]

10. [Link]

11. [Link]

20
References
12. [Link]

13. [Link]

14. [Link]

15. [Link]

16. [Link]

21